Perception method and communication device

Abstract

The embodiment of the invention discloses a sensing method and a communication device, in a cooperative sensing mode, a cooperative sensing node can report sensing information to a sensing sink node, so that the sensing sink node can effectively merge and calculate the sensing information. The method comprises the following steps: a cooperative sensing node receives report configuration information, wherein the report configuration information is used for reporting sensing information of a first sensing task; and based on the report configuration information, reporting sensing information of the first sensing task, the type of the reported sensing information including the type of the sensing information configured by the report configuration information. The flexibility of the cooperative sensing node is improved while the cooperative sensing node reports the sensing information to the sensing sink node.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a sensing method and a communication device. Background Technology

[0002] Integrated sensing and communications (ISAC) is a technology that combines communication and sensing. Devices supporting ISAC can simultaneously provide both communication and sensing services. ISAC can be applied in fields such as intelligent transportation, intelligent manufacturing, and intelligent healthcare, improving spectrum efficiency, communication quality, and communication reliability.

[0003] Sensing, as a fundamental characteristic of communication systems, can observe and sample the physical and biological worlds, thus opening a "new channel" for the integration of the physical and biological worlds with the digital world. Sensing tasks can be used to acquire sensing results; for example, a base station sends a sensing signal to a moving vehicle, and the base station can obtain the vehicle's speed by observing the reflected signal. In other words, the sensing task is to measure the speed of the moving vehicle. The sensing mode in this example can be called a non-cooperative sensing mode, while a cooperative sensing mode refers to at least three sensing nodes participating in the transmission and reception of sensing signals.

[0004] In collaborative sensing mode, how nodes interact with each other is a current research hotspot. Summary of the Invention

[0005] This application provides a sensing method and communication device. In a cooperative sensing mode, cooperative sensing nodes can report sensing information to a sensing aggregation node, which helps to increase the probability that the sensing aggregation node obtains the sensing information.

[0006] In a first aspect, embodiments of this application provide a sensing method, which can be executed by a cooperative sensing node or by a device matched with the cooperative sensing node, such as a processor, chip, or chip module. The method may include: receiving reporting configuration information, the reporting configuration information being used for reporting sensing information for a first sensing task; and reporting the sensing information of the first sensing task based on the reporting configuration information.

[0007] It is evident that in the collaborative sensing mode, collaborative sensing nodes can report sensing information of sensing tasks based on the reported configuration information, which helps to increase the probability that the sensing aggregation node obtains sensing information.

[0008] In one possible implementation, the reported configuration information includes perception type information, which indicates the type of perception information so that the cooperating perception nodes can report the perception information based on the indicated type.

[0009] In one possible implementation, the type of the perceived information indicated by the perceived type information includes one or more of the following:

[0010] The data includes: radial velocity of the target, distance between the cooperative sensing node and the target, angle between the cooperative sensing node and the target, position of the target, time delay between the cooperative sensing node and the target, Doppler velocity, detection range, number of targets, received sensing signal, signal after initial processing of the received sensing signal, one-dimensional fast Fourier transform (1D-FFT) data, two-dimensional fast Fourier transform (2D-FFT) data, three-dimensional fast Fourier transform (3D-FFT) data, multiple signal classification (MUSIC) spectral function information, noise subspace vector, covariance matrix, detection range corresponding to the spectral function, position information of cooperative sensing nodes, number of antennas of cooperative sensing nodes, array manifold of cooperative sensing nodes, antenna spacing of cooperative sensing nodes, carrier frequency, sub-carrier space (SCS), symbol duration, number of subcarriers used for sensing, number of symbols used for sensing, and fast Fourier transform (FFT) data. Fourier transform (FFT) step size, resolution, accuracy attenuation factor of cooperative sensing nodes, positioning accuracy of cooperative sensing nodes, signal-to-noise ratio (SNR) of the received sensing signal, signal-to-interference plus noise ratio (SINR) of the received sensing signal, and synchronization accuracy of cooperative sensing nodes.

[0011] In one possible implementation, the perception type information indicates a first-level type and the type of perception information under that first-level type. The first-level type includes one or more of fusion information, auxiliary information, and background information. The fusion information indicates the measurement information of the received sensing signal of the first sensing task, and / or information obtained by processing the measurement information, such as the measured received sensing signal, calculated velocity, position, etc. The background information indicates the parameters involved in acquiring the fusion information, i.e., under which parameters the fusion information is obtained. The auxiliary information is used to determine the weight of the fusion information, or to determine the weight of the fusion information and the background information, which helps improve the accuracy and reliability of the convergence processing results. In other words, the perception type information indicates which information of the first-level type the collaborative sensing nodes report, so that the collaborative sensing nodes can report the corresponding information based on the perception type information.

[0012] In one possible implementation, the perception type information indicates that the first-level type includes fused information. The perception type information also indicates a second-level type under the fused information, and the type of perception information under the second-level type. The second-level type includes one or more of data-level information, signal-level information, and symbol-level information. Data-level information is the perception result calculated based on the received sensing signal; signal-level information includes the received sensing signal or the initially processed received sensing signal; and symbol-level information is intermediate data obtained by processing the received sensing signal. By instructing cooperative perception nodes to report fused information at the corresponding level, perception aggregation nodes can aggregate and process the fused information at the same level.

[0013] In one possible implementation, the symbol-level information includes one or more of the following: 1D-FFT data, 2D-FFT data, 3D-FFT data, MUSIC spectral function information, noise subspace vector, and covariance matrix. This symbol-level information is for illustrative purposes only and does not constitute a limitation on the embodiments of this application.

[0014] In one possible implementation, the reported configuration information also includes task instruction information, which indicates one or more of the following: task information, sensing direction, sensing time, and sensing frequency of the first sensing task. Task information may include a task identifier (used to identify the first sensing task) and / or task purpose (e.g., speed measurement, positioning, etc.). Sensing direction instructs the cooperating sensing nodes to receive sensing signals in that sensing direction, or to measure and process the sensing signals received in that sensing direction to obtain fused information. Sensing time instructs the cooperating sensing nodes to receive sensing signals at that sensing time, or to measure and process the sensing signals received within that sensing time to obtain fused information. Sensing frequency instructs the cooperating sensing nodes to receive sensing signals at that sensing frequency, or to measure and process the sensing signals received at that sensing frequency to obtain fused information.

[0015] In one possible implementation, the reported configuration information also includes format indication information, which indicates the reporting format. That is, the format indication information indicates in what format the sensing information reported by the collaborative sensing nodes is reported.

[0016] In one possible implementation, the reporting format includes a first part and a second part; the first part indicates the type of the reported sensing information, and the second part indicates the numerical value corresponding to the type of reported sensing information.

[0017] In one possible implementation, the reporting format includes a third part indicating the type indicated by the perception type information. Optionally, the reporting format also includes a fourth part indicating the auxiliary information being reported.

[0018] In one possible implementation, the type of perceived information indicated by the perception type information is the same as the type of perceived information reported; or, the types of perceived information reported are more numerous than the types of perceived information indicated by the perception type information. This helps to improve the flexibility of collaborative perception nodes.

[0019] In one possible implementation, the perception information of the first perception task is reported based on the reporting configuration information, including: the perception information of the first perception task is reported based on the relationship with the perception aggregation node and the reporting configuration information.

[0020] Alternatively, based on the reporting configuration information and available reporting resources, the sensing information of the first sensing task can be reported;

[0021] Alternatively, based on the reported configuration information and priority information, the perception information of the first perception task can be reported;

[0022] Alternatively, based on the reporting configuration information, available reporting resources, and priority information, the perception information of the first perception task can be reported.

[0023] Among them, priority information is used to indicate the priority order among fusion information, auxiliary information and background information.

[0024] In other words, collaborative sensing nodes can determine the content of the reported sensing information through the above methods.

[0025] Secondly, embodiments of this application provide a sensing method, which can be executed by a sensing control node or by a device matched with the sensing control node, such as a processor, chip, or chip module. The method may include: sending reporting configuration information, the reporting configuration information being used for reporting sensing information for a first sensing task.

[0026] It is evident that by sending configuration information to the cooperating sensing nodes, the sensing control nodes can report sensing information to the sensing aggregation nodes based on the configuration information, thereby increasing the probability that the sensing aggregation nodes can obtain sensing information.

[0027] In one possible implementation, the reported configuration information includes perception type information, which indicates the type of perception information so that the cooperating perception nodes can report the perception information based on the indicated type.

[0028] In one possible implementation, the type of the perceived information indicated by the perceived type information includes one or more of the following:

[0029] The parameters include: radial velocity of the target, distance between the cooperative sensing node and the target, angle between the cooperative sensing node and the target, position of the target, time delay between the cooperative sensing node and the target, Doppler velocity, detection range, number of targets, received sensing signal, signal after initial processing of the received sensing signal, 1D-FFT data, 2D-FFT data, 3D-FFT data, MUSIC spectral function information, noise subspace vector, covariance matrix, detection range corresponding to the spectral function, position information of the cooperative sensing node, number of antennas of the cooperative sensing node, array manifold of the cooperative sensing node, antenna spacing of the cooperative sensing node, carrier frequency, SCS, symbol duration, number of subcarriers used for sensing, number of symbols used for sensing, FFT step size, resolution, accuracy attenuation factor of the cooperative sensing node, positioning accuracy of the cooperative sensing node, SNR of the received sensing signal, signal-to-SINR of the received sensing signal, and synchronization accuracy of the cooperative sensing node.

[0030] In one possible implementation, the perception type information indicates a first-level type and the type of perception information under that first-level type; wherein the first-level type includes one or more of fusion information, auxiliary information, and background information. The fusion information indicates measurement information of the perceived received signal of the first perception task, and / or information obtained by processing the measurement information; the background information indicates parameters involved in acquiring the fusion information; and the auxiliary information is used to determine the weights of the fusion information, or to determine the weights of the fusion information and the background information.

[0031] In one possible implementation, the perception type information indicates that the first-level type includes fused information. The perception type information also indicates a second-level type under the fused information, and the type of perception information under the second-level type. The second-level type includes one or more of data-level information, signal-level information, and symbol-level information. Specifically, the data-level information is the perception result calculated based on the received perception signal; the signal-level information includes the received perception signal or the initially processed received perception signal; and the symbol-level information is intermediate data obtained by processing the received perception signal.

[0032] In one possible implementation, the symbol-level information includes one or more of the following: 1D-FFT data, 2D-FFT data, 3D-FFT data, MUSIC spectral function information, noise subspace vector, and covariance matrix.

[0033] In one possible implementation, the reported configuration information also includes task indication information, which indicates one or more of the task information, sensing direction, sensing time, and sensing frequency of the first sensing task.

[0034] In one possible implementation, the reported configuration information also includes format indication information, which indicates the reporting format.

[0035] In one possible implementation, the reporting format includes a first part and a second part; the first part indicates the type of the reported sensing information, and the second part indicates the numerical value corresponding to the type of reported sensing information.

[0036] In one possible implementation, the reporting format includes a third part indicating the type indicated by the perception type information. Optionally, the reporting format also includes a fourth part indicating the auxiliary information being reported.

[0037] Thirdly, embodiments of this application provide a communication device, which is a cooperative sensing node or a device matched with a cooperative sensing node, and the communication device includes a communication unit;

[0038] The communication unit is used to: receive reported configuration information, which is used for reporting the perception information of the first perception task; and report the perception information of the first perception task based on the reported configuration information.

[0039] Fourthly, embodiments of this application provide a communication device, which is a sensing and control node, or a device matched with a sensing and control node, and the communication device includes a communication unit;

[0040] The communication unit is used to send and report configuration information, which is used for reporting the perception information of the first perception task.

[0041] Fifthly, embodiments of this application provide a communication device, including a processor, a memory, and a computer program or instructions stored in the memory. The processor executes the computer program or instructions to implement the method involved in the first aspect above, or to implement the method involved in the second aspect above.

[0042] In a sixth aspect, embodiments of this application provide a chip including a processor, wherein the processor performs the steps of the method involved in the first aspect above, or performs the steps of the method involved in the second aspect above.

[0043] In a seventh aspect, embodiments of this application provide a chip module, including a communication interface and a chip. The communication interface is used for internal communication within the chip module or for communication between the chip module and an external device. The chip is used to perform the steps in the method described in the first aspect or the steps in the method described in the second aspect.

[0044] Eighthly, embodiments of this application provide a computer-readable storage medium storing a computer program or instructions that, when executed, implement the steps of the method involved in the first aspect above, or implement the steps of the method involved in the second aspect above.

[0045] Ninthly, embodiments of this application provide a computer program product, including a computer program or instructions, wherein when the computer program or instructions are executed, they implement the steps in the method involved in the first aspect above, or implement the steps in the method involved in the second aspect above.

