Perceptual information interaction method and device and storage medium

Abstract

The invention relates to a perceptual information interaction method and device and a storage medium. Comprising the steps that when a triggering condition of a sensing data request message is met, the sensing data request message is sent to a target node, and the triggering condition comprises any one of the following items: a source node senses a new target, the source node starts to work, and the source node does not receive a sensing data interaction message from the target node in a preset time window; and receiving a perception data request confirmation message sent by the target node. By adopting the method and the device, the interaction of the sensing information among the nodes can be realized, so that the de-duplication and association fusion of a plurality of tracks of the same sensing target are performed based on the interacted sensing information.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to an interactive method, apparatus and storage medium for sensing information. Background Technology

[0002] With the rapid development and promotion of network technology, as well as the rapid development of drones in recent years, the development of sensing services such as low-altitude economy, airway identification, intrusion detection, and electronic fences has been greatly promoted. In order to save frequency domain resources, operators have proposed an integrated communication and sensing network architecture that integrates communication, sensing, and computing.

[0003] In a sensor-integrated network, similar to how communication systems need to ensure service continuity, sensing systems also need to ensure the continuity of sensing services. When a sensed target is in motion, such as moving from the sensing range of the current cell to the sensing range of an adjacent cell, if the current cell and the adjacent cell have overlapping sensing areas, multiple cells may simultaneously sense the same target. Therefore, in a distributed network architecture, nodes need to exchange sensing data to achieve deduplication and correlation fusion of multiple trajectories for the same sensed target. How nodes can exchange sensing data is a key research focus at present. Summary of the Invention

[0004] Therefore, it is necessary to provide an interactive method, device, and storage medium for sensing information to address the aforementioned technical problems, so as to realize the interaction of sensing information between nodes, thereby enabling the deduplication and correlation fusion of multiple trajectories of the same sensing target based on the interactive sensing information.

[0005] Firstly, this application provides an interactive method for sensing information, applied to a source node, including:

[0006] When the triggering conditions for the perception data request message are met, a perception data request message is sent to the target node. The triggering conditions include any of the following: the source node perceives a new target, the source node starts working, or the source node does not receive a perception data interaction message from the target node within a preset time window.

[0007] Receive the perception data request confirmation message sent by the target node.

[0008] In one embodiment, when the source node detects a new target, the detection data request message is a target deduplication detection data request message, which is sent to the target node, including:

[0009] If a source node detects a new target in the first source cell it manages, it acquires the sensing neighbor cells of the first source cell. The sensing neighbor cells belong to different nodes from the first source cell and have overlapping sensing areas with the first source cell.

[0010] Each node belonging to a neighboring sensing area is designated as a target node, and a target deduplication sensing data request message is sent to each target node.

[0011] In one embodiment, the target deduplication sensing data request message includes a source sensing cell list, a target sensing cell list, and a target sensing data interaction period.

[0012] The list of source sensing cells includes the first source cell;

[0013] The target sensing cell list includes information on sensing cells that require interactive sensing data from the target nodes;

[0014] The target perception data interaction cycle is used to indicate the cycle of interactive perception data.

[0015] In one embodiment, the sensing cell includes any one of a first sensing cell, a second sensing cell, and a third sensing cell.

[0016] The first sensing cell has a neighboring relationship with any cell managed by the source node;

[0017] The second sensing cell is any cell managed by the target node;

[0018] The third sensing cell is the sensing neighbor cell of the first source cell.

[0019] In one embodiment, the method further includes:

[0020] If the first source cell does not have any sensing neighboring cells, the identity status of the new target will be updated to independent target, and the sensing cell where the independent target is located will be responsible for reporting sensing data.

[0021] In one embodiment, when the source node starts working, the perception data request message is a target deduplication perception data request message, which is sent to the target node, including:

[0022] Obtain the perceived neighboring cells of each first source cell managed by the source node;

[0023] Each node belonging to a sensing neighboring area is taken as the target node, and a target deduplication sensing data request message is sent to each target node.

[0024] In one embodiment, the target deduplication sensing data request message includes a source sensing cell list, a target sensing cell list, and a target sensing data interaction period.

[0025] The list of source sensing cells includes the first source cell;

[0026] The target sensing cell list includes information on sensing cells that require interactive sensing data from the target nodes;

[0027] The target perception data interaction cycle is used to indicate the cycle of interactive perception data.

[0028] In one embodiment, the sensing cell includes a first sensing cell or a second sensing cell.

[0029] The first sensing cell has a neighboring relationship with any cell managed by the source node;

[0030] The second sensing cell is any cell managed by the target node.

[0031] In one embodiment, when the source node does not receive a perception data interaction message from the target node within a preset time window, the perception data request message is a target fusion perception data request message, which is sent to the target node, including:

[0032] If there is a first sensing target with an independent identity in the source node, and there is a duplicate target in the duplicate target list corresponding to the first sensing target, if the node to which the cell where the duplicate target is located belongs is not the source node, then the duplicate target will be regarded as a fusion sensing target, the cell where the fusion sensing target is located will be regarded as a fusion sensing cell, and the node to which the fusion sensing cell belongs will be regarded as the target node. Here, the identity of the duplicate target is a non-independent target, and the sensing cell where the non-independent target is located is not responsible for reporting sensing data.

[0033] If no perception data interaction message is received from the target node within the preset time window, a target fusion perception data request message is sent to the target node.

[0034] In one embodiment, the target fusion sensing data request message includes a list of target sensing cells and a target sensing data interaction period.

[0035] The target sensing cell list includes information on fusion sensing cells and a list of sensing targets for each fusion sensing cell. The list of sensing targets includes the fusion sensing target ID corresponding to the fusion sensing cell, the identity status of the fusion sensing target, and the interaction timestamp. The identity status of the fusion sensing target is non-independent target, and the interaction timestamp is the timestamp of the latest reporting of sensing data by the first sensing target.

[0036] The target perception data interaction cycle is used to indicate the cycle of interactive perception data.

[0037] In one embodiment, the sensing data request confirmation message includes a list of sensing cells, which includes information about the sensing cells in the target node that need to exchange sensing data and the interaction status of the sensing targets in the sensing cells.

[0038] In one embodiment, the method further includes:

[0039] Receive perception data interaction messages sent by the target node.

[0040] The sensing data interaction message includes a list of sensing cells, which contains sensing cell information and a list of sensing targets. The list of sensing targets includes the sensing target ID, the identity status and interaction status of the sensing target, the reporting ID and latest timestamp used by the sensing target to report sensing data, and a list of sensing target traces.

[0041] In one embodiment, when the source node detects a new target, the method further includes:

[0042] After obtaining the deduplication result for the new target, if the deduplication result indicates that there is a duplicate target of the new target in the target node, then the identity status of the new target is updated to non-independent target.

[0043] A deduplication notification message is sent to the target node. The deduplication notification message includes a list of source sensing cells and a target sensing data interaction instruction. The list of source sensing cells includes the source cell information where the new target is located and the sensing target list of the source cell. The sensing target list includes the new target information and a duplicate target list. The duplicate target list includes the duplicate target information of the new target. The duplicate target information includes the duplicate target ID, the sensing cell information where the duplicate target is located, and the identity status of the duplicate target, where the identity status of the duplicate target is an independent target.

[0044] In one embodiment, the method further includes:

[0045] When the perceived target disappears, determine the neighboring nodes of the source node;

[0046] A disappearance notification message is sent to each neighboring node. The disappearance notification message includes a list of sensing cells, which includes information about the cell where the disappeared sensing target is located and a list of sensing targets. The list of sensing targets includes the ID of the disappeared sensing target, the identity status of the disappeared sensing target before disappearance, and the target sensing data interaction instructions.

[0047] In one embodiment, when the identity status of the disappeared sensing target is an independent target, the sensing cell list also includes: the reporting ID used to report the sensing data and the latest timestamp of the sensing data, the target information of the second sensing target specified from the duplicate target list of the disappeared sensing target, and the duplicate target list.

[0048] In one embodiment, the source node includes any of the following types: base station, fully centralized processing node, and partially centralized processing node.

[0049] Secondly, an interactive method for perceiving information is provided, applied to target nodes, including:

[0050] Receive the perception data request message sent by the source node. The perception data request message is a message sent by the source node to the target node when the triggering conditions of the perception data request message are met. The triggering conditions include any of the following: the source node perceives a new target, the source node starts working, or the source node does not receive a perception data interaction message from the target node within a preset time window.

[0051] Send a confirmation message for the perception data request to the source node, and initiate the sending of perception data interaction messages to the source node.

[0052] In one embodiment, the sensing data interaction message includes a list of sensing cells, which includes sensing cell information and a list of sensing targets. The list of sensing targets includes a sensing target ID, the identity status and interaction status of the sensing target, the reporting ID and latest timestamp used by the sensing target to report sensing data, and a list of the sensing target's traces.

[0053] In one embodiment, the method further includes:

[0054] Receive a deduplication notification message sent by the source node. The deduplication notification message includes a list of source sensing cells and a target sensing data interaction instruction. The list of source sensing cells includes the source cell information where the new target is located and the sensing target list of the source cell. The list of sensing targets includes the target information of the new target and a list of duplicate targets. The list of duplicate targets includes the duplicate target information of the new target. The duplicate target information includes the duplicate target ID, the sensing cell information where the duplicate target is located, and the identity status of the duplicate target, wherein the identity status of the duplicate target is an independent target.

[0055] If the interaction status of duplicate targets in the target node is normal, add the target information of the new target to the duplicate target list of the duplicate target.

[0056] In one embodiment, the method further includes:

[0057] Receive the disappearance notification message sent by the source node. The disappearance notification message includes a list of sensing cells. The list of sensing cells includes the cell information where the disappeared sensing target is located and a list of sensing targets. The list of sensing targets includes the ID of the disappeared sensing target, the identity status of the disappeared sensing target before disappearance, the target sensing data interaction indicator, the reporting ID used to report the sensing data and the latest timestamp of the sensing data, the target information of the sensing target specified from the duplicate target list of the disappeared sensing target, and the duplicate target list.

[0058] If the specified sensing target is located within the target node and its identity status is not independent target, then the identity status of the specified sensing target will be updated to independent target, and the sensing data will be reported using the reporting ID.

[0059] Thirdly, an interactive device for sensing information is provided, applied to a source node, including:

[0060] The sending module is used to send a sensing data request message to the target node when the triggering conditions of the sensing data request message are met. The triggering conditions include any one of the following: the source node senses a new target, the source node starts working, or the source node does not receive a sensing data interaction message from the target node within a preset time window.

[0061] The receiving module is used to receive the perception data request confirmation message sent by the target node.

