Collaborative sensing method, node, apparatus, and storage medium

Abstract

The application provides a cooperative sensing method, node, device and storage medium, the method comprising: a sensing receiving node measures a sensing reference signal sent by one or more sensing sending nodes, acquires a sensing reliability parameter, the sensing reliability parameter comprises one or more of a sensing channel reliability parameter, a sensing measurement quantity reliability parameter, a sensing result reliability parameter; and sends the sensing reliability parameter to one or more network control nodes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wireless communication, and in particular to a cooperative sensing method, a node, an apparatus, and a storage medium. BACKGROUND

[0002] Integrated Sensing and Communication (ISAC) is an important candidate evolution technology of a New Radio (NR) system, and the basic idea is to introduce wireless sensing functions in wireless mobile communication. In order to improve the overall efficiency of the ISAC system, it is necessary to study how to realize the optimal configuration of sensing nodes and sensing resources in wireless sensing applications. SUMMARY

[0003] The present application provides a cooperative sensing method, a node, an apparatus, and a storage medium to solve the problem of optimal configuration of sensing nodes and sensing resources in wireless sensing applications.

[0004] In a first aspect, the present application provides a cooperative sensing method applied to a sensing receiving node, comprising:

[0005] Measuring a sensing reference signal sent by one or more sensing sending nodes to obtain a sensing reliability parameter, the sensing reliability parameter including one or more of a sensing channel reliability parameter, a sensing measurement quantity reliability parameter, and a sensing result reliability parameter;

[0006] Sending the sensing reliability parameter to one or more network control nodes.

[0007] In some embodiments, the sensing channel reliability parameter includes one or more of a signal-to-noise ratio (SNR), a signal-to-interference-plus-noise ratio (SINR), and a reliability level of the sensing channel.

[0008] In some embodiments, the sensing channel includes one or more of a full-bandwidth sensing channel, a sub-band sensing channel, and a partial sub-band sensing channel.

[0009] In some embodiments, the sensing measurement quantity reliability parameter includes one or more of a variance, a standard deviation, an uncertainty, and a reliability level of the sensing measurement quantity.

[0010] In some embodiments, the sensing result reliability parameter includes one or more of a variance, a standard deviation, an uncertainty, and a reliability level of the sensing result.

[0011] In some embodiments, the method further comprises:

[0012] Sending sensing capability information of the sensing receiving node to one or more network control nodes.

[0013] In some embodiments, the method further comprises:

[0014] receiving one or more of the following information sent by one or more network control nodes:

[0015] updated perception receiver set information;

[0016] updated perception reference signal resource set configuration information;

[0017] updated perception transmitter set information.

[0018] In a second aspect, the present application also provides a cooperative perception method, applied to a first network control node, comprising:

[0019] receiving perception reliability parameters sent by one or more perception receivers, the perception reliability parameters comprising one or more of the following: reliability parameter information of a perception channel, reliability parameter information of a perception measurement quantity, reliability parameter information of a perception result;

[0020] based on the perception reliability parameters, performing one or more of the following operations:

[0021] updating a perception transmitter set and / or a perception receiver set;

[0022] updating a perception reference signal resource set.

[0023] In some embodiments, the perception channel reliability parameter comprises one or more of the following: SNR, SINR, reliability level of a perception channel.

[0024] In some embodiments, the perception channel comprises one or more of the following: a perception channel of a full bandwidth, a perception channel of a sub-band, a perception channel of a partial sub-band.

[0025] In some embodiments, the perception measurement quantity reliability parameter comprises one or more of the following: variance, standard deviation, uncertainty, reliability level of a perception measurement quantity.

[0026] In some embodiments, the perception result reliability parameter comprises one or more of the following: variance, standard deviation, uncertainty, reliability level of a perception result.

[0027] In some embodiments, updating the perception transmitter set and / or the perception receiver set comprises:

[0028] based on a comparison result between the perception reliability parameters and a perception reliability parameter threshold, determining to increase the number of perception transmitters and / or the number of perception receivers, or to decrease the number of perception transmitters and / or the number of perception receivers.

[0029] In some embodiments, updating the set of sensed reference signals includes:

[0030] Based on the comparison between the sensing reliability parameters and the sensing reliability parameter threshold, the amount of sensing reference signal resources to be increased or decreased is determined.

[0031] In some embodiments, updating the set of sensing transmitting nodes and / or the set of sensing receiving nodes includes:

[0032] Based on the perceived reliability parameters and one or more of the following information, determine the updated set of perceived transmitting nodes and / or the updated set of perceived receiving nodes:

[0033] Sensing the performance requirements of the business;

[0034] Sensing area range;

[0035] Network topology;

[0036] Sensing the sensing capabilities of the sending node;

[0037] Sensing the location of the sending node;

[0038] The sensing capability of the receiving node;

[0039] Sensing the location of the receiving node.

[0040] In some embodiments, updating the set of sensed reference signals includes:

[0041] Based on the sensing reliability parameters and one or more of the following information, determine the updated set of sensing reference signal resources:

[0042] Sensing the performance requirements of the business;

[0043] Sensing the set of sending nodes;

[0044] A set of sensing and receiving nodes.

[0045] In some embodiments, the method further includes:

[0046] Send updated sensing sender node set information and / or updated sensing receiver node set information to other network control nodes; or,

[0047] Receive updated sensing sender node set information and / or updated sensing receiver node set information sent by other network control nodes.

[0048] Thirdly, this application also provides a sensing receiving node, including a memory, a transceiver, and a processor;

[0049] A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations:

[0050] Measure the sensing reference signal transmitted by one or more sensing transmitting nodes to obtain sensing reliability parameters. The sensing reliability parameters include one or more of the following: sensing channel reliability parameters, sensing measurement reliability parameters, and sensing result reliability parameters.

[0051] Send perceived reliability parameters to one or more network control nodes.

[0052] In some embodiments, the sensing channel reliability parameters include one or more of the following: signal-to-noise ratio (SNR), signal-to-interference-plus-noise ratio (SINR), and reliability level.

[0053] In some embodiments, the sensing channel includes one or more of the following: a full-band sensing channel, a sub-band sensing channel, and a partial sub-band sensing channel.

[0054] In some embodiments, the reliability parameters of the sensed measurement include one or more of the variance, standard deviation, uncertainty, and reliability level of the sensed measurement.

[0055] In some embodiments, the reliability parameters of the sensing results include one or more of the following: variance, standard deviation, uncertainty, and reliability level of the sensing results.

[0056] In some embodiments, the operation further includes:

[0057] Send sensing capability information of the sensing receiving node to one or more network control nodes.

[0058] In some embodiments, the operation further includes:

[0059] Receive one or more of the following information from one or more network control nodes:

[0060] Updated information on the set of sensing and receiving nodes;

[0061] Updated configuration information for the set of sensing reference signals;

[0062] Update the set of sensing and sending nodes information.

[0063] Fourthly, this application also provides a first network control node, including a memory, a transceiver, and a processor;

[0064] A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations:

[0065] Receive sensing reliability parameters sent by one or more sensing receiving nodes. The sensing reliability parameters include one or more of the following: the reliability parameter information of the sensing channel, the reliability parameter information of the sensing measurement, and the reliability parameter information of the sensing result.

[0066] Based on the perceived reliability parameters, perform one or more of the following operations:

[0067] Update the set of sensing sending nodes and / or the set of sensing receiving nodes;

[0068] Update the set of sensing reference signals.

[0069] In some embodiments, the sensing channel reliability parameters include one or more of the sensing channel's SNR, SINR, and reliability level.

[0070] In some embodiments, the sensing channel includes one or more of the following: a full-band sensing channel, a sub-band sensing channel, and a partial sub-band sensing channel.

[0071] In some embodiments, the reliability parameters of the sensed measurement include one or more of the variance, standard deviation, uncertainty, and reliability level of the sensed measurement.

[0072] In some embodiments, the reliability parameters of the sensing results include one or more of the following: variance, standard deviation, uncertainty, and reliability level of the sensing results.

[0073] In some embodiments, updating the set of sensing transmitting nodes and / or the set of sensing receiving nodes includes:

[0074] Based on the comparison between the perceived reliability parameters and the perceived reliability parameter threshold, it is determined whether to increase the number of perceived transmitting nodes and / or the number of perceived receiving nodes, or to decrease the number of perceived transmitting nodes and / or the number of perceived receiving nodes.

[0075] In some embodiments, updating the set of sensed reference signals includes:

[0076] Based on the comparison between the sensing reliability parameters and the sensing reliability parameter threshold, the amount of sensing reference signal resources to be increased or decreased is determined.

[0077] In some embodiments, updating the set of sensing transmitting nodes and / or the set of sensing receiving nodes includes:

[0078] Based on the perceived reliability parameters and one or more of the following information, determine the updated set of perceived transmitting nodes and / or the updated set of perceived receiving nodes:

[0079] Sensing the performance requirements of the business;

[0080] Sensing area range;

[0081] Network topology;

[0082] Sensing the sensing capabilities of the sending node;

[0083] Sensing the location of the sending node;

[0084] The sensing capability of the receiving node;

[0085] Sensing the location of the receiving node.

[0086] In some embodiments, updating the set of sensed reference signals includes:

[0087] Based on the sensing reliability parameters and one or more of the following information, determine the updated set of sensing reference signal resources:

[0088] Sensing the performance requirements of the business;

[0089] Sensing the set of sending nodes;

[0090] A set of sensing and receiving nodes.

[0091] In some embodiments, the operation further includes:

[0092] Send updated sensing sender node set information and / or updated sensing receiver node set information to other network control nodes; or,

[0093] Receive updated sensing sender node set information and / or updated sensing receiver node set information sent by other network control nodes.

[0094] Fifthly, this application also provides a cooperative sensing device, comprising:

[0095] The acquisition unit is used to measure the sensing reference signal transmitted by one or more sensing transmitting nodes and acquire sensing reliability parameters. The sensing reliability parameters include one or more of the following: sensing channel reliability parameters, sensing measurement reliability parameters, and sensing result reliability parameters.

[0096] The first transmitting unit is used to send perceived reliability parameters to one or more network control nodes.

[0097] Sixthly, this application also provides a cooperative sensing device, comprising:

[0098] The second receiving unit is used to receive sensing reliability parameters sent by one or more sensing receiving nodes. The sensing reliability parameters include one or more of the following: reliability parameter information of the sensing channel, reliability parameter information of the sensing measurement, and reliability parameter information of the sensing result.

[0099] An execution unit is used to perform one or more of the following operations based on perceived reliability parameters:

[0100] Update the set of sensing sending nodes and / or the set of sensing receiving nodes;

[0101] Update the set of sensing reference signals.

