Perception method and related device

Abstract

The embodiment of the invention provides a sensing method and a related device. The method comprises the following steps: acquiring first sensing information of a plurality of communication devices for a first area; the multiple pieces of first perception information are input into a perception model, second perception information is obtained, and the perception model is used for predicting new perception information according to the input perception information; and optimizing the perception model according to the second perception information and third perception information of the first area, the third perception information being a reference value of the perception information of the first area. According to the embodiment of the invention, the accuracy of sensing information can be improved, so that the sensing performance of a communication network is improved.

Description

Technical Field

[0001] This application relates to the field of wireless communication, and more particularly to a sensing method and related apparatus. Background Technology

[0002] Integrated communication and sensing technology is considered one of the key technologies for expanding the service capabilities of mobile communication networks. The core idea of ​​this technology is that communication devices with sensing capabilities use the transmission and reception of wireless signals to perceive information such as the location, distance, and speed of objects, or to detect, track, identify, and image objects, events, or environments, thereby integrating communication and sensing capabilities into a single communication system architecture. Currently, in integrated communication and sensing communication system architectures, multiple communication devices often jointly sense the same object (i.e., multi-station joint sensing), and the final sensing information for that object is determined based on the sensing information generated by multiple communication devices. The sensing performance of the communication network still needs improvement. Summary of the Invention

[0003] This application provides a sensing method and related apparatus that can improve the accuracy of sensing information, thereby enhancing the sensing performance of communication networks.

[0004] In a first aspect, embodiments of this application provide a sensing method applied to a sensing device, the method comprising:

[0005] Acquire first sensing information from multiple communication devices for the first area;

[0006] Multiple first-sensory information are input into the perception model to obtain second-sensory information, wherein the perception model is used to predict new perception information based on the input perception information;

[0007] The perception model is optimized based on the second perception information and the third perception information of the first region, wherein the third perception information is a reference value for the perception information of the first region.

[0008] In the above method, for multi-station joint sensing scenarios, the sensing device can process the sensing information of multiple communication devices for the first area based on the sensing model, predict new sensing information, and optimize (or train) the sensing model based on the new sensing information and the reference value of the sensing information of the first area, thereby avoiding the distortion of the sensing information of the first area, improving the accuracy of the sensing information predicted by the sensing device, and thus improving the sensing performance of the communication network.

[0009] In one alternative implementation, the first, second, and third sensory information are used to characterize the state of an object in the first region, the state including one or more of position, velocity, and type.

[0010] In another alternative implementation, the perception model is optimized based on the second perception information and the reference perception information of the first region, including:

[0011] The perception model is optimized based on the loss between the second perception information and the third perception information of the first region.

[0012] In the above method, the smaller the loss between the perception information of the first region predicted by the perception device based on the perception model and the reference value of the perception information of the first region, the more accurate the perception information predicted by the perception device is. Therefore, the above method can optimize the perception model based on the loss, which is conducive to the rapid convergence of the perception model.

[0013] In another alternative implementation, the third perceptual information includes a feature map obtained by labeling objects in a grid map corresponding to a reference image or reference map of the first region, and the second perceptual information includes a first perceptual spectrum of the predicted first region, which is used to characterize the distribution of objects in the predicted first region.

[0014] In the above method, the reference image or reference map of the first region and the first perceptual spectrogram of the predicted first region can both characterize the distribution of objects in the first region. Therefore, the above method can use the feature map obtained by processing the reference image or reference map of the first region as the reference value of the perceptual information of the first region, which is beneficial to optimizing the perceptual model.

[0015] In another alternative implementation, the first perceptual spectrogram includes multiple first grids, each corresponding to a first feature parameter. The first feature parameter is used to predict whether an object exists in a portion of the first region corresponding to the first grid and / or the type of object within the first grid.

[0016] The feature map includes multiple second grids, each corresponding to a second feature parameter. The second feature parameter is used to characterize whether an object exists in a portion of the first region corresponding to the second grid, and the type of object within the second grid.

[0017] The first grids of the first perception spectrum and the second grids of the feature map have the same specifications.

[0018] In yet another alternative implementation, the method further includes:

[0019] The third perception information is obtained based on the shooting information of the first area.

[0020] In another alternative implementation, third-perception information is obtained based on the image information captured of the first region, including:

[0021] Send a second instruction message to the shooting device, wherein the second instruction message is used to instruct the acquisition of shooting information of the first area;

[0022] Receive image information from the first area;

[0023] Third-person perception information is obtained based on the captured information.

[0024] In the above method, the reference value of the sensing information of the first region is obtained based on the shooting information of the first region acquired by the shooting device. Therefore, the reference value has strong accuracy and real-time performance, which is conducive to improving the accuracy of the sensing information predicted by the sensing device by optimizing the sensing model, thereby improving the sensing performance of the communication network.

[0025] In another alternative implementation, the second sensing information includes parameters representing the state of an object in the predicted first region, and the third sensing information includes parameters representing the state of an object reported by the device in the first region.

[0026] In the above method, both the parameters representing the state of the object reported by the device in the first region and the parameters representing the state of the object in the first region can represent the state of the object in the first region. Therefore, the above method can use the parameters representing the state of the object reported by the device in the first region as reference values ​​for the perception information of the first region, which is beneficial for optimizing the perception model.

[0027] Furthermore, the reference value of the sensing information in the first area is obtained based on the information reported by the devices in the first area. Therefore, the reference value has strong accuracy and real-time performance, which is conducive to improving the accuracy of the sensing information predicted by the sensing devices by optimizing the sensing model, thereby improving the sensing performance of the communication network.

[0028] In another alternative implementation, the first sensing information includes a second sensing spectrum of the first region being collected, which is used to characterize the distribution of objects in the first region being collected.

[0029] In yet another alternative implementation, the method further includes:

[0030] A first indication message is sent to each of the plurality of communication devices, wherein the first indication message is used to indicate the sensing of a first area.

[0031] In another alternative implementation, the first indication message includes location parameter values ​​for the first region, or information for constraining the transmission range of a sensing beam emitted by the communication device.

[0032] In another alternative implementation, the communication device is an access network device, and the sensing device includes a core network device or one of multiple access network devices.

[0033] Alternatively, the communication equipment may be terminal equipment, and the sensing equipment may include core network equipment or access network equipment.

[0034] Secondly, embodiments of this application provide a sensing method applied to a communication device, the method comprising:

[0035] Send third sensing information for the first area to the sensing device, wherein the third sensing information is a reference value of the sensing information of the first area, the third sensing information is used to optimize the sensing model in combination with the second sensing information, and the sensing model is used to predict new sensing information based on the input sensing information.

[0036] Send first sensing information for a first area to the sensing device, wherein the second sensing information is information obtained by inputting the first sensing information into the sensing model.

[0037] In another alternative implementation, the method further includes:

[0038] Acquire a first indication message sent by the sensing device, wherein the first indication message is used to indicate the sensing of a first area.

[0039] In another alternative implementation, the first, second, and third sensory information are used to characterize the state of an object in the first region, the state including one or more of position, velocity, and type.

[0040] In another alternative implementation, the third perceptual information includes a feature map obtained by labeling objects in a grid map corresponding to a reference image or reference map of the first region, and the second perceptual information includes a first perceptual spectrum of the predicted first region, which is used to characterize the distribution of objects in the predicted first region.

[0041] In another alternative implementation, the first perceptual spectrogram includes multiple first grids, each corresponding to a first feature parameter. The first feature parameter is used to predict whether an object exists in a portion of the first region corresponding to the first grid and / or the type of object within the first grid.

[0042] The feature map includes multiple second grids, each corresponding to a second feature parameter. The second feature parameter is used to characterize whether an object exists in a portion of the first region corresponding to the second grid, and the type of object within the second grid.

[0043] The first grids of the first perception spectrum and the second grids of the feature map have the same specifications.

[0044] In another alternative implementation, first sensing information for the first region is sent to the sensing device, including:

[0045] Receive a second indication message sent by the sensing device, wherein the second indication message is used to indicate the acquisition of shooting information of the first area;

[0046] Send a second instruction message to the shooting device;

[0047] Receive the shooting information of the first area.

[0048] In another alternative implementation, the first indication message includes location parameter values ​​for the first region, or information for constraining the transmission range of a sensing beam emitted by the communication device.

[0049] In another alternative implementation, the communication device is an access network device, and the sensing device includes a core network device or one of multiple access network devices.

[0050] Alternatively, the communication equipment may be terminal equipment, and the sensing equipment may include core network equipment or access network equipment.

[0051] Thirdly, embodiments of this application provide a sensing method, which includes:

[0052] Acquire fourth sensing information from multiple communication devices for the first area;

[0053] Multiple fourth-sensory information are input into the perception model to obtain fifth-sensory information. The perception model is used to predict new perception information based on the input perception information. The perception model is a model optimized based on the second and third perception information. The second perception information is the perception information of the first region predicted by the perception model, and the third perception information is a reference value of the perception information of the first region.

[0054] In one alternative implementation, the method further includes sending a first indication message to a plurality of communication devices respectively, wherein the first indication message is used to indicate a first sensing area.

[0055] Fourthly, embodiments of this application provide a communication device, which can be the first device in the first aspect or any possible implementation of the first aspect, wherein:

[0056] The communication device includes a module for performing the method described in the first aspect or any possible implementation thereof;

[0057] Alternatively, the communication device may be the first device in any possible implementation of the third aspect, wherein:

[0058] The communication device includes a module for performing the method described in the third aspect or any possible implementation thereof.

[0059] Fifthly, embodiments of this application provide a communication device, which can be a second device in the second aspect or any possible implementation of the second aspect, wherein:

[0060] The communication device includes a module for performing the method described in the second aspect or any possible implementation thereof.

[0061] Sixthly, embodiments of this application provide a communication device, which includes a logic circuit and an interface, the logic circuit and the interface being coupled; the interface is used for inputting and / or outputting information, wherein:

[0062] This logic circuit is used to perform the method described in the first aspect or any possible implementation thereof;

[0063] Alternatively, the logic circuit can be used to perform the method described in the second aspect or any possible implementation thereof;

[0064] Alternatively, the logic circuit may be used to perform the method described in the third aspect or any possible implementation thereof.