[0046] In a tenth aspect, embodiments of this application provide a communication system including a cooperative sensing node, a sensing control node, and a sensing convergence node. The cooperative sensing node is used to execute the steps of the method described in the first aspect, and the sensing control node is used to execute the steps of the method described in the second aspect. Attached Figure Description

[0047] Figure 1 These are example diagrams illustrating six modes of perception;

[0048] Figure 2 This is an example diagram illustrating the switching of the perception mode of a perception task from a non-cooperative perception mode to a cooperative perception mode.

[0049] Figure 3 This is another example diagram showing the switching of the perception mode of a perception task from a non-cooperative perception mode to a cooperative perception mode.

[0050] Figure 4 This is an example diagram illustrating the location of a target vehicle perceived under a collaborative perception mode;

[0051] Figure 5 This is an example diagram illustrating the relationship of perceived information provided in the embodiments of this application;

[0052] Figure 6 This is a schematic diagram of the system architecture applied in the embodiments of this application;

[0053] Figure 7 This is a flowchart illustrating a sensing method provided in an embodiment of this application;

[0054] Figure 8A and Figure 8B These are two example diagrams provided in the embodiments of this application;

[0055] Figure 9 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0056] Figure 10 This is a schematic diagram of another communication device provided in an embodiment of this application;

[0057] Figure 11 This is a schematic diagram of the structure of a chip module provided in an embodiment of this application. Detailed Implementation

[0058] In this application, the terms "first," "second," etc., are used to distinguish identical or similar items with essentially the same function and purpose. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or execution order, nor do they imply that they must be different. "And / or" describes the relationship between related 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 related objects have an "or" relationship.

[0059] It should be understood that in this application, "at least one" refers to one or more; "multiple" refers to two or more. Furthermore, the word "equal to" in this application can be used in conjunction with "greater than" or "less than". When "equal to" and "greater than" are used together, the technical solution using "greater than" is adopted; when "equal to" and "less than" are used together, the technical solution using "less than" is adopted.

[0060] First, the relevant concepts involved in the embodiments of this application will be explained.

[0061] I. Terminal Equipment

[0062] A terminal device is a device with wireless transceiver capabilities. It can be referred to as a terminal, user equipment (UE), mobile station (MS), mobile terminal (MT), access terminal device, IoT terminal device, vehicle-mounted terminal device, industrial control terminal device, UE unit, UE station, mobile station, remote station, remote terminal device, mobile device, wireless communication device, UE agent, or UE device, etc. Terminal devices can be fixed or mobile. It should be noted that terminal devices can support at least one wireless communication technology, such as Wideband Code Division Multiple Access (WCDMA), Long Time Evolution (LTE), New Radio (NR), and 6th Generation Wireless (6G). th-generation (6G) or next-generation wireless communication technology, etc. For example, terminal devices can be mobile phones, tablets, desktop computers, laptops, all-in-one computers, in-vehicle terminals, virtual reality (VR) terminal devices, augmented reality (AR) terminal devices, mixed reality (MR) terminal devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to a wireless modem, wearable devices, terminal devices in future mobile communication networks, or future evolved public land mobile networks. Terminal devices in a network (PLMN), etc. In some embodiments of this application, the terminal device may also be a device with transceiver functions, such as a chip module. The chip module may include chips, and may also include other discrete devices. The embodiments of this application do not limit the specific technology or device form used in the terminal device.

[0063] II. Access Network Equipment

[0064] Access network equipment refers to nodes in a radio access network (RAN), also known as RAN nodes (or devices). Access network equipment assists terminal devices in achieving wireless access. In one possible scenario, access network equipment can be a base station, an evolved NodeB (eNodeB), a transmitting and receiving point (TRP), a transmitting point (TP), a next-generation NodeB (gNB), a next-generation base station in a 6G system, a base station in a future mobile communication system, a satellite, an integrated access and backhaul (IAB) node, or an access network device in a mobile switching center non-terrestrial network (NTN) communication system; that is, it can be deployed on high-altitude platforms or satellites. Access network equipment can be a macro base station, a micro base station or an indoor station, a relay node or a host node, or a radio controller in a cloud radio access network (CRAN) scenario. Access network equipment can also function as a base station in device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, drone communication, and machine-to-machine (M2M) communication. Optionally, access network equipment can also be servers, wearable devices, vehicles, or in-vehicle equipment. For example, network equipment in vehicle-to-everything (V2X) technology can be a roadside unit (RSU).

[0065] All or part of the functions of the access network device in this application can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (such as a cloud platform). The access network device in this application can also be a logical node, logical module, or software capable of implementing all or part of the functions of the access network device.

[0066] In another possible scenario, multiple access network devices collaborate to assist terminal devices in achieving wireless access, with each access network device implementing a portion of the base station's functions. For example, access network devices can be central units (CUs), distributed units (DUs), CU-control planes (CPs), CU-user planes (UPs), or radio units (RUs), etc. CUs and DUs can be set up separately or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio equipment or radio units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs). It is understood that access network devices can be CU nodes, DU nodes, or devices including both CU and DU nodes. Furthermore, CUs can be classified as network devices in the access network (RAN) or as network devices in the core network (CN); there are no restrictions on this classification.

[0067] III. Perception

[0068] 1. Definition of perception

[0069] Wireless sensing utilizes wireless signals for perception. Sensing is the process of collecting, processing, and generating sensing results. For example, data collection can be used to determine the distance, shape, and type of surrounding obstacles, or to determine the breathing rate and heart rate of a monitored object. The collected data can be obtained through sensors or wireless signals. Both wireless sensing and wireless communication are based on electromagnetic wave theory. At the transmitting end, electromagnetic signals are modulated to carry source information. During propagation, these signals are affected by the wireless environment, thus carrying environmental information. At the receiving end, analysis of the electromagnetic signals reveals not only the carried source information but also sensing information reflecting the characteristics of the propagation environment. In other words, electromagnetic signals inherently possess both communication and sensing capabilities, making ISAC (Integrated Communication and Sensing) possible. This integration can also be called Joint Communications and Sensing (JCAS) or simply Integrated Communication and Sensing. Compared to systems that separate sensing and communication, ISAC has a number of advantages, such as cost savings, reduced device size, lower power consumption, improved frequency efficiency, and reduced mutual interference between communication and sensing.

[0070] 2. Sensing signals

[0071] Sensing signals can be divided into sensing transmitted signals and sensing received signals. The signal obtained after the sensing transmitted signal has propagated through the channel is the sensing received signal. The transmitting node of the sensing transmitted signal and the receiving node of the sensing received signal can be the same or different.

[0072] 3. Perception Methods

[0073] Since the transmitting node for sensing signals and the receiving node for sensing signals can be the same or different, sensing methods can be divided into the following categories: Figure 1 The six types shown. Figure 1 Taking the sensing of a vehicle's speed or location as an example, and taking the sensing device as a terminal device or base station as an example, Tx represents the transmitting beam carrying the sensing transmission signal, and Rx represents the receiving beam carrying the sensing reception signal. Figure 1 The six sensing methods shown are as follows:

[0074] a) The base station transmits and receives data independently, that is... Figure 1 As shown in (1), after the base station sends the sensing transmission signal, it receives the sensing reception signal after it has been propagated through the channel.

[0075] b, Base station A transmits and base station B receives, that is... Figure 1 As shown in (2), after base station A sends a sensing transmission signal, base station B receives a sensing reception signal. That is, one base station sends a sensing transmission signal, and the other base station receives a sensing reception signal.

[0076] c, The base station transmits and the terminal equipment receives, that is... Figure 1 As shown in (3), after the base station sends the sensing transmission signal, the terminal device receives the sensing reception signal.

[0077] d, The terminal device transmits and the base station receives, that is... Figure 1 As shown in (4), after the terminal device sends the sensing transmission signal, the base station receives the sensing reception signal.

[0078] e, the terminal device transmits and receives data independently, that is... Figure 1 As shown in (5), after the terminal device sends the sensing transmission signal, it receives the sensing reception signal after it has been propagated through the channel.

[0079] f, Terminal device A sends data, terminal device B receives data, that is... Figure 1 As shown in (6), after terminal device A sends a sensing transmission signal, terminal device B receives a sensing reception signal. That is, one terminal device sends a sensing transmission signal, and the other terminal device receives a sensing reception signal.

[0080] 4. Sensing function (SF) network element

[0081] To better handle sensing services, SF network elements are introduced into the network architecture, which can serve as core network elements. The functions of an SF network element may include one or more of the following:

[0082] (1) Sensing parameter (e.g., Quality of Service (QoS) parameters) conversion. To meet the QoS requirements of sensing services, QoS parameter conversion is necessary. Information such as the sensing service type or identifier, QoS requirements, and sensing information reporting cycle are transmitted to the terminal device or base station performing the sensing. If sensing requirements change, such as changes in the sensing area, reporting time, or QoS requirements, the terminal device or the application on the terminal device needs to trigger the corresponding modification process.

[0083] (2) Triggering sensing services. That is to say, the SF network element triggers the start of sensing services, that is, controls when the base station or terminal equipment performing sensing starts sensing services.

[0084] (3) Termination of sensing services. In other words, the SF network element controls when the sensing services end.

[0085] (4) Control the base station or terminal equipment to perform sensing according to the sensing service requirements. For example, control the base station or terminal equipment to send sensing signals, or control the base station or terminal equipment to receive sensing signals after they have been propagated through the channel.

[0086] (5) Processing sensing information. The base station or terminal equipment performing sensing can measure the sensing signals it receives and report the sensing information to the SF network element. The SF network element processes the sensing information to obtain the sensing results.

[0087] (6) Provide open sensing results. That is, SF network elements can provide sensing results to third-party applications or other devices.

[0088] 5. Collaborative perception mode and non-collaborative perception mode

[0089] Collaborative sensing mode refers to a mode in which at least three sensing nodes participate in the transmission and reception of sensing signals, and the sensing information reported by multiple sensing nodes is fused to obtain the final sensing result. This involves at least three sensing nodes transmitting and receiving sensing signals; for example, one sensing node transmits a sensing signal, and multiple sensing nodes receive and measure the signal after it has propagated through the channel; or, multiple sensing nodes transmit sensing signals, and one sensing node receives and measures the signal after it has propagated through the channel; or, multiple sensing nodes transmit sensing signals, and multiple sensing nodes receive and measure the signal after it has propagated through the channel. In collaborative sensing mode, the fusion of sensing information reported by multiple sensing nodes to obtain the final sensing result can, to some extent, improve the accuracy and reliability of the sensing result, thus contributing to improved accuracy.

[0090] Non-cooperative sensing mode refers to a mode where one sensing node transmits a sensing signal, and another sensing node receives and measures the signal after it has propagated through the channel. The sensing result is determined based on the measurement or calculation results. The transmitting and receiving nodes of the sensing signal can be the same or different. Non-cooperative sensing mode can be any of the six sensing methods mentioned above.

[0091] The perception mode of a perception task can switch from a collaborative perception mode to a non-collaborative perception mode, or vice versa. A perception task can be a task under a perception service; for example, if the perception service is to perceive a target vehicle, the perception task under that service could be to perceive the target vehicle's speed or its location.

[0092] For example, the sensing mode of a sensing task switches from a non-cooperative sensing mode to a cooperative sensing mode, as shown in [reference needed]. Figure 2 An example diagram is shown. Figure 2Taking the sensing task of sensing the moving speed of a target vehicle as an example, before the handover, base station A senses the moving speed of the target vehicle through a self-transmitting and self-receiving sensing method. As the target vehicle gradually moves away from base station A, the quality of the sensing signal reflected by the target vehicle may significantly decrease due to the increased echo path of the sensing signal or changes in the radar cross-section (RCS) of the target vehicle, thus causing a performance degradation of the sensing task or even potentially leading to its interruption. In this case, base station A or the SF network element can select terminal devices B and C to participate in the sensing task based on information about other terminal devices (e.g., terminal devices B and C) within the coverage area of ​​base station A. The sensing signal sent by base station A reaches the target vehicle and is reflected back to terminal devices B and C. The target vehicle's speed is continuously measured by base station A sending the sensing signal and terminal devices B and C receiving it. In other words, the sensing method switches from self-transmitting and self-receiving to a cooperative sensing mode.

[0093] Figure 2 The arrows in the diagram represent sensing signals. Terminal devices B and C measure the received sensing signals and can either directly transmit the sensing information to base station A, or transmit the sensing information to base station A via the target vehicle. Figure 2 The process of transmitting sensing information is not shown. Figure 2 Terminal devices B and C in the above-mentioned area can be base stations or a combination of base stations and terminal devices. For example, base stations B and C in the above-mentioned area can be selected to participate in the sensing task, or base stations B and terminal devices C in the above-mentioned area can be selected to participate in the sensing task.