[0102] In a seventh aspect, this application also provides a non-transiently readable storage medium storing a program for causing a processor to execute the cooperative sensing method described in the first aspect above, or to execute the cooperative sensing method described in the second aspect above.

[0103] Eighthly, this application also provides a communication device, wherein the communication device stores a program for causing the communication device to execute the cooperative sensing method described in the first aspect above, or to execute the cooperative sensing method described in the second aspect above.

[0104] Ninthly, this application also provides a processor-readable storage medium storing a program for causing a processor to execute the cooperative sensing method described in the first aspect above, or to execute the cooperative sensing method described in the second aspect above.

[0105] In a tenth aspect, this application also provides a chip product, wherein the chip product stores a program for causing the chip product to execute the cooperative sensing method described in the first aspect above, or to execute the cooperative sensing method described in the second aspect above.

[0106] The collaborative sensing method, node, device, and storage medium provided in this application obtain sensing reliability parameters by measuring sensing reference signals sent by one or more sensing transmitting nodes through a sensing receiving node, and then sending the obtained sensing reliability parameters to a network control node. This enables the network control node to optimize the configuration of sensing nodes and / or sensing resources based on the sensing reliability parameters sent by one or more sensing receiving nodes, thereby improving the overall efficiency of the ISAC system. Attached Figure Description

[0107] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0108] Figure 1A schematic diagram of single-base sensing and dual-base sensing provided for related technologies.

[0109] Figure 2 This is one of the flowcharts of the collaborative sensing method provided in the embodiments of this application.

[0110] Figure 3 This is a second flowchart illustrating the collaborative sensing method provided in an embodiment of this application.

[0111] Figure 4 Example 1 is a schematic diagram of an embodiment provided in this application.

[0112] Figure 5 This is a schematic diagram of Example 2 provided for an embodiment of this application.

[0113] Figure 6 Example 3 is a schematic diagram of an embodiment of this application.

[0114] Figure 7 This is a schematic diagram of the structure of the sensing receiving node or the first network control node provided in the embodiments of this application.

[0115] Figure 8 This is one of the structural schematic diagrams of the collaborative sensing device provided in the embodiments of this application.

[0116] Figure 9 This is a second schematic diagram of the structure of the collaborative sensing device provided in the embodiments of this application. Detailed Implementation

[0117] In the embodiments of this application, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0118] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0119] In the embodiments of this application, the terms "first," "second," etc., are used to distinguish similar objects, and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, and the number of objects is not limited; for example, the first object can be one or more.

[0120] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0121] To facilitate a clearer understanding of the technical solutions of the various embodiments of this application, some technical content related to the various embodiments of this application will be introduced first.

[0122] ISAC, as an important candidate evolution technology for NR systems, is based on the idea of ​​introducing wireless sensing functionality into wireless mobile communication. Wireless sensing refers to sensing environmental information through wireless signals. This environmental information includes the distribution, size, quantity, and temperature of environmental objects, human actions and behaviors, and even human breathing rate and heart rate. The principle of wireless sensing is to transmit radio signals to the environment to be sensed, while simultaneously collecting the wireless signals reflected, scattered, and transmitted through multiple paths at the sensing receiver. Because the collected wireless signals are influenced by the environment, they carry environmental information. After receiving the signals and undergoing complex signal processing, environmental characteristics can be discovered, and the sensed environment can be reconstructed on a computer, including identifying people and objects in the environment, detecting temperature, detecting human actions, and even breathing and heart rate.

[0123] Wireless sensing is generally divided into two modes: single-base sensing and dual-base sensing. Single-base sensing refers to the base station (or terminal) actively transmitting a sensing signal (or sensing reference signal), which is then reflected by the object being sensed and received by the base station (or terminal). Dual-base sensing refers to the base station (or terminal) actively transmitting a sensing signal, which is transmitted through a wireless channel and received by the other terminal (or base station).

[0124] Figure 1 Schematic diagrams of single-base sensing and dual-base sensing provided for related technologies, such as Figure 1 As shown, single-base sensing includes gNB single-base sensing and UE single-base sensing. Dual-base sensing includes UE-gNB dual-base sensing, gNB-UE dual-base sensing, UE-UE dual-base sensing, and gNB-gNB dual-base sensing. gNB refers to the base station, and UE refers to the terminal (or user equipment).

[0125] To improve the overall efficiency of ISAC systems, wireless sensing applications need to study how to optimize the configuration of sensing nodes and sensing resources. For example, when multiple sensing transmitting nodes and multiple sensing receiving nodes exist, how to select the optimal combination of sensing transmitting and receiving nodes for the current sensing target; and how to minimize time and frequency resource overhead and improve resource utilization while ensuring sensing performance.

[0126] Figure 2 This is one of the flowcharts illustrating the collaborative sensing method provided in the embodiments of this application. The method is applied to a sensing receiving node, such as... Figure 2 As shown, the method includes the following steps 201 and 202.

[0127] Step 201: Measure the sensing reference signal transmitted by one or more sensing transmitting nodes to obtain sensing reliability parameters. The sensing reliability parameters include one or more of the following: sensing channel reliability parameters, sensing measurement reliability parameters, and sensing result reliability parameters.

[0128] Step 202: Send perceived reliability parameters to one or more network control nodes.

[0129] Specifically, in the wireless sensing process targeting a sensing target, the sensing transmitting node and the sensing receiving node respectively transmit and receive sensing reference signals according to the resource configuration of the sensing reference signals. After receiving and measuring the sensing reference signals transmitted by one or more sensing transmitting nodes, the sensing receiving node can obtain sensing reliability parameters. These sensing reliability parameters include one or more of the following: sensing channel reliability parameters, sensing measurement reliability parameters, and sensing result reliability parameters. The sensing channel reliability parameters can characterize the quality of the sensing channel, the sensing measurement reliability parameters can characterize the quality of the sensing measurement, and the sensing result reliability parameters can characterize the quality of the sensing result.

[0130] The sensing receiving node sends the acquired sensing reliability parameters to the network control node. Based on the sensing reliability parameters sent by one or more sensing receiving nodes, the network control node can optimize the configuration of sensing nodes (sensing sending nodes and / or sensing receiving nodes) and / or sensing resources (sensing reference signal resources). For example, it can update the set of sensing sending nodes and / or sensing receiving nodes participating in cooperative sensing; and / or update the set of sensing reference signal resources.

[0131] The cooperative sensing method provided in this application obtains sensing reliability parameters by measuring sensing reference signals sent by one or more sensing sending nodes through sensing receiving nodes, and sends the obtained sensing reliability parameters to the network control node. This enables the network control node to optimize the configuration of sensing nodes and / or sensing resources based on the sensing reliability parameters sent by one or more sensing receiving nodes, thereby improving the overall efficiency of the ISAC system.

[0132] In some embodiments, the sensing and transmitting node may be a terminal or a base station.

[0133] In some embodiments, the sensing receiving node may be a terminal or a base station.

[0134] In some embodiments, the network control node may be a Sensing Function (SF) entity, a base station, or other network entity.

[0135] In some embodiments, the sensing reliability parameter is a sensing reliability parameter corresponding to the sensing target. For example, for a certain sensing target, the sensing channel reliability parameter is the reliability parameter of the sensing channel passing through the sensing target; the sensing measurement reliability parameter is the reliability parameter of the sensing measurement obtained by measuring the sensing reference signal passing through the sensing target; and the sensing result reliability parameter is the reliability parameter of the sensing result of the sensing target. By reporting the sensing reliability parameter corresponding to the sensing target, the reliability of the selection of transceiver nodes in cooperative sensing and the performance of link adaptation can be better guaranteed.

[0136] In some embodiments, after the sensing receiving node determines the presence of a sensing target in the current system through a sensing target identification process, it then sends sensing reliability parameters to the network control node. This application does not specifically limit the method by which the sensing receiving node determines the presence of a sensing target in the current system. For example, the sensing receiving node may determine this through a sensing target identification algorithm, or it may determine this through interaction with other network nodes (such as other sensing receiving nodes, network control nodes, etc.).

[0137] For example, if a sensing receiving node determines that within multiple coherent processing times, a sensed measurement (such as delay, angle, velocity, or Doppler frequency offset) exceeds a predefined detection threshold, remains unchanged, and is not equal to a preset outlier value (e.g., velocity is not zero, delay is not equal to the preset transmission delay of the LOS path between the sensing transceiver nodes), then the sensing receiving node can determine that a sensing target exists in the current system. LOS refers to Line of Sight (LOS).

[0138] For example, if a sensing receiving node determines that the sensing result remains unchanged over multiple coherent processing times, and determines that the position estimates of the sensing target calculated by multiple sensing receiving nodes based on the ideal position of the same sensing sending node and the relative positioning or ranging results are all within the same error range (i.e., the position estimates of the sensing target calculated by multiple sensing receiving nodes are basically the same, and the differences are all within the same error range), then the sensing receiving node can determine that a sensing target exists in the current system.

[0139] In some embodiments, the sensing reliability parameter is associated with a sensing transmitting node, a sensing receiving node, and a sensing target. For example, one sensing reliability parameter corresponds to a combination of a sensing transmitting node, a sensing receiving node, and a sensing target.

[0140] In some embodiments, the perceived reliability parameters can be reported separately (i.e., sent to the network control node) or reported together with perceived measurements or perceived results. For example: the perceived channel reliability parameters can be reported separately or together with perceived measurements or perceived results; the perceived measurement reliability parameters can be reported separately or together with perceived measurements or perceived results; the perceived result reliability parameters can be reported separately or together with perceived results.

[0141] In some embodiments, the sensing channel reliability parameters include one or more of the following: signal-to-noise ratio (SNR), signal-to-interference-plus-noise ratio (SINR), and reliability level.

[0142] The reliability level of a sensing channel is a parameter characterizing the channel quality of the sensing channel, and is not specifically limited here. For example, the reliability level of a sensing channel can be determined based on the SNR (or SINR, or a combination of SNR and SINR) of the sensing channel. For instance, the SNR (or SINR, or a combination of SNR and SINR) can be numerically segmented, with different segments corresponding to different reliability levels.

[0143] In some embodiments, the sensing channel includes one or more of the following: a full-band sensing channel, a sub-band sensing channel, and a partial sub-band sensing channel. A partial sub-band may include multiple sub-bands.