[0062] In one embodiment, when the source node detects a new target, the sending module is specifically used to:

[0063] If a source node detects a new target in the first source cell it manages, it acquires the sensing neighbor cells of the first source cell. The sensing neighbor cells belong to different nodes from the first source cell and have overlapping sensing areas with the first source cell.

[0064] Each node belonging to a sensing neighboring area is taken as the target node, and a target deduplication sensing data request message is sent to each target node.

[0065] In one embodiment, the target deduplication sensing data request message includes a source sensing cell list, a target sensing cell list, and a target sensing data interaction period.

[0066] The list of source sensing cells includes the first source cell;

[0067] The target sensing cell list includes information on sensing cells that require interactive sensing data from the target nodes;

[0068] The target perception data interaction cycle is used to indicate the cycle of interactive perception data.

[0069] In one embodiment, the sensing cell includes any one of a first sensing cell, a second sensing cell, and a third sensing cell.

[0070] The first sensing cell has a neighboring relationship with any cell managed by the source node;

[0071] The second sensing cell is any cell managed by the target node;

[0072] The third sensing cell is the sensing neighbor cell of the first source cell.

[0073] In one embodiment, the device further includes:

[0074] The update module is used to update the identity status of the new target to an independent target if the first source cell does not have a sensing neighbor cell. The sensing cell where the independent target is located is responsible for reporting sensing data.

[0075] In one embodiment, when the source node starts working, the perception data request message is the target deduplicated perception data request message, and the sending module is specifically used for:

[0076] Obtain the perceived neighboring cells of each first source cell managed by the source node;

[0077] Each node belonging to a sensing neighboring area is taken as the target node, and a target deduplication sensing data request message is sent to each target node.

[0078] In one embodiment, the target deduplication sensing data request message includes a source sensing cell list, a target sensing cell list, and a target sensing data interaction period.

[0079] The list of source sensing cells includes the first source cell;

[0080] The target sensing cell list includes information on sensing cells that require interactive sensing data from the target nodes;

[0081] The target perception data interaction cycle is used to indicate the cycle of interactive perception data.

[0082] In one embodiment, the sensing cell includes a first sensing cell or a second sensing cell.

[0083] The first sensing cell has a neighboring relationship with any cell managed by the source node;

[0084] The second sensing cell is any cell managed by the target node.

[0085] In one embodiment, when the source node does not receive a perception data interaction message from the target node within a preset time window, the perception data request message is a target fusion perception data request message. The sending module is specifically used for:

[0086] If there is a first sensing target with an independent identity in the source node, and there is a duplicate target in the duplicate target list corresponding to the first sensing target, if the node to which the cell where the duplicate target is located belongs is not the source node, then the duplicate target will be regarded as a fusion sensing target, the cell where the fusion sensing target is located will be regarded as a fusion sensing cell, and the node to which the fusion sensing cell belongs will be regarded as the target node. Here, the identity of the duplicate target is a non-independent target, and the sensing cell where the non-independent target is located is not responsible for reporting sensing data.

[0087] If no perception data interaction message is received from the target node within the preset time window, a target fusion perception data request message is sent to the target node.

[0088] In one embodiment, the target fusion sensing data request message includes a list of target sensing cells and a target sensing data interaction period.

[0089] The target sensing cell list includes information on fusion sensing cells and a list of sensing targets for each fusion sensing cell. The list of sensing targets includes the fusion sensing target ID corresponding to the fusion sensing cell, the identity status of the fusion sensing target, and the interaction timestamp. The identity status of the fusion sensing target is non-independent target, and the interaction timestamp is the timestamp of the latest reporting of sensing data by the first sensing target.

[0090] The target perception data interaction cycle is used to indicate the cycle of interactive perception data.

[0091] In one embodiment, the sensing data request confirmation message includes a list of sensing cells, which includes information about the sensing cells in the target node that need to exchange sensing data and the interaction status of the sensing targets in the sensing cells.

[0092] In one embodiment, the receiving module is further configured to:

[0093] Receive perception data interaction messages sent by the target node.

[0094] The sensing data interaction message includes a list of sensing cells, which contains sensing cell information and a list of sensing targets. The list of sensing targets includes the sensing target ID, the identity status and interaction status of the sensing target, the reporting ID and latest timestamp used by the sensing target to report sensing data, and a list of sensing target traces.

[0095] In one embodiment, when the source node detects a new target, the update module is further configured to:

[0096] After obtaining the deduplication result for the new target, if the deduplication result indicates that there is a duplicate target of the new target in the target node, then the identity status of the new target is updated to non-independent target.

[0097] The sending module is also used to send a deduplication notification message to the target node. The deduplication notification message includes a list of source sensing cells and a target sensing data interaction instruction. The list of source sensing cells includes the source cell information where the new target is located and the sensing target list of the source cell. The list of sensing targets includes the new target information and a list of duplicate targets. The list of duplicate targets includes the duplicate target information of the new target. The duplicate target information includes the duplicate target ID, the sensing cell information where the duplicate target is located, and the identity status of the duplicate target, wherein the identity status of the duplicate target is an independent target.

[0098] In one embodiment, the device further includes:

[0099] The determination module is used to determine the neighboring nodes of the source node when the perceived target disappears.

[0100] The sending module is also used to send disappearance notification messages to each neighboring node. The disappearance notification message includes a list of sensing cells, which includes information about the cell where the disappeared sensing target is located and a list of sensing targets. The list of sensing targets includes the ID of the disappeared sensing target, the identity status of the disappeared sensing target before disappearance, and the target sensing data interaction indication.

[0101] In one embodiment, when the identity status of the disappeared sensing target is an independent target, the sensing cell list also includes: the reporting ID used to report the sensing data and the latest timestamp of the sensing data, the target information of the second sensing target specified from the duplicate target list of the disappeared sensing target, and the duplicate target list.

[0102] In one embodiment, the source node includes any of the following types: base station, fully centralized processing node, and partially centralized processing node.

[0103] Fourthly, an interactive device for sensing information is provided, applied to a target node, including:

[0104] The receiving module is used to receive the perception data request message sent by the source node. The perception data request message is a message sent by the source node to the target node when the triggering conditions of the perception data request message are met. The triggering conditions include any one of the following: the source node perceives a new target, the source node starts working, or the source node does not receive a perception data interaction message from the target node within a preset time window.

[0105] The sending module is used to send a sensing data request confirmation message to the source node and initiate the sending of target sensing data interaction messages to the source node.

[0106] In one embodiment, the target perception data interaction message includes a list of perception cells, which includes perception cell information and a list of perception targets. The list of perception targets includes the perception target ID, the identity status and interaction status of the perception target, the reporting ID and latest timestamp used by the perception target to report perception data, and a list of the points of the perception target.

[0107] In one embodiment, the receiving module is further configured to:

[0108] Receive a deduplication notification message sent by the source node. The deduplication notification message includes a list of source sensing cells and a target sensing data interaction instruction. The list of source sensing cells includes the source cell information where the new target is located and the sensing target list of the source cell. The list of sensing targets includes the target information of the new target and a list of duplicate targets. The list of duplicate targets includes the duplicate target information of the new target. The duplicate target information includes the duplicate target ID, the sensing cell information where the duplicate target is located, and the identity status of the duplicate target, wherein the identity status of the duplicate target is an independent target.

[0109] If the interaction status of duplicate targets in the target node is normal, add the target information of the new target to the duplicate target list of the duplicate target.

[0110] In one embodiment, the receiving module is further configured to:

[0111] Receive the disappearance notification message sent by the source node. The disappearance notification message includes a list of sensing cells. The list of sensing cells includes the cell information where the disappeared sensing target is located and a list of sensing targets. The list of sensing targets includes the ID of the disappeared sensing target, the identity status of the disappeared sensing target before disappearance, the target sensing data interaction indicator, the reporting ID used to report the sensing data and the latest timestamp of the sensing data, the target information of the sensing target specified from the duplicate target list of the disappeared sensing target, and the duplicate target list.

[0112] The device also includes an update module, which updates the identity status of the specified sensing target to an independent target if the specified sensing target is located within the target node and its identity status is a non-independent target, and reports the sensing data using the reporting ID.

[0113] Fifthly, an interactive device for sensing information is provided, the interactive device for sensing information comprising: a memory, a transceiver, and a processor; the memory for storing a computer program; the transceiver for sending and receiving data under the control of the processor; and the processor for reading the computer program in the memory and executing the steps of the interactive method for sensing information provided in the first aspect.

[0114] In a sixth aspect, an interactive device for sensing information is provided, the interactive device for sensing information comprising: a memory, a transceiver, and a processor; the memory for storing a computer program; the transceiver for sending and receiving data under the control of the processor; and the processor for reading the computer program in the memory and executing the steps of the interactive method for sensing information provided in the second aspect above.

[0115] In a seventh aspect, this application also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any interactive method for perceiving information.

[0116] Eighthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of an interactive method for perceiving information.

[0117] The aforementioned method, apparatus, and storage medium for interacting with sensing information allow the source node to send a sensing data request message to the target node when the triggering conditions for the sensing data request message are met. This message triggers the sensing data interaction process between the target node and the source node. The triggering conditions include any one of the following: the source node senses a new target, the source node starts working, or the source node does not receive a sensing data interaction message from the target node within a preset time window. Thus, the sensing information interaction method, apparatus, and storage medium provided in this application provide a way for nodes to interact with sensing information. This allows nodes to interact with sensing data through sensing data interaction messages, and then perform operations such as deduplication and association fusion of sensing targets based on the interacted sensing data, thereby improving the uniqueness of sensing targets and the continuity of sensing services. Attached Figure Description

[0118] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0119] Figure 1 A flowchart illustrating an interactive method for sensing information in one embodiment is shown;

[0120] Figure 2 A signaling interaction diagram of an interactive method for perceiving information for the purpose of deduplication is shown in one embodiment;

[0121] Figure 3 A flow signaling interaction diagram of example (1) in one embodiment is shown;

[0122] Figure 4 A flow signaling interaction diagram of example (2) in one embodiment is shown;

[0123] Figure 5 A signaling interaction diagram of an interactive method for fusing perceived information for a fusion purpose is shown in one embodiment;

[0124] Figure 6 A flow signaling interaction diagram of example (3) in one embodiment is shown;

[0125] Figure 7A flowchart illustrating an interactive method for sensing information in another embodiment is shown;

[0126] Figure 8 The signaling interaction diagram of the deduplication process in one embodiment is shown;

[0127] Figure 9 A flow signaling interaction diagram of example (4) in one embodiment is shown;

[0128] Figure 10 A flow signaling interaction diagram of example (5) in one embodiment is shown;

[0129] Figure 11 A flow signaling interaction diagram of example (6) in one embodiment is shown;

[0130] Figure 12 A flow signaling interaction diagram of example (7) in one embodiment is shown;

[0131] Figure 13 A flow signaling interaction diagram of example (8) in one embodiment is shown;

[0132] Figure 14 This is a structural block diagram of an interactive device for sensing information in one embodiment;

[0133] Figure 15 A structural block diagram of an interactive device for sensing information in another embodiment;

[0134] Figure 16 This is a structural block diagram of an interactive device for sensing information in one embodiment;

[0135] Figure 17 This is a structural block diagram of an interactive device for sensing information in another embodiment. Detailed Implementation

[0136] In the embodiments of this application, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0137] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0138] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0139] The technical solutions provided in this application can be applied to a variety of systems. For example, applicable systems may include Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Long Term Evolution Advanced (LTE-A) systems, Universal Mobile Telecommunications System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) systems, 5G New Radio (NR) systems, and their evolved communication systems. These systems may include terminal equipment, network equipment, and core network components, such as Evolved Packet System (EPS) and 5G systems (5GS).