[0094] For example, the sensing mode of a sensing task switches from a non-cooperative sensing mode to a cooperative sensing mode, as shown in [reference needed]. Figure 3 Another example diagram is shown. Figure 3 In this example, taking vehicle 1 (with communication sensing capabilities) sensing road conditions as an example, before the switch, vehicle 1 senses road conditions through a self-receiving sensing method. When there are many blind spots around vehicle 1, vehicle 1 can contact other nearby vehicles (such as vehicle 2 and vehicle 3) for collaborative sensing. That is, the system switches from a self-receiving sensing method to a collaborative sensing mode. Vehicles 2 and 3 sense road conditions through self-receiving and send the sensing results to vehicle 1, which then aggregates and processes the results to obtain the final sensing result.

[0095] The difference between cooperative sensing mode and non-cooperative sensing mode lies in the fact that in cooperative sensing mode, the sensing information from multiple nodes is aggregated to obtain the final sensing result. This aggregation process may be performed by SF network elements, by nodes participating in sensing signal transmission and reception, or by other sensing nodes besides those participating in sensing signal transmission and reception. An example diagram illustrating the location of the target vehicle in cooperative sensing mode can be found here. Figure 4 As shown. Figure 4 In this process, the transmitting node sends a sensing signal, which is reflected by the target vehicle to receiving nodes 1, 2, and 3. These three receiving nodes receive and measure the sensing signal and send the sensing information to the aggregation processing node. The aggregation processing node then performs aggregation processing based on this information to obtain the final sensing result, i.e., the location of the target vehicle. The aggregation processing node may be an SF network element or... Figure 4 The sending node or any receiving node shown may also be, except for Figure 4 Other sensing nodes besides the sending and receiving nodes shown.

[0096] For ease of description, in the cooperative sensing mode, the node that sends the sensing signal is called the sensing sending node, the node that receives the sensing signal is called the sensing receiving node, and the aggregation processing node is called the sensing aggregation node. The sensing sending node and sensing receiving node can be collectively referred to as cooperative sensing nodes, that is, nodes participating in cooperative sensing. The target vehicle can be understood as the sensing target.

[0097] 6. Perceiving information

[0098] In this embodiment, the information reported by the collaborative sensing nodes to the sensing aggregation node is referred to as sensing information. An example diagram illustrating the relationship of sensing information can be found in one possible implementation. Figure 5 As shown. Figure 5 In this context, perceived information may include one or more of the following: fused information, auxiliary information, and background information. The terms fused information, auxiliary information, and background information are used interchangeably. Figure 5 The names of other information are used as examples and do not constitute a limitation on the embodiments of this application. Other names used to describe the nature of this information should also fall within the protection scope of the embodiments of this application.

[0099] In this context, fused information refers to the measurement information of the received signals by the collaborative sensing nodes, and / or the information obtained by processing the measurement information. Fusion information can include one or more of data-level information, signal-level information, and symbol-level information. Signal-level information is measurement information, while data-level and symbol-level information are obtained by processing the measurement information. In one implementation, processing signal-level information yields symbol-level information, and processing symbol-level information yields data-level information. In another implementation, processing signal-level information yields data-level information, and processing symbol-level information yields data-level information.

[0100] Data-level information refers to the sensing results calculated by the collaborative sensing nodes based on the measurement information of the received signals. These results include, for example, the radial velocity of the sensed target, the distance between the collaborative sensing node and the target, the angle between them, the target's position, the time delay between them, Doppler velocity, detection range, and the number of targets. Doppler velocity refers to the velocity estimation of the sensed target based on the characteristics of the Doppler signal. Detection range refers to the detection range corresponding to algorithms such as MUSIC and FFT. For example, if the MUSIC algorithm is used to obtain the MUSIC spectrum function with an angle range of 0° to 90°, then the detection range is 0° to 90°. The number of targets refers to the number of sensed targets detected, such as the number of UAVs detected after sensing in a certain area.

[0101] Signal-level information can include signals received by the cooperative sensing nodes, i.e., the sensed and received signals. For example, the sensed and received signal y can be represented as y = Hx + n, where H represents the channel matrix, x represents the known transmitted signal, and n represents channel noise or channel interference. Signal-level information can also include the signal after the cooperative sensing nodes have performed initial processing on the sensed and received signals (e.g., processing to eliminate communication signals and / or processing to reduce noise).

[0102] Symbol-level information refers to information obtained by cooperative sensing nodes processing signal-level information (i.e., the sensed and received signal, or the signal after initial processing of the sensed and received signal). For example, the processing can be symbol-level processing. For instance, MUSIC spectral function information obtained by processing the sensed and received signal based on the MUSIC algorithm may include one or more of the following: noise subspace vector, MUSIC spectral function, MUSIC spectral traversal step size, detection range corresponding to the spectral function, covariance matrix, etc. Symbol-level information may also include one or more of the following: 1D-FFT data, 2D-FFT data, 3D-FFT data, etc. Taking 1D-FFT data as an example, it may include 1D-FFT range data and / or 1D-FFT velocity data.

[0103] Data-level information can also be called result-level information, signal-level information can also be called initial-level information, and symbol-level information can also be called intermediate-level information. Data-level information can be obtained by processing signal-level information or by processing symbol-level information.

[0104] Background information refers to the parameters involved in the process of cooperative sensing nodes obtaining fused information, i.e., under which parameters the fused information is obtained. Background information may include the location information of the cooperative sensing nodes, i.e., the current location of the cooperative sensing nodes or the location where the cooperative sensing nodes obtain fused information, such as latitude and longitude. Background information may also include antenna configuration information of the cooperative sensing nodes, such as one or more of the following: number of antennas, array manifold, antenna spacing, etc. Background information may also include communication parameter configuration information, which may include, but is not limited to, one or more of the following: carrier frequency (fc), subcarrier spacing (SCS) (Δf), symbol duration (T), number of subcarriers used for sensing, number of symbols used for sensing, FFT size, MUSIC spectrum traversal step size, detection range, resolution, etc. The communication parameter configuration information can be configured by the access network equipment for the cooperative sensing nodes, or by the SF network elements for the cooperative sensing nodes. Resolution may include one or more of the following: velocity resolution, angular resolution, and distance resolution. Taking distance resolution as an example, assuming the distance resolution is 2 meters (m), then the distance between the cooperative sensing node and the sensing target measured by the cooperative sensing node will be an integer multiple of 2 meters.

[0105] Background information and fusion information can be reported together to the sensing aggregation node, or fusion information can be reported without background information. During the process of obtaining fusion information, collaborative sensing nodes can obtain fusion information based on background information. For example, they can obtain symbol-level information based on communication parameter configuration information.

[0106] Auxiliary information is used by the sensing aggregation node to determine the weight of the fused information reported by each cooperative sensing node, or to determine the weight of the fused information and background information reported by each cooperative sensing node, when calculating the aggregation processing result. Auxiliary information may include one or more of the following: the distance between the cooperative sensing node and the sensing target, the accuracy attenuation factor of the cooperative sensing node, the positioning accuracy of the cooperative sensing node, the signal-to-noise ratio (SNR) of the received sensing signal, the signal-to-interference plus noise ratio (SINR) of the received sensing signal, and the synchronization accuracy of the cooperative sensing node. For example, in response to the auxiliary information including the distance between the cooperative sensing node and the sensing target, if the distance between cooperative sensing node 1 and the sensing target is less than the distance between cooperative sensing node 2 and the sensing target, then the sensing aggregation node may consider the weight of the sensing information reported by cooperative sensing node 1 to be greater than the weight of the sensing information reported by cooperative sensing node 2. For example, in response to auxiliary information including SNR, the SNRs corresponding to collaborative sensing nodes 1 to 3 are SNR1, SNR2, and SNR3, respectively, with SNR1 > SNR2 > SNR3. The fusion information reported by these three collaborative sensing nodes is represented as y1, y2, and y3, respectively, with the weight of y1 being a1, the weight of y2 being a2, and the weight of y3 being a3, where a1 > a2 > a3. The convergence processing result calculated by the sensing convergence node can be represented as y = a1 × y1 + a2 × y2 + a3 × y3, where a1 > a2 > a3. The values ​​of a1, a2, and a3 can be, for example, based on a i =SNR i / (SIN1+SNR2+SNR3) is determined, and the value of i can be 1, 2 or 3.

[0107] Figure 5 The relationship example diagram shown is for illustrative purposes only and does not constitute a limitation on the embodiments of this application. The perceived information may include comparisons. Figure 5 The information shown may be more or less information. For example, sensing information may include 2D-FFT data, location information of cooperative sensing nodes, and SNR of the sensed received signal.

[0108] In this embodiment, the sensing convergence node can converge sensing information from at least three cooperating sensing nodes to obtain the final sensing result. The sensing result obtained by the sensing convergence node after converging the sensing information is called the convergence processing result.

[0109] In cooperative sensing mode, the sensing information reported by cooperative sensing nodes to the sensing aggregation node may take various forms of air interface signaling interaction. For example, in cooperative sensing mode, access network device A acts as a sensing transmitting node, terminal devices 1 to 3 act as sensing receiving nodes, and access network device A also acts as a sensing aggregation node. Terminal devices 1 to 3 report sensing information to access network device A, possibly using channel state information (CSI) reporting at layer 1 (L1), or using location reporting at a higher layer. As another example, in cooperative sensing mode, access network device A acts as a sensing transmitting node, and access network devices A to C act as sensing receiving nodes. When access network device A acts as the sensing aggregation node, access network devices B and C report sensing information to access network device A, possibly through the Xn interface between the access network devices. When the SF network element acts as the sensing aggregation node, access network devices A to C report sensing information to the SF network element, possibly through the interface between gNB and SF. In other words, how collaborative sensing nodes report sensing information to sensing aggregation nodes is currently a hot research topic.

[0110] Therefore, embodiments of this application provide a sensing method and communication device. In a collaborative sensing mode, by designing the information interaction between collaborative sensing nodes and sensing aggregation nodes, it is possible for collaborative sensing nodes to report sensing information to sensing aggregation nodes, which helps to increase the probability that sensing aggregation nodes obtain sensing information. Furthermore, sensing aggregation nodes can effectively merge and calculate the obtained sensing information, which helps to improve the accuracy of the aggregation processing results.

[0111] Before introducing the perception method provided in the embodiments of this application, the system architecture of the system using the embodiments of this application will be described.

[0112] The embodiments of this application can be applied to fourth-generation (4G) systems; or to fifth-generation (5G) systems, also known as new radio (NR) systems; or to sixth-generation (6G) systems, or seventh-generation (7G) systems, or other future communication systems; or they can also be used in device-to-device (D2D) systems, machine-to-machine (M2M) systems, vehicle-to-everything (V2X) systems, etc.

[0113] The embodiments of this application can be applied to Figure 6 In the system architecture shown. Figure 6 The system architecture shown may include, but is not limited to, a sensing control node 601, a collaborative sensing node 602, and a sensing convergence node 603. The number of collaborative sensing nodes 602 is at least three, and the specific number depends on the selection of the sensing control node 601.

[0114] The sensing control node 601 is used to select cooperative sensing nodes and send corresponding configuration information to the cooperative sensing node 602. The sensing control node 601 can also switch sensing modes, such as switching from a cooperative sensing mode to a non-cooperative sensing mode, or vice versa. Optionally, the sensing control node 601 can also receive aggregation processing results from the sensing aggregation node 603.

[0115] Cooperative sensing node 602 refers to nodes participating in cooperative sensing, which may include nodes involved in transmitting and receiving sensing signals. That is, cooperative sensing nodes may include sensing transmitting nodes and sensing receiving nodes. Sensing transmitting nodes are used to transmit sensing signals for sensing tasks. Sensing receiving nodes are used to receive and measure the sensing signals after propagation through the channel, and report the sensing information to sensing aggregation node 603.

[0116] The sensing aggregation node 603 is used to receive sensing information from the cooperative sensing node 602 and perform aggregation processing on the received sensing information to obtain the aggregation processing result. Optionally, the sensing aggregation node 603 reports the aggregation processing result to the sensing control node 601.

[0117] Figure 6 The system architecture shown includes nodes named logically. A single sensing node may function as at least two different types of nodes; for example, a sensing node can function as both a sensing control node and a sensing aggregation node, or as both a collaborative sensing node and a sensing control node. Sensing control node 601 can be an access network device or an SF network element, collaborative sensing node 602 can be an access network device or a terminal device, and sensing aggregation node 603 can be an SF network element, an access network device, or a terminal device. A sensing control node may be one sensing node or multiple sensing nodes.

[0118] In some embodiments, the sensing control node 601 and the sensing aggregation node 603 may be the same sensing node, such as the same SF network element or the same access network device.

[0119] It is understood that the system architecture described in the embodiments of this application is for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and does not constitute a limitation on the technical solutions provided in the embodiments of this application. Those skilled in the art will know that with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0120] The following is based on Figure 6 The system architecture shown here provides a detailed explanation of the perception method provided in the embodiments of this application.