[0144] In some embodiments, the expression for the sensing channel reliability parameter is:

[0145] Confidence_Sensing_Channel(Tx_node, Rx_node, Target_location, Link_index)

[0146] In the formula, Tx_node represents the index of the sensing transmitting node; Rx_node represents the index of the sensing receiving node; Target_location indicates that the sensing receiving node identification algorithm has determined the existence of the sensing target and its location, including absolute or relative location; Link_index represents the index of the full bandwidth, subband, or partial subband. Confidence_Sensing_Channel contains one or more of the following information: SNR, SINR, and reliability level.

[0147] For example, SNR = abs(H_target).^2 / N0, SINR = (abs(H_target).^2) / (abs(H_backgroud).^2+N0). H_target represents the channel response of the link through the sensing target (where the link includes: sensing transmitting node Tx_node -> sensing target Target -> sensing receiving node Rx_node), and H_backgroud represents the channel response of the link without passing through the sensing target, from sensing transmitting node Tx_node to sensing receiving node Rx_node. H_target and H_backgroud can be the Channel Frequency Response (CFR) or Channel Impulse Response (CIR), and N0 is the noise power. The number of quantization bits for SNR and SINR is N, where N is a positive integer greater than or equal to 1, and N can be a power of 2 (N = 2^n).

[0148] In some embodiments, the reliability parameters of the sensed measurement include one or more of the following: variance, standard deviation, uncertainty, and reliability level. The sensed measurement may include, for example, distance, time delay, angle, speed, power, and phase.

[0149] In some embodiments, the reliability level of the sensed measurement is the confidence level of the sensed measurement.

[0150] For example, the reliability parameters of a sensed measurement include the variance, standard deviation, uncertainty, and confidence level of one or more sensed measurements, expressed as follows:

[0151] Confidence_Sensing_Measurement(Tx_node, Rx_node, Target_location, Meas_type)

[0152] In the formula, Meas_type represents a combination of one or more sensing measurements. Confidence_Sensing_Measurement includes variance, standard deviation, uncertainty, and confidence level.

[0153] In some embodiments, the reliability parameters of the sensing results include one or more of the following: variance, standard deviation, uncertainty, and reliability level. The sensing results may include, for example, horizontal positioning results, vertical positioning results, relative distance, velocity, Doppler frequency offset, intrusion detection results, target type identification, and motion trajectory.

[0154] In some embodiments, the reliability level of the perception result is the confidence level of the perception result.

[0155] For example, the reliability parameters of the perception results include the variance, standard deviation, uncertainty, and confidence level of one or more perception results, expressed as follows:

[0156] Confidence_Sensing_Result(Tx_node, Rx_node, Target_location, Result_type)

[0157] In the formula, Result_type represents a combination of one or more sensing results. Confidence_Sensing_Result includes variance, standard deviation, uncertainty, and confidence level.

[0158] In some embodiments, a sensing receiving node may send sensing capability information of the sensing receiving node to one or more network control nodes. This sensing capability information may include, for example, the sensing modes supported by the sensing receiving node and the sensing receiving node's ability to receive and process sensing signals.

[0159] In some embodiments, a sensing transmitting node may send sensing capability information of the sensing transmitting node to one or more network control nodes. This sensing capability information may include, for example, the sensing modes supported by the sensing transmitting node and the sensing transmitting node's ability to transmit and process sensing signals.

[0160] In some embodiments, the method further includes: receiving one or more of the following information sent by one or more network control nodes:

[0161] Updated information on the set of sensing and receiving nodes;

[0162] Updated configuration information for the set of sensing reference signals;

[0163] Update the set of sensing and sending nodes information.

[0164] After updating the sensing nodes and / or sensing resources, the network control node can send the updated sensing node information and / or updated sensing resource configuration information to all sensing receiving nodes and sensing sending nodes, or only to the sensing receiving nodes and sensing sending nodes that participate in subsequent collaborative sensing.

[0165] In some embodiments, a sensing receiving node can determine whether it is a node participating in subsequent collaborative sensing based on the received updated set of sensing receiving nodes. If the sensing receiving node does not belong to the updated set of sensing receiving nodes, it can be determined that the sensing receiving node will not participate in subsequent collaborative sensing.

[0166] In some embodiments, a sensing receiving node can determine whether it is a node participating in subsequent collaborative sensing based on whether it has received updated sensing receiving node set information. If the sensing receiving node has not received updated sensing receiving node set information, it can be determined that the sensing receiving node will not participate in subsequent collaborative sensing.

[0167] In some embodiments, a sensing sending node can determine whether it is a node participating in subsequent collaborative sensing based on the received updated sensing sending node set information. If the sensing sending node does not belong to the updated sensing sending node set, it can be determined that the sensing sending node will not participate in subsequent collaborative sensing.

[0168] In some embodiments, a sensing sending node can determine whether it is a node participating in subsequent collaborative sensing based on whether it has received updated sensing sending node set information. If the sensing sending node has not received updated sensing sending node set information, it can be determined that the sensing sending node will not participate in subsequent collaborative sensing.

[0169] Figure 3 This is a second flowchart illustrating the collaborative awareness method provided in this application embodiment. The method is applied to a first network control node, such as... Figure 3 As shown, the method includes the following steps 301 and 302.

[0170] Step 301: Receive sensing reliability parameters sent by one or more sensing receiving nodes. The sensing reliability parameters include one or more of the following: the reliability parameter information of the sensing channel, the reliability parameter information of the sensing measurement, and the reliability parameter information of the sensing result.

[0171] Step 302: Based on the perceived reliability parameters, perform one or more of the following operations:

[0172] Update the set of sensing sending nodes and / or the set of sensing receiving nodes;

[0173] Update the set of sensing reference signals.

[0174] Specifically, the first network control node can be any network control node, without any restrictions.

[0175] In the wireless sensing process targeting a sensing target, the sensing transmitting node and the sensing receiving node transmit and receive sensing reference signals according to the resource configuration of the sensing reference signals, respectively. After receiving and measuring the sensing reference signals transmitted by one or more sensing transmitting nodes, the sensing receiving node can obtain sensing reliability parameters. These sensing reliability parameters include one or more of the following: sensing channel reliability parameters, sensing measurement reliability parameters, and sensing result reliability parameters. The sensing channel reliability parameters can characterize the quality of the sensing channel, the sensing measurement reliability parameters can characterize the quality of the sensing measurement, and the sensing result reliability parameters can characterize the quality of the sensing result.

[0176] The sensing receiving node sends the acquired sensing reliability parameters to the network control node. Based on the sensing reliability parameters sent by one or more sensing receiving nodes, the network control node can optimize the configuration of sensing nodes and / or sensing resources, such as updating the set of sensing sending nodes and / or sensing receiving nodes participating in collaborative sensing; and / or updating the set of sensing reference signal resources.

[0177] The cooperative sensing method provided in this application obtains sensing reliability parameters by measuring sensing reference signals sent by one or more sensing sending nodes through sensing receiving nodes, and sends the obtained sensing reliability parameters to the network control node. This enables the network control node to optimize the configuration of sensing nodes and / or sensing resources based on the sensing reliability parameters sent by one or more sensing receiving nodes, thereby improving the overall efficiency of the ISAC system.

[0178] When the system contains one network control node, the sensing node update process and the sensing resource update process within that network control node can be two independent processes or a joint process. When the system contains multiple network control nodes (e.g., two), each network control node can complete the sensing node update process and the sensing resource update process separately.

[0179] The aforementioned update process (the sensing node update process and the sensing resource update process) can be periodic or event-triggered.

[0180] If the sensing node update process and the sensing resource update process are two independent periodic processes, their implementation cycles can be the same or different.

[0181] In some embodiments, the sensing channel reliability parameters include one or more of the sensing channel's SNR, SINR, and reliability level.

[0182] In some embodiments, the sensing channel includes one or more of the following: a full-band sensing channel, a sub-band sensing channel, and a partial sub-band sensing channel.

[0183] In some embodiments, the reliability parameters of the sensed measurement include one or more of the variance, standard deviation, uncertainty, and reliability level of the sensed measurement.

[0184] In some embodiments, the reliability parameters of the sensing results include one or more of the following: variance, standard deviation, uncertainty, and reliability level of the sensing results.

[0185] In some embodiments, updating the set of sensing transmitting nodes and / or the set of sensing receiving nodes includes:

[0186] Based on the comparison between the perceived reliability parameters and the perceived reliability parameter threshold, it is determined whether to increase the number of perceived transmitting nodes and / or the number of perceived receiving nodes, or to decrease the number of perceived transmitting nodes and / or the number of perceived receiving nodes.

[0187] Specifically, for the sensing node update process, the network control node can determine whether to increase or decrease the number of sensing nodes based on the comparison results between the sensing reliability parameters and sensing reliability thresholds reported by each sensing receiving node.

[0188] For example, taking the reported sensing reliability parameter (hereinafter referred to as parameter) as the SNR of the full-bandwidth sensing channel as an example, the larger the SNR, the better the channel quality. If the largest parameter reported by each sensing receiving node is less than or equal to the low SNR threshold, or at least X (e.g., 2≤X≤7) parameters are less than or equal to the low SNR threshold, it indicates that the quality of all sensing channels or a certain number of sensing channels is poor. In this case, the number of sensing transmitting nodes and / or sensing receiving nodes can be increased. Whether to increase the number of sensing transmitting nodes or sensing receiving nodes, and which sensing nodes to increase, can be determined by comprehensively considering the sensing reliability parameter, available sensing nodes, and the performance requirements of sensing services. No restrictions are imposed here.

[0189] For example, still taking SNR as an example, if the minimum parameter reported by each sensing receiving node is greater than or equal to the SNR high threshold, or at least X (e.g., 2≤X≤7) parameters are greater than or equal to the SNR high threshold, it indicates that the quality of all sensing channels or a certain number of sensing channels is good. Then the number of sensing transmitting nodes and / or sensing receiving nodes can be reduced. Whether to reduce the number of sensing transmitting nodes or the number of sensing receiving nodes, and which sensing nodes to reduce, can be determined by comprehensively considering information such as sensing reliability parameters, available sensing nodes, and the performance requirements of sensing services. No restrictions are imposed here.