[0065] Seventhly, embodiments of this application provide a communication system, which includes a first communication device and a second communication device, wherein:

[0066] The first communication device is used to perform the method described in the first aspect or any possible implementation thereof, and the second communication device is used to perform the method described in the second aspect or any possible implementation thereof.

[0067] Eighthly, embodiments of this application provide a computer-readable storage medium for storing a computer program, wherein:

[0068] When the computer program is executed, it is capable of implementing the first aspect or any possible implementation of the first aspect;

[0069] Alternatively, when the computer program is executed, it is capable of implementing the second aspect or any possible implementation of the second aspect;

[0070] Alternatively, when the computer program is executed, it may be able to implement the third aspect or any possible implementation of the third aspect.

[0071] The beneficial effects of the methods, systems, and apparatus provided by any possible implementation of the second to eighth aspects of this application can be referred to the beneficial effects of the technical solutions provided by the first aspect and any possible implementation of the first aspect, which will not be repeated here. Attached Figure Description

[0072] The accompanying drawings used in the embodiments of this application are described below.

[0073] Figure 1A This is a schematic diagram of the architecture of a communication system provided in an embodiment of this application;

[0074] Figure 1B This is a schematic diagram of a sensing mode of a communication device provided in an embodiment of this application;

[0075] Figure 1C This is a schematic diagram of an integrated communication and sensing scenario provided in an embodiment of this application;

[0076] Figure 2 This is a flowchart illustrating a sensing method provided in an embodiment of this application;

[0077] Figure 3 This is a schematic diagram of a first region provided in an embodiment of this application;

[0078] Figure 4 This is a schematic diagram of a sensing spectrum provided in an embodiment of this application;

[0079] Figure 5 This is a schematic diagram of another sensing spectrum provided in an embodiment of this application;

[0080] Figure 6 This is a schematic diagram of a feature map provided in an embodiment of this application;

[0081] Figure 7 This is a schematic diagram of yet another feature map provided in an embodiment of this application;

[0082] Figure 8 This is a schematic diagram of yet another reference mesh diagram provided in an embodiment of this application;

[0083] Figure 9 This is a flowchart illustrating another sensing method provided in an embodiment of this application;

[0084] Figure 10 This is a flowchart illustrating another sensing method provided in an embodiment of this application;

[0085] Figure 11 This is a flowchart illustrating another sensing method provided in an embodiment of this application;

[0086] Figure 12 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0087] Figure 13 This is a schematic diagram of the structure of another communication device provided in the embodiments of this application;

[0088] Figure 14This is a schematic diagram of the structure of another communication device provided in the embodiments of this application;

[0089] Figure 15 This is a schematic diagram of the structure of a chip provided in an embodiment of this application;

[0090] Figure 16 This is a schematic diagram of the structure of another chip provided in the embodiments of this application. Detailed Implementation

[0091] The embodiments of this application are described below with reference to the accompanying drawings.

[0092] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. In the textual description of this application, the character " / " generally indicates an "or" relationship between the preceding and following related objects; in the formulas of this application, the character " / " indicates a "division" relationship between the preceding and following related objects. "Including at least one of A, B, and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B, and C.

[0093] The technical solutions provided in this application can be applied to various communication systems, such as Long Term Evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, 5th generation (5G) systems, or new radio (NR) systems. Furthermore, they can also be applied to subsequent evolution systems, such as 6G communication systems. These systems can be classified into frequency division duplex (FDD) systems and time division duplex (TDD) systems according to their operating modes. For example, in a TDD system, the downlink and uplink carriers share the same carrier frequency. Multiple access methods typically employ orthogonal frequency division multiple access (OFDMA). The main feature of orthogonal frequency division multiple access (OFDMA) is that it divides transmission resources into mutually orthogonal time-frequency resource elements (REs). The signals transmitted by the transmitter are carried on REs and transmitted to the receiver. Since different REs are mutually orthogonal, the receiver can receive the signals transmitted on each RE individually.

[0094] The system architecture used in the embodiments of this application is described below. It should be noted that the system architecture and business scenarios described in this application are for the purpose of more clearly illustrating the technical solutions of this application, and do not constitute a limitation on the technical solutions provided in this application. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0095] Figure 1A This is a schematic diagram of the architecture of a communication system provided in an embodiment of this application. Figure 1A As shown, the communication system 10 includes a radio access network (RAN) 100 and a core network (CN) 200. RAN 100 includes at least one RAN node (e.g., ...). Figure 1A 110a and 110b (collectively referred to as 110) and at least one terminal (such as Figure 1A 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 1A(not shown in the image). CN 200 includes at least one CN node 210.

[0096] Terminal 120 connects to RAN node 110 wirelessly, for example, by using air interface technology (such as NR or LTE). RAN node 110 connects to core network 200 wirelessly or via wired connection. CN node 210 in CN 200 and RAN node 110 in RAN 100 can be different physical devices, or they can be the same physical device integrating core network logical functions and radio access network logical functions.

[0097] RAN100 can be a cellular system related to the 3rd Generation Partnership Project (3GPP), such as 4G, 5G mobile communication systems, or future-oriented evolution systems. RAN100 can also be an open access network (O-RAN or ORAN), a cloud radio access network (CRAN), or a wireless fidelity (WiFi) system. RAN100 can also be a communication system that integrates two or more of the above systems.

[0098] RAN node 110 forms part of the communication system to help terminals achieve wireless access. Multiple RAN nodes 110 in communication system 10 can be of the same type or different types. In some scenarios, the roles of RAN node 110 and terminal 120 are relative, for example... Figure 1A 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. RAN node 110 and terminal 120 are sometimes referred to as communication equipment, for example... Figure 1A Network elements 110a and 110b can be understood as communication equipment with base station functions, while network elements 120a-120j can be understood as communication equipment with terminal functions.

[0099] In one alternative implementation, the RAN node can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next-generation NodeB (gNB), a base station in a future mobile communication system, or an access node in a WiFi system, etc. The RAN node can also be a macro base station (such as...). Figure 1A 110a), micro base stations or indoor stations (such as Figure 1A The RAN node can be a relay node or donor node (as described in section 110b), or a wireless controller in a CRAN scenario. Optionally, the RAN node can also be a server, wearable device, vehicle, or in-vehicle equipment. For example, the access network equipment in vehicle-to-everything (V2X) technology can be a roadside unit (RSU). All or part of the functions of the RAN 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 RAN node can also be equipped with communication modules, circuits, or chips that perform corresponding communication functions. The RAN node can also be configured with program instructions for performing corresponding communication functions and corresponding program instructions. The RAN node in this application can also be a logical node, logical module, or software capable of implementing all or part of the RAN node functions.

[0100] In one alternative implementation, multiple RAN nodes collaborate to assist the terminal in achieving wireless access, with different RAN nodes each implementing a portion of the base station's functions. For example, RAN 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 configured 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).

[0101] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules.

[0102] Terminal 120 can be a device or module that accesses the aforementioned communication system and has corresponding communication functions. Terminal 120 can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, and smart cities. Terminals can be mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices, vehicles, drones, helicopters, airplanes, ships, robots, robotic arms, smart home devices, transportation vehicles with wireless communication capabilities, communication modules, etc. The embodiments of this application do not limit the device form of the terminal. The terminal typically contains a communication module, circuit, or chip that performs the corresponding communication functions. The terminal can also be configured with program instructions for performing the corresponding communication functions.

[0103] CN node 210 in CN 200 can implement one or more of the following network functions: Mobility Management Entity (MME), Access and Mobility Management Function (AMF), Session Management Function (SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy Charging Rules Function (PCRF), Edge Application Server Discovery Function (EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), Centralized Network Configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (or L-NEF), Binding Support Function (BSF), Application Function (AF), etc.

[0104] With the development of integrated communication and sensing technology, communication devices (such as terminals or RAN nodes) with sensing capabilities in communication systems can sense the location, distance, speed, and other information of objects by sending and receiving wireless signals, or detect, track, identify, and image objects, events, or environments, thereby integrating communication and sensing capabilities into the same communication network architecture.

[0105] Furthermore, Figure 1AThe communication system 10 shown may further include a sensing node 220, which is responsible for sensing services. For example, the sensing node can trigger RAN node 110 or terminal 120 to detect and collect sensing information for a certain area. The sensing node 220 can also process the initial sensing information collected by multiple RAN nodes 110 or multiple terminals 120 for the same area to obtain new sensing information. It should be noted that the sensing node 220 may be RAN node 110, or it may be another node in RAN 100 other than RAN nodes, or it may be CN node 210, or it may be another node in CN 200 other than CN nodes. This application does not make any special limitation in this regard. Figure 1A The diagram uses only the sensing node 220 as an example of other nodes in CN200 besides the CN node.

[0106] The sensing process and the communication process differ somewhat in their technical principles. In communication, the transmitting end modulates information onto radio waves and sends it to the receiving end, which then demodulates the signal to obtain the information. In contrast, the sensing process requires the transmitting end to send radio waves in a specific direction. These radio waves, upon hitting an object's surface, are reflected into electromagnetic waves. The receiving end receives and processes these reflected waves to obtain sensing information reflecting the state of an object (such as a vehicle, building, pedestrian, or drone), including its position, speed, and type.

[0107] The sensing modes of communication equipment are divided into single-site sensing mode and dual-site sensing mode, which will be discussed below. Figure 1A The sensing mode of the communication equipment is illustrated by taking the RAN node in the communication system 10 as an example.

[0108] like Figure 1B As shown in (A), RAN node 110 can communicate bidirectionally with terminal 120. Figure 1B (The solid arrow in the middle indicates the communication process). RAN node 110 can also sense object 130 based on single-site sensing mode. Figure 1B The dashed arrow in the middle indicates the sensing process. It can be seen that in the single-site sensing mode, the transmitting and receiving ends of the sensing signal are the same communication device. That is to say, RAN node 110 must not only transmit the sensing signal, but also receive the signal reflected from the surface of object 130 (also known as the echo signal). Therefore, the single-site sensing mode can also be called the self-transmitting and self-receiving mode.