[0121] Please see Figure 7 This is a flowchart illustrating a sensing method provided in an embodiment of this application. Figure 7 The process shown may include, but is not limited to, the following steps:

[0122] 701. The sensing control node sends configuration information to the collaborating sensing nodes. Correspondingly, the collaborating sensing nodes receive the configuration information from the sensing control node. This configuration information is used for reporting sensing information for the first sensing task.

[0123] The first sensing task can be any one or more sensing tasks under the current sensing service. For example, if the current sensing service is to sense a target vehicle, the first sensing task could be to sense the target vehicle's speed, or it could be to sense both the target vehicle's distance and speed. Figure 7 In the illustrated embodiment, a collaborative sensing node refers to a sensing node that participates in the first sensing task and can be used to receive sensing signals, and the collaborative sensing node has the ability to report sensing information.

[0124] The reported configuration information includes perception type information, which indicates the type of perception information. In other words, the perception type information indicates which types of perception information are reported. The perception type information can indicate the type of perception information in one or more of the following ways.

[0125] Method 1: The sensing type information indicates that the sensing information type includes one or more of the following: radial velocity of the sensing target, distance between the cooperative sensing node and the sensing target, angle between the cooperative sensing node and the sensing target, position of the sensing target, time delay between the cooperative sensing node and the sensing target, Doppler velocity, detection range, number of targets, received sensing signal, signal after initial processing of the received sensing signal, 1D-FFT data, 2D-FFT data, 3D-FFT data, MUSIC spectral function information, noise subspace vector, covariance matrix, detection range corresponding to the spectral function, position information of cooperative sensing nodes, number of antennas of cooperative sensing nodes, array manifold of cooperative sensing nodes, antenna spacing of cooperative sensing nodes, carrier frequency (fc), SCS, symbol duration, number of subcarriers used for sensing, number of symbols used for sensing, FFT size, resolution, accuracy attenuation factor of cooperative sensing nodes, positioning accuracy of cooperative sensing nodes, SNR of received sensing signal, SINR of received sensing signal, and synchronization accuracy of cooperative sensing nodes. The types of sensing information listed in Method 1 are for illustrative purposes; in reality, there may be more types of sensing information than listed.

[0126] Optionally, the sensing type information can be indicated in the form of a bitmap. In the bitmap, the value of each bit indicates whether the corresponding type of sensing information should be reported. For example, if the first bit corresponds to the radial velocity of the sensing target, a value of 1 indicates that the radial velocity of the sensing target should be reported; a value of 0 indicates that the radial velocity of the sensing target should not be reported. For instance, a bitmap may consist of four bits, arranged from most to least significant, corresponding to the following sensing information types: distance between the cooperating sensing node and the sensing target, time delay between the cooperating sensing node and the sensing target, location information of the cooperating sensing node, and SINR of the received sensing signal. In Example 1, a bitmap of 1111 indicates reporting all four types of sensing information; a bitmap of 1101 indicates reporting the distance between the cooperating sensing node and the sensing target, the time delay between the cooperating sensing node and the sensing target, and the SINR of the received sensing signal.

[0127] Method Two: The perception type information indicates the first-level type (divided into fusion information, auxiliary information, and background information), and also indicates the type of perception information under the first-level type. In other words, the perception type information indicates which type or several first-level types of perception information to report, and specifies the exact type of perception information under each first-level type. For example, the first-level type includes fusion information and auxiliary information. Fusion information includes the distance between the cooperative perception node and the perception target, and the time delay between them. Auxiliary information includes the SINR of the received perception signal. The perception type information indicates that fusion information and auxiliary information should be reported, and also indicates the reporting of the distance between the cooperative perception node and the perception target, the time delay between them, and the SINR of the received perception signal.

[0128] Optionally, the first-level type can use a first bitmap, indicating that the first-level type includes one or more of fusion information, auxiliary information, and background information. The first bitmap may include three bits, the value of which indicates whether the corresponding first-level type is reported. For example, if the first bit corresponds to fusion information, a value of 1 indicates that fusion information is reported; a value of 0 indicates that fusion information is not reported. These three bits correspond to fusion information, background information, and auxiliary information in descending order of importance. For example, if the first bitmap is 110, it indicates that fusion information and background information are reported; if the first bitmap is 101, it indicates that fusion information and auxiliary information are reported; and if the first bitmap is 100, it indicates that fusion information is reported. The type of sensing information under the first-level type can be indicated by a second bitmap, the value of which indicates whether the sensing information of the corresponding type is reported. For example, if the first bit corresponds to the radial velocity of the sensing target, a value of 1 indicates that the radial velocity of the sensing target is reported; a value of 0 indicates that the radial velocity of the sensing target is not reported.

[0129] Assume there are four types of fused information (radial velocity of the sensing target, distance between the cooperative sensing node and the sensing target, angle between the cooperative sensing node and the sensing target, and time delay between the cooperative sensing node and the sensing target), two types of background information (position information and SCS of the cooperative sensing node), and four types of auxiliary information (accuracy attenuation factor of the cooperative sensing node, positioning accuracy of the cooperative sensing node, SNR of the sensed received signal, and SINR of the sensed received signal). Example 2: For indicating the reporting of fused information, and indicating the reporting of the distance and time delay between the cooperative sensing node and the sensing target, Method 2 is used. The sensing type information can be represented as "100|0101", where the first "|" separates the first bitmap and the second bitmap. "100" indicates the reporting of fused information and auxiliary information; "0101" indicates the reporting of the distance and time delay between the cooperative sensing node and the sensing target. For Example 2, if Method 1 is used for indication, the bitmap requires 10 bits, which can be represented as "0101|00|0000". The "|" symbol separates different first-level types. "0101" indicates reporting the distance and latency between the cooperating sensing node and the sensing target, "00" indicates not reporting background information, and "0000" indicates not reporting auxiliary information. Therefore, based on Example 2, Method 2 requires 7 bits, while Method 1 requires 10 bits. Method 2 reduces bit overhead compared to Method 1, thus reducing the bit length for reporting configuration information.

[0130] Method 3: The perception type information indicates that the first-level type includes fused information, and indicates the second-level type under the fused information (divided into data-level information, signal-level information, and symbol-level information), as well as the type of perception information under the second-level type. That is, in response to the fused information including data-level information, the perception type information can also indicate the type of data-level information; in response to the fused information including signal-level information, the perception type information can also indicate the type of signal-level information; in response to the fused information including symbol-level information, the perception type information can also indicate the type of symbol-level information.

[0131] The first level of information type is fusion information, and the second level of information type includes one or more of the following: data-level information, signal-level information, and symbol-level information. In other words, the perception type information indicates the reporting of fusion information, specifies which level of fusion information to report, and also indicates the specific type of perception information at that level to report. For example, it may indicate the reporting of symbol-level fusion information, and further indicate the reporting of MUSIC spectral function information and 2D-FFT data.

[0132] Optionally, the sensing type information can be indicated using multiple bitmaps. For example, the first bitmap indicates that the first-level type includes fusion information; the second bitmap indicates that the fusion information includes one or more of data-level, signal-level, and symbol-level information; and the third bitmap indicates the specific type of sensing information. The second bitmap may include three bits, which correspond to signal-level, symbol-level, and data-level information in descending order of importance. Assume the first bit is 1, indicating signal-level information is reported; the first bit is 0, indicating no signal-level information is reported. For example, a second bitmap of 001 indicates reporting data-level information but not signal-level or symbol-level information; a second bitmap of 010 indicates reporting symbol-level information but not signal-level or data-level information. The number of bits in the third bitmap is related to the number of bits in the second bitmap that are 1. For example, if the second bitmap has two bits with a value of 1, then there are two third bitmaps; if the second bitmap has one bit with a value of 1, then there is one third bitmap.

[0133] Assume there are four types of data-level information (radial velocity of the sensing target, distance between the cooperative sensing node and the sensing target, angle between the cooperative sensing node and the sensing target, and time delay between the cooperative sensing node and the sensing target), two types of symbol-level information (MUSIC spectral function information and 2D-FFT data), and two types of signal-level information (sensor-received signal and signal after initial processing of the sensor-received signal). Example 3, for indicating the reporting of symbol-level information, as well as MUSIC spectral function information and 2D-FFT data, uses method three. The sensing type information can be represented as "1|010|11", where the first "|" separates the first bitmap from the second bitmap, and the second "|" separates the second bitmap from the third bitmap. "1" indicates reporting fusion information, "010" indicates reporting symbol-level information, and "11" indicates reporting MUSIC spectral function information and 2D-FFT data. For Example 3, if Method 1 is used for indication, the bitmap requires 8 bits, which can be represented as "0000|11|00". The "|" symbol separates different fusion information. "0000" indicates that data-level information is not reported, "11" indicates that MUSIC spectral function information and 2D-FFT data are reported, and "00" indicates that signal-level information is not reported. Therefore, based on Example 3, using Method 3 for indication requires 6 bits, while using Method 1 requires 8 bits. Compared to Method 2, Method 3 reduces bit overhead, thus reducing the bit length of the reported configuration information.

[0134] Optionally, the perception type information also indicates that the first-level type includes auxiliary information and / or background information. That is, it indicates that fusion information should be reported, as well as auxiliary information and / or background information.

[0135] Assume that there are two types of symbol-level information (MUSIC spectral function information and 2D-FFT data), two types of background information (location information and SCS of cooperative sensing nodes), and four types of auxiliary information (accuracy attenuation factor of cooperative sensing nodes, positioning accuracy of cooperative sensing nodes, SNR of sensed and received signals, and SINR of sensed and received signals).

[0136] In response to the sensing type information, the first-level type also indicates that auxiliary information is included, and the sensing type information further indicates the type of auxiliary information. For example, the sensing type information can be represented as "101|010|11|0001", where "101" indicates that fusion information and auxiliary information are reported, "010" indicates that symbol-level information is reported, "11" indicates that MUSIC spectral function information and 2D-FFT data are reported, and "0001" indicates that the SINR of the sensed received signal is reported.

[0137] In response to the perception type information, the first-level type also indicates that background information is included, and the perception type information further indicates the type of background information. For example, the perception type information can be represented as "110|010|11|10", where "110" indicates that fusion information and background information are reported, "010" indicates that symbol-level information is reported, "11" indicates that MUSIC spectral function information and 2D-FFT data are reported, and "10" indicates that the location information of the cooperative perception nodes is reported.

[0138] In response to the perception type information, the first-level type also indicates that it includes background information and auxiliary information. The perception type information further indicates the type of auxiliary information and the type of background information. For example, the perception type information can be represented as "111|010|11|10|0001", where "111" indicates that fusion information, background information, and auxiliary information are reported; "010" indicates that symbol-level information is reported; "11" indicates that MUSIC spectral function information and 2D-FFT data are reported; "10" indicates that the location information of the cooperative sensing nodes is reported; and "0001" indicates that the SINR of the sensed received signal is reported.

[0139] Method four: The perception type information indicates the second-level type (divided into data-level information, signal-level information, and symbol-level information), as well as the type of perception information under the second-level type. That is, in response to the fused information including data-level information, the perception type information can also indicate the type of data-level information; in response to the fused information including signal-level information, the perception type information can also indicate the type of signal-level information; in response to the fused information including symbol-level information, the perception type information can also indicate the type of symbol-level information. In other words, cooperative perception nodes report fused information by default, and the perception type information indicates which level of fused information to report, and specifies the particular type of perception information under that level. For example, it might indicate reporting symbol-level information, and also indicate reporting MUSIC spectral function information and 2D-FFT data.

[0140] Optionally, the sensing type information can be indicated using multiple bitmaps. For example, the second bitmap indicates that the fused information includes one or more of the following: data-level information, signal-level information, and symbol-level information. The third bitmap indicates the specific type of sensing information. The second bitmap may include three bits, which correspond to signal-level information, symbol-level information, and data-level information in descending order of importance. Assume that if the first bit is 1, signal-level information is reported; if the first bit is 0, signal-level information is not reported. For example, a second bitmap of 001 indicates that data-level information is reported, but not signal-level or symbol-level information; a second bitmap of 010 indicates that symbol-level information is reported, but not signal-level or data-level information. The number of bits in the third bitmap is related to the number of bits in the second bitmap that are 1. For example, if the second bitmap has two bits that are 1, then there are two bits in the third bitmap; if the second bitmap has one bit that is 1, then there is one bit in the third bitmap.