[0140] The terminal devices involved in the embodiments of this application can be devices that provide voice and / or data connectivity to users, handheld devices with wireless connectivity, or other processing devices connected to a wireless modem. The names of the terminal devices may differ in different systems; for example, in a 5G system, a terminal device can be called User Equipment (UE). Wireless terminal devices can be USB storage devices, other personal computer memory devices, and dongles. They can also communicate with one or more core networks (CNs) via a Radio Access Network (RAN). Wireless terminal devices can be mobile terminal devices, such as mobile phones (or "cellular" phones) and computers with mobile terminal devices. For example, they can be portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices that exchange voice and / or data with the radio access network. Examples of such devices include Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs), personal computers, tablets, and Machine-type Communication (MTC) terminal devices. Wireless terminal devices can also be referred to as systems, subscriber units, subscriber stations, mobile stations, mobile terminals, remote stations, access points, remote terminals, access terminals, user terminals, user agents, user devices, and wireless access devices and routers / modems that meet the limitations of this definition; however, this application does not limit the scope of the embodiments described.

[0141] The network device involved in the embodiments of this application can be a base station, which may include multiple cells providing services to terminals. Depending on the specific application, the base station may also be called an access point, or a device in the access network that communicates with wireless terminal devices through one or more sectors on the air interface, or other names. The network device can be used to exchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network device involved in the embodiments of this application may be an evolved Node B (eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a next generation system, or a Home evolved Node B (HeNB), relay node, femto, pico, network testing equipment, etc., and is not limited in the embodiments of this application. In some network architectures, network devices may include centralized unit (CU) nodes and distributed unit (DU) nodes, which may also be geographically separated.

[0142] The sensing information interaction method provided in this application can be applied to a source node, which may include any of the following types: base station, fully centralized processing node, or partially centralized processing node. A base station manages multiple sensing cells; a fully centralized processing node manages multiple sensing cells under multiple base stations, including base stations reporting sensing data to the centralized processing node, which is responsible for deduplication and reporting of sensing data, and for interacting with sensing information from neighboring centralized processing nodes, etc., and the sensing information obtained from neighboring centralized processing nodes does not need to be distributed to the base stations it manages; a partially centralized processing node manages multiple sensing cells under multiple base stations, and is responsible for interacting with sensing information from neighboring centralized processing nodes, etc., and the sensing information obtained from neighboring centralized processing nodes needs to be distributed to the base stations it manages. The following embodiments use a base station as an example to illustrate the embodiments of this application. (Refer to...) Figure 1 As shown, the interactive method for sensing information provided in this application embodiment, applied to the source node, includes the following steps 101 to 102, wherein:

[0143] In step 101, when the triggering condition for the perception data request message is met, a perception data request message is sent to the target node. The triggering condition includes any of the following: the source node perceives a new target, the source node starts working, or the source node does not receive a perception data interaction message from the target node within a preset time window.

[0144] In step 102, a perception data request confirmation message is received from the target node.

[0145] In this embodiment, when the source node senses a new target (sensing data of a certain sensing target for the first time) within its managed sensing cell, it can trigger the sending of a deduplication-oriented sensing data request message to the target node. The sensing target refers to a specific object that the integrated sensing system or device needs to identify, track, analyze, or manipulate, such as a person, vehicle, drone, or other object. Alternatively, the source node can trigger the sending of a deduplication-oriented sensing data request message to the target node when it starts working. Or, if the source node does not receive a sensing data interaction message from the target node within a preset time window, it can trigger the sending of a fusion-oriented sensing data request message to the target node.

[0146] After receiving the sensing data request message, the target node can send a sensing data request confirmation message to the source node and initiate the sensing data interaction process in response to the sensing data request message.

[0147] In an exemplary embodiment, when the source node senses a new target, the sense data request message is a target deduplication sense data request message. Sending the sense data request message to the target node may include the following steps:

[0148] If a source node detects a new target in the first source cell it manages, it acquires the sensing neighbor cells of the first source cell. The sensing neighbor cells belong to different nodes from the first source cell and have overlapping sensing areas with the first source cell.

[0149] Each node belonging to a sensing neighboring area is taken as the target node, and a target deduplication sensing data request message is sent to each target node.

[0150] If a source node detects a new target in one of its managed source cells (hereinafter referred to as the first source cell for clarity), it will trigger a deduplication process for that new target. The source node can then acquire neighboring cells that belong to different nodes than the first source cell and have overlapping sensing areas with it. The source node will then designate the node to which that neighboring cell belongs as the target node and send a target deduplication sensing data request message to each target node. Furthermore, upon receiving the target deduplication sensing data request message, each target node will respond with a target deduplication sensing data request confirmation message, referring to... Figure 2 As shown.

[0151] For example, taking a distributed network architecture including sensing node 1, sensing node 2, and sensing node 3 as an example, the sensing cells managed by sensing node 1 may include sensing cell 1-1, sensing cell 1-2, and sensing cell 1-3; the sensing cells managed by sensing node 2 may include sensing cell 2-1 and sensing cell 2-2; and the sensing cell managed by sensing node 3 may include sensing cell 3-1. Sensing cell 1-1 and sensing cell 2-1 have overlapping sensing areas, meaning they are neighboring cells; sensing cell 1-3 and sensing cell 2-2 have overlapping sensing areas, meaning they are neighboring cells; and sensing cell 1-2 and sensing cell 3-1 have overlapping sensing areas, meaning they are neighboring cells.

[0152] Assuming the source node is sensing node 1, and sensing node 1 detects a new target in sensing cell 1-1, it can be determined that the sensing neighboring cells of sensing cell 1-1 include sensing cell 2-1. Then, the target node is determined to be sensing node 2 to which sensing cell 2-1 belongs, and a target deduplication sensing data request message is sent to sensing node 2.

[0153] In an exemplary embodiment, the target deduplication sensing data request message may include a source sensing cell list, a target sensing cell list, and a target sensing data interaction period. The source sensing cell list includes a first source cell; the target sensing cell list includes sensing cell information from the target node that requires sensing data interaction; and the target sensing data interaction period indicates the period for interacting with the sensing data.

[0154] The source sensing cell list includes the first source cell, which is the cell that needs to obtain sensing data from neighboring cells. This list may include information such as the sensing node ID (Identification code) of the first source cell, the sensing base station ID of the sensing node to which the first source cell belongs, and the sensing cell ID of the first source cell. In one example, the source sensing cell list may also include the earliest interaction timestamp, which is the first sensing timestamp of the new target.

[0155] The target sensing cell list includes information about sensing cells that require data exchange with the target nodes. This sensing cell information may include the sensing node ID to which the sensing cell belongs, the sensing base station ID to which the sensing node belongs, and the sensing cell ID of the sensing cell itself.

[0156] In one exemplary embodiment, the sensing cell may include any one of a first sensing cell, a second sensing cell, and a third sensing cell.

[0157] In this system, the first sensing cell has a neighboring relationship with any cell managed by the source node (representing overlapping sensing areas between sensing cells belonging to different nodes). For example, taking sensing node 1 as the source node in the previous example, the first sensing cell could include sensing cell 2-1, sensing cell 2-2, and sensing cell 3-1. The second sensing cell is any cell managed by the target node. For example, taking sensing node 1 as the source node in the previous example, the second sensing cell could include sensing cell 2-1 and sensing cell 2-2. The third sensing cell is a sensing neighbor of the first source cell. Taking sensing node 1 as the source node in the previous example, the third sensing cell could include sensing cell 2-1.

[0158] The target perception data interaction cycle is used to indicate the cycle of interacting with perception data. If the target deduplication perception data request message carries the target perception data interaction cycle, the target node needs to interact with perception data according to the target perception data interaction cycle; otherwise, when new perception data arrives, the target node will interact with perception data.

[0159] In this embodiment of the application, the target deduplication sensing data request message can be referred to as shown in Table 1 below.

[0160] Table 1

[0161]

[0162] To enable those skilled in the art to better understand the embodiments of this application, the embodiments of this application are described below through specific examples (1).

[0163] In example (1), refer to Figure 3 As shown, if the source node (sensing node 1) only senses a new target in sensing cell X, then deduplication judgment is required.

[0164] First, based on the neighboring cell relationships between the source node and its neighboring nodes stored in the source node, find all sensing cells that have neighboring cell relationships with sensing cell X within the source node, denoted as the {sensing neighboring cell} set, and form the {target node} set based on the node to which each target sensing cell belongs.

[0165] Next, the source node sends a target deduplication-aware data request message to all target nodes in the {target node} set. The message can carry the following content:

[0166] (1) Source sensing cell list, which contains only sensing cell X, whose earliest interaction timestamp is the minimum of the first sensing timestamps of all new targets in sensing cell X.

[0167] (2) Target sensing cell list, where each sensing cell in the list is a sensing cell in the {sensing neighboring cells} set.

[0168] (3) The target perception data interaction cycle is the target perception data interaction cycle, such as 200ms.

[0169] After receiving the target deduplication sensing data request message, the target node will reply to the source node with a target deduplication sensing data request confirmation message and start the sensing data interaction process for the deduplication target. During the sensing data interaction process, sensing data interaction messages will be sent according to the target sensing data interaction cycle (e.g., 200ms).

[0170] It should be noted that when the first source cell has no neighboring sensing cells, it means that there are no sensing cells with overlapping sensing areas with it. Therefore, new targets sensed within the first source cell will not be repeatedly sensed by different sensing cells, and deduplication is not required. Therefore, the above method may also include the following steps:

[0171] If the first source cell does not have any sensing neighboring cells, the identity status of the new target will be updated to independent target, and the sensing cell where the independent target is located will be responsible for reporting sensing data.