[0109] like Figure 1B As shown in (B), RAN node 110 can communicate with terminal 120. Figure 1B(The solid arrows in the diagram illustrate the communication process.) RAN node 110 can also sense object 130 in a dual-station sensing mode with RAN node 111. RAN node 111 is the RAN node in RAN 100 of the communication system 10. It can be seen that in dual-station sensing mode, the transmitting and receiving ends of the sensing signal are different communication devices. That is, RAN node 110 is responsible for transmitting the sensing signal, and RAN node 111 is responsible for receiving the signal reflected from the surface of object 130 (also known as the echo signal). Therefore, dual-station sensing mode can also be called A-transmit B-receive mode.

[0110] Furthermore, the following text uses the example of "RAN nodes as base stations, terminals as mobile phones, and sensed objects including cars, pedestrians, and drones" to illustrate this point. Figure 1A The communication sensing integration scenario of the communication system 10 shown will be further illustrated. For an example, please refer to [link to example]. Figure 1C , Figure 1C This is a schematic diagram of an integrated communication and sensing scenario provided in an embodiment of this application.

[0111] like Figure 1C As shown in (A), the communication system 10 includes a base station 1101, a base station 1102, a mobile phone 1201, a mobile phone 1202, and a mobile phone 1203. Base station 1101 can communicate with base station 1102, mobile phone 1201, mobile phone 1202, and mobile phone 1203 respectively. Figure 1C (The solid arrows in the image indicate the communication process.) Optionally, base station 1101 can sense vehicle 1301, pedestrian 1302, and drone 1303 separately based on a single-station sensing mode. Optionally, base station 1101 and base station 1102 can sense pedestrian 1304 based on a dual-station sensing mode. Optionally, base station 1101 and mobile phone 1202 can sense vehicle 1305 based on a dual-station sensing mode. Optionally, base station 1101 and mobile phone 1203 can sense drone 1306 based on a dual-station sensing mode. Optionally, mobile phone 1201 can sense vehicle 1307 separately based on a single-station sensing mode. Optionally, mobile phone 1201 and mobile phone 1203 can sense pedestrian 1309 based on a dual-station sensing mode.

[0112] Understandable, Figure 1C The communication and sensing integrated scenario of the communication system 10 shown in (A) can be further subdivided from the perspective of sensing mode into: Figure 1C The six sub-sensory scenes shown in (B) are:

[0113] Sub-sensing scenario 1: Base station self-transmission and self-reception scenario;

[0114] Sub-sensing scenario 2: Mobile phone self-sending and self-receiving scenario;

[0115] Sub-sensing scenario 3: Base station A transmits and B receives;

[0116] Sub-sensing scenario four: Mobile phone A sends to B and receives from B;

[0117] Sub-sensing scenario five: Base station transmitting and mobile phone receiving scenario;

[0118] Sub-sensing scenario five: mobile phone transmitting and base station receiving scenario.

[0119] It should be noted that the embodiments of this application do not strictly limit the sensing mode of the communication device. That is to say, the technical solutions provided by the embodiments of this application can be applied to the above-mentioned multiple sub-sensing scenarios. Figures 1A to 1C The shapes of the nodes and objects shown are merely examples, and the embodiments of this application are not strictly limited thereto.

[0120] Currently, in the communication system architecture that integrates communication and sensing, multiple communication devices often work together to sense a certain object (i.e., multi-station joint sensing), and the final sensing information of the object is determined based on the sensing information generated by multiple communication devices.

[0121] For example, Figure 1A In the communication system 10 shown, the sensing node 220 can receive position parameters and detection signal-to-noise ratios (SNRs) for the same object from three RAN nodes, respectively. The position parameters are represented by Cartesian coordinates. That is, the sensing node 220 can receive three position parameters and corresponding three detection SNRs (to reflect interference in the sensing scenario) from the three RAN nodes. For example, the first position parameter L1 can be represented as coordinates (x1, y1, z1), the second position parameter L2 as coordinates (x2, y2, z2), and the third position parameter L2 as coordinates (x3, y3, z3). The detection SNR corresponding to the first position parameter L1 is expressed as... The detection signal-to-noise ratio corresponding to the second position parameter L2 is expressed as: The detection signal-to-noise ratio corresponding to the third position parameter L3 is expressed as: Next, the sensing node 220 can calculate and determine the final position parameter L of the object according to the following formula:

[0122]

[0123] Understandably, in scenarios involving multi-station joint sensing, the accuracy of the sensing information from a single communication device directly affects the accuracy of the final sensing information. Therefore, the sensing performance of the communication network still needs to be improved.

[0124] Therefore, embodiments of this application provide a sensing method and related apparatus that can improve the accuracy of sensing information, thereby enhancing the sensing performance of communication networks.

[0125] It should be noted that the RAN nodes mentioned above can also be referred to as access network equipment, access network elements, RAN entities, or access nodes, etc.; terminals can also be referred to as terminal equipment, user equipment (UE), mobile stations, mobile terminals, etc.; CN nodes can also be referred to as core network equipment, core network elements, core network entities, etc.; and sensing nodes can also be referred to as sensing equipment, sensing network elements, sensing entities, etc. Unless otherwise specified in this application, "RAN nodes" will be referred to as "access network equipment," "CN nodes" will be referred to as "access network equipment," and "sensing nodes" will be referred to as "sensing equipment."

[0126] Please see Figure 2 , Figure 2 This is a flowchart illustrating a sensing method provided in an embodiment of this application. This method can be based on... Figure 1A The architecture shown can be used to implement this method, but it can also be implemented based on other architectures. This method includes, but is not limited to, the following steps:

[0127] Step S201: The sensing device acquires first sensing information for the first area from multiple communication devices respectively.

[0128] Figure 2 The communication device in the illustrated embodiment is a device with sensing and communication functions. The sensing device is used to determine new sensing information based on sensing information from multiple communication devices. It is understood that the communication device can be... Figure 1A The access network equipment or terminal equipment in the communication system 10 shown. The sensing device can be... Figure 1A The sensing device in the communication system 10 shown.

[0129] Multiple communication devices can send first sensing information for a first area to a sensing device, and the sensing device can receive multiple first sensing information from multiple communication devices.

[0130] The first region is the area that can be sensed by each of the multiple communication devices. For illustrative purposes, please refer to [link to example]. Figure 3 , Figure 3 This is a schematic diagram of a first region provided in an embodiment of this application. For example... Figure 3 As shown, the sensing range of communication device 301 can be represented by region ABC, and the sensing range of communication device 302 can be represented by region DEF. Therefore, the maximum area that communication devices 301 and 302 can sense can be represented by region BCGH. The first region can be region BCGH, or it can be a portion of region BCGH.

[0131] In one optional implementation, the sensing device may send first indication information to multiple communication devices respectively. The first indication message is used to indicate the sensing of a first area. Optionally, the first indication message includes location parameter values ​​of the first area. For example, the location parameter values ​​may include... Figure 3 The coordinates of points B, C, G, and H in the region GHIJ are shown. After receiving these location parameter values, the communication device can adjust the transmission angle of the sensing signal (which can be called the sensing beam) to sense the first region. Optionally, the first indication message includes information for constraining the transmission range of the sensing beam emitted by the communication device. For example, the communication device presets beam index numbers corresponding to beams within different transmission angle ranges, and the first indication message may include the beam index number corresponding to the first region. After receiving the beam index number, the communication device determines the transmission angle of the sensing beam based on the beam index number, thereby sensing the first region.

[0132] Furthermore, the communication device senses the first area and obtains a first sensing message based on the sensing signal and echo signal. For explanations of the sensing modes and scenarios, please refer to [link to documentation / reference]. Figure 1B and Figure 1C The descriptions of the corresponding parts of the illustrated embodiments will not be repeated here. It is understood that the embodiments of this application do not strictly limit the sensing mode of the communication device, and the embodiments of this application can be applied to a variety of sensing scenarios.

[0133] The first sensed information is used to characterize the state of objects in the first area acquired by the communication device. Optionally, the state includes one or more of the following: position, velocity, and type. Velocity can be angular velocity or acceleration, etc., used to reflect the direction and magnitude of the object's motion.

[0134] In one alternative implementation, the first sensing information may include one or more of the position parameters, velocity parameters, and type parameters of an object in the first region.

[0135] In one alternative implementation, the first sensing information includes a second sensing spectrum of a first region, the second sensing spectrum being used to characterize the distribution of objects in the first region acquired by the communication device.

[0136] For ease of understanding, please refer to the example provided. Figure 4 , Figure 4 This is a schematic diagram of a sensing spectrum provided in an embodiment of this application. For example... Figure 4As shown in (A), the second sensing spectrum 401 includes multiple third grids, such as third grid 4011 and third grid 4012 (the grids filled in gray in the figure are used for illustration). The second sensing spectrum 401 can be a spectrum obtained by establishing a two-dimensional coordinate system (such as a Cartesian coordinate system) based on the first region KLMN. Each third grid corresponds to a third feature parameter, which is used to characterize whether there is an object in a part of the first region corresponding to the third grid and the signal strength of the echo signal of the object in the third grid. The sensing spectrum (such as the second sensing spectrum) in the embodiments of this application can be a two-dimensional graph or a three-dimensional graph. The embodiments of this application do not strictly limit this, but for the sake of description, the sensing spectrum in the embodiments of this application is a two-dimensional graph as an example.

[0137] Optionally, the second sensing spectrum 401 may also include coordinate values. For example, the units of the values ​​(e.g., 5, 10, 15, and 20) along the x-axis and y-axis of the two-dimensional coordinate system can both be meters (m). Then, the third grid 4011 could represent an area of ​​25 square meters in the first region. It is understood that... Figure 4 The scale of the second sensing spectrum 401 shown in (A) for the first region can be set by the default setting of the communication device, or it can be set according to the actual application scenario. This application embodiment does not strictly limit this. It should be noted that... Figure 4 The second perceptual spectrum 401 shown in (A) can be characterized as a first region KLMN with a regular shape (such as a square or rectangle) or a first region with an irregular shape. For example, as Figure 4 As shown in (B) in the diagram, the second sensing spectrum 401 can also represent, as shown in the diagram. Figure 3 The first region BCGH is shown. That is to say, the specific shape of the first region is not strictly limited in the embodiments of this application. For ease of understanding and description, a regularly shaped first region will be used as an example below. Figure 2 The method embodiments shown are explained and illustrated.