[0141] Assume there are four types of data-level information (radial velocity of the sensing target, distance between the cooperative sensing node and the sensing target, angle between the cooperative sensing node and the sensing target, and time delay between the cooperative sensing node and the sensing target), two types of symbol-level information (MUSIC spectral function information and 2D-FFT data), and two types of signal-level information (sensored received signal and signal after initial processing of the sensored received signal). Example 4, for indicating the reporting of symbol-level information, as well as MUSIC spectral function information and 2D-FFT data, uses method four. The sensing type information can be represented as "010|11", where "|" separates the second bitmap and the third bitmap. "010" indicates the reporting of symbol-level information, and "11" indicates the reporting of MUSIC spectral function information and 2D-FFT data. For Example 4, if Method 1 is used for indication, the bitmap requires 8 bits, which can be represented as "0000|11|00". The "|" symbol separates different fusion information. "0000" indicates that data-level information is not reported, "11" indicates that MUSIC spectral function information and 2D-FFT data are reported, and "00" indicates that signal-level information is not reported. Therefore, based on Example 4, Method 4 requires 5 bits for indication, while Method 1 requires 8 bits. Method 4 reduces bit overhead compared to Method 1, thus reducing the bit length of the reported configuration information.

[0142] Optionally, the perception type information also indicates the type of background information. For example, the perception type information can be represented as "010|11|10", where "010" indicates reporting symbol-level information, "11" indicates reporting MUSIC spectral function information and 2D-FFT data, and "10" indicates reporting the location information of the cooperative perception nodes.

[0143] Optionally, the perception type information may also indicate the type of auxiliary information. For example, the perception type information may be represented as “010|11|0001”, where “010” indicates that symbol-level information is reported, “11” indicates that MUSIC spectral function information and 2D-FFT data are reported, and “0001” indicates that the SINR of the perceived received signal is reported.

[0144] Optionally, the sensing type information also indicates the type of background and auxiliary information. For example, the sensing type information can be represented as "010|11|10|0001", where "010" indicates reporting symbol-level information, "11" indicates reporting MUSIC spectral function information and 2D-FFT data, "10" indicates reporting the location information of the cooperative sensing nodes, and "0001" indicates reporting the SINR of the sensed received signal.

[0145] To facilitate description and distinguish between different levels of information, first-level and second-level types are introduced, although these names may not actually exist.

[0146] In one implementation, the perception control node acquires capability information from the cooperating perception nodes. This capability information indicates that the cooperating perception nodes support one or more of the following: data-level capabilities, signal-level capabilities, and symbol-level capabilities. Based on this capability information, the perception control node determines the perception type information. For example, if cooperating perception nodes 1 through 3 all support both signal-level and symbol-level capabilities, then the perception type information can instruct cooperating perception nodes 1 through 3 to report symbol-level information and / or signal-level information.

[0147] The reported configuration information also includes task instruction information, which indicates one or more of the following: task information, sensing direction, sensing time, and sensing frequency of the first sensing task. Task information may include a task identifier (used to identify the first sensing task) and / or task purpose (e.g., speed measurement, positioning, etc.). In other words, the reported configuration information also indicates the first sensing task and information such as the speed or position of the sensing target. Sensing direction instructs the collaborating sensing nodes to receive sensing signals in that sensing direction, or to measure and process the sensing signals received in that sensing direction to obtain fused information. Sensing time instructs the collaborating sensing nodes to receive sensing signals during that sensing time, or to measure and process the sensing signals received during that sensing time to obtain fused information. Sensing frequency instructs the collaborating sensing nodes to receive sensing signals at that sensing frequency, or to measure and process the sensing signals received at that sensing frequency to obtain fused information.

[0148] The configuration information to be reported also includes format indication information, which specifies the reporting format. In other words, the format indication information specifies the format in which the collaborative sensing nodes report sensing information.

[0149] In the first implementation, the reporting format includes a first part (Part 1) and a second part (Part 2). The first part indicates the type of the reported sensing information, and the second part indicates the numerical value corresponding to that type of sensing information. Assuming the sensing type information indicates the reporting of symbol-level information, then the first part indicates the type of reported symbol-level information, and the second part indicates the numerical value corresponding to those types. For example, symbol-level information can be divided into four types: MUSIC spectrum, 1D-FFT range data, 1D-FFT velocity data, and 2D-FFT data. When the collaborative sensing node reports, the content of the first part can be represented using a 4-bit bitmap. The value of a single bit indicates whether it has been reported or not. For example, a value of 1 for the first bit indicates that the information type corresponding to that bit has been reported, and a value of 0 indicates that the information type corresponding to that bit has not been reported. For example, a bitmap consists of four bits, which, from high to low, correspond to the MUSIC spectrum, 1D-FFT range data, 1D-FFT velocity data, and 2D-FFT data, respectively. Assuming the bitmap is 1100, it indicates that the MUSIC spectrum and 1D-FFT range data are reported, but the 1D-FFT velocity data and 2D-FFT data are not reported. The second part can be represented as [MUSIC spectrum vector][1D-FFT range vector], where [MUSIC spectrum vector] represents the specific value of the MUSIC spectrum, and [1D-FFT range vector] represents the specific value of the 1D-FFT range. The reporting format under the first implementation method is shown in Table 1 below.

[0150] Table 1

[0151]

[0152] In the second implementation, the reporting format includes a third part (Part 3), which indicates the numerical value corresponding to the type of sensing information. The type of sensing information indicated in the third part is the necessary information required by the sensing aggregation node to calculate the aggregation processing result. For example, fusion information can be necessary information, or fusion information and background information can be necessary information. Auxiliary information can be unnecessary information. For example, the sensing type information indicates the necessary information required to calculate the aggregation processing result, and the unindicated type is unnecessary information. Optionally, the reporting format also includes a fourth part (Part 4), which indicates auxiliary information that helps improve the sensing accuracy of the aggregation processing result. For example, assuming the necessary information is fusion information and the auxiliary information includes an accuracy attenuation factor, the collaborative sensing node reports [the estimated position coordinates of the sensing target by the collaborative sensing node] + [accuracy attenuation factor]. [The estimated position coordinates of the sensing target by the collaborative sensing node] represents the fusion information required to calculate the aggregation processing result, and [accuracy attenuation factor] represents the auxiliary information that improves the sensing accuracy of the aggregation processing result. The reporting format under the second implementation is shown in Table 2 below.

[0153] Table 2

[0154]

[0155] The reporting formats shown in Tables 1 and 2 are for illustrative purposes only and do not constitute a limitation on the embodiments of this application.

[0156] The reported configuration information also includes reported resource information, which indicates the resources available for the reported sensing information, such as time-frequency resources and / or spatial resources. The reported sensing information can be submitted through a sensing report, and the reported resource information indicates the resources available for the sensing report.

[0157] As can be seen from the contents of the above-mentioned reported configuration information, the reported configuration information may include perception type information, and may also include one or more of the following: task instruction information, format instruction information, and reported resource information.

[0158] Optionally, the reported configuration information can be a signaling message, which may include perception type information, task instruction information, reported resource information, and format instruction information. For example, radio resource control (RRC) signaling can configure perception type information, task instruction information, format instruction information, and reported resource information.

[0159] Optionally, the reported configuration information can be multiple signaling messages. One signaling message may include perception type information, another may include task indication information, format indication information, and reported resource information, or each type of information may be carried by a single signaling message. For example, perception type information may be carried by downlink control information (DCI), while task indication information, format indication information, and reported resource information may be configured by one RRC signaling message or by multiple RRC signaling messages. The order in which the multiple signaling messages are sent is not limited in this embodiment.

[0160] 702. The collaborative sensing nodes report sensing information to the sensing aggregation node. Correspondingly, the sensing aggregation node receives sensing information from the collaborative sensing nodes.

[0161] Based on the reported configuration information, the collaborative sensing nodes report the sensing information of the first sensing task to the sensing aggregation node. Reported sensing information refers to reporting the numerical value corresponding to the indicated type. For example, if the instruction is to report the radial velocity of the sensing target, then the reported radial velocity of the sensing target is 10 m / s. For instructions to report multiple types, the reported sensing information can indicate the type of sensing information being reported, as well as the corresponding numerical value for each type.

[0162] For ease of description, the type of perceived information indicated by the perceived type information is called the first type set, and the type of reported perceived information is called the second type set. The relationship between the first type set and the second type set can be that the first type set and the second type set are completely identical, or the first type set is a subset of the second type set.

[0163] For example, the first type of set includes fused information, the second type of set includes fused information, or the second type of set includes fused information and auxiliary information, or the second type of set includes fused information and background information, or the second type of set includes fused information, auxiliary information, and background information. As another example, the first type of set includes fused information and auxiliary information, the second type of set includes fused information and auxiliary information, or the second type of set includes fused information, auxiliary information, and background information; as yet another example, the first type of set includes fused information, auxiliary information, and background information, and the second type of set includes fused information, auxiliary information, and background information.

[0164] Collaborative sensing nodes can determine the second type of set through one or more of the following methods.

[0165] Method (1) determines a second type set based on the relationship with the sensing aggregation node and the reported configuration information. For the communication parameter configuration information of the cooperating sensing node, which is configured by the sensing aggregation node, the content of the second type set determined by the cooperating sensing node is the same as that of the first type set. For example, if terminal device 1 knows it is a cooperating sensing node and knows that the sensing aggregation node is access network device A serving it, then the second type set is the same as the first type set because access network device A knows the communication parameter configuration information of terminal device 1. As another example, if terminal device 1 knows it is a cooperating sensing node and knows that the sensing aggregation node is terminal device 2 (that is, the sensing aggregation node does not know the communication parameter configuration information of terminal device 1), then the second type set, in addition to including the fusion information in the first type set, may also include auxiliary information and / or background information.

[0166] Method (2) determines the second type set based on the reporting configuration information and available reporting resources. Available reporting resources can be the reporting resource information in the reporting configuration information, or reporting resources pre-allocated by the perception control node or perception aggregation node to the collaborative perception node. For example, if the perception type information indicates the reporting of fusion information, and the available reporting resources are sufficient to support the collaborative perception node in reporting fusion information, auxiliary information, and background information, then the collaborative perception node can report fusion information, auxiliary information, and background information; otherwise, the collaborative perception node can only report fusion information. In other words, the content of the second type set can be determined based on the size of the available reporting resources and the content of the first type set.

[0167] Method (3) determines the second type set based on the reported configuration information and priority information. The priority information indicates the order of priority among fusion information, auxiliary information, and background information. Priority information can also be described as importance information, representing the degree of importance of these three types of information during convergence processing. For example, perception type information indicates the reporting of fusion information, while auxiliary information is more important during convergence processing; therefore, the second type set may include both fusion information and auxiliary information, i.e., the collaborative perception nodes report both fusion information and auxiliary information.

[0168] Method (4) determines the second type set based on the reporting configuration information, available reporting resources, and priority information. For example, if the perception type information indicates that fusion information should be reported, and the available reporting resources only support reporting fusion information, then the collaborative perception node will only report fusion information. Another example: if the perception type information indicates that fusion information should be reported, and the available reporting resources support reporting other information besides fusion information, and background information is more important during aggregation processing, then the collaborative perception node can report both fusion information and background information; if the available reporting resources are sufficient and can also support reporting auxiliary information, then the collaborative perception node can report fusion information, background information, and auxiliary information.

[0169] The methods (1) to (4) described above are for illustrative purposes only and do not constitute a limitation on the embodiments of this application. In the methods (1) to (4) described above, reporting fusion information refers to reporting information such as fusion information and reporting the numerical value of the fusion information.

[0170] For Example 1 in step 701, the bitmap is 1111, and the cooperative sensing node reports the distance between the cooperative sensing node and the sensing target (value A1), the time delay between the cooperative sensing node and the sensing target (value A2), the location information of the cooperative sensing node (coordinates (x1, y1)) and the SINR of the sensing received signal (value A4).

[0171] For Example 2 in step 701, the perception type information can be represented as "100|0101". The collaborative perception node reports the distance between the collaborative perception node and the perception target (value B1) and the time delay between the collaborative perception node and the perception target (value B2). Optionally, the collaborative perception node may also report background information (including the value of the background information) and / or auxiliary information (including the value of the auxiliary information).

[0172] For Example 3 in step 701, the perception type information can be represented as "1|010|11", and the collaborative perception node reports MUSIC spectral function information and 2D-FFT data. Optionally, the collaborative perception node can also report background information (including the numerical value of the background information), and / or, can also report auxiliary information (including the numerical value of the auxiliary information).

[0173] For example 4 in step 701, the perception type information can be represented as “010|11” where the collaborative perception node reports MUSIC spectral function information and 2D-FFT data. Optionally, the collaborative perception node may also report background information (including the numerical value of the background information) and / or auxiliary information (including the numerical value of the auxiliary information).

[0174] Optionally, the sensing aggregation node performs aggregation processing on the received second sensing information to obtain the aggregation processing result of the first sensing task.

[0175] The sensing convergence node receives second sensing information from at least three cooperating sensing nodes and performs convergence processing on the received second sensing information to obtain the convergence processing result of the first sensing task.

[0176] Since fused information can be divided into data-level information, signal-level information, and symbol-level information, the sensing aggregation node can perform aggregation processing based on these levels.

[0177] For fused information, including data-level information, the sensing aggregation node performs simple aggregation processing on the data-level information reported by the collaborating sensing nodes, such as overlaying and averaging. This method has a low computational load, but since the data-level information is obtained through data processing and calculation by each collaborating sensing node, information loss may occur.