[0190] The above example uses a single parameter reported by a sensing receiving node. The same principle applies to cases where a sensing receiving node reports multiple parameters. For instance, if the reported parameters are the SNR of the full-bandwidth sensing channel and the variance of the sensing results, and if among the parameters reported by each sensing receiving node, the largest SNR is less than or equal to the lower SNR threshold, or at least X (e.g., 2 ≤ X ≤ 7) SNRs are less than or equal to the lower SNR threshold, or the smallest variance is greater than or equal to the higher variance threshold, or at least X (e.g., 2 ≤ X ≤ 7) variances are greater than or equal to the higher variance threshold, this indicates that the quality of all sensing channels (or sensing results) or a certain number of sensing channels (or sensing results) is poor. In this case, the number of sensing transmitting nodes can be increased. The number of points and / or the number of sensing receiving nodes; if among the parameters reported by each sensing receiving node, the minimum SNR is greater than or equal to the high SNR threshold, or at least X (e.g., 2≤X≤7) SNRs are greater than or equal to the high SNR threshold, or the maximum variance is less than or equal to the low variance threshold, or at least X (e.g., 2≤X≤7) variances are less than or equal to the low variance threshold, it indicates that the quality of all sensing channels (or sensing results) or a certain number of sensing channels (or sensing results) is good, then the number of sensing transmitting nodes and / or the number of sensing receiving nodes can be reduced.

[0191] Regardless of the specific judgment logic used, the following principle can be followed: if the parameters reported by each sensing receiving node indicate that the quality of all or a certain number of sensing channels (or sensing measurements or sensing results) is poor, the number of sensing nodes can be increased; conversely, if the parameters reported by each sensing receiving node indicate that the quality of all or a certain number of sensing channels (or sensing measurements or sensing results) is good, the number of sensing nodes can be reduced.

[0192] For SNR, SINR, and reliability level, higher values ​​indicate better quality of the corresponding sensing channel (or sensing measurement or sensing result). For variance, standard deviation, and uncertainty, lower values ​​indicate better quality of the corresponding sensing measurement or sensing result.

[0193] In some embodiments, sensing nodes or combinations of sensing nodes with better quality corresponding sensing channels (or sensing measurements or sensing results) are more likely to be retained to participate in subsequent collaborative sensing, while sensing nodes or combinations of sensing nodes with worse quality corresponding sensing channels (or sensing measurements or sensing results) are more likely to be eliminated, i.e., not to participate in subsequent collaborative sensing.

[0194] In some embodiments, updating the set of sensed reference signals includes:

[0195] Based on the comparison between the sensing reliability parameters and the sensing reliability parameter threshold, the amount of sensing reference signal resources to be increased or decreased is determined.

[0196] Specifically, for the sensing resource update process, the network control node can determine whether to increase or decrease the amount of sensing resources based on the comparison results between the sensing reliability parameters and sensing reliability thresholds reported by each sensing receiving node.

[0197] For example, taking SNR as an example again, if the largest parameter reported by each sensing receiving node is less than or equal to the low SNR threshold, or at least X (e.g., 2≤X≤7) parameters are less than or equal to the low SNR threshold, it indicates that the quality of all sensing channels or a certain number of sensing channels is poor, and then the number of sensing resources can be increased.

[0198] For example, still taking SNR as an example, if the smallest parameter reported by each sensing receiving node is greater than or equal to the SNR high threshold, or at least X (e.g., 2≤X≤7) parameters are greater than or equal to the SNR high threshold, it indicates that the quality of all sensing channels or a certain number of sensing channels is good, and then the number of sensing resources can be reduced.

[0199] The above example uses a single parameter reported by a sensing receiving node. This same principle applies to cases where a sensing receiving node reports multiple parameters. For instance, if the reported parameters are the SNR of the full-bandwidth sensing channel and the variance of the sensing results, and if among the parameters reported by each sensing receiving node, the largest SNR is less than or equal to the lower SNR threshold, or at least X (e.g., 2 ≤ X ≤ 7) SNRs are less than or equal to the lower SNR threshold, or the smallest variance is greater than or equal to the higher variance threshold, or at least X (e.g., 2 ≤ X ≤ 7) variances are greater than or equal to the higher variance threshold, this indicates that the quality of all sensing channels (or sensing results) or a certain number of sensing channels (or sensing results) is... If the quality is poor, the number of sensing resources can be increased. If, among the parameters reported by each sensing receiving node, the minimum SNR is greater than or equal to the high SNR threshold, or at least X (e.g., 2≤X≤7) SNRs are greater than or equal to the high SNR threshold, or the maximum variance is less than or equal to the low variance threshold, or at least X (e.g., 2≤X≤7) variances are less than or equal to the low variance threshold, it indicates that the quality of all sensing channels (or sensing results) or a certain number of sensing channels (or sensing results) is good, and the number of sensing resources can be reduced.

[0200] Regardless of the specific judgment logic used, the following principle can be followed: if the parameters reported by each sensing receiving node indicate that the quality of all or a certain number of sensing channels (or sensing measurements or sensing results) is poor, the number of sensing resources can be increased; conversely, if the parameters reported by each sensing receiving node indicate that the quality of all or a certain number of sensing channels (or sensing measurements or sensing results) is good, the number of sensing resources can be reduced.

[0201] In some embodiments, sensing resources include one or more of time-domain resources, frequency-domain resources, and spatial-domain resources. Updating sensing resources can be processed on a single dimension or jointly on multiple dimensions. For example, processing can be performed jointly on the time and frequency domains, simultaneously increasing or decreasing the number of resources in both domains. Another example: if the reliability parameter of relative positioning sensing accuracy exceeds a threshold, the number of frequency-domain resources is reduced; otherwise, the number of frequency-domain resources is increased. If the reliability parameter of velocity / Doppler frequency offset exceeds a threshold, the number of time-domain resources is reduced; otherwise, the number of time-domain resources is increased (increasing the number of time-domain resources while maintaining the repetition period of each time-domain resource is equivalent to reducing the repetition period), or the repetition period is directly reduced.

[0202] In some embodiments, there are multiple sensing transmission nodes, and the network control node ensures that the sensing reference signal resources transmitted by different sensing transmission nodes are orthogonal, for example: Time Division Multiplexing (TDM), Frequency Division Multiplexing (FDM), or Code Division Multiplexing (CDM).

[0203] In some embodiments, a sensing reference signal resource includes one or more Orthogonal Frequency Division Multiplexing (OFDM) symbols and a number of time-domain repetitions in the time domain; different bandwidths, comb sizes, comb offsets, and frequency patterns in the frequency domain; and multiple possible transmit filter coefficients (i.e., corresponding to the transmit beam direction) in the spatial domain.

[0204] The following examples illustrate the methods for determining sensing nodes and sensing resources using three types of sensing reliability parameters.

[0205] Table 1 shows the method for determining sensing nodes and sensing resources based on sensing channel reliability parameters. The threshold values ​​for sensing channel reliability parameters (i.e., sensing channel reliability thresholds) can be predefined by the protocol or notified via signaling (e.g., mutual notification signaling between different network control nodes). The table provides processing methods for individual parameters. When multiple sensing channel reliability parameters are reported simultaneously, the updated processing method is as follows: any one parameter satisfies the processing condition, or the largest parameter satisfies the processing condition, or the smallest parameter satisfies the processing condition, or at least X parameters satisfy the processing condition (e.g., 2 ≤ X ≤ 7).

[0206] Table 1. Methods for determining sensing nodes and sensing resources based on sensing channel reliability parameters.

[0207]

[0208]

[0209] Table 2 shows the method for determining sensing nodes and sensing resources based on the reliability parameters of sensing quantities. As shown in Table 2, the threshold values ​​of the reliability parameters of sensing quantities (i.e., the reliability thresholds of sensing quantities) can be predefined by the protocol or notified by signaling (e.g., mutual notification signaling between different network control nodes). The table provides the processing method for a single parameter. When multiple reliability parameters of sensing quantities are reported simultaneously, the updated processing method is: any one parameter satisfies the processing condition, or the largest parameter satisfies the processing condition, or the smallest parameter satisfies the processing condition, or at least X parameters satisfy the processing condition (e.g., 2 ≤ X ≤ 7).

[0210] Table 2. Methods for determining sensing nodes and sensing resources based on the reliability parameters of sensing measurements.

[0211]

[0212]

[0213] Table 3 shows the method for determining sensing nodes and sensing resources based on the reliability parameters of sensing results. The threshold values ​​for the reliability parameters of sensing results (i.e., the reliability thresholds of sensing results) can be predefined by the protocol or notified by signaling (e.g., mutual notification signaling between different network control nodes). The table provides the processing method for a single parameter. When multiple reliability parameters of sensing results are reported simultaneously, the updated processing method is: any one parameter satisfies the processing condition, or the largest parameter satisfies the processing condition, or the smallest parameter satisfies the processing condition, or at least X parameters satisfy the processing condition (e.g., 2 ≤ X ≤ 7).

[0214] Table 3. Methods for determining sensing nodes and sensing resources based on the reliability parameters of sensing results.

[0215]

[0216]

[0217]

[0218] In some embodiments, updating the set of sensing transmitting nodes and / or the set of sensing receiving nodes includes:

[0219] Based on the perceived reliability parameters and one or more of the following information, determine the updated set of perceived transmitting nodes and / or the updated set of perceived receiving nodes:

[0220] Sensing the performance requirements of the business;

[0221] Sensing area range;

[0222] Network topology;

[0223] The sensing capability of the sensing sending node (the sensing sending node refers to the currently available sensing sending node);

[0224] The location of the sensing and transmitting node (the sensing and transmitting node refers to the currently available sensing and transmitting node);

[0225] The sensing capability of the sensing receiving node (the sensing receiving node refers to the currently available sensing receiving node);

[0226] The location of the sensing receiving node (the sensing receiving node refers to the currently available sensing receiving node).

[0227] In some embodiments, the performance requirements of the sensing service include the Quality of Service (QoS) metrics and latency metrics of the sensing service.

[0228] It should be noted that the network control node determines the updated set of sensing nodes based on sensing reliability parameters and information such as the performance requirements of sensing services, sensing area range, network topology, sensing node capabilities, and sensing node locations. This can be done after determining whether to add or reduce the number of sensing nodes, or it can be done directly based on the sensing reliability parameters and information such as the performance requirements of sensing services, sensing area range, network topology, sensing node capabilities, and sensing node locations (i.e., without first determining whether to add or reduce the number of sensing nodes). This application does not impose any limitations on this.

[0229] In some embodiments, updating the set of sensed reference signals includes:

[0230] Based on the sensing reliability parameters and one or more of the following information, determine the updated set of sensing reference signal resources:

[0231] Sensing the performance requirements of the business;

[0232] Sensing the set of sending nodes;

[0233] A set of sensing and receiving nodes.