[0138] Optionally, the larger the value of the third characteristic parameter, the stronger the signal strength of the object's echo signal. The unit of signal strength can be decibels and millivolts (dBm) or other units; this application does not strictly limit this. For example, Figure 4If the value of the third feature parameter corresponding to the third grid 4011 is 35, it indicates that the communication device has detected an object in the region corresponding to the third grid 4011, and the signal strength of the object's echo signal is 35 dBm. If the value of the third feature parameter corresponding to the third grid 4012 is 0, it indicates that the communication device has detected no object in the region corresponding to the third grid 4012. In practical applications, the echo signal strengths corresponding to different types of objects may be different or the same. Therefore, in the third sensing spectrum, the value of the third feature parameter corresponding to the third grid may not accurately determine the type of object in the region corresponding to that third grid.

[0139] Optionally, if the communication device acquires that the part of the first region where an object is located corresponds to more than one third grid, such as two third grids, then the parameter values ​​of the third feature parameters corresponding to these two third grids are used to characterize the signal strength of the echo signal of the object.

[0140] Optionally, the second sensing spectrum can be obtained by the communication device based on the range Doppler spectrum (also known as the RD spectrum) for the first region. It can be understood that the RD spectrum can use multiple data point sets to represent multiple objects in the first region acquired by the communication device. Each data point in each data point set represents an echo signal reflected from a part of that object. Each data point corresponds to parameter information, such as position parameters, velocity parameters, and echo signal strength parameters. It can also be understood that the third feature parameter corresponding to the third grid in the second sensing spectrum can be obtained based on the signal strength parameters of one or more data points in the RD spectrum. The mapping rule from the signal strength parameters of the data points to the third feature parameter can be set by the communication device by default or can be set according to the actual application scenario; this embodiment does not strictly limit this.

[0141] It should be noted that, in this application, "sending information to... (e.g., a sensing device)" can include sending information directly or indirectly to a device. "Receiving information from... (e.g., a communication device)," "receiving information from... (e.g., a communication device)," or "receiving information sent (e.g., by a communication device)" can include receiving information directly or indirectly from a device. Information may undergo necessary processing, such as format changes, between the source and destination, but the destination can understand the valid information from the source.

[0142] For example, a communication device can directly send first sensing information for a first area to a sensing device, or it can indirectly transmit information to the sensing device through an intermediate device. For example, if the sensing device is a core network device and the communication device is an access network device, the access network device can directly send the first sensing message to the core network device; if the sensing device is a core network device and the communication device is a terminal device, the terminal device can first send the first sensing message to the access network device with which it communicates, and then the access network device sends the first sensing message to the core network device; if the communication device is an access network device and the sensing device is one of multiple access network devices (hereinafter referred to as the first access network device), then the access network devices other than the first access network device directly send the first sensing message to the first access network device.

[0143] It is understood that the embodiments of this application do not strictly limit the device types of the multiple communication devices. The multiple communication devices can be of the same type or include devices of different types. For example, each of the multiple communication devices can be an access network device or a terminal device. The multiple communication devices can also include one or more access network devices and one or more terminal devices. In practical application scenarios, communication devices are usually access network devices (such as base stations).

[0144] Step S202: The sensing device inputs multiple first sensing information into the sensing model to obtain second sensing information.

[0145] The perception model is used to predict new perception information based on input perception information. The perception device can use multiple first perception information sets collected by multiple communication devices as input information for the perception model, and process these first perception information sets based on the perception model to generate second perception information for a first region. This application does not strictly limit the specific computational logic of the perception model. Optionally, the perception model can be a neural network model.

[0146] The second sensed information is used to characterize the state of an object in the first region predicted by the sensing device. Optionally, the state includes one or more of the following: position, velocity, and type. Velocity can be angular velocity or acceleration, etc., used to reflect the direction and magnitude of the object's motion.

[0147] In one alternative implementation, the first sensing information includes a second sensing spectrum of a first region acquired in the acquisition, and the second sensing information includes a first sensing spectrum of a predicted first region, which is used to characterize the distribution of objects in the predicted first region.

[0148] For ease of understanding, please refer to the example provided. Figure 5 , Figure 5 This is a schematic diagram of another sensing spectrum provided in an embodiment of this application. For example... Figure 5 As shown, the first sensing spectrum 501 includes multiple first grids, such as first grid 5011 and first grid 5012 (the grids filled in gray in the figure are for illustrative purposes). The first sensing spectrum 501 can be a sensing device based on a sensing model of multiple second sensing spectra (including, etc.) Figure 4 The spectrum obtained by processing the second sensing spectrum 401 shown is used to characterize the distribution of objects in the predicted first region KLMN. For an explanation of the second sensing spectrum, please refer to the corresponding section in step S201; it will not be repeated here. It is understood that the specifications (size and number) of the multiple first grids in the first sensing spectrum 501 and the multiple third grids in the second sensing spectrum 401 are the same, and the scale of the first sensing spectrum 501 for the first region KLMN is the same as that of the second sensing spectrum 401. This application embodiment does not strictly limit the specifications of the multiple grids in the sensing spectrum (such as the second sensing spectrum); the specifications can be related to the calculation logic of the sensing model or can be the default settings of the second device.

[0149] In the first perception spectrum 501, each first grid corresponds to a first feature parameter. The first feature parameter is used to characterize whether there are objects in a certain area of ​​the first region corresponding to the first grid and the type of objects within the first grid. Optionally, the type of object may include people, vehicles, buildings, and flying objects, etc. The type of object can be obtained by classifying objects in the region based on actual perception needs. This application embodiment does not strictly limit this.

[0150] Optionally, the first sensing spectrum 501 may also include coordinate values. For an explanation of the coordinate values, please refer to the explanation of the coordinate values ​​in the second sensing spectrum in step S201, which will not be repeated here.

[0151] Optionally, the parameter value of the first feature parameter represents the type of object. This application embodiment does not strictly limit the correspondence between the first feature parameter and the object type; this correspondence can be a default setting or adjusted according to actual perception needs. For example, Figure 5 The preset correspondence between the first feature parameter corresponding to the first grid in the first perception spectrum 501 and the object type can be shown in Table 1 below:

[0152] Table 1. Preset Correspondence between First Feature Parameter and Object Type

[0153] Object type First characteristic parameter figure 30 building 100 vehicle 50 No object 0

[0154] So, Figure 5If the parameter value of the first feature parameter corresponding to the first grid 5011 is 50, it means that the communication device predicts the existence of an object in a certain region corresponding to the first grid 5011, and the type of the object is a vehicle. If the parameter value of the first feature parameter corresponding to the first grid 5012 is 0, it means that the communication device predicts that there is no object in a certain region corresponding to the first grid 5012. It can be understood that the first perception spectrum can directly reflect the distribution of objects in the first region predicted by the perception device.

[0155] In one alternative implementation, during the processing of multiple pieces of first sensing information based on a sensing model, the sensing device generates a first sensing spectrum, and then generates second sensing information for a first region based on the first sensing spectrum. The second sensing information includes parameters characterizing the state of an object in the predicted first region (hereinafter referred to as the predicted state parameters of the object). These predicted state parameters include predicted position parameters and predicted type parameters.

[0156] For ease of understanding, exemplarily, sensing devices are based on, for example, Figure 5 The first perceptual spectrum 501 shown generates the predicted state parameters of objects in the first region. The predicted state parameter α of the object can be represented by the following formula (1):

[0157] α=(ε1,ε2,ε3)(1)

[0158] The first predicted position parameter ε1 represents the first grid cell corresponding to the predicted partial area where the object is located, located in the ε1st row of the first sensing spectrum 501. The second predicted position parameter ε2 represents the first grid cell corresponding to the predicted partial area where the object is located, located in the ε2nd column of the first sensing spectrum 501. The predicted type parameter ε3 is the first feature parameter corresponding to the first grid cell corresponding to the predicted partial area where the object is located. In other words, by using the predicted state parameter α, we can know which type of object the sensing device predicted is located in which region of the first area, and thus know the distribution of objects within the first region.

[0159] Step S203: The sensing device optimizes the sensing model based on the second sensing information and the third sensing information of the first area.

[0160] The third sensing information includes reference values ​​for the sensing information of the first region. The sensing device optimizes the sensing model based on the loss between the second and third sensing information.

[0161] In one alternative implementation, the second sensing information is the first sensing spectrum, and the third sensing information is the feature map obtained by the sensing device based on the objects in the reference image of the first region.

[0162] For illustrative purposes and to facilitate understanding, please refer to [link / reference]. Figure 6 , Figure 6 This is a schematic diagram of a feature map provided in an embodiment of this application. For example... Figure 6 As shown, the reference image 601 of the first region KLMN can represent the objects actually contained in the first region KLMN, such as vehicles 6011, people 6012, people 6013, people 6014, buildings 6015, buildings 6016, and buildings 6017. Optionally, the reference image 601 may also include coordinate values. For an explanation of the coordinate values, please refer to the explanation of the coordinate values ​​in the second perceptual spectrum in step S201, which will not be repeated here.

[0163] Furthermore, the sensing device can perform gridding processing on the reference image 601 and mark the objects in the reference image 601 to obtain a feature map 602 of the first region KLMN. This feature map 602 includes multiple second grids, each corresponding to a second feature parameter. The second feature parameter characterizes whether an object actually exists in a partial region of the first region corresponding to the second grid and the type of object within the second grid. Optionally, during the marking of objects in the image after gridding the reference image 601, if an object in the reference image 601 exists in a partial region corresponding to more than one second grid (e.g., in two partial regions corresponding to two second grids), then according to preset conditions, the object can be considered as belonging to a partial region corresponding to one of the two second grids. The preset conditions can be defined as the partial region where the object occupies the largest space in these two partial regions being the partial region where the object is located in the first region. Optionally, the feature map 602 may also include coordinate values. For an explanation of the coordinate values, please refer to the explanation of the coordinate values ​​in the second sensing spectrum in step S201; it will not be repeated here. It is understandable that the specifications (size and number) of multiple second grids in the feature map 602 and multiple first grids in the first sensing spectrum map 501 are the same, and the scale of the feature map 602 for the first region KLMN is the same as that of the first sensing spectrum map 501.