[0178] For fused information, including signal-level information, the sensing convergence node superimposes the signal-level information reported by the cooperating sensing nodes to increase the signal-to-noise ratio. This method reduces information loss but requires precise time and phase synchronization.

[0179] For fused information, including symbol-level information, since symbol-level information is intermediate-level data, the sensing aggregation node can reduce information loss when performing aggregation processing on symbol-level information, and has lower requirements for time and phase synchronization.

[0180] When performing aggregation processing, the sensing aggregation node can consider the weight of auxiliary information to calculate the aggregation processing result, thereby improving the accuracy and reliability of the aggregation processing result.

[0181] In one implementation, the sensing aggregation node defines a rule, or the protocol predefines this rule. This rule could be that the closer the collaborative sensing node is to the sensing target, the greater its weight; and that higher positioning accuracy, synchronization accuracy, and signal-to-noise ratio also result in higher weights. For example, in response to auxiliary information including the distance between collaborative sensing nodes and the sensing target, if the distance between collaborative sensing node 1 and the sensing target is less than the distance between collaborative sensing node 2 and the sensing target, then the sensing aggregation node can consider the sensing information reported by collaborative sensing node 1 to have a greater weight than the sensing information reported by collaborative sensing node 2.

[0182] In another implementation, the sensing convergence node calculates the weights of the auxiliary information reported by each collaborative sensing node. For example, in response to the auxiliary information including SNR, the SNRs corresponding to collaborative sensing nodes 1 to 3 are SNR1, SNR2, and SNR3, respectively, with SNR1 > SNR2 > SNR3. The fused information reported by these three collaborative sensing nodes is represented as y1, y2, and y3, respectively, with y1 having a weight of a1, y2 having a weight of a2, and y3 having a weight of a3. The values ​​of a1, a2, and a3 can be, for example, based on a... i =SNR i / (SIN1+SNR2+SNR3) is determined, and a1>a2>a3. The convergence processing result calculated by the sensing convergence node can be expressed as y=a1×y1+a2×y2+a3×y3 and a1>a2>a3.

[0183] The weights determined by the perception aggregation node can be the weights of the fused information, or the weights of the fused information and the background information. The two implementation methods described above are for illustrative purposes only and do not constitute a limitation on the embodiments of this application. The perception aggregation node can also adopt aggregation processing methods known in the art to calculate the aggregation processing result.

[0184] exist Figure 7 In the illustrated embodiment, under the collaborative sensing mode, the collaborative sensing nodes can report sensing information of the sensing task based on the reporting configuration information, which helps to increase the probability that the sensing aggregation node obtains the sensing information.

[0185] Figure 7 The reported configuration information in the illustrated embodiment can be divided into two methods:

[0186] Method 1: Configure all the content and format to be reported in the reporting configuration information, and the collaborative sensing nodes report the content according to the reporting configuration information.

[0187] For Method 1, the reported configuration information includes perception type information, format indication information, and reported resource information. Optionally, it also includes reporting indication information.

[0188] For example, before switching to cooperative sensing mode, the access network device estimates the location of the sensing target through a self-sensing and self-receiving method. After switching to cooperative sensing mode, the access network device acts as a sensing transmitting node, and terminal devices 1 to 3 act as sensing receiving nodes. The access network device also acts as a sensing control node and a sensing aggregation node, sending and reporting configuration information to the three terminal devices and receiving sensing information.

[0189] Example A: The perception type information indicates that fused information, background information, and auxiliary information should be reported. It further indicates that the fused information includes data-level information, with data-level information types including time difference of arrival (TDOA) and angle of arrival (AOA). The background information is the location information of the collaborative sensing nodes, and the auxiliary information is SINR. The reporting format is as described in format b above. Therefore, the perception information reported by the collaborative sensing nodes to the perception aggregation node can be represented as [TDOA and AOA] + [location information of the collaborative sensing nodes] + [SINR]. After receiving the perception information, the perception aggregation node determines the position of the sensing target relative to the collaborative sensing nodes based on [TDOA and AOA], and combines this with the [location information of the collaborative sensing nodes] to determine the position information of the sensing target in the global coordinate system. Referring to [SINR], the weights of the data-level information and background information reported by different collaborative sensing nodes are determined to improve the accuracy of the sensing target's position information. See Example A for details. Figure 8A As shown.

[0190] TDOA is a time difference-based positioning technology that determines the location of a target by measuring the time difference between the arrival time of a signal at a receiver from different locations. AOA is a direction-of-arrival (DOA) positioning technology that determines the location of a signal source by measuring the angle at which a wireless signal arrives at a receiver. Example A uses data-level information including TDOA and AOA as an example. In a positioning scenario, data-level information can also include TDOA and DOA, or AOA and DOA, etc. DOA is a direction-of-arrival (DOA) positioning technology that determines the location of a target by measuring the direction in which a signal arrives at a receiver.

[0191] Example B: The perception type information indicates the reporting of fused information and auxiliary information, and indicates that the fused information includes data-level information, the type of which includes the location information of the perceived target, and the auxiliary information is the accuracy attenuation factor; the reporting format is format b above. Therefore, the perception information reported by the collaborative perception nodes to the perception aggregation node can be represented as [location information of the perceived target] + [accuracy attenuation factor]. After receiving the perception information, the perception aggregation node determines the weight of the location information reported by each collaborative perception node based on the [accuracy attenuation factor], and combines the location information reported by each collaborative perception node with the corresponding weights to determine the aggregation processing result, i.e., the final location information of the perceived target.

[0192] Example C: The perception type information indicates the reporting of fused information, and indicates that the fused information includes symbol-level information. The types of symbol-level information include MUSIC spectral functions and 1D-FFT data, and the reporting format is as described in format a above. Based on the bitmp in this format representing the type of reported perception information, the perception information reported by the collaborative perception nodes to the perception aggregation node can be represented as 1100 + [MUSIC spectral traversal step size, detection range corresponding to the spectral function, FFT step size (size), detection range corresponding to the FFT data], where 1100 indicates that the type of reported perception information is MUSIC spectral functions and 1D-FFT data. After receiving the perception information, the perception aggregation node merges the [MUSIC spectral traversal step size, detection range corresponding to the spectral function] of the MUSIC spectral functions reported by multiple collaborative perception nodes to obtain the fused MUSIC spectrum, and performs DOA estimation based on the fused MUSIC spectrum to obtain the angle information of the perceived target. The sensing convergence node merges the [FFT step size, detection range corresponding to the FFT data] reported by multiple cooperative sensing nodes to obtain fused 1D-FFT data. Based on this fused 1D-FFT data, it performs distance estimation to obtain the distance information of the sensed target. The sensing convergence node then determines the location information of the sensed target based on its distance and angle information. See Example C for details. Figure 8B As shown. Figure 8BIn the diagram, MUSIC spectral function 1, MUSIC spectral function 2, and MUSIC spectral function 3 represent the MUSIC spectral functions reported by terminal device 1, terminal device 2, and terminal device 3, respectively. The sensing convergence node fuses these three MUSIC spectral functions and their corresponding detection ranges to obtain the fused MUSIC spectrum, thereby determining the angle of the sensing target. Figure 8B In the diagram, 1D-FFT data 1, 1D-FFT data 2, and 1D-FFT data 3 represent the 1D-FFT data reported by terminal devices 1, 2, and 3, respectively. The width of the rectangular block corresponding to the 1D-FFT data represents the FFT step size. The sensing convergence node fuses the FFT step size and the detection range corresponding to the FFT data to determine the distance to the sensed target. Furthermore, based on the angle and distance, the sensing convergence node can determine the target location.

[0193] Method 2 involves reporting configuration information, including perception type information, with the collaborative perception nodes determining the specific content to be reported.

[0194] For Method 2, the reported configuration information includes perception type information, which indicates the type of perception information being reported. Optionally, format indication information may also be included. Optionally, reported resource information may also be included.

[0195] For example, before switching to cooperative sensing mode, access network device A senses the speed of the target through a self-sensing and self-receiving sensing method. After switching to cooperative sensing mode, access network device A acts as a sensing sending node, access network device A to access network device C act as sensing receiving nodes, and access network device A also acts as a sensing aggregation node.

[0196] Example 1: The configuration information reported instructs the cooperative sensing nodes to sense the speed of the target and to report the speed estimation result, i.e., to report data-level information, the type of which is speed estimation result. The reporting content determined by access network device B and access network device C includes speed estimation result and location information. That is, the sensing information reported by access network device B includes speed estimation result 1 and access network device B's location information, and the sensing information reported by access network device C includes speed estimation result 2 and access network device C's location information. Based on its measured and calculated speed estimation result 3 and access network device A's location information, speed estimation result 1 and access network device B's location information, and speed estimation result 2 and access network device C's location information, access network device A determines the speed of the target.

[0197] Example 2: The reported configuration information instructs the cooperative sensing nodes to sense the velocity of the target and to report 2D-FFT data, i.e., to report symbol-level information, the type of which is 2D-FFT data. The reporting content determined by access network device B and access network device C includes 2D-FFT data, communication parameter configuration information, location information, and SINR. For the reporting by access network device B, the location information is the location information of access network device B itself, so that access network device A can combine the location information of access network devices B and C with the radial velocity value in the joint equation to solve for the true velocity of the target. SINR is used to determine the weight of the 2D-FFT data reported by each access network device.

[0198] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0199] In the above embodiments, the descriptions of each embodiment have their own emphasis, and any multiple embodiments can be used in combination. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0200] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application. Figure 9 As shown, the communication device 90 includes a communication unit 902. Optionally, it includes a processing unit 901.

[0201] In one implementation, the communication device 90 can be a cooperative sensing node or a device matched with a cooperative sensing node.

[0202] The communication unit 902 is used to receive the reported configuration information, which is used for reporting the perception information of the first perception task; and to report the perception information of the first perception task based on the reported configuration information.

[0203] Optionally, the reported configuration information includes perception type information, which indicates the type of perception information.

[0204] Optionally, the type of perception information indicated by the perception type information includes one or more of the following:

[0205] The parameters include: radial velocity of the target, distance between the cooperative sensing node and the target, angle between the cooperative sensing node and the target, position of the target, time delay between the cooperative sensing node and the target, Doppler velocity, detection range, number of targets, received sensing signal, signal after initial processing of the received sensing signal, 1D-FFT data, 2D-FFT data, 3D-FFT data, MUSIC spectral function information, noise subspace vector, covariance matrix, detection range corresponding to the spectral function, position information of the cooperative sensing node, number of antennas of the cooperative sensing node, array manifold of the cooperative sensing node, antenna spacing of the cooperative sensing node, carrier frequency, SCS, symbol duration, number of subcarriers used for sensing, number of symbols used for sensing, FFT step size, resolution, accuracy attenuation factor of the cooperative sensing node, positioning accuracy of the cooperative sensing node, SNR of the received sensing signal, SINR of the received sensing signal, and synchronization accuracy of the cooperative sensing node.

[0206] Optionally, the perception type information indicates the first-level type and the type of perception information under the first-level type; wherein, the first-level type includes one or more of fusion information, auxiliary information, and background information;

[0207] Among them, the fusion information indicates the measurement information of the sensing and receiving signals of the first sensing task, and / or the information obtained by processing the measurement information; the background information indicates the parameters involved in the process of acquiring the fusion information; and the auxiliary information is used to determine the weight of the fusion information, or the auxiliary information is used to determine the weight of the fusion information and the background information.

[0208] Optionally, the perception type information indicates that the first-level type includes fused information, and the perception type information also indicates the second-level type under the fused information, as well as the type of perception information under the second-level type; wherein, the second-level type includes one or more of data-level information, signal-level information, and symbol-level information;

[0209] Among them, data-level information is the sensing result calculated based on the sensing and receiving signal, signal-level information includes the sensing and receiving signal or the sensing and receiving signal after initial processing, and symbol-level information is the intermediate data obtained by processing the sensing and receiving signal.

[0210] Optionally, symbol-level information may include one or more of the following: 1D-FFT data, 2D-FFT data, 3D-FFT data, MUSIC spectral function information, noise subspace vector, and covariance matrix.

[0211] Optionally, the reported configuration information may also include task indication information, which indicates one or more of the task information, sensing direction, sensing time, and sensing frequency of the first sensing task.

[0212] Optionally, the reported configuration information may also include format indication information, which indicates the reporting format.

[0213] Optionally, the reporting format includes a first part and a second part; the first part indicates the type of the reported sensing information, and the second part indicates the numerical value corresponding to the type of reported sensing information.

[0214] Optionally, the reporting format includes a third part, which indicates the type of perception type information.

[0215] Optionally, the reporting format may also include a fourth part, which indicates supplementary information to be reported.

[0216] Optionally, the type of perception information indicated by the perception type information is the same as the type of perception information reported; or, the types of perception information reported are more than the types of perception information indicated by the perception type information.