[0234] It should be noted that the set of sensing nodes upon which the updated set of sensing reference signals resources is based can be either the current set of sensing nodes participating in collaborative sensing or the latest updated set of sensing nodes. For example, if the sensing node update process and the sensing resource update process are a joint process executed by the same network control node, this network control node can determine the updated set of sensing reference signals resources based on the updated set of sensing nodes after updating the current set. Alternatively, if the sensing node update process and the sensing resource update process are two independent processes executed by the same network control node, when updating sensing resources, this network control node can determine the updated set of sensing reference signals resources based on the current set of sensing nodes participating in collaborative sensing. Furthermore, if the sensing node update process and the sensing resource update process are executed separately by different network control nodes, and if the two processes are executed independently, the network control node responsible for updating sensing resources can determine the updated set of sensing reference signals resources based on the current set of sensing nodes participating in collaborative sensing; if the two processes are a joint process, the network control node responsible for updating sensing nodes can send the updated set of sensing nodes to the network control node responsible for updating sensing resources, and the network control node responsible for updating sensing resources will determine the updated set of sensing reference signals resources based on the updated set of sensing nodes.

[0235] In some embodiments, the method further includes:

[0236] Send updated sensing sender node set information and / or updated sensing receiver node set information to other network control nodes; or,

[0237] Receive updated sensing sender node set information and / or updated sensing receiver node set information sent by other network control nodes.

[0238] For example, when the sensing node update process and the sensing resource update process are executed separately by different network control nodes, the network control node responsible for updating the sensing nodes can send the updated sensing node set to other network control nodes after updating the sensing node set; the network control node responsible for updating the sensing resources can also update the sensing reference signal resource set based on the updated sensing node set sent by other network control nodes.

[0239] The methods provided in the various embodiments of this application are based on the same technical concept, so the implementation of each method can be referred to each other, and repeated parts will not be described again.

[0240] The methods provided in the above embodiments of this application are illustrated by specific examples below.

[0241] Example 1: A network control node is responsible for two independent processes: sensing node updates and sensing resource updates.

[0242] Example 1's scheme includes one network control node, M1 first sensing transmitting nodes, and N1 first sensing receiving nodes, where N1≥1 and M1≥1. This scheme is applicable to cooperative sensing modes such as base station transmitting and base station receiving (or UE transmitting and base station receiving, or base station transmitting and UE receiving), which involve one transmitting and multiple receiving, multiple transmitting and one receiving, or multiple transmitting and multiple receiving. Figure 4 Example 1 is a schematic diagram of an embodiment of this application. Figure 4 As shown, the updating of sensing nodes and the updating of sensing resources within the network control node are two independent processes, with information exchange between them. Specifically, in the single-base sensing mode, the sensing transmitting node and the sensing receiving node are the same node; in the dual-base sensing mode, the sensing transmitting node and the sensing receiving node are different nodes.

[0243] The following sections will illustrate the scheme of Example 1 from the perspectives of the sensing receiving node, the sensing sending node, and the network control node.

[0244] Sensing receiving node:

[0245] Step 1: The first sensing receiving node reports its sensing capability information to the network control node. This includes, for example, the supported sensing modes and the sensing signal receiving and processing capabilities.

[0246] Step 2: The first sensing receiving node obtains the first sensing reference signal resource configuration through at least one method: Method 1) Network pre-configuration; Method 2) Receiving notification signaling from the network control node.

[0247] Step 3: The n1th sensing receiving node (1≤n1≤N1) in the first sensing receiving node set receives and measures the first sensing reference signals transmitted by the M1 first sensing transmitting nodes in the first sensing transmitting node set, which pass through the same sensing target and arrive at the sensing receiving node. It then obtains M1 first sensing reliability parameters from the M1 first sensing transmitting nodes to the n1th first sensing receiving node. This process is repeated for all N1 sensing receiving nodes in the first sensing receiving node set, resulting in a total of M1×N1 first sensing reliability parameters.

[0248] The first sensing reliability parameter includes at least one of the following parameters: sensing channel reliability parameter, sensing measurement reliability parameter, and sensing result reliability parameter.

[0249] Step 4: The first sensing receiving node reports the first sensing reliability parameters to the network control node.

[0250] In this process, after the sensing receiving node has processed the sensing target identification and determined that there is a single sensing target, it then reports at least one of the above-mentioned first sensing reliability parameters.

[0251] Among them, the reliability parameters of the sensing channel can be reported separately or together with the sensing measurement or sensing result; the reliability parameters of the sensing measurement can be reported separately or together with the sensing measurement or sensing result; the reliability parameters of the sensing result can be reported separately or together with the sensing result.

[0252] Step 5: The first sensing receiving node receives the second sensing receiving node set information (i.e., the updated sensing receiving node set information) notified by the network control node. If it belongs to the second sensing receiving node set, it continues to obtain the second sensing reference signal resource configuration information (i.e., the updated sensing reference signal resource configuration information).

[0253] Step 6: The n2th sensing receiving node in the second sensing receiving node set receives the second sensing reference signals sent by the M2 second sensing sending nodes in the second sensing sending node set, which pass through the same sensing target and arrive at the sensing receiving node. It then determines the M2 second sensing reliability parameters for the M2 second sensing sending nodes reaching the n2th second sensing receiving node. This process is repeated for the N2 sensing receiving nodes in the second sensing receiving node set, resulting in a total of M2 × N2 second sensing reliability parameters.

[0254] The second sensing reliability parameter includes at least one of the following parameters: sensing channel reliability parameter, sensing measurement reliability parameter, and sensing result reliability parameter.

[0255] Step 7: The second sensing receiving node reports the second sensing reliability parameters to the network control node.

[0256] The reliability parameters of the sensing channel can be reported separately or together with the sensing measurement or sensing result; the reliability parameters of the sensing measurement can be reported separately or together with the sensing measurement or sensing result; the reliability parameters of the sensing result can be reported separately or together with the sensing result.

[0257] Sensing sending node:

[0258] Step 1: The first sensing transmitting node reports its sensing capability information to the network control node. This includes, for example, the supported sensing modes and the sensing signal transmission and processing capabilities.

[0259] Step 2: The first sensing transmitting node obtains the first sensing reference signal resource configuration through at least one method: Method 1) Network pre-configuration; Method 2) Receiving notification signaling from the network control node.

[0260] Step 3: The m1-th (1≤m1≤M1) sensing transmitting node in the first sensing transmitting node set transmits the m_p1-th (1≤m_p1≤M_P1)-th first sensing reference signal according to the configuration information of the first sensing reference signal resource in the configured first sensing signal resource set. This process is repeated for all M1 first sensing transmitting nodes in the first sensing transmitting node set, resulting in the transmission of a total of M1×P1 first sensing reference signals.

[0261] Step 4: The first sensing transmitting node receives the second sensing transmitting node set information (i.e., the updated sensing transmitting node set information) from the network control node. If it belongs to the second sensing transmitting node set, it continues to obtain the second sensing reference signal resource configuration information (i.e., the updated sensing reference signal resource configuration information).

[0262] Step 5: The m2th (1≤m2≤M2) sensing transmitting node in the second sensing transmitting node set transmits the m_p2th (1≤m_p2≤M_P2)th second sensing reference signal according to the configuration information of the second sensing reference signal resource in the configured second sensing signal resource set. This process is repeated for all M2 second sensing transmitting nodes in the second sensing transmitting node set, resulting in the transmission of a total of M2×P2 second sensing reference signals.

[0263] Network control node (sensor node updates and sensor resource updates are two independent processes):

[0264] Perception node update process:

[0265] Step 1: Determine the first sensing sending node and the first sensing receiving node based on the pre-configuration method.

[0266] Step 2: The network control node updates and determines the second set of sensing nodes and the second set of sensing nodes based on the performance requirements of the sensing service (e.g., QoS performance indicators and latency indicators), the sensing area range, the capabilities and coordinates of the first sensing sending node, the capabilities and coordinates of the first sensing receiving node, the network topology, and the M1×N1 first sensing reliability parameters reported by the N1 first sensing receiving nodes, and sends them to the second set of sensing sending nodes and the second set of sensing receiving nodes respectively.

[0267] The second set of sensing transmitting nodes contains M2 sensing transmitting nodes, and the second set of sensing receiving nodes contains N2 sensing receiving nodes.

[0268] Perceive the resource update process:

[0269] Step 3: If the first sensing transmitting node and the first sensing receiving node do not use the pre-configuration method to obtain the first sensing reference signal resource set, the network control node jointly determines the resource configuration information of the first sensing reference signal resource set based on the performance requirements of the sensing service (e.g., QoS performance indicators and latency indicators), the sensing area range, the capabilities and coordinate positions of the sensing transceiver nodes, network topology, and other parameters, and sends the resource configuration information of the first sensing reference signal resource set to the first sensing transmitting node set and the first sensing receiving node set, respectively.

[0270] Step 4: The network control node determines the second sensing reference signal resource set based on the performance requirements of the sensing service (e.g., QoS performance indicators and latency indicators), the second sensing sending node set, the second sensing receiving node set, and the M1×N1 first sensing reliability parameters reported by the N1 first sensing receiving nodes, and sends the resource configuration information of the second sensing reference signal resource set to the second sensing sending node set and the second sensing receiving node set respectively.

[0271] The second set of sensing reference signal resources contains M_P2 sensing reference signal resources, where M_P2 = Ratio2 × M2 and Ratio2 ≥ 1.

[0272] In this context, it is assumed that the sensing node update and the sensing resource update are two independent periodic processes. The implementation period T1 of the sensing node update process and the implementation period T2 of the sensing resource update process can be different, for example, T1≤T2.

[0273] Example 2: A network control node is responsible for the joint process of sensing node updates and sensing resource updates.

[0274] Example 2's scheme includes one network control node, M1 first sensing transmitting nodes, and N1 first sensing receiving nodes, where N1≥1 and M1≥1. This scheme is applicable to cooperative sensing modes such as base station transmitting and base station receiving (or UE transmitting and base station receiving, or base station transmitting and UE receiving), which involve one transmitting and multiple receiving, multiple transmitting and one receiving, or multiple transmitting and multiple receiving. Figure 5 This is a schematic diagram of Example 2 provided in the embodiments of this application, as shown below. Figure 5 As shown, the network control node is responsible for the joint processing of sensing node updates and sensing resource updates. Specifically, in the single-base sensing mode, the sensing sending node and the sensing receiving node are the same node; in the dual-base sensing mode, the sensing sending node and the sensing receiving node are different nodes.

[0275] The following sections will illustrate the scheme of Example 2 from the perspectives of the sensing receiving node, the sensing sending node, and the network control node.

[0276] Sensing receiving node:

[0277] Step 1: The first sensing receiving node reports its sensing capability information to the network control node. This includes, for example, the supported sensing modes and the sensing signal receiving and processing capabilities.

[0278] Step 2: The first sensing receiving node obtains the first sensing reference signal resource configuration through at least one method: Method 1) Network pre-configuration; Method 2) Receiving notification signaling from the network control node.