[0172] In this embodiment, a given entity may be sensed sequentially or simultaneously by multiple sensing cells. Each sensing cell can categorize sensed targets into three types: newly added targets, independent targets, and non-independent targets. Within this sensing cell, each sensed target corresponds to only one state at any given time. Therefore, the entity has different identity states in different sensing cells. The sensing cell containing the independent target is responsible for reporting sensing data, while the sensing cells containing the newly added target / non-independent target do not report sensing data.

[0173] When the first source cell detects a new target, it can initialize the target's identity status to "new target." If it determines that the first source cell has no neighboring cells, it can update the target's identity status from "new target" to "independent target." The first source cell will then continuously detect the new target and report its detection data using its reporting ID. Alternatively, after performing deduplication on the new target, the source node can update the target's identity status from "new target" to "independent target" or "non-independent target" based on the deduplication result.

[0174] In another exemplary embodiment, when the source node starts working, if the sensing data request message is a target deduplication sensing data request message, then sending the sensing data request message to the target node may include the following steps:

[0175] Obtain the sensing neighbor cells of each first source cell managed by the source node; take the node to which each sensing neighbor cell belongs as the target node, and send a target deduplication sensing data request message to each target node.

[0176] When a source node starts working, a deduplication process for the sensing target is triggered. This involves treating all sensing cells managed by the source node as first source cells, and for any first source cell, acquiring sensing neighboring cells that belong to different nodes and have overlapping sensing areas. The nodes to which the sensing neighboring cells of each first source cell belong are then designated as target nodes, and a target deduplication sensing data request message is sent to each target node. Furthermore, upon receiving the target deduplication sensing data request message, each target node will respond with a corresponding target deduplication sensing data request confirmation message.

[0177] In an exemplary embodiment, the target deduplication sensing data request message includes a source sensing cell list, a target sensing cell list, and a target sensing data interaction period. The source sensing cell list includes a first source cell; the target sensing cell list includes sensing cell information in the target node that needs to interact with sensing data; and the target sensing data interaction period is used to indicate the period of interacting with sensing data.

[0178] The list of source sensing cells includes the first source cell, which is the cell that needs to obtain sensing data from neighboring cells. It may include information such as the sensing node ID to which the first source cell belongs, the sensing base station ID to which the sensing node to which the first source cell belongs, and the sensing cell ID of the first source cell.

[0179] The target sensing cell list includes information about sensing cells that require data exchange with the target nodes. This sensing cell information may include the sensing node ID to which the sensing cell belongs, the sensing base station ID to which the sensing node belongs, and the sensing cell ID of the sensing cell itself.

[0180] The sensing cell may include a first sensing cell or a second sensing cell. The first sensing cell has a neighbor relationship with any cell managed by the source node; the second sensing cell is any cell managed by the target node.

[0181] In this embodiment of the application, the target deduplication sensing data request message can be referred to as shown in Table 2 below.

[0182] Table 2

[0183]

[0184] To enable those skilled in the art to better understand the embodiments of this application, the embodiments of this application are described below through specific examples (2).

[0185] In example (2), refer to Figure 4 As shown, the source node starts up and begins working, requiring a deduplication check.

[0186] First, based on the neighboring cell relationships between the source node and its neighboring nodes stored in the source node, find all sensing cells that have neighboring cell relationships with all sensing cells within the source node, denoted as the {sensing neighboring cell} set, and form the {target node} set based on the node to which each sensing neighboring cell belongs.

[0187] Next, the source node sends a target deduplication-aware data request message to all target nodes in the {target node} set. The message can carry the following content:

[0188] (1) Source sensing cell list, which contains all sensing cells within the source node that have inter-node neighbor relationships.

[0189] (2) Target sensing cell list, where each sensing cell in the list is a sensing cell in the {sensing neighboring cells} set.

[0190] (3) The target perception data interaction cycle is the target perception data interaction cycle, such as 200ms.

[0191] After receiving the target deduplication sensing data request message, the target node will reply to the source node with a target deduplication sensing data request confirmation message, and will initiate the target sensing data interaction process to send the deduplication target to the source node, sending target sensing data interaction messages according to the target sensing data interaction cycle (e.g., 200ms).

[0192] In another exemplary embodiment, if the source node does not receive a perception data interaction message from the target node within a preset time window, and the perception data request message is a target fusion perception data request message, then sending the perception data request message to the target node may include the following steps:

[0193] If there is a first sensing target with an independent identity in the source node, and there is a duplicate target in the duplicate target list corresponding to the first sensing target, if the node to which the cell where the duplicate target is located belongs is not the source node, then the duplicate target will be regarded as a fusion sensing target, the cell where the fusion sensing target is located will be regarded as a fusion sensing cell, and the node to which the fusion sensing cell belongs will be regarded as the target node. Here, the identity of the duplicate target is a non-independent target, and the sensing cell where the non-independent target is located is not responsible for reporting sensing data.

[0194] If no perception data interaction message is received from the target node within the preset time window, a target fusion perception data request message is sent to the target node.

[0195] In this embodiment, the source node maintains a corresponding duplicate target list for each sensing target whose identity status is an independent target. This duplicate target list is used to record the sensing target information that has a duplicate target relationship with the independent target (hereinafter, for clarity, the sensing targets recorded in the duplicate target list are referred to as duplicate targets). The identity status of the duplicate target in its respective sensing cell is not an independent target. In this way, for multiple duplicate sensing targets, only the cell where the independent target is located reports the sensing data for the sensing target, which can effectively achieve deduplication.

[0196] The perception target with an independent identity status in the source node is taken as the first perception target. For any first perception target, if the list of duplicate targets corresponding to the first perception target is not empty and the node to which the cell where the duplicate target belongs is not the source node, then the duplicate target can be taken as the fusion perception target, the cell where the fusion perception target belongs can be taken as the fusion perception cell, and the node to which the fusion perception cell belongs can be taken as the target node.

[0197] If no perception data interaction message is received from the target node within the preset time window, a target fusion perception data request message can be sent to the target node to trigger the perception data interaction process aimed at fusion between the target node and the source node, as described above. Figure 5 As shown in the diagram. Fusion refers to the fusion of perception data from an independent target to non-independent targets with known overlapping target relationships. For example, perception target 1-1 in perception cell 1 is considered an independent target, while perception target 2-1 in perception cell 2, which has a overlapping target relationship, is considered a non-independent target. Perception cell 1 reports perception data for perception target 1-1, and this data needs to be fused with perception data from perception cell 2 through periodic interaction. However, if perception cell 1 does not receive a perception data interaction message from the perception cell within a preset time window, it can trigger perception cell 2 to initiate a periodic perception data interaction process through a target fusion perception data request message.

[0198] In other words, in this embodiment of the application, the source node will send a message to the target node when the following conditions are met simultaneously: Condition 1: There is a sensing target with an independent target status in the source node, and its duplicate target list is not empty; Condition 2: There are duplicate targets in the duplicate target list, and the node to which the sensing cell belongs is the target node; Condition 3: No sensing data interaction message is received from the target node within the preset time window.

[0199] Target nodes can be determined as follows: traverse all first-sensory targets with independent identities in the source nodes; traverse each duplicate target in the duplicate target list of each first-sensory target; find the node to which the sensing cell of each duplicate target belongs; if the belonging node is not the source node, add it to the {target node} set; otherwise, do nothing. All nodes in the {target node} set can be used as target nodes.

[0200] In an exemplary embodiment, the target fusion sensing data request message may include a target sensing cell list and a target sensing data interaction period. The target sensing cell list includes fusion sensing cell information and a sensing target list for each fusion sensing cell. The sensing target list includes the fusion sensing target ID corresponding to the fusion sensing cell, the identity status of the fusion sensing target, and the interaction timestamp. The identity status of the fusion sensing target is "non-independent target," and the interaction timestamp is the timestamp of the latest reporting of sensing data by the first sensing target.

[0201] The target perception data interaction cycle is used to indicate the cycle of interactive perception data.

[0202] In this context, each sensing cell in the fused sensing cell information refers to a fused sensing cell among the target nodes. Specifically, the fused sensing cell information may include the sensing node ID of the fused sensing node, the sensing base station ID to which the fused sensing node belongs, and the sensing cell ID of the fused sensing cell. For any given fused sensing cell, the sensing target list may include the corresponding fused sensing target ID, the identity status of the fused sensing target, and the interaction timestamp within that fused sensing cell.

[0203] In this embodiment of the application, the target fusion perception data request message can be referred to as shown in Table 3 below.

[0204] Table 3

[0205]

[0206] To enable those skilled in the art to better understand the embodiments of this application, the embodiments of this application are described below through specific examples (3).

[0207] In example (3), refer to Figure 6 As shown, assume that there are 3 perception targets with independent target status in the source node (node ​​1) whose duplicate target list is not empty, and they are identified as independent perception target 1-1, independent perception target 1-2, and independent perception target 1-3 respectively.

[0208] Among them, there is a duplicate target 2-1 in the duplicate target list of independent sensing target 1-1, which is located in sensing cell X and belongs to node 2.

[0209] There is a duplicate target 2-2 in the duplicate target list of independent sensing target 1-2. Its sensing cell is sensing cell Y and its node is node 2.

[0210] There is a duplicate target 1-4 in the list of duplicate targets of independent sensing targets 1-3. Its sensing cell is sensing cell Z and its node is node 1.

[0211] First, the source node takes duplicate target 2-1 and duplicate target 2-2 as fusion sensing targets, takes sensing cell X and sensing cell Y as fusion sensing cells, and takes node 2 as the target node.

[0212] If the source node does not receive a perception data interaction message from node 2 within a preset time window, the source node sends a target fusion perception data request message to node 2. This message may carry the following content:

[0213] (1) Target sensing cell list, which includes sensing cell X, sensing cell Y, and the sensing target list corresponding to sensing cell X and the sensing target list corresponding to sensing cell Y, wherein,

[0214] The perception target list of perception cell X contains the perception target ID of duplicate target 2-1. Its identity status is non-independent target, and the earliest interaction timestamp is the latest data reporting timestamp of independent perception target 1-1.

[0215] The perception target list of perception cell Y contains the perception target ID of duplicate target 2-2. Its identity status is non-independent target, and the earliest interaction timestamp is the latest data reporting timestamp of independent perception target 1-2.

[0216] (2) The target perception data interaction cycle is the target perception data interaction cycle, such as 200ms.

[0217] After receiving the target fusion sensing data request message, Node 2 will reply to the source node with a target fusion sensing data request confirmation message;

[0218] The target node initiates a process of sending sensory data interaction messages to the source node for the purpose of fusion, and sends sensory data interaction messages according to the target sensory data interaction cycle (e.g., 200ms).