[0217] Optionally, the communication unit 902 is specifically used to report the sensing information of the first sensing task based on the relationship with the sensing aggregation node and the reporting configuration information;

[0218] Alternatively, based on the reporting configuration information and available reporting resources, the sensing information of the first sensing task can be reported;

[0219] Alternatively, based on the reported configuration information and priority information, the perception information of the first perception task can be reported;

[0220] Alternatively, based on the reporting configuration information, available reporting resources, and priority information, the perception information of the first perception task can be reported.

[0221] Among them, priority information is used to indicate the priority order among fusion information, auxiliary information and background information.

[0222] In another implementation, the communication device 90 can be a sensing control node or a device matched with a sensing control node.

[0223] The communication unit 902 is used to send and report configuration information, which is used for reporting the perception information of the first perception task.

[0224] Optionally, the reported configuration information includes perception type information, which indicates the type of perception information.

[0225] Optionally, the type of perception information indicated by the perception type information includes one or more of the following:

[0226] Radial velocity of the sensed target, distance between the cooperative sensing node and the sensed target, angle between the cooperative sensing node and the sensed target, position of the sensed target, time delay between the cooperative sensing node and the sensed target, Doppler velocity, detection range, number of targets, sensed received signal, signal after initial processing of the sensed received signal, 1D Fast Fourier Transform (1D-FFT) data, 2D Fast Fourier Transform (2D-FFT) data, 3D Fast Fourier Transform (3D-FFT) data, MUSIC spectral function information for multiple signal classification, noise subspace vector, covariance matrix, detection range corresponding to the spectral function, position information of cooperative sensing nodes, number of antennas of cooperative sensing nodes, array manifold of cooperative sensing nodes, antenna spacing of cooperative sensing nodes, carrier frequency, subcarrier spacing (SCS), symbol duration, number of subcarriers used for sensing, number of symbols used for sensing, FFT step size, resolution, accuracy attenuation factor of cooperative sensing nodes, positioning accuracy of cooperative sensing nodes, signal-to-noise ratio (SNR) of the sensed received signal, signal-to-interference-plus-noise ratio (SINR) of the sensed received signal, synchronization accuracy of cooperative sensing nodes.

[0227] Optionally, the perception type information indicates the first-level type and the type of perception information under the first-level type; wherein, the first-level type includes one or more of fusion information, auxiliary information, and background information;

[0228] Among them, the fusion information indicates the measurement information of the sensing and receiving signals of the first sensing task, and / or the information obtained by processing the measurement information; the background information indicates the parameters involved in the process of acquiring the fusion information; and the auxiliary information is used to determine the weight of the fusion information, or the auxiliary information is used to determine the weight of the fusion information and the background information.

[0229] Optionally, the perception type information indicates that the first-level type includes fused information, and the perception type information also indicates the second-level type under the fused information, as well as the type of perception information under the second-level type; wherein, the second-level type includes one or more of data-level information, signal-level information, and symbol-level information;

[0230] Among them, data-level information is the sensing result calculated based on the sensing and receiving signal, signal-level information includes the sensing and receiving signal or the sensing and receiving signal after initial processing, and symbol-level information is the intermediate data obtained by performing symbol-level processing on the sensing and receiving signal.

[0231] Optionally, symbol-level information may include one or more of the following: 1D-FFT data, 2D-FFT data, 3D-FFT data, MUSIC spectral function information, noise subspace vector, and covariance matrix.

[0232] Optionally, the reported configuration information may also include task indication information, which indicates one or more of the task information, sensing direction, sensing time, and sensing frequency of the first sensing task.

[0233] Optionally, the reported configuration information may also include format indication information, which indicates the reporting format.

[0234] Optionally, the reporting format includes a first part and a second part; the first part indicates the type of the reported sensing information, and the second part indicates the numerical value corresponding to the type of reported sensing information.

[0235] Optionally, the reporting format includes a third part, which indicates the type of perception type information.

[0236] Optionally, the reporting format may also include a fourth part, which indicates supplementary information to be reported.

[0237] Please see Figure 10 , Figure 10 This is a schematic diagram of another communication device provided in an embodiment of this application. The communication device 100 can be a cooperative sensing node or a device matched with a cooperative sensing node. The communication device 100 can be a sensing control node or a device matched with a sensing control node. Optionally, the communication device may further include a memory 1003. The transceiver 1001, processor 1002, and memory 1003 can be connected via a bus 1004 or other means. The bus is in... Figure 10 The connections between other components are shown in bold lines only and are not intended to be limiting. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, Figure 10 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0238] The coupling in this application embodiment is an indirect coupling or communication connection between devices, units, or modules, which can be electrical, mechanical, or other forms, used for information exchange between devices, units, or modules. This application embodiment does not limit the specific connection medium between the transceiver 1001, processor 1002, and memory 1003.

[0239] Memory 1003 may include read-only memory and random access memory, and provides instructions and data to processor 1002. A portion of memory 1003 may also include non-volatile random access memory.

[0240] The processor 1002 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor; optionally, the processor 1002 can also be any conventional processor.

[0241] In one optional implementation, memory 1003 is used to store program instructions; processor 1002 is used to call the program instructions stored in memory 1003 for execution. Figure 7 The steps performed by the collaborative sensing node in the corresponding embodiment.

[0242] In one optional implementation, memory 1003 is used to store program instructions; processor 1002 is used to call the program instructions stored in memory 1003 for execution. Figure 7 The steps performed by the sensing and control node in the corresponding embodiment.

[0243] In the embodiments of this application, the methods provided in the embodiments of this application can be implemented by running a computer program (including program code) capable of performing the steps involved in the above-described methods on a general-purpose computing device, such as a computer, which includes processing elements and storage elements such as a CPU, random access memory (RAM), and read-only memory (ROM). The computer program can be recorded on, for example, a computer-readable recording medium, loaded into the aforementioned computing device through the computer-readable recording medium, and run therein.

[0244] Based on the same inventive concept, the communication device 100 provided in the embodiments of this application solves the problem in the same way and with the same beneficial effects as this application. Figure 7 The principles and beneficial effects of solving the problem in the illustrated embodiments are similar. Please refer to the implementation principles and beneficial effects of the method. For the sake of brevity, they will not be repeated here.

[0245] The aforementioned communication device may be, for example, a chip or a chip module.

[0246] This application also provides a chip, which includes a processor that can execute the relevant steps of the cooperative sensing node in the foregoing method embodiments.

[0247] In one implementation, the chip is used to: receive reporting configuration information, which is used for reporting the perception information of the first perception task; and report the perception information of the first perception task based on the reporting configuration information. Optionally, the preamble also includes a third part, with the second part preceding the third part, and the first CP also includes the CP of the third part.

[0248] Optionally, the reported configuration information includes perception type information, which indicates the type of perception information.

[0249] Optionally, the type of perception information indicated by the perception type information includes one or more of the following:

[0250] The parameters include: radial velocity of the target, distance between the cooperative sensing node and the target, angle between the cooperative sensing node and the target, position of the target, time delay between the cooperative sensing node and the target, Doppler velocity, detection range, number of targets, received sensing signal, signal after initial processing of the received sensing signal, 1D-FFT data, 2D-FFT data, 3D-FFT data, MUSIC spectral function information, noise subspace vector, covariance matrix, detection range corresponding to the spectral function, position information of the cooperative sensing node, number of antennas of the cooperative sensing node, array manifold of the cooperative sensing node, antenna spacing of the cooperative sensing node, carrier frequency, SCS, symbol duration, number of subcarriers used for sensing, number of symbols used for sensing, FFT step size, resolution, accuracy attenuation factor of the cooperative sensing node, positioning accuracy of the cooperative sensing node, SNR of the received sensing signal, SINR of the received sensing signal, and synchronization accuracy of the cooperative sensing node.

[0251] Optionally, the perception type information indicates the first-level type and the type of perception information under the first-level type; wherein, the first-level type includes one or more of fusion information, auxiliary information, and background information;

[0252] Among them, the fusion information indicates the measurement information of the sensing and receiving signals of the first sensing task, and / or the information obtained by processing the measurement information; the background information indicates the parameters involved in the process of acquiring the fusion information; and the auxiliary information is used to determine the weight of the fusion information, or the auxiliary information is used to determine the weight of the fusion information and the background information.

[0253] Optionally, the perception type information indicates that the first-level type includes fused information, and the perception type information also indicates the second-level type under the fused information, as well as the type of perception information under the second-level type; wherein, the second-level type includes one or more of data-level information, signal-level information, and symbol-level information;

[0254] Among them, data-level information is the sensing result calculated based on the sensing and receiving signal, signal-level information includes the sensing and receiving signal or the sensing and receiving signal after initial processing, and symbol-level information is the intermediate data obtained by processing the sensing and receiving signal.

[0255] Optionally, symbol-level information may include one or more of the following: 1D-FFT data, 2D-FFT data, 3D-FFT data, MUSIC spectral function information, noise subspace vector, and covariance matrix.

[0256] Optionally, the reported configuration information may also include task indication information, which indicates one or more of the task information, sensing direction, sensing time, and sensing frequency of the first sensing task.

[0257] Optionally, the reported configuration information may also include format indication information, which indicates the reporting format.

[0258] Optionally, the reporting format includes a first part and a second part; the first part indicates the type of the reported sensing information, and the second part indicates the numerical value corresponding to the type of reported sensing information.

[0259] Optionally, the reporting format includes a third part, which indicates the type of perception type information.

[0260] Optionally, the reporting format may also include a fourth part, which indicates supplementary information to be reported.

[0261] Optionally, the type of perception information indicated by the perception type information is the same as the type of perception information reported; or, the types of perception information reported are more than the types of perception information indicated by the perception type information.

[0262] Optionally, the chip is specifically used to report the sensing information of the first sensing task based on the relationship with the sensing aggregation node and the reporting configuration information;

[0263] Alternatively, based on the reporting configuration information and available reporting resources, the sensing information of the first sensing task can be reported;

[0264] Alternatively, based on the reported configuration information and priority information, the perception information of the first perception task can be reported;

[0265] Alternatively, based on the reporting configuration information, available reporting resources, and priority information, the perception information of the first perception task can be reported.

[0266] Among them, priority information is used to indicate the priority order among fusion information, auxiliary information and background information.

[0267] In another implementation, the chip is used to: send and report configuration information, which is used for reporting the perception information of the first perception task.

[0268] Optionally, the reported configuration information includes perception type information, which indicates the type of perception information.

[0269] Optionally, the type of perception information indicated by the perception type information includes one or more of the following:

[0270] Radial velocity of the sensed target, distance between the cooperative sensing node and the sensed target, angle between the cooperative sensing node and the sensed target, position of the sensed target, time delay between the cooperative sensing node and the sensed target, Doppler velocity, detection range, number of targets, sensed received signal, signal after initial processing of the sensed received signal, 1D Fast Fourier Transform (1D-FFT) data, 2D Fast Fourier Transform (2D-FFT) data, 3D Fast Fourier Transform (3D-FFT) data, MUSIC spectral function information for multiple signal classification, noise subspace vector, covariance matrix, detection range corresponding to the spectral function, position information of cooperative sensing nodes, number of antennas of cooperative sensing nodes, array manifold of cooperative sensing nodes, antenna spacing of cooperative sensing nodes, carrier frequency, subcarrier spacing (SCS), symbol duration, number of subcarriers used for sensing, number of symbols used for sensing, FFT step size, resolution, accuracy attenuation factor of cooperative sensing nodes, positioning accuracy of cooperative sensing nodes, signal-to-noise ratio (SNR) of the sensed received signal, signal-to-interference-plus-noise ratio (SINR) of the sensed received signal, synchronization accuracy of cooperative sensing nodes.

[0271] Optionally, the perception type information indicates the first-level type and the type of perception information under the first-level type; wherein, the first-level type includes one or more of fusion information, auxiliary information, and background information;

[0272] Among them, the fusion information indicates the measurement information of the sensing and receiving signals of the first sensing task, and / or the information obtained by processing the measurement information; the background information indicates the parameters involved in the process of acquiring the fusion information; and the auxiliary information is used to determine the weight of the fusion information, or the auxiliary information is used to determine the weight of the fusion information and the background information.

[0273] Optionally, the perception type information indicates that the first-level type includes fused information, and the perception type information also indicates the second-level type under the fused information, as well as the type of perception information under the second-level type; wherein, the second-level type includes one or more of data-level information, signal-level information, and symbol-level information;

[0274] Among them, data-level information is the sensing result calculated based on the sensing and receiving signal, signal-level information includes the sensing and receiving signal or the sensing and receiving signal after initial processing, and symbol-level information is the intermediate data obtained by performing symbol-level processing on the sensing and receiving signal.

[0275] Optionally, symbol-level information may include one or more of the following: 1D-FFT data, 2D-FFT data, 3D-FFT data, MUSIC spectral function information, noise subspace vector, and covariance matrix.