[0279] Step 3: The n1th sensing receiving node (1≤n1≤N1) in the first sensing receiving node set receives and measures the first sensing reference signals transmitted by the M1 first sensing transmitting nodes in the first sensing transmitting node set, which pass through the same sensing target and arrive at the sensing receiving node. It then obtains M1 first sensing reliability parameters from the M1 first sensing transmitting nodes to the n1th first sensing receiving node. This process is repeated for all N1 sensing receiving nodes in the first sensing receiving node set, resulting in a total of M1×N1 first sensing reliability parameters.

[0280] The first sensing reliability parameter includes at least one of the following parameters: sensing channel reliability parameter, sensing measurement reliability parameter, and sensing result reliability parameter.

[0281] Step 4: The first sensing receiving node reports the first sensing reliability parameters to the network control node.

[0282] In this process, after the sensing receiving node has processed the sensing target identification and determined that there is a single sensing target, it then reports at least one of the above-mentioned first sensing reliability parameters.

[0283] Among them, the reliability parameters of the sensing channel can be reported separately or together with the sensing measurement or sensing result; the reliability parameters of the sensing measurement can be reported separately or together with the sensing measurement or sensing result; the reliability parameters of the sensing result can be reported separately or together with the sensing result.

[0284] Step 5: The first sensing receiving node receives the second sensing receiving node set information (i.e., the updated sensing receiving node set information) notified by the network control node. If it belongs to the second sensing receiving node set, it continues to obtain the second sensing reference signal resource configuration information (i.e., the updated sensing reference signal resource configuration information).

[0285] Step 6: The n2th sensing receiving node in the second sensing receiving node set receives the second sensing reference signals sent by the M2 second sensing sending nodes in the second sensing sending node set, which pass through the same sensing target and arrive at the sensing receiving node. It then determines the M2 second sensing reliability parameters for the M2 second sensing sending nodes reaching the n2th second sensing receiving node. This process is repeated for the N2 sensing receiving nodes in the second sensing receiving node set, resulting in a total of M2 × N2 second sensing reliability parameters.

[0286] The second sensing reliability parameter includes at least one of the following parameters: sensing channel reliability parameter, sensing measurement reliability parameter, and sensing result reliability parameter.

[0287] Step 7: The second sensing receiving node reports the second sensing reliability parameters to the network control node.

[0288] The reliability parameters of the sensing channel can be reported separately or together with the sensing measurement or sensing result; the reliability parameters of the sensing measurement can be reported separately or together with the sensing measurement or sensing result; the reliability parameters of the sensing result can be reported separately or together with the sensing result.

[0289] Sensing sending node:

[0290] Step 1: The first sensing transmitting node reports its sensing capability information to the network control node. This includes, for example, the supported sensing modes and the sensing signal transmission and processing capabilities.

[0291] Step 2: The first sensing transmitting node obtains the first sensing reference signal resource configuration through at least one method: Method 1) Network pre-configuration; Method 2) Receiving notification signaling from the network control node.

[0292] Step 3: The m1-th (1≤m1≤M1) sensing transmitting node in the first sensing transmitting node set transmits the m_p1-th (1≤m_p1≤M_P1)-th first sensing reference signal according to the configuration information of the first sensing reference signal resource in the configured first sensing signal resource set. This process is repeated for all M1 first sensing transmitting nodes in the first sensing transmitting node set, resulting in the transmission of a total of M1×P1 first sensing reference signals.

[0293] Step 4: The first sensing transmitting node receives the second sensing transmitting node set information (i.e., the updated sensing transmitting node set information) from the network control node. If it belongs to the second sensing transmitting node set, it continues to obtain the second sensing reference signal resource configuration information (i.e., the updated sensing reference signal resource configuration information).

[0294] Step 5: The m2th (1≤m2≤M2) sensing transmitting node in the second sensing transmitting node set transmits the m_p2th (1≤m_p2≤M_P2)th second sensing reference signal according to the configuration information of the second sensing reference signal resource in the configured second sensing signal resource set. This process is repeated for all M2 second sensing transmitting nodes in the second sensing transmitting node set, resulting in the transmission of a total of M2×P2 second sensing reference signals.

[0295] Network control node (sensor node updates and sensor resource updates are a joint process):

[0296] Step 1:

[0297] Step 1.1: Determine the first sensing sending node and the first sensing receiving node based on the pre-configuration method.

[0298] Step 1.2: If the first sensing transmitting node and the first sensing receiving node do not use the pre-configuration method to obtain the first sensing reference signal resource set, the network control node jointly determines the resource configuration information of the first sensing reference signal resource set based on parameters such as the performance requirements of the sensing service (e.g., QoS performance indicators and latency indicators), the sensing area range, the capabilities and coordinate positions of the sensing transceiver nodes, and the network topology, and sends the resource configuration information of the first sensing reference signal resource set to the first sensing transmitting node set and the first sensing receiving node set respectively.

[0299] Step 2:

[0300] Step 2.1: The network control node determines the set of second sensing sending nodes and the set of second sensing receiving nodes based on the performance requirements of the sensing service (e.g., QoS performance indicators and latency indicators), the sensing area range, the capabilities and coordinates of the first sensing sending node, the capabilities and coordinates of the first sensing receiving node, the network topology, and the above-mentioned M1×N1 first sensing reliability parameters reported by the N1 first sensing receiving nodes.

[0301] Step 2.2: Based on the performance requirements of the sensing service (e.g., QoS performance indicators and latency indicators), the second sensing sending node set and the second sensing receiving node set determined in Step 2.1, and the M1×N1 first sensing reliability parameters reported by the N1 first sensing receiving nodes, the network control node determines the second sensing reference signal resource set, and sends the resource configuration information of the second sensing reference signal resource set to the second sensing sending node set and the second sensing receiving node set respectively.

[0302] The second set of sensing reference signal resources contains M_P2 sensing reference signal resources, where M_P2 = Ratio2 × M2, and Ratio2 ≥ 1.

[0303] Example 3: Two network control nodes are responsible for sensing node updates and sensing resource updates, respectively.

[0304] Example 3's scheme includes two network control nodes (denoted as Network Control Node 1 and Network Control Node 2), M1 first sensing transmitting nodes, and N1 first sensing receiving nodes, where N1≥1 and M1≥1. This scheme is applicable to cooperative sensing modes where the UE transmits to the base station and receives from the base station (or the base station transmits to the UE and receives from the base station), or where there are multiple transmitting, multiple transmitting, or multiple receiving nodes. Figure 6 Example 3 is a schematic diagram of an embodiment of this application. Figure 6 As shown, network control node 1 is responsible for selecting sensing nodes, and network control node 2 is responsible for allocating sensing reference signal resources for link adaptation. For example, network control node 1 is the SF (Signal Ground Station), and network control node 2 is the serving base station. Specifically, in single-base sensing mode, the sensing transmitting node and the sensing receiving node are the same node; in dual-base sensing mode, the sensing transmitting node and the sensing receiving node are different nodes.

[0305] The following sections will illustrate the scheme of Example 1 from the perspectives of the sensing receiving node, the sensing sending node, and the network control node.

[0306] Sensing receiving node:

[0307] Step 1: The first sensing receiving node reports its sensing capability information to network control node 1. This includes, for example, the supported sensing modes and the sensing signal receiving and processing capabilities.

[0308] Step 2: The first sensing receiving node obtains the first sensing reference signal resource configuration through at least one method: Method 1) Network pre-configuration; Method 2) Receiving notification signaling from network control node 2.

[0309] Step 3: The n1th sensing receiving node (1≤n1≤N1) in the first sensing receiving node set receives and measures the first sensing reference signals transmitted by the M1 first sensing transmitting nodes in the first sensing transmitting node set, which pass through the same sensing target and arrive at the sensing receiving node. It then obtains M1 first sensing reliability parameters from the M1 first sensing transmitting nodes to the n1th first sensing receiving node. This process is repeated for all N1 sensing receiving nodes in the first sensing receiving node set, resulting in a total of M1×N1 first sensing reliability parameters.

[0310] Step 4: The first sensing receiving node reports the first sensing reliability parameters to network control node 1 and network control node 2.

[0311] In this process, after the sensing receiving node has processed the sensing target identification and determined that there is a single sensing target, it then reports at least one of the above-mentioned first sensing reliability parameters.

[0312] Among them, the reliability parameters of the sensing channel can be reported separately or together with the sensing measurement or sensing result; the reliability parameters of the sensing measurement can be reported separately or together with the sensing measurement or sensing result; the reliability parameters of the sensing result can be reported separately or together with the sensing result.

[0313] Step 5: The first sensing receiving node receives the information of the second sensing receiving node set notified by the network control node 1. If it belongs to the second sensing receiving node set, it continues to receive the second sensing reference signal resource configuration information notified by the network control node 2.

[0314] Step 6: The n2th sensing receiving node in the second sensing receiving node set receives the second sensing reference signals sent by the M2 second sensing sending nodes in the second sensing sending node set, which pass through the same sensing target and arrive at the sensing receiving node. It then determines the M2 second sensing reliability parameters for the M2 second sensing sending nodes reaching the n2th second sensing receiving node. This process is repeated for the N2 sensing receiving nodes in the second sensing receiving node set, resulting in a total of M2 × N2 second sensing reliability parameters.

[0315] The second sensing reliability parameter includes at least one of the following parameters: sensing channel reliability parameter, sensing measurement reliability parameter, and sensing result reliability parameter.

[0316] Step 7: The second sensing receiving node reports the second sensing reliability parameters to network control node 1 and network control node 2.

[0317] The reliability parameters of the sensing channel can be reported separately or together with the sensing measurement or sensing result; the reliability parameters of the sensing measurement can be reported separately or together with the sensing measurement or sensing result; the reliability parameters of the sensing result can be reported separately or together with the sensing result.

[0318] Sensing sending node:

[0319] Step 1: The first sensing transmitting node reports its sensing capability information to network control node 1. This includes, for example, the supported sensing modes and the sensing signal transmission and processing capabilities.

[0320] Step 2: The first sensing transmitting node obtains the first sensing reference signal resource configuration through at least one method: Method 1) Network pre-configuration; Method 2) Receiving notification signaling from network control node 2.

[0321] Step 3: The m1-th (1≤m1≤M1) sensing transmitting node in the first sensing transmitting node set transmits the m_p1-th (1≤m_p1≤M_P1)-th first sensing reference signal according to the configuration information of the first sensing reference signal resource in the configured first sensing signal resource set. This process is repeated for all M1 first sensing transmitting nodes in the first sensing transmitting node set, resulting in the transmission of a total of M1×P1 first sensing reference signals.