[0219] Reference Figure 7 As shown in the figure, this application embodiment also provides an interactive method for sensing information, applied to a target node, including the following steps 701 to 702, wherein,

[0220] Step 701: Receive a perception data request message sent by the source node. The perception data request message is a message sent by the source node to the target node when the triggering conditions of the perception data request message are met. The triggering conditions include any of the following: the source node perceives a new target, the source node starts working, or the source node does not receive a perception data interaction message from the target node within a preset time window.

[0221] Step 702: Send a perception data request confirmation message to the source node and initiate the sending of perception data interaction messages to the source node.

[0222] In an exemplary embodiment, the perception data request confirmation message (including the target deduplication perception data request confirmation message and the target fusion deduplication perception data request confirmation message) includes a perception cell list. The perception cell list includes the perception cell information of the target node that needs to interact with perception data and the interaction status of the perception target in the perception cell.

[0223] For example, the perception data request confirmation message can be referred to in Table 4 below.

[0224] Table 4

[0225]

[0226] In an exemplary embodiment, after the target node receives a perception data request message (including a target deduplication perception data request message and a target fusion perception data request message), it will initiate a perception data interaction process with the source node. The aforementioned interaction method for perception information applied to the source node may further include the following steps:

[0227] Receive the perception data interaction message sent by the target node. The perception data interaction message includes a list of perception cells, which includes perception cell information and a list of perception targets. The list of perception targets includes the perception target ID, the identity status and interaction status of the perception target, the reporting ID and latest timestamp used by the perception target to report perception data, and a list of perception target points.

[0228] The sensing cell list includes sensing cells in the target node that interact with the source node to exchange sensing data. This list may include the sensing cell ID, the sensing base station ID to which the sensing cell belongs, and the sensing node ID to which the sensing base station belongs. The sensing target list includes the sensing target ID, identity status (independent / new / non-independent), and interaction status (normal / abnormal (disappeared)) for the data being reported by the sensing target. The reporting ID used when reporting sensing data to the next higher-level node is the target ID used for reporting sensing data. The latest timestamp refers to the latest timestamp of the sensing data reported to the next higher-level node. The sensing target trace list may include multiple traces of the sensing target. A trace may include sensing location coordinates (e.g., longitude, latitude, altitude), sensing timestamp (the sensing time corresponding to the trace), sensing signal SNR (Signal to Interference plus Noise Ratio), velocity (the velocity corresponding to the trace), and other information.

[0229] In this embodiment of the application, the perception data interaction messages can be referred to as shown in Table 5 below.

[0230] Table 5

[0231]

[0232] Specifically, for the target deduplication perception data request message, in the perception data interaction message fed back by the perception data interaction process triggered by it, the identity status of the perception target in the perception target list is an independent target or a newly added target. If the target deduplication perception data request message carries the earliest interaction timestamp, then the perception timestamp corresponding to each trace in the trace list is not less than the earliest interaction timestamp carried in the target deduplication perception data request message. Alternatively, if the target deduplication perception data request message does not carry the earliest interaction timestamp, then there is no restriction on the perception timestamp of each trace in the trace list.

[0233] Regarding the target fusion perception data request message, in the perception data interaction message fed back by the perception data interaction process triggered by it, the identity status of the perception target in the perception target list is non-independent target, and the perception timestamp corresponding to each trace in the trace list is not less than the earliest interaction timestamp carried in the target deduplication perception data request message.

[0234] In this embodiment of the application, the target node may send a sensing data interaction message to the source node when one of the following conditions is met: Condition 1, if the request message that triggers the sensing data interaction process carries the target sensing data interaction cycle, then the sensing data interaction message is sent when the target sensing data interaction cycle arrives; Condition 2, if the request message that triggers the sensing data interaction process does not carry the target sensing data interaction cycle, then the sensing data interaction message is sent when new sensing data arrives.

[0235] The target node may stop sending perception data interaction messages to the source node when one of the following conditions is met: Condition 1, receiving a deduplication notification message from the source node, and the target perception data interaction indication in the message is to stop; Condition 2, receiving a disappearance notification message from the source node, and the target perception data interaction indication in the message is to stop.

[0236] The sensing information interaction method provided in this application embodiment allows a source node to send a sensing data request message to a target node when the triggering conditions for the sensing data request message are met. This message triggers a sensing data interaction process between the target node and the source node. The triggering conditions include any one of the following: the source node senses a new target, the source node starts working, or the source node does not receive a sensing data interaction message from the target node within a preset time window. In this way, the sensing data interaction method provided in this application embodiment offers a way for nodes to interact with sensing information. This allows nodes to interact with sensing data through sensing data interaction messages, and then perform operations such as deduplication and association fusion of sensing targets based on the interacted sensing data, thereby improving the uniqueness of sensing targets and the continuity of sensing services.

[0237] In one exemplary embodiment, reference is made to Figure 8 As shown, when the source node senses a new target, the interaction method for applying the sensing information to the source node may further include the following steps:

[0238] After obtaining the deduplication result for the new target, if the deduplication result indicates that there is a duplicate target of the new target in the target node, then the identity status of the new target is updated to non-independent target.

[0239] A deduplication notification message is sent to the target node. The deduplication notification message includes a list of source sensing cells and a target sensing data interaction instruction. The list of source sensing cells includes the source cell information where the new target is located and the sensing target list of the source cell. The sensing target list includes the new target information and a duplicate target list. The duplicate target list includes the duplicate target information of the new target. The duplicate target information includes the duplicate target ID, the sensing cell information where the duplicate target is located, and the identity status of the duplicate target, where the identity status of the duplicate target is an independent target.

[0240] In this embodiment of the application, after the source node performs deduplication processing on the interactive sensing data, if the deduplication result indicates that the target node already has a duplicate target of the new target, that is, the new target is a target that is repeatedly sensed by multiple sensing nodes, then the identity status of the new target in the first source cell can be updated to a non-independent target, and then the target node can report the sensing data of the target.

[0241] Furthermore, the source node can send the deduplication result back to the target node via a deduplication notification message. For example, the deduplication notification message can be found in Table 6 below.

[0242] Table 6

[0243]

[0244] In an exemplary embodiment, after the target node receives the deduplication notification message sent by the source node, it can perform deduplication based on the deduplication notification message. The interaction method for perceptual information applied to the target node may further include the following steps:

[0245] Receive a deduplication notification message sent by the source node. The deduplication notification message includes a list of source sensing cells and a target sensing data interaction instruction. The list of source sensing cells includes the source cell information where the new target is located and the sensing target list of the source cell. The list of sensing targets includes the target information of the new target and a list of duplicate targets. The list of duplicate targets includes the duplicate target information of the new target. The duplicate target information includes the duplicate target ID, the sensing cell information where the duplicate target is located, and the identity status of the duplicate target, wherein the identity status of the duplicate target is an independent target.

[0246] If the interaction status of duplicate targets in the target node is normal, add the target information of the new target to the duplicate target list of the duplicate target.

[0247] In this embodiment, after receiving the deduplication notification message, the target node determines whether any duplicate targets with a duplicate target relationship to the new target belong to this node. If so, it obtains the interaction status of the duplicate target and replies with a deduplication notification confirmation message to the source node. If the duplicate target has not disappeared and can be perceived normally, the interaction status of the duplicate target is determined to be normal, and the new target can be added to the duplicate target list of the duplicate target. Alternatively, if the duplicate target does not belong to this node, the interaction status of the duplicate target is marked as having only received the deduplication result, and no further processing is performed.

[0248] To enable those skilled in the art to better understand the embodiments of this application, the embodiments of this application are described below through example (4).

[0249] In example (4), refer to Figure 9 As shown, assume the source node (node ​​1) has two adjacent nodes, labeled as node 2 and node 3. The deduplication result of the source node for the new target is as follows: there is a duplicate target relationship between perceived target 1-1 in the source node's sensing cell X1 and perceived target 2-1 in the node 2 sensing cell Y1, which is an independent target; there is also a duplicate target relationship between perceived target 1-2 in the source node's sensing cell X2 and perceived target 2-2 in the node 2 sensing cell Y2, which is a newly added target.

[0250] First, based on the neighbor relationships between the source node and its adjacent nodes stored in the source node, find all nodes that have neighbor relationships with the source node and form a set of {target nodes}, which includes node 2 and node 3.

[0251] Next, after the source node receives the deduplication result for the new target, it will send a deduplication notification message to both node 2 and node 3. The message may carry the following content:

[0252] (1) Source sensing cell list, which includes sensing cell X1, sensing cell X2, and the sensing target list corresponding to sensing cell X1 and the sensing target list corresponding to sensing cell X2.

[0253] Among them, the list of sensing targets in sensing cell X1 contains sensing target 1-1, whose identity status is non-independent target, and the list of duplicate targets with duplicate target relationship contains sensing target 2-1 in sensing cell Y1 of node 2, whose identity status is independent target.

[0254] The target list of sensing cell X2 contains target 1-2, whose status is non-independent. The list of duplicate targets with duplicate target relationships contains node 2. The newly added target 2-2 in sensing cell Y2 has an independent target status.

[0255] (2) Target-aware data interaction instruction. This instruction can be configured as needed; for example, it is configured as stop.

[0256] After receiving the deduplication notification message, Node 2 will perform the following operations:

[0257] (1) Determine that the interaction status of sensing target 2-1 in sensing cell Y1 of node 2 is normal, and put sensing target 1-1 with duplicate target relationship into the duplicate target list of sensing target 2-1.

[0258] (2) Determine that the interaction status of sensing target 2-2 in sensing cell Y2 of node 2 is normal, and put sensing target 1-2 with duplicate target relationship into the duplicate target list of sensing target 2-2.

[0259] (3) Reply to the source node with a deduplication notification confirmation message, indicating that the status of the sensing target 2-1 is normal and the status of the sensing target 2-2 is normal.

[0260] After receiving the deduplication notification message, node 3 will reply with a deduplication notification confirmation message to the source node. The message indicates that the interaction status of sensing target 2-1 is that only the deduplication result has been received, and the interaction status of sensing target 2-2 is that only the deduplication result has been received.

[0261] In an exemplary embodiment, the interaction method for perceiving information applied to the source node may further include the following steps:

[0262] When the perceived target disappears, determine the neighboring nodes of the source node;

[0263] A disappearance notification message is sent to each neighboring node. The disappearance notification message includes a list of sensing cells, which includes information about the cell where the disappeared sensing target is located and a list of sensing targets. The list of sensing targets includes the ID of the disappeared sensing target, the identity status of the disappeared sensing target before disappearance, and the target sensing data interaction instructions.