[0164] Optionally, the parameter value of the second feature parameter represents the type of object. This application embodiment does not strictly limit the correspondence between the second feature parameter and the object type; this correspondence can be a default setting or adjusted according to actual perception requirements. In this application embodiment, the correspondence between the second feature parameter and the object type is the same as the correspondence between the first feature parameter and the object type in step S201 above. Please refer to the explanation of the corresponding part in step S201 above.

[0165] Next, the sensing device... Figure 5The first perceptual spectrum 501 is compared with the feature map 602, and the loss between the two is calculated. Furthermore, the sensing device optimizes the perceptual model based on the loss. Comparison of the first perceptual spectrum 501 and the feature map 602 shows that objects present in the first region KLMN (such as people 6013 and buildings 6016) are not perceived. In practical applications, during the training of the perceptual model, situations may arise where perceived objects do not exist in the first region, or the actual location of an object in the first region is inconsistent with the perceived information.

[0166] The loss between the first sensing spectrum 501 and the feature map 602 includes the error (also known as accuracy) of the feature parameters between the first and second grids at the same position in the first sensing spectrum 501 and the feature map 602. For example, the loss δ between the first sensing spectrum 501 and the feature map 602 can be calculated by the following formula (2):

[0167]

[0168] Where N is the number of grids in the first sensing spectrum 501 (which is also equal to the number of grids in the feature map 602), S(a,b) is the first feature parameter corresponding to the first grid in the a-th row and b-th column of the first sensing spectrum 501, and T(a,b) is the second feature parameter corresponding to the second grid in the a-th row and b-th column of the feature map 602. It can be understood that S(a,b) can be regarded as the index of the first sensing spectrum 501, and T(a,b) can be regarded as the index of the feature map 602. The method of calculating the loss using formula (2) can also be called the MSE error calculation method.

[0169] Afterwards, the sensing device can optimize the hyperparameters in the sensing model based on the loss δ, and repeat steps S201-S203 until the loss δ is not greater than the preset loss threshold.

[0170] In one alternative implementation, Figure 6 The feature map 602 shown represents the actual distribution of people, vehicles, and buildings in the first region KLMN. It does not represent that only these three types of objects exist in the first region KLMN, but rather reflects the distribution of these three types of objects that the perception requirement expects to focus on within the first region KLMN. That is, the sensing device can mark the grid map corresponding to the reference image 601 according to the perception requirement. For example, it can only mark the second feature parameters of the second grid corresponding to the portion of the area where the objects that the perception requirement expects to focus on are located. It can be seen that the embodiments of this application can flexibly adjust the feature map according to the perception requirement, thereby making the perception information output by the sensing device better meet the actual perception requirement.

[0171] In one optional implementation, the reference image of the first region is obtained by the sensing device based on an image captured by the camera device of the first region. Specifically, the sensing device may send a second instruction to the camera device, wherein the second instruction indicates the acquisition of image capture information of the first region. Optionally, the image capture information may be a photograph of the first region. After receiving the second instruction, the camera device captures an image of the first region, generates and sends the image capture information of the first region to the sensing device. The sensing device can then obtain third sensing information based on the image capture information.

[0172] The sensing device can send a second instruction message directly or indirectly to the capturing device. For example, if the sensing device is a core network device, the communication device is a base station, and the capturing device is a camera located near or configured on the base station that can communicate with it, then the core network device can send the second instruction message to the camera through the base station. Alternatively, if the sensing device is a base station, the communication device is a terminal, and the capturing device is a camera that can be configured on the terminal device (which can be understood as the capturing device also being a terminal device), then the base station can directly send the second instruction message to the terminal device.

[0173] In one optional implementation, the second sensing information is the first sensing spectrum, and the third sensing information is a feature map obtained by the sensing device based on the objects marked in the reference map of the first region. The reference map of the first region may be pre-stored by the sensing device, or it may be a reference map sent to the sensing device by another device that stores the reference map. It is understood that, compared to the reference image of the first region, the reference map focuses more on reflecting the actual distribution of static objects (e.g., buildings) in the first region.

[0174] For illustrative purposes and to facilitate understanding, please refer to [link / reference]. Figure 7 , Figure 7 This is a schematic diagram of yet another feature map provided in an embodiment of this application. For example... Figure 7 As shown, the reference map 701 of the first region KLMN can represent the buildings actually contained in the first region KLMN, such as building 7011, building 7012, and building 7013. Optionally, the reference map 701 may also include coordinate values. For an explanation of the coordinate values, please refer to the explanation of the coordinate values ​​in the second perceptual spectrum in step S201, which will not be repeated here.

[0175] Furthermore, the sensing device can perform gridding on the reference map 701 and mark the buildings in the reference map 701 to obtain a feature map 702 for the first region KLMN. For an explanation of feature map 702, please refer to [link to relevant documentation]. Figure 6 The explanation of feature map 602 is not repeated here.

[0176] Next, the sensing device... Figure 5 The first sensing spectrum 501 shown is Figure 7 The feature map 702 shown is compared to calculate the loss between the first perception spectrum 501 and the feature map 702. Furthermore, the sensing device optimizes the hyperparameters in the perception model based on the loss, repeating steps S201-S203 until the loss is no greater than a preset loss threshold. It can be seen that comparing the first perception spectrum 501 and the feature map 702 reveals that objects (such as buildings 7013) existing in the first region KLMN are not perceived. It is understandable that using the feature map obtained based on the reference map of the first region as the third perception information indicates that the perception requirement aims to focus on the distribution of static objects in the first region.

[0177] For an explanation of the loss between the first perceptual spectrum 501 and the feature map 702, please refer to the above explanation of the loss between the first perceptual spectrum 501 and the feature map 602, which will not be repeated here.

[0178] In one optional implementation, the second sensing information includes a predicted type parameter of the object in the first region. This predicted state parameter includes a predicted position parameter and a predicted type parameter. For an explanation of the predicted state parameter, please refer to the corresponding explanation in step S202 above; it will not be repeated here. The third sensing information includes parameters representing the state of the object reported by the device in the first region (hereinafter referred to as the object's reference state parameters).

[0179] Understandably, in scenarios with a large number of terminal devices in the first area, there are also many users using these devices, resulting in a greater number of predicted state parameters for individuals in the second sensing information. The sensing device can send a third indication message to the terminal devices in the first area, instructing them to acquire the terminal devices' location information (such as latitude and longitude). After receiving the third indication message, the terminal device sends its location information back to the sensing device. Optionally, to ensure timestamp consistency, the terminal device may also include the corresponding timestamp when sending its location information.

[0180] The sensing device treats the location information of the terminal device as the location information of the person using the terminal device, and combines the location information of the first region and the person to determine a reference grid map of the first region. This reference grid map includes a fourth grid, which corresponds to a fourth feature parameter. The fourth feature parameter is used to characterize whether a person exists in a certain area of ​​the first region corresponding to the fourth grid.

[0181] For example, such as Figure 8As shown, the reference grid diagram 801 of the first region KLMN includes multiple fourth grids. If the fourth feature parameter value of the fourth grid is 0, it indicates that there are no people in some areas of the first region corresponding to the fourth grid. If the fourth feature parameter value is 20, it indicates that there are people in some areas of the first region corresponding to the fourth grid.

[0182] Subsequently, the sensing device determines the reference state parameters of the object in the first region, which include reference position parameters and reference type parameters. For ease of understanding, for example, the reference state parameter α′ of a person can be represented by the following formula (3):

[0183] α′=(ε1′, ε2′, ε3′)(3)

[0184] The first reference position parameter ε1′ represents the ε1′ row of the fourth grid corresponding to the partial area where the person is located in the reference grid diagram 801. The second reference position parameter ε2′ represents the ε2′ column of the fourth grid corresponding to the partial area where the person is located in the reference grid diagram 801. The reference type parameter ε3′ represents the fourth feature parameter value of the fourth grid corresponding to the predicted partial area where the person is located. In other words, the actual distribution of people in the first region can be known through the reference state parameter α′.

[0185] Next, the sensing device compares the predicted state parameter α of the person with the reference state parameter α′, and calculates the loss between the reference state parameter α′ and the predicted state parameter α. Furthermore, the sensing device optimizes the hyperparameters in the sensing model based on the loss, repeating steps S201-S203 until the loss is no greater than a preset loss threshold.

[0186] In summary, in the embodiments of this application, the sensing device can process the sensing information of multiple communication devices for the first area based on the sensing model, predict new sensing information, and optimize (or train) the sensing model based on the new sensing information and the reference value of the sensing information of the first area, thereby avoiding the distortion of the sensing information of the first area, making the sensing information predicted by the sensing device more accurate, and thus improving the sensing performance of the communication network.

[0187] Furthermore, in this embodiment, the reference values ​​of the perception information of the first region can be obtained in various ways. The perception device can use the reference image of the first region, the reference map of the first region, or the parameters representing the state of the object reported by the device in the first region as the reference values ​​of the perception information of the first region, thereby meeting different perception needs.

[0188] The following text combines Figure 1A and specific application scenarios Figure 2 The illustrated embodiments are provided as examples.

[0189] Application Scenario 1: The sensing device is the core network device, the communication device is the base station, the second sensing information is the first sensing spectrum, and the third sensing information is the feature map obtained by the sensing device based on the objects in the reference image of the first region.

[0190] For better understanding, please refer to Figure 9 , Figure 9 This is a flowchart illustrating another sensing method provided in an embodiment of this application. This method can be based on... Figure 1A The architecture shown can be used to implement this method, but it can also be implemented based on other architectures. This method includes, but is not limited to, the following steps:

[0191] Step S901: The core network equipment sends a first instruction message to the first base station.

[0192] Step S902: The core network equipment sends a first indication message to the second base station.

[0193] Step S903: The first base station generates first sensing information for the first area.

[0194] Step S904: The second base station generates first sensing information for the first area.

[0195] Step S905: The first base station sends the first sensing information to the core network equipment.

[0196] Step S906: The second base station sends the first sensing information to the core network equipment.