[0276] Optionally, the reported configuration information may also include task indication information, which indicates one or more of the task information, sensing direction, sensing time, and sensing frequency of the first sensing task.

[0277] Optionally, the reported configuration information may also include format indication information, which indicates the reporting format.

[0278] Optionally, the reporting format includes a first part and a second part; the first part indicates the type of the reported sensing information, and the second part indicates the numerical value corresponding to the type of reported sensing information.

[0279] Optionally, the reporting format includes a third part, which indicates the type of perception type information.

[0280] Optionally, the reporting format may also include a fourth part, which indicates supplementary information to be reported.

[0281] The aforementioned chip is used to send or receive information, and can output or input information through a chip interface.

[0282] Please see Figure 11 , Figure 11 This is a schematic diagram of the structure of a chip module provided in an embodiment of this application. The chip module 110 can execute the relevant steps of the cooperative sensing node or sensing control node in the aforementioned method embodiments. The chip module 110 includes: a communication interface 1101 and a chip 1102.

[0283] The communication interface is used for internal communication within the chip module, or for communication between the chip module and external devices. The communication interface can also be described as a communication module.

[0284] Chip 1102 is used to implement the functions of the collaborative sensing node in the embodiments of this application. For example, chip 1102 is used to receive reporting configuration information, which is used for reporting the sensing information of the first sensing task; and to report the sensing information of the first sensing task based on the reporting configuration information.

[0285] Chip 1102 is used to implement the functions of the sensing control node in this embodiment. For example, chip 1102 is used to send and report configuration information, which is used for reporting the sensing information of the first sensing task.

[0286] Optionally, the chip module 110 may also include a storage module 1103 and a power module 1104. The storage module 1103 is used to store data and instructions. The power module 1104 is used to provide power to the chip module.

[0287] For various devices and products applied to or integrated into chip modules, each of its modules can be implemented using hardware methods such as circuits. Different modules can be located in the same component (e.g., chip, circuit module, etc.) or different components of the chip module. Alternatively, at least some modules can be implemented using software programs that run on the processor integrated inside the chip module, while the remaining (if any) modules can be implemented using hardware methods such as circuits.

[0288] This application also provides a computer-readable storage medium storing one or more instructions adapted for loading by a processor and executing the methods provided in the above-described method embodiments.

[0289] This application also provides a computer program product containing a computer program or instructions, which, when run on a computer, causes the computer to perform the method provided in the above-described method embodiments.

[0290] It should be noted that, for the sake of simplicity, the above embodiments are all described as a series of actions. Those skilled in the art should understand that this application is not limited to the described order of actions, as some steps in the embodiments of this application can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions, steps, modules, or units involved are not necessarily essential to the embodiments of this application.

[0291] In the above embodiments, the descriptions of each embodiment in this application have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0292] The steps of the methods or algorithms described in the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in RAM, flash memory, ROM, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, read-only optical discs (CD-ROMs), or any other form of storage medium well known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Additionally, the ASIC can reside in a terminal device or management device. Alternatively, the processor and storage medium can exist as discrete components in the terminal device or management device.

[0293] Those skilled in the art will recognize that, in one or more of the examples above, the functions described in the embodiments of this application can be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital video discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0294] Regarding the modules / units included in the various devices and products described in the above embodiments, they can be software modules / units, hardware modules / units, or a combination of both. For example, for various devices and products applied to or integrated into a chip, all of their modules / units can be implemented using hardware methods such as circuits, or at least some modules / units can be implemented using software programs that run on a processor integrated within the chip, while the remaining (if any) modules / units can be implemented using hardware methods such as circuits; for various devices and products applied to or integrated into a chip module, all of their modules / units can be implemented using hardware methods such as circuits, and different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or different components of the chip module, or at least some modules / units can be implemented using hardware methods such as circuits. The components can be implemented using software programs that run on the processor integrated within the chip module. The remaining (if any) modules / units can be implemented using hardware methods such as circuits. For various devices and products applied to or integrated into the terminal, each of its components / units can be implemented using hardware methods such as circuits. Different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or in different components within the terminal. Alternatively, at least some modules / units can be implemented using software programs that run on the processor integrated within the terminal, while the remaining (if any) modules / units can be implemented using hardware methods such as circuits.

[0295] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A sensing method, characterized in that, include: Receive reported configuration information, which is used for reporting the perception information of the first perception task; Based on the reported configuration information, the perception information of the first perception task is reported.

2. The method as described in claim 1, characterized in that, The reported configuration information includes perception type information, which indicates the type of perception information.

3. The method as described in claim 2, characterized in that, The perception type information indicates the type of perception information, which includes one or more of the following: The parameters include: radial velocity of the target, distance between the cooperative sensing node and the target, angle between the cooperative sensing node and the target, position of the target, time delay between the cooperative sensing node and the target, Doppler velocity, detection range, number of targets, received sensing signal, signal after initial processing of the received sensing signal, 1D Fast Fourier Transform (1D-FFT) data, 2D Fast Fourier Transform (2D-FFT) data, 3D Fast Fourier Transform (3D-FFT) data, MUSIC spectral function information, noise subspace vector, covariance matrix, detection range corresponding to the spectral function, position information of the cooperative sensing node, number of antennas of the cooperative sensing node, array manifold of the cooperative sensing node, antenna spacing of the cooperative sensing node, carrier frequency, subcarrier spacing (SCS), symbol duration, number of subcarriers used for sensing, number of symbols used for sensing, FFT step size, resolution, accuracy attenuation factor of the cooperative sensing node, positioning accuracy of the cooperative sensing node, signal-to-noise ratio (SNR) of the received sensing signal, signal-to-interference-plus-noise ratio (SINR) of the received sensing signal, and synchronization accuracy of the cooperative sensing node.

4. The method as described in claim 2, characterized in that, The perception type information indicates a first-level type and the type of perception information under the first-level type; wherein, the first-level type includes one or more of fusion information, auxiliary information, and background information; Wherein, the fusion information indicates the measurement information of the sensing and receiving signal of the first sensing task, and / or the information obtained by processing the measurement information; the background information indicates the parameters involved in the process of obtaining the fusion information; the auxiliary information is used to determine the weight of the fusion information, or the auxiliary information is used to determine the weight of the fusion information and the background information.

5. The method as described in claim 4, characterized in that, The perception type information indicates that the first-level type includes the fused information, and the perception type information also indicates the second-level type under the fused information, as well as the type of perception information under the second-level type; wherein, the second-level type includes one or more of data-level information, signal-level information, and symbol-level information; The data-level information is the sensing result calculated based on the sensing and receiving signal; the signal-level information includes the sensing and receiving signal or the sensing and receiving signal after initial processing; and the symbol-level information is intermediate data obtained by processing the sensing and receiving signal.

6. The method as described in claim 5, characterized in that, The symbol-level information includes one or more of the following: 1D-FFT data, 2D-FFT data, 3D-FFT data, MUSIC spectral function information, noise subspace vector, and covariance matrix.

7. The method according to any one of claims 2-6, characterized in that, The reported configuration information also includes task instruction information, which indicates one or more of the task information, sensing direction, sensing time, and sensing frequency of the first sensing task.

8. The method according to any one of claims 2-7, characterized in that, The reporting configuration information also includes format indication information, which indicates the reporting format.

9. The method as described in claim 8, characterized in that, The reporting format includes a first part and a second part; the first part indicates the type of the reported sensing information, and the second part indicates the numerical value corresponding to the type of the reported sensing information.

10. The method as described in claim 8, characterized in that, The reporting format includes a third part, which indicates the type indicated by the perception type information.

11. The method as described in claim 10, characterized in that, The reporting format also includes a fourth part, which indicates the auxiliary information to be reported.

12. The method according to any one of claims 2-11, characterized in that, The type of perception information indicated by the perception type information is the same as the type of perception information reported; or, the type of perception information reported is more than the type of perception information indicated by the perception type information.

13. The method as described in claim 12, characterized in that, The step of reporting the perception information of the first perception task based on the reported configuration information includes: Based on the relationship with the sensing aggregation node and the reporting configuration information, the sensing information of the first sensing task is reported. Alternatively, based on the reported configuration information and available reported resources, the perception information of the first perception task can be reported; Alternatively, based on the reported configuration information and priority information, the perception information of the first perception task can be reported; Alternatively, based on the reported configuration information, available reported resources, and priority information, the perception information of the first perception task is reported; The priority information is used to indicate the priority order among the fusion information, the auxiliary information, and the background information.

14. A sensing method, characterized in that, include: Send reporting configuration information, which is used for reporting the perception information of the first perception task.

15. The method as described in claim 14, characterized in that, The reported configuration information includes perception type information, which indicates the type of perception information.

16. The method as described in claim 15, characterized in that, The perception type information indicates the type of perception information, which includes one or more of the following: The parameters include: radial velocity of the target, distance between the cooperative sensing node and the target, angle between the cooperative sensing node and the target, position of the target, time delay between the cooperative sensing node and the target, Doppler velocity, detection range, number of targets, received sensing signal, signal after initial processing of the received sensing signal, 1D Fast Fourier Transform (1D-FFT) data, 2D Fast Fourier Transform (2D-FFT) data, 3D Fast Fourier Transform (3D-FFT) data, MUSIC spectral function information, noise subspace vector, covariance matrix, detection range corresponding to the spectral function, position information of the cooperative sensing node, number of antennas of the cooperative sensing node, array manifold of the cooperative sensing node, antenna spacing of the cooperative sensing node, carrier frequency, subcarrier spacing (SCS), symbol duration, number of subcarriers used for sensing, number of symbols used for sensing, FFT step size, resolution, accuracy attenuation factor of the cooperative sensing node, positioning accuracy of the cooperative sensing node, signal-to-noise ratio (SNR) of the received sensing signal, signal-to-interference-plus-noise ratio (SINR) of the received sensing signal, and synchronization accuracy of the cooperative sensing node.

17. The method as described in claim 15, characterized in that, The perception type information indicates a first-level type and the type of perception information under the first-level type; wherein, the first-level type includes one or more of fusion information, auxiliary information, and background information; Wherein, the fusion information indicates the measurement information of the sensing and receiving signal of the first sensing task, and / or the information obtained by processing the measurement information; the background information indicates the parameters involved in the process of obtaining the fusion information; the auxiliary information is used to determine the weight of the fusion information, or the auxiliary information is used to determine the weight of the fusion information and the background information.

18. The method as described in claim 15, characterized in that, The perception type information indicates that the first-level type includes the fused information, and the perception type information also indicates the second-level type under the fused information, as well as the type of perception information under the second-level type; wherein, the second-level type includes one or more of data-level information, signal-level information, and symbol-level information; The data-level information is the sensing result calculated based on the sensing and receiving signal; the signal-level information includes the sensing and receiving signal or the sensing and receiving signal after initial processing; and the symbol-level information is intermediate data obtained by performing symbol-level processing on the sensing and receiving signal.

19. The method as described in claim 18, characterized in that, The symbol-level information includes one or more of the following: 1D-FFT data, 2D-FFT data, 3D-FFT data, MUSIC spectral function information, noise subspace vector, and covariance matrix.

20. The method according to any one of claims 15-19, characterized in that, The reported configuration information also includes task instruction information, which indicates one or more of the task information, sensing direction, sensing time, and sensing frequency of the first sensing task.

21. The method according to any one of claims 15-19, characterized in that, The reporting configuration information also includes format indication information, which indicates the reporting format.

22. The method as described in claim 21, characterized in that, The reporting format includes a first part and a second part; the first part indicates the type of the reported sensing information, and the second part indicates the numerical value corresponding to the type of the reported sensing information.

23. The method as described in claim 21, characterized in that, The reporting format includes a third part, which indicates the type indicated by the perception type information.

24. The method as described in claim 23, characterized in that, The reporting format also includes a fourth part, which indicates the auxiliary information to be reported.

25. A communication device, characterized in that, It includes units for implementing the method of any one of claims 1-13; or, it includes units for implementing the method of any one of claims 14-24.

26. A communication device, comprising a processor, a memory, and a computer program or instructions stored in the memory, characterized in that, The processor executes the computer program or the instructions to implement the steps of the method according to any one of claims 1-13; or, to implement the steps of the method according to any one of claims 14-24.

27. A chip, comprising a processor, characterized in that, The processor performs the steps of the method according to any one of claims 1-13, or performs the steps of the method according to any one of claims 14-24.

28. A chip module, comprising a communication interface and a chip, characterized in that, The communication interface is used for internal communication within the chip module, or for communication between the chip module and external devices; the chip is used to perform the method of any one of claims 1-13; or to perform the method of any one of claims 14-24.

29. A computer-readable storage medium, characterized in that, It stores a computer program or instructions that, when executed, implement the steps of the method according to any one of claims 1-13, or the steps of the method according to any one of claims 14-24.

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