[0264] When the identity status of the disappeared sensing target is an independent target, the sensing cell list also includes: the reporting ID used to report the sensing data and the latest timestamp of the sensing data, the target information of the second sensing target specified from the duplicate target list of the disappeared sensing target, and the duplicate target list.

[0265] In this embodiment, when a source node detects the disappearance of any sensed target, it can determine its neighboring nodes. These neighboring nodes are nodes belonging to sensed neighboring cells that have an inter-node adjacency relationship with any source cell managed by the source node. The source node then sends a disappearance notification message to each of these neighboring nodes. For example, the disappearance notification messages can be found in Table 7 below.

[0266] Table 7

[0267]

[0268] In an exemplary embodiment, the interaction method for perceptual information applied to a target node may further include the following steps:

[0269] Receive the disappearance notification message sent by the source node. The disappearance notification message includes a list of sensing cells. The list of sensing cells includes the cell information where the disappeared sensing target is located and a list of sensing targets. The list of sensing targets includes the ID of the disappeared sensing target, the identity status of the disappeared sensing target before disappearance, the target sensing data interaction indicator, the reporting ID used to report the sensing data and the latest timestamp of the sensing data, the target information of the sensing target specified from the duplicate target list of the disappeared sensing target, and the duplicate target list.

[0270] If the specified sensing target is located within the target node and its identity status is not independent target, then the identity status of the specified sensing target will be updated to independent target, and the sensing data will be reported using the reporting ID.

[0271] In this embodiment of the application, after the target node receives the disappearance notification message, if the perception target specified in the disappearance notification message is a perception target with an independent target status within the target node, the target node can update the identity status of the perception target to an independent target, store a duplicate target list, continuously monitor the perception data of the perception target, and continue to report the perception data using the reporting ID used by the disappeared perception target before disappearing.

[0272] To enable those skilled in the art to better understand the embodiments of this application, the embodiments of this application are described below through example (5).

[0273] In example (5), refer to Figure 10 As shown, assume the source node has two adjacent nodes, labeled Node 2 and Node 3. Assume that in sensing cell X of Node 1, there is one sensing target 1-1 with an independent target status, and its duplicate target list contains two duplicate targets: sensing target 2-1 in sensing cell Y of Node 2 with a non-independent target status, and sensing target 3-1 in sensing cell Z of Node 3 with a non-independent target status. Sensing target 1-1 in sensing cell X of the source node has already reported data to the next higher-level node (reporting ID is IDX, latest reporting timestamp is T). stamp The perceived target then disappeared.

[0274] After the source node detects that the target 1-1 has disappeared, it can select the target 2-1 in the sensing cell Y of node 2 as the next independent target from the list of repeated targets.

[0275] Based on the neighbor relationships between node 1 and its neighboring nodes stored in the source node, find all nodes that have neighbor relationships with the source node, forming a set of {target nodes}, which includes node 2 and node 3.

[0276] The source node sends this disappearance notification message to nodes 2 and 3. The message may include the following:

[0277] (1) Sensing cell list, which contains only sensing cell X, and the corresponding sensing target list contains only sensing target 1-1, sensing data reporting target ID is IDX, and the latest data reporting timestamp is T. stamp The second sensing target is sensing target 2-1 in sensing cell Y of node 2, and the repeating target list includes sensing target 3-1 in sensing cell Z of node 3.

[0278] (2) The target perception data interaction indicator is stop.

[0279] After receiving the disappearance notification message, Node 2 can change the identity status of sensing target 2-1 in sensing cell Y to an independent target and store a list of duplicate targets, which includes sensing target 3-1 in sensing cell Z of Node 3. Subsequently, Node 2 will use IDX to continue reporting sensing data to the next higher-level node, with the reporting timestamp greater than T. stamp Perceived data.

[0280] After receiving the disappearance notification message, Node 3 deletes the relevant information of sensing target 1-1 in sensing cell X from the source node, without performing any other processing.

[0281] The perception information interaction method provided in this application is applicable to collaborative perception scenarios and scenarios where the perceived target moves across nodes. For example, in collaborative perception scenarios and scenarios where the perceived target moves across nodes, multiple nodes will simultaneously perceive the same target in the overlapping perception area between the current node and adjacent nodes. Each node is essentially a large-scale distributed network architecture. Under this distributed network architecture, nodes interact with each other using the perception information interaction method provided in this application, which can achieve deduplication and correlation fusion of multiple trajectories of the same target, solving the problem of trajectory correlation for perceived targets in collaborative perception scenarios and scenarios where the perceived target moves across nodes, and ensuring the uniqueness of the perceived target and the continuity of perception services.

[0282] To enable those skilled in the art to better understand the embodiments of this application, the embodiments of this application are described below through examples (6) and (7).

[0283] In example (6), refer to Figure 11 As shown, assume three nodes with neighboring relationships, labeled Node 1, Node 2, and Node 3, and a target is in a moving state. The target first appears within the independent perception range of Node 2, then moves to the overlapping perception area of ​​Node 2 and its neighbor Node 1. The target continues to move out of the perception range of Node 2 and into the independent perception range of Node 1.

[0284] The target first appears in the independent sensing range of node 2. After deduplication, node 2 determines that the target does not satisfy the duplicate target relationship with any other sensing target, so it is marked as an independent target and the sensing data of the sensing node is reported to the next higher level node using the reporting ID.

[0285] When a target moves into the overlapping sensing area of ​​node 2 and its neighboring node 1, both node 2 and node 1 will detect the target. Node 1 will detect a new target and needs to perform deduplication. Node 1 sends a target deduplication sensing data request message to its neighboring nodes 2 and 3.

[0286] After receiving the target deduplication sensing data request message, Node 2 and Node 3 will reply to Node 1 with a target deduplication sensing data request confirmation message and initiate the interaction process of sending the deduplication target sensing data interaction message to Node 1.

[0287] After receiving the perception data interaction message for the deduplication target, Node 1 will perform a deduplication judgment. If the deduplication judgment result is that the new target has a duplicate target relationship with the independent target in Node 2, then Node 1 will update the identity status of the new target to a non-independent target and send a deduplication notification message to its neighboring Nodes 2 and 3, carrying a target perception data interaction indication of "stop".

[0288] After receiving the deduplication notification message, Node 2 and Node 3 add the new target to the duplicate target list of independent targets that have a duplicate target relationship with it, stop the interaction process of sending the perception data interaction message of the deduplication target to Node 1, and reply to Node 1 with a deduplication notification confirmation message.

[0289] In Node 2, there are perception targets with an independent target status (hereinafter referred to as independent perception targets), and non-independent perception targets with a duplicate target relationship with it (perception targets with a non-independent target status) belong to Node 1. If no perception data interaction message is received from Node 1 within a preset time window, Node 2 sends a target fusion perception data request message to Node 1, triggering the perception data interaction process for the fusion purpose.

[0290] After receiving the target fusion perception data request message, Node 1 will reply with a target fusion perception data request confirmation message and initiate the interaction process of sending perception data interaction messages for the fusion purpose to Node 1.

[0291] When the target continues to move out of the perception range of node 2, node 2 will consider the target to have disappeared and will send a disappearance notification message to all neighboring nodes 1 and 3. The message will specify the non-independent perception target in node 1 as the next designated independent target, and carry information such as the perception data reporting target ID, the latest data reporting timestamp, and the target perception data interaction indication as stop.

[0292] After receiving the disappearance notification message, Node 1 updates the identity status of the next specified non-independent sensing target from non-independent target to independent target, and continues to report sensing data to the next higher level node according to the sensing data reporting target ID and the latest data reporting timestamp in the message.

[0293] In example (7), refer to Figure 12As shown, assume three nodes with neighboring relationships, labeled Node 1, Node 2, and Node 3, and a target is in a moving state. The target first appears within the independent perception range of Node 2, then moves to the overlapping perception area of ​​Node 2 and its neighbor Node 1. The target continues to move out of the perception range of Node 2 and into the independent perception range of Node 1.

[0294] When nodes 1, 2, and 3 start working, they trigger a target deduplication sensing data request message. This means that nodes 1, 2, and 3 engage in periodic sensing data interaction through a target deduplication sensing data request message / request confirmation message mechanism. The target deduplication sensing data request message does not carry the earliest timestamp of the interaction.

[0295] The target first appears within the independent sensing range of node 2. Node 2 performs deduplication judgment through periodically interacting sensing data, and determines that the target does not satisfy the duplicate target relationship with any neighboring targets. It then identifies the target as an independent target and reports the sensing data to the next higher level node.

[0296] When a target moves into the overlapping sensing area of ​​node 2 and its neighboring node 1, both node 2 and node 1 will detect the target. Node 1 will detect a new target and needs to perform deduplication. Node 1 performs deduplication based on the sensing data obtained from periodic interactions. The deduplication result indicates that the new target has a duplicate target relationship with the independent sensing target in node 2. The new target's identity status is updated to non-independent target, and node 1 sends a deduplication notification message to its neighboring nodes 2 and 3. This message does not carry any target sensing data interaction instructions.

[0297] After receiving the deduplication notification message, nodes 2 and 3 add the new target to the duplicate target list of the corresponding neighboring target and reply to node 1 with a deduplication notification confirmation message.

[0298] Node 2 extracts repeated target perception data from the periodic interactive perception data messages for perception data fusion between repeated targets, and then continuously reports perception data.

[0299] When the target continues to move out of the perception range of node 2, node 2 will consider the target to have disappeared and will broadcast a disappearance notification message to all neighboring nodes 1 and 3. The message will designate the non-independent perception target in node 1 as the next designated independent target and carry information such as the target ID of the perception data reporting, the latest timestamp of the data reporting, and the target perception data interaction indication as stop.

[0300] After receiving the disappearance notification message, Node 1 updates the identity status of the next specified independent target from non-independent target to independent target, and continues to report perception data to the next higher level node according to the perception data reporting target ID and the latest data reporting timestamp in the message.

[0301] In this application embodiment, the sensing node can be a base station, or a fully centralized processing node and a partially centralized processing node. In the previous embodiments, the sensing node was a base station as an example to illustrate the embodiments of this application. The following uses example (8) to illustrate the scheme where the sensing node is a fully centralized processing node.

[0302] In example (8), refer to Figure 13 As shown, Node 1 is assumed to be a partially centralized processing node, used to manage Base Station 1 and Base Station 2. Base Station 1 and Base Station 2 can interact with Node 1 using the sensing information interaction method provided in this application embodiment to obtain sensing data for target deduplication and target fusion, including: sending a target deduplication sensing data request message to Node 1 to initiate a sensing data interaction process for deduplication; and sending a target fusion sensing data request message to Node 1 to initiate a sensing data interaction process for fusion. When Base Station 1 and Base Station 2 detect the disappearance of a sensing target, they can also send a disappearance notification message to Node 1.