[0197] Step S907: The core network device inputs multiple first sensing information into the sensing model to obtain second sensing information.

[0198] Step S908: The core network equipment sends a second instruction message to the camera through the first base station.

[0199] Step S909: The camera takes a picture of the first area and generates the shooting information of the first area.

[0200] Step S910: The camera sends the shooting information of the first area to the core network equipment through the first base station.

[0201] Step S911: The core network equipment obtains third-sensing information based on the captured information.

[0202] Step S912: The core network equipment optimizes the perception model based on the second perception information and the third perception information of the first area.

[0203] It should be noted that the operations, technical terms, and technical logic involved in steps S901-S912 can be referred to Figure 2The relevant descriptions of the illustrated embodiments will not be repeated here. Steps S908 to S911 can be performed after step S907 or before step S901. Step S903 can be performed before or after step S902. This application does not strictly limit these steps. Figure 9 The beneficial effects of the illustrated embodiments can be found in [reference needed]. Figure 2 The beneficial effects of the illustrated embodiments will not be elaborated here.

[0204] Application Scenario 2: The sensing device is the core network device, the communication device is the base station, the second sensing information includes the predicted type parameters of objects in the first area, and the third sensing information includes the parameters representing the state of objects reported by the device in the first area.

[0205] For better understanding, please refer to Figure 10 , Figure 10 This is a flowchart illustrating another sensing method provided in an embodiment of this application. This method can be based on... Figure 1A The architecture shown can be used to implement this method, but it can also be implemented based on other architectures. This method includes, but is not limited to, the following steps:

[0206] Step S1001: The core network equipment sends a first indication message to the first base station.

[0207] Step S1002: The core network equipment sends a first indication message to the second base station.

[0208] Step S1003: The first base station generates first sensing information for the first area.

[0209] Step S1004: The second base station generates first sensing information for the first area.

[0210] Step S1005: The first base station sends the first sensing information to the core network equipment.

[0211] Step S1006: The second base station sends the first sensing information to the core network equipment.

[0212] Step S1007: The core network device inputs multiple first sensing information into the sensing model to obtain second sensing information.

[0213] Step S1008: The core network equipment sends a third instruction message to the first terminal equipment through the first base station.

[0214] Step S1009: The core network equipment sends a third instruction message to the second terminal equipment through the second base station.

[0215] Step S1010: The first terminal device sends the first location information to the core network device through the first base station.

[0216] Step S1011: The second terminal device sends the second location information to the core network device through the second base station.

[0217] Step S1012: The core network device generates third sensing information based on the first location information and the second location information.

[0218] Step S1013: The core network equipment optimizes the perception model based on the second perception information and the third perception information of the first area.

[0219] It should be noted that the operations, technical terms, and technical logic involved in steps S1001-S1013 can be referred to Figure 2 The relevant descriptions of the illustrated embodiments will not be repeated here. Steps S1008 to S1012 can be performed after step S1007 or before step S1001. Step S1003 can be performed before or after step S1002. This application does not strictly limit these steps. Figure 10 The beneficial effects of the illustrated embodiments can be found in [reference needed]. Figure 2 The beneficial effects of the illustrated embodiments will not be elaborated here.

[0220] Figure 2 , Figure 9 and Figure 10 In the illustrated embodiment, after the sensing device completes the training of the sensing model, it can then directly predict the sensing information of the first region based on the sensing model. For a clearer understanding, please refer to [link to documentation]. Figure 11 , Figure 11 This is a flowchart illustrating another sensing method provided in an embodiment of this application. This method can be based on... Figure 1A The architecture shown can be used to implement this method, but it can also be implemented based on other architectures. This method includes, but is not limited to, the following steps:

[0221] Step S1101: The sensing device acquires the fourth sensing information of the first area from multiple communication devices respectively.

[0222] The fourth sensing information may include one or more of the following: position parameters, velocity parameters, and type parameters of objects in the first region acquired by the communication device. It is understood that the fourth sensing information is related to... Figure 2 In the illustrated embodiments, the characteristics of the first sensing information are the same. Optionally, the fourth sensing information can be the first sensing information. Optionally, the fourth sensing information and the first sensing information can also be sensing information for the first area collected by the communication device at different times.

[0223] For an explanation of step S1101, please refer to [link / reference]. Figure 2The description of the corresponding part of "the sensing device acquires first sensing information" in step S201 of the illustrated embodiment will not be repeated here.

[0224] Step S1102: The sensing device inputs multiple fourth sensing information into the sensing model to obtain fifth sensing information.

[0225] The fifth perceptual information is used to characterize the state of objects in the first region predicted by the perceptual device. Optionally, the state includes one or more of the following: position, velocity, and type. Velocity can be angular velocity or acceleration, etc., reflecting the direction and magnitude of the object's motion. The perceptual model can be... Figure 2 The perception model in the illustrated embodiment.

[0226] It is understandable that the fifth sense information and Figure 2 In the illustrated embodiments, the characteristics of the second sensing information are the same. Optionally, the fifth sensing information can be the second sensing information. Optionally, the fifth sensing information can be information that is closer to the reference value of the sensing information in the first region than the second sensing information. Optionally, the fifth sensing information and the second sensing information can also be sensing information predicted by the sensing device at different times.

[0227] For an explanation of step S1102, please refer to [link / reference]. Figure 2 The description of the corresponding part of step S202 in the illustrated embodiment, which describes "the sensing device obtains the second sensing information," will not be repeated here. Furthermore, Figure 11 The beneficial effects of the illustrated embodiments can be found in [reference needed]. Figure 2 The beneficial effects of the illustrated embodiments will not be elaborated here.

[0228] The following describes the communication device provided in the embodiments of this application.

[0229] Figure 12 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application, such as... Figure 12 As shown, the communication device 140 includes a processing module 1401 and a transceiver module 1402. The transceiver module 1402 can implement corresponding communication functions, and the processing module 1401 is used for data processing. The transceiver module 1402 can also be referred to as an interface, a communication interface, or a communication module, etc.

[0230] In some embodiments of this application, the communication device can be used to perform the actions performed by the first or second device in the above method embodiments. The transceiver module 1402 is used to perform the transmission-reception related operations performed by the sensing device or communication device in the above method embodiments. For example, the transmitting end can be the device itself or a chip or functional module configurable in the device. The processing module 1401 is used to perform the processing-related operations performed by the sensing device or communication device in the above method embodiments. The processing module 1401 can perform corresponding operations by calling a computer program or by performing corresponding operations through corresponding hardware circuits. The transceiver module 1402 can perform transmission-reception operations independently or under the control of the processing module 1401.

[0231] For example, Figure 12 The communication device 140 shown can be a sensing device or a component in a sensing device as described in the above method embodiment. The processing module 1401 and the transceiver module 1402 in the communication device 140 can respectively perform the following operations:

[0232] The transceiver module 1402 is used to acquire first sensing information from multiple communication devices for the first area;

[0233] The processing module 1401 is used to input multiple first perception information into the perception model to obtain second perception information, wherein the perception model is used to predict new perception information based on the input perception information;

[0234] The processing module 1401 is also used to optimize the perception model based on the second perception information and the third perception information of the first region, wherein the third perception information is a reference value of the perception information of the first region.

[0235] In one alternative implementation, the first, second, and third sensory information are used to characterize the state of an object in the first region, the state including one or more of position, velocity, and type.

[0236] In one alternative implementation, in optimizing the perception model based on the second perception information and the reference perception information of the first region, the processing module 1401 is specifically used for:

[0237] The perception model is optimized based on the loss between the second perception information and the third perception information of the first region.

[0238] In one alternative implementation, the third perceptual information includes a feature map obtained by labeling objects in a grid map corresponding to a reference image or reference map of the first region, and the second perceptual information includes a first perceptual spectrum of the predicted first region, which is used to characterize the distribution of objects in the predicted first region.

[0239] In one alternative implementation, the first perceptual spectrogram includes multiple first grids, each corresponding to a first feature parameter. The first feature parameter is used to predict whether an object exists in a portion of the first region corresponding to the first grid and / or the type of object within the first grid.

[0240] The feature map includes multiple second grids, each corresponding to a second feature parameter. The second feature parameter is used to characterize whether an object exists in a portion of the first region corresponding to the second grid, and the type of object within the second grid.

[0241] The first grids of the first perception spectrum and the second grids of the feature map have the same specifications.

[0242] In an alternative implementation, the processing module 1401 is further configured to obtain the third sensing information based on the shooting information for the first region.

[0243] In one alternative implementation, regarding obtaining the third sensing information based on the image information for the first region:

[0244] The transceiver module 1402 is specifically used to send a second instruction message to the shooting device, wherein the second instruction message is used to instruct the acquisition of shooting information of the first area;

[0245] The transceiver module 1402 is specifically used to receive the shooting information of the first area;

[0246] The processing module 1401 is specifically used to obtain third-sensory information based on the shooting information.

[0247] In one alternative implementation, the second sensing information includes parameter values ​​representing the state of an object in the predicted first region, and the third sensing information includes parameter values ​​representing the state of an object reported by the device in the first region.

[0248] In one alternative implementation, the first sensing information includes a second sensing spectrum of the first region being acquired, which is used to characterize the distribution of objects in the first region being acquired.

[0249] In one alternative implementation, the transceiver module 1402 is further configured to send a first indication message to multiple communication devices respectively, wherein the first indication message is used to indicate the sensing of a first area.

[0250] In one alternative implementation, the first indication message includes location parameter values ​​for a first region, or information for constraining the transmission range of a sensing beam emitted by the communication device.

[0251] Reuse Figure 12 In other embodiments of this application, exemplarily, Figure 12The communication device 140 shown can be a communication device or a component in a communication device as described in the above method embodiment. The processing module 1401 and the transceiver module 1402 in the communication device can respectively perform the following operations:

[0252] The transceiver module 1402 is used to send third sensing information for the first area to the sensing device. The third sensing information is a reference value of the sensing information of the first area. The third sensing information is used to optimize the sensing model by combining the second sensing information. The sensing model is used to predict new sensing information based on the input sensing information.

[0253] The processing module 1401 is used to send first sensing information for a first area to the sensing device, wherein the second sensing information is information obtained by inputting the first sensing information into the sensing model.