[0322] Step 4: The first sensing transmitting node receives the second sensing transmitting node set information from the network control node 1. If it belongs to the second sensing transmitting node set, it continues to receive the second sensing reference signal resource configuration information from the network control node 2.

[0323] Step 5: The m2th (1≤m2≤M2) sensing transmitting node in the second sensing transmitting node set transmits the m_p2th (1≤m_p2≤M_P2)th second sensing reference signal according to the configuration information of the second sensing reference signal resource in the configured second sensing signal resource set. This process is repeated for all M2 second sensing transmitting nodes in the second sensing transmitting node set, resulting in the transmission of a total of M2×P2 second sensing reference signals.

[0324] Network control node 1 (responsible for updating perception nodes):

[0325] Step 1: Determine the first sensing sending node and the first sensing receiving node based on the pre-configuration method.

[0326] Step 2: Network control node 1 determines the set of second sensing sending nodes and the set of second sensing receiving nodes based on the performance requirements of the sensing service (e.g., QoS performance indicators and latency indicators), the sensing area range, the capabilities and coordinates of the first sensing sending node, the capabilities and coordinates of the first sensing receiving node, the network topology, and the above-mentioned M1×N1 first sensing reliability parameters reported by the N1 first sensing receiving nodes.

[0327] The second set of sensing transmitting nodes contains M2 sensing transmitting nodes, and the second set of sensing receiving nodes contains N2 sensing receiving nodes.

[0328] Step 3: Network control node 1 sends information about the second sensing sending node set and the second sensing receiving node set to the second sensing sending node set, the second sensing receiving node set, and network control node 2, respectively.

[0329] Network control node 2 (responsible for sensing resource updates):

[0330] Step 1: Network control node 2 receives the information of the second set of sensing sending nodes and the second set of sensing receiving nodes sent by network control node 1.

[0331] Step 2: Network control node 2 determines the second sensing reference signal resource set based on the performance requirements of the sensing service (e.g., QoS performance indicators and latency indicators), the second sensing sending node set, the second sensing receiving node set, and the M1×N1 first sensing reliability parameters reported by the N1 second sensing receiving nodes.

[0332] Step 3: Network control node 2 sends the resource configuration information of the second sensing reference signal resource set to network control node 1, the second sensing transmitting node set, and the second sensing receiving node set, respectively.

[0333] The second set of sensing reference signal resources contains M_P2 sensing reference signal resources, where M_P2 = Ratio2 × M2 and Ratio2 ≥ 1.

[0334] In this context, it is assumed that the sensing node update and the sensing resource update are two independent periodic processes. The implementation period T1 of the sensing node update process and the implementation period T2 of the sensing resource update process can be different, for example, T1≤T2.

[0335] Figure 7 This is a schematic diagram of the structure of the sensing receiving node or the first network control node provided in the embodiments of this application, such as... Figure 7 As shown, the sensing receiving node or the first network control node includes a memory 720, a transceiver 710, and a processor 700; wherein the processor 700 and the memory 720 may also be physically arranged separately.

[0336] The memory 720 is used to store computer programs; the transceiver 710 is used to send and receive data under the control of the processor 700.

[0337] Among them, Figure 7 In this application, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 700 and memory represented by memory 720 together. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be further described herein. The bus interface provides an interface. The transceiver 710 can be multiple elements, including a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium, including wireless channels, wired channels, optical fibers, and other transmission media.

[0338] The processor 700 is responsible for managing the bus architecture and general processing, while the memory 720 can store the data used by the processor 700 during operation.

[0339] The processor 700 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor can also adopt a multi-core architecture.

[0340] The processor 700 executes any of the methods provided in the embodiments of this application, either the sensing receiving node side or the first network control node side, according to the obtained executable instructions by calling the computer program stored in the memory 720.

[0341] It should be noted that the sensing receiving node or the first network control node provided in this application embodiment can implement all the method steps implemented in the corresponding side method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0342] The following describes the collaborative sensing device provided in the embodiments of this application. The collaborative sensing device described below and the collaborative sensing method described above can be referred to in correspondence.

[0343] Figure 8 This is one of the structural schematic diagrams of the cooperative sensing device provided in the embodiments of this application, such as... Figure 8 As shown, the device includes:

[0344] The acquisition unit 810 is used to measure the sensing reference signal transmitted by one or more sensing transmitting nodes and acquire sensing reliability parameters. The sensing reliability parameters include one or more of the following: sensing channel reliability parameters, sensing measurement reliability parameters, and sensing result reliability parameters.

[0345] The first transmitting unit 820 is used to transmit perceived reliability parameters to one or more network control nodes.

[0346] In some embodiments, the sensing channel reliability parameters include one or more of the following: signal-to-noise ratio (SNR), signal-to-interference-plus-noise ratio (SINR), and reliability level.

[0347] In some embodiments, the sensing channel includes one or more of the following: a full-band sensing channel, a sub-band sensing channel, and a partial sub-band sensing channel.

[0348] In some embodiments, the reliability parameters of the sensed measurement include one or more of the variance, standard deviation, uncertainty, and reliability level of the sensed measurement.

[0349] In some embodiments, the reliability parameters of the sensing results include one or more of the following: variance, standard deviation, uncertainty, and reliability level of the sensing results.

[0350] In some embodiments, the first transmitting unit 820 is further configured to:

[0351] Send sensing capability information of the sensing receiving node to one or more network control nodes.

[0352] In some embodiments, the device further includes:

[0353] The first receiving unit is configured to receive one or more of the following information sent by one or more network control nodes:

[0354] Updated information on the set of sensing and receiving nodes;

[0355] Updated configuration information for the set of sensing reference signals;

[0356] Update the set of sensing and sending nodes information.

[0357] Figure 9 This is a second schematic diagram of the structure of the cooperative sensing device provided in the embodiments of this application, as shown below. Figure 9 As shown, the device includes:

[0358] The second receiving unit 910 is used to receive sensing reliability parameters sent by one or more sensing receiving nodes. The sensing reliability parameters include one or more of the following: reliability parameter information of the sensing channel, reliability parameter information of the sensing measurement, and reliability parameter information of the sensing result.

[0359] Execution unit 920 is used to perform one or more of the following operations based on perceived reliability parameters:

[0360] Update the set of sensing sending nodes and / or the set of sensing receiving nodes;

[0361] Update the set of sensing reference signals.

[0362] In some embodiments, the sensing channel reliability parameters include one or more of the sensing channel's SNR, SINR, and reliability level.

[0363] In some embodiments, the sensing channel includes one or more of the following: a full-band sensing channel, a sub-band sensing channel, and a partial sub-band sensing channel.

[0364] In some embodiments, the reliability parameters of the sensed measurement include one or more of the variance, standard deviation, uncertainty, and reliability level of the sensed measurement.

[0365] In some embodiments, the reliability parameters of the sensing results include one or more of the following: variance, standard deviation, uncertainty, and reliability level of the sensing results.

[0366] In some embodiments, updating the set of sensing transmitting nodes and / or the set of sensing receiving nodes includes:

[0367] Based on the comparison between the perceived reliability parameters and the perceived reliability parameter threshold, it is determined whether to increase the number of perceived transmitting nodes and / or the number of perceived receiving nodes, or to decrease the number of perceived transmitting nodes and / or the number of perceived receiving nodes.

[0368] In some embodiments, updating the set of sensed reference signals includes:

[0369] Based on the comparison between the sensing reliability parameters and the sensing reliability parameter threshold, the amount of sensing reference signal resources to be increased or decreased is determined.

[0370] In some embodiments, updating the set of sensing transmitting nodes and / or the set of sensing receiving nodes includes:

[0371] Based on the perceived reliability parameters and one or more of the following information, determine the updated set of perceived transmitting nodes and / or the updated set of perceived receiving nodes:

[0372] Sensing the performance requirements of the business;

[0373] Sensing area range;

[0374] Network topology;

[0375] Sensing the sensing capabilities of the sending node;

[0376] Sensing the location of the sending node;

[0377] The sensing capability of the receiving node;

[0378] Sensing the location of the receiving node.

[0379] In some embodiments, updating the set of sensed reference signals includes:

[0380] Based on the sensing reliability parameters and one or more of the following information, determine the updated set of sensing reference signal resources:

[0381] Sensing the performance requirements of the business;

[0382] Sensing the set of sending nodes;

[0383] A set of sensing and receiving nodes.

[0384] In some embodiments, the apparatus further includes a second transmitting unit for transmitting updated sensing transmitting node set information and / or updated sensing receiving node set information to other network control nodes.

[0385] In some embodiments, the second receiving unit 910 is further configured to: receive updated sensing sending node set information and / or updated sensing receiving node set information sent by other network control nodes.

[0386] It should be noted that the cooperative sensing device provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0387] It should be noted that the division of units in the embodiments of this application is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0388] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0389] On the other hand, embodiments of this application also provide a processor-readable storage medium storing a program for causing a processor to execute the cooperative sensing methods provided in the above embodiments.

[0390] It should be noted that the processor-readable storage medium provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0391] The processor-readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO)), optical memory (e.g., CD, DVD, BD, HVD), and semiconductor memory (e.g., ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)).

[0392] The technical solutions provided in this application can be applied to a variety of systems. For example, applicable systems may include Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Long Term Evolution Advanced (LTE-A) systems, Universal Mobile Telecommunications System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) systems, 5G New Radio (NR) systems and their evolved communication systems, and 6G (sixth generation mobile communication technology) systems. These systems may include terminal equipment and network equipment. The systems may also include a core network component, such as the Evolved Packet Core (EPC), 5G core network (5GC), and 6G core network.

[0393] The terminal involved in the embodiments of this application can be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. The name of the terminal may differ in different systems; for example, in a 5G system, the terminal can be called a User Equipment (UE). The wireless terminal device can communicate with one or more core networks (CNs) via a Radio Access Network (RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal device, for example, a portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile device. They exchange voice and / or data with the radio access network. Examples include Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, and Personal Digital Assistants (PDAs). Wireless terminal equipment can also be referred to as a system, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point, remote terminal, access terminal, user terminal, user agent, or user device, but is not limited to these terms in the embodiments of this application.