[0303] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0304] Based on the same inventive concept, this application also provides a sensory information interaction device for implementing the above-mentioned sensory information interaction method. The solution provided by this device is similar to the solution described in the above-described method. Therefore, the specific limitations of one or more sensory information interaction device embodiments provided below can be found in the limitations of the sensory information interaction method above, and will not be repeated here.

[0305] In one exemplary embodiment, such as Figure 14 As shown, an interactive device 1400 for sensing information is provided, including: a transmitting module 1410 and a receiving module 1420, wherein:

[0306] The sending module 1410 is used to send a sensing data request message to the target node when the triggering conditions of the sensing data request message are met. The triggering conditions include any one of the following: the source node senses a new target, the source node starts working, or the source node does not receive a sensing data interaction message from the target node within a preset time window.

[0307] The receiving module 1420 is used to receive the perception data request confirmation message sent by the target node.

[0308] The apparatus for sensing information provided in the embodiments of this application provides a way for nodes to interact with sensing information, which enables nodes to interact with sensing data through sensing data interaction messages, and then perform operations such as deduplication and association fusion of sensing targets based on the interacted sensing data, thereby improving the uniqueness of sensing targets and the continuity of sensing services.

[0309] In one embodiment, when the source node detects a new target, the sending module 1410 is specifically used for:

[0310] If a source node detects a new target in the first source cell it manages, it acquires the sensing neighbor cells of the first source cell. The sensing neighbor cells belong to different nodes from the first source cell and have overlapping sensing areas with the first source cell.

[0311] Each node belonging to a sensing neighboring area is taken as the target node, and a target deduplication sensing data request message is sent to each target node.

[0312] In one embodiment, the target deduplication sensing data request message includes a source sensing cell list, a target sensing cell list, and a target sensing data interaction period.

[0313] The list of source sensing cells includes the first source cell;

[0314] The target sensing cell list includes information on sensing cells that require interactive sensing data from the target nodes;

[0315] The target perception data interaction cycle is used to indicate the cycle of interactive perception data.

[0316] In one embodiment, the sensing cell includes any one of a first sensing cell, a second sensing cell, and a third sensing cell.

[0317] The first sensing cell has a neighboring relationship with any cell managed by the source node;

[0318] The second sensing cell is any cell managed by the target node;

[0319] The third sensing cell is the sensing neighbor cell of the first source cell.

[0320] In one embodiment, the device further includes:

[0321] The update module is used to update the identity status of the new target to an independent target if the first source cell does not have a sensing neighbor cell. The sensing cell where the independent target is located is responsible for reporting sensing data.

[0322] In one embodiment, when the source node starts working, the sensing data request message is a target deduplicated sensing data request message, and the sending module 1410 is specifically used for:

[0323] Obtain the perceived neighboring cells of each first source cell managed by the source node;

[0324] Each node belonging to a sensing neighboring area is taken as the target node, and a target deduplication sensing data request message is sent to each target node.

[0325] In one embodiment, the target deduplication sensing data request message includes a source sensing cell list, a target sensing cell list, and a target sensing data interaction period.

[0326] The list of source sensing cells includes the first source cell;

[0327] The target sensing cell list includes information on sensing cells that require interactive sensing data from the target nodes;

[0328] The target perception data interaction cycle is used to indicate the cycle of interactive perception data.

[0329] In one embodiment, the sensing cell includes a first sensing cell or a second sensing cell.

[0330] The first sensing cell has a neighboring relationship with any cell managed by the source node;

[0331] The second sensing cell is any cell managed by the target node.

[0332] In one embodiment, when the source node does not receive a perception data interaction message from the target node within a preset time window, the perception data request message is a target fusion perception data request message. The sending module is specifically used for:

[0333] If there is a first sensing target with an independent identity in the source node, and there is a duplicate target in the duplicate target list corresponding to the first sensing target, if the node to which the cell where the duplicate target is located belongs is not the source node, then the duplicate target will be regarded as a fusion sensing target, the cell where the fusion sensing target is located will be regarded as a fusion sensing cell, and the node to which the fusion sensing cell belongs will be regarded as the target node. Here, the identity of the duplicate target is a non-independent target, and the sensing cell where the non-independent target is located is not responsible for reporting sensing data.

[0334] If no perception data interaction message is received from the target node within the preset time window, a target fusion perception data request message is sent to the target node.

[0335] In one embodiment, the target fusion sensing data request message includes a list of target sensing cells and a target sensing data interaction period.

[0336] The target sensing cell list includes information on fusion sensing cells and a list of sensing targets for each fusion sensing cell. The list of sensing targets includes the fusion sensing target ID corresponding to the fusion sensing cell, the identity status of the fusion sensing target, and the interaction timestamp. The identity status of the fusion sensing target is non-independent target, and the interaction timestamp is the timestamp of the latest reporting of sensing data by the first sensing target.

[0337] The target perception data interaction cycle is used to indicate the cycle of interactive perception data.

[0338] In one embodiment, the sensing data request confirmation message includes a list of sensing cells, which includes information about the sensing cells in the target node that need to exchange sensing data and the interaction status of the sensing targets in the sensing cells.

[0339] In one embodiment, the receiving module 1420 is further configured to:

[0340] Receive perception data interaction messages sent by the target node.

[0341] The sensing data interaction message includes a list of sensing cells, which contains sensing cell information and a list of sensing targets. The list of sensing targets includes the sensing target ID, the identity status and interaction status of the sensing target, the reporting ID and latest timestamp used by the sensing target to report sensing data, and a list of sensing target traces.

[0342] In one embodiment, when the source node detects a new target, the update module is further configured to:

[0343] After obtaining the deduplication result for the new target, if the deduplication result indicates that there is a duplicate target of the new target in the target node, then the identity status of the new target is updated to non-independent target.

[0344] The sending module 1410 is also used to send a deduplication notification message to the target node. The deduplication notification message includes a source sensing cell list and a target sensing data interaction instruction. The source sensing cell list includes the source cell information where the new target is located and the sensing target list of the source cell. The sensing target list includes the new target information and a duplicate target list. The duplicate target list includes the duplicate target information of the new target. The duplicate target information includes the duplicate target ID, the sensing cell information where the duplicate target is located, and the identity status of the duplicate target, wherein the identity status of the duplicate target is an independent target.

[0345] In one embodiment, the device further includes:

[0346] The determination module is used to determine the neighboring nodes of the source node when the perceived target disappears.

[0347] The sending module 1410 is also used to send a disappearance notification message to each neighboring node. The disappearance notification message includes a list of sensing cells, which includes information about the cell where the disappeared sensing target is located and a list of sensing targets. The list of sensing targets includes the ID of the disappeared sensing target, the identity status of the disappeared sensing target before disappearance, and a target sensing data interaction indicator.

[0348] In one embodiment, when the identity status of the disappeared sensing target is an independent target, the sensing cell list also includes: the reporting ID used to report the sensing data and the latest timestamp of the sensing data, the target information of the second sensing target specified from the duplicate target list of the disappeared sensing target, and the duplicate target list.

[0349] In one embodiment, the source node includes any of the following types: base station, fully centralized processing node, and partially centralized processing node.

[0350] In one exemplary embodiment, such as Figure 15 As shown, an interactive device 1500 for sensing information is provided, including: a receiving module 1510 and a transmitting module 1520, wherein:

[0351] The receiving module 1510 is used to receive a sensing data request message sent by the source node. The sensing data request message is a message sent by the source node to the target node when the triggering conditions of the sensing data request message are met. The triggering conditions include any one of the following: the source node senses a new target, the source node starts working, or the source node does not receive a sensing data interaction message from the target node within a preset time window.

[0352] The sending module 1520 is used to send a sensing data request confirmation message to the source node and initiate the sending of a target sensing data interaction message to the source node.

[0353] In one embodiment, the target perception data interaction message includes a list of perception cells, which includes perception cell information and a list of perception targets. The list of perception targets includes the perception target ID, the identity status and interaction status of the perception target, the reporting ID and latest timestamp used by the perception target to report perception data, and a list of the points of the perception target.

[0354] In one embodiment, the receiving module 1510 is further configured to:

[0355] Receive a deduplication notification message sent by the source node. The deduplication notification message includes a list of source sensing cells and a target sensing data interaction instruction. The list of source sensing cells includes the source cell information where the new target is located and the sensing target list of the source cell. The list of sensing targets includes the target information of the new target and a list of duplicate targets. The list of duplicate targets includes the duplicate target information of the new target. The duplicate target information includes the duplicate target ID, the sensing cell information where the duplicate target is located, and the identity status of the duplicate target, wherein the identity status of the duplicate target is an independent target.

[0356] If the interaction status of duplicate targets in the target node is normal, add the target information of the new target to the duplicate target list of the duplicate target.

[0357] In one embodiment, the receiving module 1510 is further configured to:

[0358] Receive the disappearance notification message sent by the source node. The disappearance notification message includes a list of sensing cells. The list of sensing cells includes the cell information where the disappeared sensing target is located and a list of sensing targets. The list of sensing targets includes the ID of the disappeared sensing target, the identity status of the disappeared sensing target before disappearance, the target sensing data interaction indicator, the reporting ID used to report the sensing data and the latest timestamp of the sensing data, the target information of the sensing target specified from the duplicate target list of the disappeared sensing target, and the duplicate target list.

[0359] The device also includes an update module, which updates the identity status of the specified sensing target to an independent target if the specified sensing target is located within the target node and its identity status is a non-independent target, and reports the sensing data using the reporting ID.

[0360] It should be noted that the division of units in the embodiments of this application is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0361] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a processor-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 storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application.

[0362] It should be noted that the apparatus provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0363] In one exemplary embodiment, an interactive device for sensing information is provided, the structure of which can be as follows: Figure 16 As shown. The base station includes a memory 1620, a transceiver 1610, and a processor 1600.

[0364] A transceiver is used to receive and send data under the control of a processor.

[0365] Among them, Figure 16 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (represented by a processor) and memory (represented by memory). The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides the interface. A transceiver can be multiple components, including transmitters and receivers, providing a unit for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. The processor is responsible for managing the bus architecture and general processing, while the memory can store data used by the processor during operation.

[0366] The processor can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor can also adopt a multi-core architecture.

[0367] The processor executes the interaction method for any perceived information applied to the source node provided in this application embodiment by calling a program stored in memory, according to the obtained executable instructions. The processor and memory can also be physically separated.

[0368] In one exemplary embodiment, an interactive device for sensing information is provided, the structure of which can be as follows: Figure 17 As shown. The base station includes a memory 1720, a transceiver 1710, and a processor 1700.