[0254] In an alternative implementation, the transceiver module 1402 is further configured to acquire a first indication message sent by the sensing device, wherein the first indication message is used to indicate the sensing of a first area.

[0255] In one alternative implementation, the first, second, and third sensory information are used to characterize the state of an object in the first region, the state including one or more of position, velocity, and type.

[0256] In one alternative implementation, the third perceptual information includes a feature map obtained by labeling objects in a grid map corresponding to a reference image or reference map of the first region, and the second perceptual information includes a first perceptual spectrum of the predicted first region, which is used to characterize the distribution of objects in the predicted first region.

[0257] In one alternative implementation, the first perceptual spectrogram includes multiple first grids, each corresponding to a first feature parameter. The first feature parameter is used to predict whether an object exists in a portion of the first region corresponding to the first grid and / or the type of object within the first grid.

[0258] The feature map includes multiple second grids, each corresponding to a second feature parameter. The second feature parameter is used to characterize whether an object exists in a portion of the first region corresponding to the second grid, and the type of object within the second grid.

[0259] The first grids of the first perception spectrum and the second grids of the feature map have the same specifications.

[0260] In one alternative implementation, the transceiver module 1402 is specifically used for: sending first sensing information about the first region to the sensing device.

[0261] Receive a second indication message sent by the sensing device, wherein the second indication message is used to indicate the acquisition of shooting information of the first area;

[0262] Send a second instruction message to the shooting device;

[0263] Receive the shooting information of the first area.

[0264] In one alternative implementation, the first indication message includes location parameter values ​​for a first region, or information for constraining the transmission range of a sensing beam emitted by the communication device.

[0265] The specific descriptions of the transceiver module 1402 and the processing module 1401 shown in the above embodiments are merely examples. For the specific functions or execution steps of the transceiver module 1402 and the processing module 1401, please refer to the above method embodiments, which will not be described in detail here.

[0266] The communication device according to the embodiments of this application has been described above. The following describes the possible product forms of the communication device. Any device possessing the above-described... Figure 12 Any form of product that incorporates the functionality of the aforementioned communication device falls within the protection scope of the embodiments of this application.

[0267] The following description is merely an example and does not limit the product form of the communication device in the embodiments of this application to this.

[0268] In one possible implementation, Figure 12 In the communication device 140 shown, the processing module 1401 can be one or more processors, and the transceiver module 1402 can be a transceiver, or the transceiver module 1402 can also be a transmitting module and a receiving module. The transmitting module can be a transmitter, and the receiving module can be a receiver. The transmitting module and the receiving module are integrated into one device, such as a transceiver. In this embodiment, the processor and the transceiver can be coupled, etc., and the connection method between the processor and the transceiver is not limited in this embodiment. In the process of executing the above method, the process of sending information in the above method can be the process of the processor outputting the above information. When outputting the above information, the processor outputs the above information to the transceiver so that the transceiver can transmit it. After the above information is output by the processor, it may need to undergo other processing before reaching the transceiver. Similarly, the process of receiving information in the above method can be the process of the processor receiving the input above information. When the processor receives the input information, the transceiver receives the above information and inputs it into the processor. Furthermore, after the transceiver receives the above information, the above information may need to undergo other processing before being input into the processor.

[0269] like Figure 13As shown, the communication device 150 includes one or more processors 1502 and transceivers 1501. Exemplarily, the transceiver 1501 is used to perform actions such as... Figure 12 The transceiver module 1402 shown implements the functions or steps, and the processor 1502 is used to execute such functions or steps. Figure 12 The processing module 1401 shown illustrates the functions or steps implemented by this module. For detailed information on the processor 1502 and transceiver 1501, please refer to [link / reference needed]. Figure 12 Alternatively, the method embodiments shown above will not be described in detail here.

[0270] The descriptions of the relevant steps and information in the above embodiments can be found in the descriptions of the method embodiments above, and will not be detailed here.

[0271] exist Figure 13 In various implementations of the communication apparatus shown, the transceiver may include a receiver for performing a receiving function (or operation) and a transmitter for performing a transmitting function (or operation). The transceiver is also used to communicate with other devices / appliances via a transmission medium.

[0272] Optionally, the communication device 150 may further include one or more memories 1503 for storing program instructions and / or data. The memory 1503 is coupled to the processor 1502. The coupling in this embodiment is an indirect coupling or communication connection between devices, units, or modules, and can be electrical, mechanical, or other forms, used for information exchange between devices, units, or modules. The processor 1502 may operate in conjunction with the memory 1503. The processor 1502 may execute program instructions stored in the memory 1503. Optionally, at least one of the above-mentioned memories may be included in the processor.

[0273] This application embodiment does not limit the specific connection medium between the transceiver 1501, processor 1502, and memory 1503. This application embodiment... Figure 13 The memory 1503, processor 1502, and transceiver 1501 are connected via a bus 1504. Figure 13 The connections between other components are shown in bold and are for illustrative purposes only, not as limiting information. The bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, Figure 13 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0274] In the embodiments of this application, the processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or being executed by a combination of hardware and software modules within the processor.

[0275] In this application embodiment, the memory may include, but is not limited to, non-volatile memory such as hard disk drive (HDD) or solid-state drive (SSD), random access memory (RAM), erasable programmable read-only memory (EPROM), read-only memory (ROM), or compact disc read-only memory (CD-ROM), etc. Memory is any storage medium capable of carrying or storing program code in the form of instructions or data structures, and capable of being read and / or written by a computer (such as the communication device shown in this application), but is not limited to this. The memory in this application embodiment may also be a circuit or any other device capable of implementing storage functions, used to store program instructions and / or data.

[0276] Processor 1502 is primarily used for processing communication protocols and data, controlling the entire communication device, executing software programs, and processing software program data. Memory 1503 is primarily used for storing software programs and data. Transceiver 1501 may include control circuitry and an antenna. The control circuitry is primarily used for converting baseband signals to radio frequency signals and processing radio frequency signals. The antenna is primarily used for transmitting and receiving radio frequency signals in the form of electromagnetic waves. Input / output devices, such as touchscreens, displays, and keyboards, are primarily used for receiving user input data and outputting data to the user.

[0277] When the communication device is powered on, the processor 1502 can read the software program in the memory 1503, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be transmitted wirelessly, the processor 1502 performs baseband processing on the data to be transmitted and outputs the baseband signal to the radio frequency (RF) circuit. The RF circuit processes the baseband signal and transmits the RF signal outward in the form of electromagnetic waves through the antenna. When data is sent to the communication device, the RF circuit receives the RF signal through the antenna, converts the RF signal into a baseband signal, and outputs the baseband signal to the processor 1502. The processor 1502 converts the baseband signal into data and processes the data.

[0278] In another implementation, the radio frequency circuitry and antenna can be set up independently of the processor performing baseband processing. For example, in a distributed scenario, the radio frequency circuitry and antenna can be arranged remotely, independent of the communication device.

[0279] The communication device shown in the embodiments of this application may also have a higher... Figure 13 This application does not limit the use of other components or other related elements. The methods performed by the processor and transceiver shown above are merely examples; the specific steps performed by the processor and transceiver can be found in the methods described above.

[0280] In another possible implementation Figure 12 In the communication device shown, the processing module 1401 can be one or more logic circuits, and the transceiver module 1402 can be an input / output interface, or a communication interface, or an interface circuit, or an interface, etc. Alternatively, the transceiver module 1402 can also be a transmitting module and a receiving module; the transmitting module can be an output interface, and the receiving module can be an input interface, integrated into one module, such as an input / output interface. Figure 14 As shown, Figure 14 The communication device 160 shown includes logic circuitry 1601 and interface 1602. That is, the processing module 1401 can be implemented using logic circuitry 1601, and the transceiver module 1402 can be implemented using interface 1602. The logic circuitry 1601 can be a chip, processing circuit, integrated circuit, or system-on-chip (SoC) chip, etc., and the interface 1602 can be a communication interface, input / output interface, pins, etc. For example, Figure 14 Taking the aforementioned communication device as an example, the chip includes a logic circuit 1601 and an interface 1602.

[0281] In this embodiment, the logic circuit and the interface can also be coupled to each other. The specific connection method between the logic circuit and the interface is not limited in this embodiment. For example, the logic circuit 1601 can be used to perform... Figure 12 The interface 1602 can be used to execute the functions or steps implemented by the processing module 1401 shown. Figure 12 The transceiver module 1402 shown illustrates the functions or steps implemented by this module. For detailed information on the logic circuit 1601 and interface 1602, please refer to [link / reference needed]. Figure 13 Alternatively, the method embodiments shown above will not be described in detail here.

[0282] In an alternative implementation, the communication device 160 may be a RAN chip. For example... Figure 15 As shown, the RAN chip 170 includes a CU, a DU, and a RU. The CU is a platform that performs upper-layer L2 and L3 functions. Midhaul and backhaul interfaces are used to carry traffic between the CU and DU, as well as between the CU and the core network. The DU performs L1 and some L2 functions, while the RU performs L1 computing and radio frequency (RF) digital functions; fronthaul and backhaul interfaces are used to carry traffic between the RU and DU, as well as between the CU and DU. An integrated DU includes the functions of the aforementioned DU and RU.

[0283] The CU / DU hardware includes a chassis platform, motherboard, peripherals, and cooling system. The motherboard contains processing units, memory, internal I / O interfaces, and external connection ports. Its hardware accelerator is designed with interfaces, and hardware functional components include: storage for software, hardware, and system debugging interfaces, and a single-board management controller.

[0284] DU systems are typically implemented using multi-core processors and one or more hardware accelerators. Parts of the DU protocol stack can be implemented in software running on the multi-core processor, while computationally intensive L1 and L2 functions can be offloaded to a field-programmable gate array (FPGA) / graphics processing unit (GPU)-based hardware accelerator; or all L1 functions can be offloaded to an FPGA / GPU-based hardware accelerator, while other protocol stack components are implemented in software running on the processor; or the entire protocol stack can be implemented in software running on the processor. The hardware accelerator supports interconnection with x86 or non-x86 processors. Similarly, the accelerator has a multi-channel high-speed serial computer interconnect express (PCIe) interface pointing to the central processing unit (CPU) and external connections via gigabit Ethernet (GbE) connectivity.