[0394] The network device involved in this application embodiment can be a base station, which may include multiple cells providing services to terminals. Depending on the specific application, a base station may also be called an access point, or a device in an access network that communicates with a wireless terminal device through one or more sectors on the air interface, or other names. The network device can be used to exchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network equipment involved in the embodiments of this application can be a base transceiver station (BTS) in Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA), a base station (NodeB) in Wide-band Code Division Multiple Access (WCDMA), an evolved Node B (eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a next generation system, a Home evolved Node B (HeNB), a relay node, a femto, a pico, etc., and is not limited in the embodiments of this application. In some network structures, the network equipment may include centralized unit (CU) nodes and distributed unit (DU) nodes, and the centralized unit and distributed unit may also be geographically separated.

[0395] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0396] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0397] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0398] These processors can execute instructions that can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0399] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A collaborative sensing method, characterized in that, Applied to sensing and receiving nodes, including: The sensing reference signal transmitted by one or more sensing transmitting nodes is measured to obtain sensing reliability parameters, which include one or more of the following: sensing channel reliability parameters, sensing measurement reliability parameters, and sensing result reliability parameters. The perceived reliability parameters are sent to one or more network control nodes.

2. The collaborative sensing method according to claim 1, characterized in that, The reliability parameters of the sensing channel include one or more of the following: signal-to-noise ratio (SNR), signal-to-interference-plus-noise ratio (SINR), and reliability level.

3. The collaborative sensing method according to claim 2, characterized in that, The sensing channel includes one or more of the following: full-band sensing channel, sub-band sensing channel, and partial sub-band sensing channel.

4. The collaborative sensing method according to any one of claims 1-3, characterized in that, The reliability parameters of the sensing measurement include one or more of the following: variance, standard deviation, uncertainty, and reliability level of the sensing measurement.

5. The collaborative sensing method according to any one of claims 1-4, characterized in that, The reliability parameters of the sensing results include one or more of the following: variance, standard deviation, uncertainty, and reliability level of the sensing results.

6. The collaborative sensing method according to any one of claims 1-5, characterized in that, The method further includes: The sensing capability information of the sensing receiving node is sent to the one or more network control nodes.

7. The collaborative sensing method according to claim 1 or 6, characterized in that, The method further includes: Receive one or more of the following information sent by the one or more network control nodes: Updated information on the set of sensing and receiving nodes; Updated configuration information for the set of sensing reference signals; Update the set of sensing and sending nodes information.

8. A collaborative sensing method, characterized in that, Applied to the first network control node, including: Receive sensing reliability parameters sent by one or more sensing receiving nodes, wherein the sensing reliability parameters include one or more of the following: reliability parameter information of the sensing channel, reliability parameter information of the sensing measurement, and reliability parameter information of the sensing result. Based on the perceived reliability parameters, perform one or more of the following operations: Update the set of sensing sending nodes and / or the set of sensing receiving nodes; Update the set of sensing reference signals.

9. The collaborative sensing method according to claim 8, characterized in that, The reliability parameters of the sensing channel include one or more of the sensing channel's SNR, SINR, and reliability level.

10. The collaborative sensing method according to claim 9, characterized in that, The sensing channel includes one or more of the following: full-band sensing channel, sub-band sensing channel, and partial sub-band sensing channel.

11. The collaborative sensing method according to any one of claims 8-10, characterized in that, The reliability parameters of the sensing measurement include one or more of the following: variance, standard deviation, uncertainty, and reliability level of the sensing measurement.

12. The collaborative sensing method according to any one of claims 8-11, characterized in that, The reliability parameters of the sensing results include one or more of the following: variance, standard deviation, uncertainty, and reliability level of the sensing results.

13. The collaborative sensing method according to claim 8, characterized in that, The updated set of sensing sending nodes and / or sensing receiving nodes includes: Based on the comparison results between the perceived reliability parameter and the perceived reliability parameter threshold, it is determined whether to increase the number of perceived transmitting nodes and / or the number of perceived receiving nodes, or to decrease the number of perceived transmitting nodes and / or the number of perceived receiving nodes.

14. The collaborative sensing method according to claim 8, characterized in that, The updated sensing reference signal resource set includes: Based on the comparison between the sensing reliability parameter and the sensing reliability parameter threshold, it is determined whether to increase or decrease the number of sensing reference signal resources.

15. The collaborative sensing method according to claim 8 or 13, characterized in that, The updated set of sensing sending nodes and / or sensing receiving nodes includes: Based on the aforementioned sensing reliability parameters and one or more of the following information, determine the updated set of sensing transmitting nodes and / or the updated set of sensing receiving nodes: Sensing the performance requirements of the business; Sensing area range; Network topology; Sensing the sensing capabilities of the sending node; Sensing the location of the sending node; The sensing capability of the receiving node; Sensing the location of the receiving node.

16. The collaborative sensing method according to claim 8 or 14, characterized in that, The updated sensing reference signal resource set includes: Based on the aforementioned sensing reliability parameters and one or more of the following information, an updated set of sensing reference signal resources is determined: Sensing the performance requirements of the business; Sensing the set of sending nodes; A set of sensing and receiving nodes.

17. The collaborative sensing method according to claim 8, characterized in that, The method further includes: Send updated sensing sender node set information and / or updated sensing receiver node set information to other network control nodes; or, Receive updated sensing sender node set information and / or updated sensing receiver node set information sent by other network control nodes.

18. A sensing and receiving node, characterized in that, Includes memory, transceiver, and processor; A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations: The sensing reference signal transmitted by one or more sensing transmitting nodes is measured to obtain sensing reliability parameters, which include one or more of the following: sensing channel reliability parameters, sensing measurement reliability parameters, and sensing result reliability parameters. The perceived reliability parameters are sent to one or more network control nodes.

19. The sensing receiving node according to claim 18, characterized in that, The reliability parameters of the sensing channel include one or more of the following: signal-to-noise ratio (SNR), signal-to-interference-plus-noise ratio (SINR), and reliability level.

20. The sensing receiving node according to claim 19, characterized in that, The sensing channel includes one or more of the following: full-band sensing channel, sub-band sensing channel, and partial sub-band sensing channel.

21. The sensing receiving node according to any one of claims 18-20, characterized in that, The reliability parameters of the sensing measurement include one or more of the following: variance, standard deviation, uncertainty, and reliability level of the sensing measurement.

22. The sensing receiving node according to any one of claims 18-21, characterized in that, The reliability parameters of the sensing results include one or more of the following: variance, standard deviation, uncertainty, and reliability level of the sensing results.

23. The sensing receiving node according to any one of claims 18-22, characterized in that, The operation also includes: The sensing capability information of the sensing receiving node is sent to the one or more network control nodes.

24. The sensing receiving node according to claim 18 or 23, characterized in that, The operation also includes: Receive one or more of the following information sent by the one or more network control nodes: Updated information on the set of sensing and receiving nodes; Updated configuration information for the set of sensing reference signals; Update the set of sensing and sending nodes information.

25. A first network control node, characterized in that, Includes memory, transceiver, and processor; A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations: Receive sensing reliability parameters sent by one or more sensing receiving nodes, wherein the sensing reliability parameters include one or more of the following: reliability parameter information of the sensing channel, reliability parameter information of the sensing measurement, and reliability parameter information of the sensing result. Based on the perceived reliability parameters, perform one or more of the following operations: Update the set of sensing sending nodes and / or the set of sensing receiving nodes; Update the set of sensing reference signals.

26. The first network control node according to claim 25, characterized in that, The reliability parameters of the sensing channel include one or more of the sensing channel's SNR, SINR, and reliability level.

27. The first network control node according to claim 26, characterized in that, The sensing channel includes one or more of the following: full-band sensing channel, sub-band sensing channel, and partial sub-band sensing channel.

28. The first network control node according to any one of claims 25-27, characterized in that, The reliability parameters of the sensing measurement include one or more of the following: variance, standard deviation, uncertainty, and reliability level of the sensing measurement.

29. The first network control node according to any one of claims 25-28, characterized in that, The reliability parameters of the sensing results include one or more of the following: variance, standard deviation, uncertainty, and reliability level of the sensing results.

30. The first network control node according to claim 25, characterized in that, The updated set of sensing sending nodes and / or sensing receiving nodes includes: Based on the comparison results between the perceived reliability parameter and the perceived reliability parameter threshold, it is determined whether to increase the number of perceived transmitting nodes and / or the number of perceived receiving nodes, or to decrease the number of perceived transmitting nodes and / or the number of perceived receiving nodes.

31. The first network control node according to claim 25, characterized in that, The updated sensing reference signal resource set includes: Based on the comparison between the sensing reliability parameter and the sensing reliability parameter threshold, it is determined whether to increase or decrease the number of sensing reference signal resources.

32. The first network control node according to claim 25 or 30, characterized in that, The updated set of sensing sending nodes and / or sensing receiving nodes includes: Based on the aforementioned sensing reliability parameters and one or more of the following information, determine the updated set of sensing transmitting nodes and / or the updated set of sensing receiving nodes: Sensing the performance requirements of the business; Sensing area range; Network topology; Sensing the sensing capabilities of the sending node; Sensing the location of the sending node; The sensing capability of the receiving node; Sensing the location of the receiving node.

33. The first network control node according to claim 25 or 31, characterized in that, The updated sensing reference signal resource set includes: Based on the aforementioned sensing reliability parameters and one or more of the following information, an updated set of sensing reference signal resources is determined: Sensing the performance requirements of the business; Sensing the set of sending nodes; A set of sensing and receiving nodes.

34. The first network control node according to claim 25, characterized in that, The operation also includes: Send updated sensing sender node set information and / or updated sensing receiver node set information to other network control nodes; or, Receive updated sensing sender node set information and / or updated sensing receiver node set information sent by other network control nodes.

35. A collaborative sensing device, characterized in that, include: The acquisition unit is used to measure the sensing reference signal transmitted by one or more sensing transmitting nodes and acquire sensing reliability parameters, wherein the sensing reliability parameters include one or more of the following: sensing channel reliability parameters, sensing measurement reliability parameters, and sensing result reliability parameters. The first transmitting unit is used to transmit the perceived reliability parameters to one or more network control nodes.

36. A collaborative sensing device, characterized in that, include: The second receiving unit is used to receive sensing reliability parameters sent by one or more sensing receiving nodes. The sensing reliability parameters include one or more of the following: reliability parameter information of the sensing channel, reliability parameter information of the sensing measurement, and reliability parameter information of the sensing result. An execution unit is configured to perform one or more of the following operations based on the perceived reliability parameters: Update the set of sensing sending nodes and / or the set of sensing receiving nodes; Update the set of sensing reference signals.

37. A processor-readable storage medium, characterized in that, The processor-readable storage medium stores a program for causing the processor to perform the method of any one of claims 1 to 7.

38. A processor-readable storage medium, characterized in that, The processor-readable storage medium stores a program for causing the processor to perform the method of any one of claims 8 to 17.

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