[0369] A transceiver is used to receive and send data under the control of a processor.

[0370] Among them, Figure 17 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (represented by a processor) and memory (represented by memory). The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides the interface. A transceiver can be multiple components, including transmitters and receivers, providing a unit for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. The processor is responsible for managing the bus architecture and general processing, while the memory can store data used by the processor during operation.

[0371] The processor can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor can also adopt a multi-core architecture.

[0372] The processor executes the interactive method for any perceived information applied to the target node provided in this application embodiment by calling a program stored in memory, according to the obtained executable instructions. The processor and memory can also be physically separated.

[0373] It should be noted that the apparatus provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0374] In one exemplary embodiment, an interactive device for sensing information is provided. The interactive device for sensing information may be a terminal device, a base station, or a centralized processing node, etc., and includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0375] In one exemplary embodiment, a processor-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described method embodiments.

[0376] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0377] Processor-readable storage media can be any available medium or data storage device that the processor can access, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0378] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0379] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0380] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0381] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. An interactive method for sensing information, characterized in that, Applied to the source node, including: When the triggering conditions for the perception data request message are met, a perception data request message is sent to the target node. The triggering conditions include any one of the following: the source node perceives a new target, the source node starts working, or the source node does not receive a perception data interaction message from the target node within a preset time window. Receive the perception data request confirmation message sent by the target node.

2. The method according to claim 1, characterized in that, When the source node senses a new target, the sensing data request message is a target deduplication sensing data request message, and sending the sensing data request message to the target node includes: If the source node senses a new target in the first source cell it manages, it obtains the sensing neighboring cell of the first source cell. The sensing neighboring cell belongs to a different node from the first source cell and has an overlapping sensing area with the first source cell. The nodes to which each of the sensing neighboring areas belongs are designated as target nodes, and target deduplication sensing data request messages are sent to each of the target nodes.

3. The method according to claim 2, characterized in that, The target deduplication sensing data request message includes a source sensing cell list, a target sensing cell list, and a target sensing data interaction period. The source sensing cell list includes the first source cell; The target sensing cell list includes information on sensing cells in the target node that require interactive sensing data. The target perception data interaction cycle is used to indicate the cycle of interactive perception data.

4. The method according to claim 3, characterized in that, A sensing cell includes any one of a first sensing cell, a second sensing cell, and a third sensing cell. The first sensing cell has a neighboring cell relationship with any cell managed by the source node; The second sensing cell is any cell managed by the target node; The third sensing cell is a sensing neighbor cell of the first source cell.

5. The method according to claim 2, characterized in that, The method further includes: If the first source cell does not have the sensing neighbor cell, the identity status of the new target is updated to an independent target, and the sensing cell where the independent target is located is responsible for reporting sensing data.

6. The method according to claim 1, characterized in that, When the source node starts working, the sensing data request message is a target deduplication sensing data request message, and sending the sensing data request message to the target node includes: Obtain the perceived neighboring cells of each first source cell managed by the source node; The nodes to which each of the sensing neighboring areas belongs are designated as target nodes, and target deduplication sensing data request messages are sent to each of the target nodes.

7. The method according to claim 6, characterized in that, The target deduplication sensing data request message includes a source sensing cell list, a target sensing cell list, and a target sensing data interaction period. The source sensing cell list includes the first source cell; The target sensing cell list includes information on sensing cells in the target node that require interactive sensing data. The target perception data interaction cycle is used to indicate the cycle of interactive perception data.

8. The method according to claim 7, characterized in that, The sensing cell includes a first sensing cell or a second sensing cell. The first sensing cell has a neighboring cell relationship with any cell managed by the source node; The second sensing cell is any cell managed by the target node.

9. The method according to claim 1, characterized in that, When the source node does not receive a perception data interaction message from the target node within a preset time window, the perception data request message is a target fusion perception data request message, and sending the perception data request message to the target node includes: When there is a first sensing target with an independent target status in the source node, and there is a duplicate target in the duplicate target list corresponding to the first sensing target, if the node to which the cell where the duplicate target is located belongs is not the source node, then the duplicate target is taken as a fusion sensing target, the cell where the fusion sensing target is located is taken as a fusion sensing cell, and the node to which the fusion sensing cell belongs is taken as a target node. In this case, the identity status of the duplicate target is a non-independent target, and the sensing cell where the non-independent target is located is not responsible for reporting sensing data. If no perception data interaction message is received from the target node within the preset time window, the target fusion perception data request message is sent to the target node.

10. The method according to claim 9, characterized in that, The target fusion sensing data request message includes a list of target sensing cells and a target sensing data interaction cycle. The target sensing cell list includes the fusion sensing cell information and the sensing target list of each fusion sensing cell. The sensing target list includes the fusion sensing target ID corresponding to the fusion sensing cell, the identity status of the fusion sensing target and the interaction timestamp. The identity status of the fusion sensing target is a non-independent target, and the interaction timestamp is the timestamp of the latest reporting of sensing data by the first sensing target. The target perception data interaction cycle is used to indicate the cycle of interactive perception data.

11. The method according to any one of claims 1 to 9, characterized in that, The sensing data request confirmation message includes a list of sensing cells, which includes information about the sensing cells in the target node that need to exchange sensing data and the interaction status of the sensing targets in the sensing cells.

12. The method according to any one of claims 1 to 9, characterized in that, The method further includes: Receive the perception data interaction message sent by the target node. The sensing data interaction message includes a list of sensing cells, which includes sensing cell information and a list of sensing targets. The list of sensing targets includes a sensing target ID, the identity status and interaction status of the sensing target, the reporting ID and latest timestamp used by the sensing target to report sensing data, and a list of the sensing target's traces.

13. The method according to claim 1, characterized in that, When the source node senses a new target, the method further includes: After obtaining the deduplication result for the new target, if the deduplication result indicates that there is a duplicate target of the new target in the target node, then the identity status of the new target is updated to non-independent target; A deduplication notification message is sent to the target node. The deduplication notification message includes a source sensing cell list and a target sensing data interaction instruction. The source sensing cell list includes the source cell information where the new target is located and the sensing target list of the source cell. The sensing target list includes the new target information and a duplicate target list. The duplicate target list includes the duplicate target information of the new target. The duplicate target information includes the duplicate target ID, the sensing cell information where the duplicate target is located, and the identity status of the duplicate target, wherein the identity status of the duplicate target is an independent target.

14. The method according to claim 1, characterized in that, The method further includes: When the perceived target disappears, the neighboring nodes of the source node are determined; A disappearance notification message is sent to each of the adjacent nodes. The disappearance notification message includes a list of sensing cells. The list of sensing cells includes information about the cell where the disappeared sensing target is located and a list of sensing targets. The list of sensing targets includes the ID of the disappeared sensing target, the identity status of the disappeared sensing target before disappearance, and a target sensing data interaction indication.

15. The method according to claim 14, characterized in that, When the identity status of the disappeared sensing target is an independent target, the sensing cell list also includes: the reporting ID used to report the sensing data and the latest timestamp of the sensing data, the target information of the second sensing target specified from the duplicate target list of the disappeared sensing target, and the duplicate target list.

16. The method according to claim 1, characterized in that, The source node includes any of the following types: base station, fully centralized processing node, and partially centralized processing node.

17. An interactive method for sensing information, characterized in that, Applied to the target node, including: The source node receives a perception data request message, which is a message sent by the source node to the target node when the triggering condition of the perception data request message is met. The triggering condition includes any one of the following: the source node perceives a new target, the source node starts working, or the source node does not receive a perception data interaction message from the target node within a preset time window. Send a sensing data request confirmation message to the source node, and initiate the sending of sensing data interaction messages to the source node.

18. The method according to claim 17, characterized in that, The sensing data interaction message includes a list of sensing cells, which includes sensing cell information and a list of sensing targets. The list of sensing targets includes a sensing target ID, the identity status and interaction status of the sensing target, the reporting ID and latest timestamp used by the sensing target to report sensing data, and a list of the sensing target's traces.

19. The method according to claim 17 or 18, characterized in that, The method further includes: The system receives a deduplication notification message sent by the source node. The deduplication notification message includes a source sensing cell list and a target sensing data interaction instruction. The source sensing cell list includes the source cell information where the new target is located and the sensing target list of the source cell. The sensing target list includes the target information of the new target and a duplicate target list. The duplicate target list includes the duplicate target information of the new target. The duplicate target information includes the duplicate target ID, the sensing cell information where the duplicate target is located, and the identity status of the duplicate target, wherein the identity status of the duplicate target is an independent target. If the interaction status of the duplicate target in the target node is normal, add the target information of the new target to the duplicate target list of the duplicate target.

20. The method according to claim 19, characterized in that, The method further includes: The system receives a disappearance notification message sent by the source node. The disappearance notification message includes a list of sensing cells. The list of sensing cells includes information about the cell where the disappeared sensing target is located and a list of sensing targets. The list of sensing targets includes the ID of the disappeared sensing target, the identity status of the disappeared sensing target before disappearance, a target sensing data interaction indicator, a reporting ID used to report sensing data, the latest timestamp of the sensing data, the target information of the sensing target specified from the duplicate target list of the disappeared sensing target, and the duplicate target list. If the specified sensing target is located within the target node and its identity status is not independent target, then the identity status of the specified sensing target is updated to independent target, and the sensing data is reported using the reporting ID.

21. An interactive device for sensing information, characterized in that, Applied to the source node, including: The sending module is used to send a sensing data request message to the target node when the triggering conditions of the sensing data request message are met. The triggering conditions include any one of the following: the source node senses a new target, the source node starts working, or the source node does not receive a sensing data interaction message from the target node within a preset time window. The receiving module is used to receive the perception data request confirmation message sent by the target node.

22. An interactive device for sensing information, characterized in that, Applied to the target node, including: The receiving module is used to receive a perception data request message sent by the source node. The perception data request message is a message sent by the source node to the target node when the triggering condition of the perception data request message is met. The triggering condition includes any one of the following: the source node perceives a new target, the source node starts working, or the source node does not receive a perception data interaction message from the target node within a preset time window. The sending module is used to send a sensing data request confirmation message to the source node and initiate the sending of a target sensing data interaction message to the source node.

23. An interactive device for sensing information, characterized in that, The interactive device for sensing information includes: a memory, a transceiver, and a processor. A memory for storing a computer program; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer program from the memory and executing the steps of the method according to any one of claims 1 to 16.

24. An interactive device for sensing information, characterized in that, The interactive device for sensing information includes: a memory, a transceiver, and a processor. A memory for storing a computer program; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer program from the memory and executing the steps of the method according to any one of claims 17 to 20.

25. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 16.

26. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 17 to 20.

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