[0285] The RU includes the following components: the Open Radio Access Network Processing Unit (O-RAN OPU) receives Enhanced Common Public Radio Interface (eCPRI) frames from the O-RAN fronthaul and performs fronthaul interface processing, the lowest level L1 (coding, scrambling, modulation, layer mapping, precoding), synchronization, beamforming, and resource unit mapping. The OPU can be a CPU, FPGA, or application-specific integrated circuit (ASIC).

[0286] The OPU's digital processing unit (DPU) performs synchronization, digital downconverter (DDC) in UL, digital upconverter (DUC) in DL, crest factor reduction (CFR), and digital pre-distortion (DPD). It can also improve power amplifier efficiency by reducing the peak-to-average power ratio (PAPR) / adjacent channel leakage ratio (ACLR) of the RF front end.

[0287] The DPU can be implemented as an FPGA or ASIC. The RF processing unit of an open RU (also known as an O-RU) includes a transceiver module, up / down converters, power amplifiers (PA), low noise amplifiers (LNA), and transmit / reception (Tx / Rx) filters. All conversions between the analog and digital domains (e.g., RF sampling, use of RF in up-conversion and down-conversion, frequency conversion using intermediate frequency (IF) and local oscillator (LO) mixing) are performed within the transceiver module. It should be noted that the physical and logical partitions within the RF processing unit do not require specific boundaries.

[0288] In an alternative implementation, the communication device 160 may be a baseband chip. For example... Figure 16As shown, the baseband chip 180 can be implemented using a processing system including one or more processors. Processors include microprocessors (e.g., x86, ARM), microcontrollers, digital signal processors (DSPs), field-programmable gate arrays (FPGAs), GPUs, programmable logic devices (PLDs), state machines, gated logic, discrete hardware circuits, and other suitable hardware configured to various functions. The processor used in the baseband can be used to implement any one or more of the processes or procedures described below, such as processing systems, transceivers, and processors:

[0289] Processing systems can be implemented using a bus architecture, typically represented by a bus. A bus can include any number of interconnect buses and bridges, depending on the specific application and overall design constraints of the processing system. A bus connects various components of a computer system through a shared communication channel, including one or more processors (typically represented by a processor), memory, and computer-readable medium (typically represented by a computer-readable medium). A bus can also link various other circuits, such as timing sources, peripherals, voltage regulators, and power management circuits, and provide interfaces between the bus and transceivers, as well as between the bus and interfaces.

[0290] A transceiver provides a communication interface or means for communicating with various other devices via a wireless transmission medium. The transceiver may be coupled to an antenna array and may be used together with the antenna array to communicate with the corresponding network type. At least one interface (e.g., a network interface and / or a user interface) provides a communication interface or means for communication via an internal bus or via an external transmission medium.

[0291] The processor is responsible for managing the bus and general processing, including executing software stored on a computer-readable medium. When executed by the processor, the software causes the processing system to perform the various functions described below for any particular device.

[0292] The functions that the aforementioned processor, memory, and computer-readable medium can perform include: encoding, decoding, rate matching, rate dematching, scrambling, descrambling, modulation, demodulation, layer mapping, FFT, IFFT, inverse discrete Fourier transform (IDFT), precoding, resource element (RE) mapping, channel equalization, RE demapping, digital beamforming (BF), adding cyclic prefix (CP), and removing CP, etc.

[0293] The above description of the communication device is merely an example; for... Figures 14 to 16 For a detailed description of the communication device shown, please refer to the method embodiments above or Figure 12 or Figure 13 This will not be elaborated upon here.

[0294] The communication device shown in the embodiments of this application can implement the method provided in the embodiments of this application in hardware form, or it can implement the method provided in the embodiments of this application in software form, etc., and the embodiments of this application do not limit it in this way.

[0295] The descriptions of relevant steps and information in the above embodiments can be found in the descriptions of the method embodiments above, and will not be detailed here. For Figure 14 For specific implementations of the various embodiments shown, please refer to the above embodiments, which will not be described in detail here.

[0296] This application also provides a communication system, which includes a first communication device and a second communication device. The first communication device and the second communication device interact with each other. The first communication device is used to perform all or part of the operation of the sensing device in any of the foregoing method embodiments, and the second communication device is used to perform all or part of the operation of the communication device in any of the foregoing method embodiments.

[0297] In addition, this application also provides a computer program for implementing the operations and / or processes performed by various computing resource management devices in the methods provided in this application.

[0298] This application also provides a computer-readable storage medium storing computer code that, when executed on a computer, causes the computer to perform the operations and / or processes performed by various computing resource management devices in the methods provided in this application.

[0299] This application also provides a computer program product comprising computer code or a computer program that, when run on a computer, causes the operations and / or processes performed by various entities in the method provided in this application to be executed.

[0300] In the embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, or it may be an electrical, mechanical, or other form of connection.

[0301] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the technical effects of the solutions provided in the embodiments of this application.

[0302] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0303] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned readable storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0304] In this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0305] Furthermore, unless otherwise stated, the use of ordinal numbers such as "first" and "second" in the embodiments of this application is for distinguishing multiple objects, and is not for limiting the order, timing, priority or importance of multiple objects, such as first sensing information and first sensing spectrum.

[0306] 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 sensing method, characterized in that, Applied to a sensing device, the method includes: Acquire first sensing information from multiple communication devices for the first area; Multiple first perception information are input into a perception model to obtain second perception information, wherein the perception model is used to predict new perception information based on the input perception information; The perception model is optimized based on the second perception information and the third perception information of the first region, wherein the third perception information is a reference value of the perception information of the first region.

2. The method according to claim 1, characterized in that, The first perception information, the second perception information, and the third perception information are used to characterize the state of an object in the first region, and the state includes one or more of position, velocity, and type.

3. The method according to claim 1 or 2, characterized in that, The step of optimizing the perception model based on the second perception information and the reference perception information of the first region includes: The perception model is optimized based on the loss between the second perception information and the third perception information of the first region.

4. The method according to claim 3, characterized in that, The third perception information includes a feature map obtained by marking objects in a grid map corresponding to a reference image or reference map of the first region. The second perception information includes a predicted first perception spectrum of the first region, which is used to characterize the predicted distribution of objects in the first region.

5. The method according to claim 4, characterized in that: The first perceptual spectrum includes multiple first grids, each corresponding to a first feature parameter. The first feature parameter is used to predict whether an object exists in a portion of the first region corresponding to the first grid and / or the type of object within the first grid. The feature map includes multiple second grids, each corresponding to a second feature parameter. The second feature parameter is used to characterize whether an object exists in a portion of the first region corresponding to the second grid, and the type of object within the second grid. The first grids of the first perceptual spectrum have the same specifications as the multiple second grids of the feature map.

6. The method according to any one of claims 3-5, characterized in that, The method further includes: The third sensing information is obtained based on the shooting information of the first area.

7. The method according to claim 6, characterized in that, The step of obtaining the third sensing information based on the shooting information of the first area includes: Send a second instruction message to the shooting device, wherein the second instruction message is used to instruct the acquisition of shooting information of the first area; Receive the shooting information from the first area; The third perception information is obtained based on the captured information.

8. The method according to claim 3, characterized in that, The second sensing information includes parameters representing the state of an object in the first region as predicted, and the third sensing information includes parameters representing the state of an object reported by the device in the first region.

9. The method according to any one of claims 1-8, characterized in that, The first sensing information includes a second sensing spectrum of the first region, which is used to characterize the distribution of objects in the first region.

10. The method according to any one of claims 1-9, characterized in that, The method further includes: A first indication message is sent to each of the plurality of communication devices, wherein the first indication message is used to indicate the sensing of a first area.

11. The method according to claim 10, characterized in that, The first indication message includes location parameter values ​​for the first region, or information for constraining the transmission range of a sensing beam emitted by a communication device.

12. The method according to any one of claims 1-11, characterized in that: The communication device is an access network device, and the sensing device includes a core network device or one of multiple access network devices. Alternatively, the communication device may be a terminal device, and the sensing device may include core network equipment or access network equipment.

13. A sensing method, characterized in that, Applied to communication equipment, the method includes: Send third sensing information for a first region to a sensing device, wherein the third sensing information is a reference value of the sensing information of the first region, the third sensing information is used to optimize the sensing model in combination with the second sensing information, and the sensing model is used to predict new sensing information based on the input sensing information. Send first sensing information for a first region to the sensing device, wherein the second sensing information is information obtained by inputting the first sensing information into the sensing model.

14. The method according to claim 13, characterized in that, The method further includes: Obtain a first indication message sent by the sensing device, wherein the first indication message is used to indicate the sensing of a first area.

15. A sensing method, characterized in that, Applied to a sensing device, the method includes: Acquire fourth sensing information from multiple communication devices for the first area; Multiple fourth perception information are input into the perception model to obtain fifth perception information. The perception model is used to predict new perception information based on the input perception information. The perception model is a model optimized based on the second and third perception information. The second perception information is the perception information of the first region predicted by the perception model, and the third perception information is a reference value of the perception information of the first region.

16. The method according to claim 15, characterized in that, The method further includes: A first indication message is sent to each of the plurality of communication devices, wherein the first indication message is used to indicate the sensing of a first area.

17. A communication device, characterized in that, The communication device includes a module for performing the method as described in any one of claims 1-12, 15, and 16; or, the communication device includes a processor for performing the method as described in any one of claims 1-12, 15, and 16.

18. A communication device, characterized in that, The communication device includes a module for performing the method as described in claim 13 or 14; or, the communication device includes a processor for performing the method as described in claim 13 or 14.

19. A communication device, characterized in that, Includes logic circuits and interfaces, wherein the logic circuits and interfaces are coupled; The interface is used for inputting and / or outputting information, and the logic circuit is used for performing the method as described in any one of claims 1-16.

20. A communication system, characterized in that, The communication system includes a first communication device and a second communication device, wherein the first communication device is used to perform the method as described in any one of claims 1-12, 15 or 16, and the second communication device is used to perform the method as described in claim 13 or 14.

21. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, which, when executed, performs the method as described in any one of claims 1-16.

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