A method, apparatus, system, storage medium and computer program product for configuring sensing information

Abstract

The application discloses a kind of perception information configuration method, method is applied to control node, this method includes: determining the first perception node and m-1 second perception node for providing perception service for the object to be perceived;Wherein, m is greater than or equal to 1 positive integer;The first perception node and m-1 second perception node are configured with perception configuration information;Wherein, the perception configuration information at least includes one of the following information: object attribute information of the object to be perceived, node attribute information of the first perception node and m-1 second perception node attribute information, for indicating the perception execution configuration information of first perception node and m-1 second perception node to execute the perception task for the object to be perceived.The application also discloses a kind of perception information configuration device, system, storage medium and computer program product.

Description

Technical Field

[0001] This application relates to the field of wireless communication technology, and in particular to a method, apparatus, system, storage medium, and computer program product for configuring sensing information. Background Technology

[0002] With the rapid development of wireless communication technology, its applications are becoming increasingly widespread, and terminal devices are becoming more and more intelligent. In the process of intelligent application of terminal devices, wireless communication technology is often used to provide corresponding services, such as sensing services. One common sensing application scenario using mobile communication systems is the Unmanned Aerial Vehicle (UAV) scenario, where the speed of the UAV is measured to achieve its location and tracking. Currently, when measuring the speed of a UAV using a base station, the base station can only measure the radial speed. However, the vertical coverage of the base station is limited, resulting in blind spots when the UAV takes off, especially vertically. To solve this problem, one common technical solution is to upgrade the base station hardware to expand its detection range. Another solution is to add other sensing devices, such as cameras, to capture images of the UAV and achieve its location.

[0003] However, the above technical solutions require significant improvements to the existing hardware structure, leading to increased costs. How to solve these problems without changing the existing hardware structure has become an urgent technical issue.

[0004] Application content

[0005] To address the aforementioned technical problems, this application aims to provide a sensing information configuration method, apparatus, system, storage medium, and computer program product. This solves the problem of blind spots in current base station sensing services and proposes a sensing information configuration method that, through the cooperation of multiple base stations, senses the sensing object, reducing the impact of base station blind spots on the sensing object, enabling continuous tracking and detection of the sensing object, and improving the accuracy of the sensing object's location.

[0006] The technical solution of this application is implemented as follows:

[0007] This application provides a method for configuring sensing information, the method being applied to a control node, the method comprising:

[0008] Determine the first sensing node and m-1 second sensing nodes to provide sensing services for the object to be sensed; where m is a positive integer greater than or equal to 1;

[0009] Configure sensing configuration information for the first sensing node and m-1 second sensing nodes;

[0010] The perception configuration information includes at least one of the following: object attribute information of the object to be perceived, node attribute information of the first perception node, and node attribute information of m-1 second perception nodes, which are used to instruct the first perception node and m-1 second perception nodes to execute perception execution configuration information for the perception task of the object to be perceived.

[0011] In the above scheme, the object attribute information includes one or more of the following:

[0012] The maximum speed of the object to be sensed;

[0013] The minimum speed of the object to be sensed;

[0014] The direction of motion of the object to be sensed;

[0015] The initial position parameters of the object to be sensed.

[0016] In the above scheme, the node attribute information includes one or more of the following:

[0017] The location parameters of the sensing node;

[0018] The height parameter of the sensing node;

[0019] Perception blind zone parameters of sensing nodes;

[0020] Effective sensing parameters of sensing nodes.

[0021] In the above scheme, when the perception configuration information includes the perception execution configuration information, configuring the perception configuration information for the first perception node and m-1 second perception nodes includes:

[0022] Based on the object attribute information and the m node attribute information, the perception execution configuration information is determined.

[0023] In the above scheme, determining the perception execution configuration information based on the object attribute information and the m node attribute information includes:

[0024] Based on the motion direction of the object to be sensed, the position parameters of the first sensing node and m-1 second sensing nodes, the task execution order of the first sensing node and m-1 second sensing nodes performing the sensing task is determined; wherein, the sensing execution configuration information includes the task execution order;

[0025] Based on the node attribute information of m nodes, the perception regions of the first sensing node and each of the second sensing nodes are divided to obtain m perception region ranges; wherein, the perception execution configuration information includes the m perception region ranges;

[0026] Based on the m sensing area ranges and the object attribute information, the sensing signal configuration parameters of the first sensing node and each of the second sensing nodes are determined, resulting in m sets of sensing signal configuration parameters; wherein, the sensing execution configuration information includes the m sets of sensing signal configuration parameters.

[0027] In the above scheme, the step of dividing the perception region of the first sensing node and each of the second sensing nodes based on the m node attribute information to obtain m perception region ranges includes:

[0028] Based on the attribute information of m nodes and the task execution order, the non-overlapping perception regions between two adjacent nodes in the first perception node and m-1 second perception nodes are determined, thus obtaining the range of m perception regions.

[0029] In the above scheme, the step of dividing the perception region of the first sensing node and each of the second sensing nodes based on the attribute information of m nodes to obtain m perception region ranges includes:

[0030] Based on the node attribute information of m nodes and the task execution order, determine the non-overlapping perception areas between two adjacent nodes in the first perception node and m-1 second perception nodes, and obtain the first perception area of ​​the first perception node and each second perception node.

[0031] Based on the attribute information of m nodes and the task execution order, determine the overlapping area of ​​perception between two adjacent nodes in the first sensing node and m-1 second sensing nodes;

[0032] According to the movement direction of the object to be sensed, the overlapping area is determined as the second sensing area of ​​the first execution node; wherein, the first execution node is the sensing node that senses the object to be sensed first among two adjacent nodes of the first sensing node and m-1 second sensing nodes;

[0033] The range of the perception area of ​​the first execution node is determined to include the first perception area and the second perception area corresponding to the first execution node, thus obtaining m perception area ranges.

[0034] In the above scheme, the perception execution configuration information also includes indication information for instructing the first execution node to execute the perception task when the object to be perceived moves to the overlapping area, and instructing the second execution node adjacent to the first execution node to adjust the perception signal configuration parameters of the second execution node.

[0035] In the above scheme, the step of determining the sensing signal configuration parameters of the first sensing node and each of the second sensing nodes based on the m sensing area ranges and the object attribute information, resulting in m sets of sensing signal configuration parameters, includes:

[0036] Based on the range of each sensing area and the minimum movement speed of the object to be sensed, the first sensing signal resource parameters of the corresponding node are determined; wherein, the sensing signal configuration parameters of each second sensing node include the first sensing signal resource parameters.

[0037] The method in the above scheme further includes:

[0038] Based on the range of each sensing area and the maximum speed of the object to be sensed, the second sensing signal resource parameters of the corresponding node are determined.

[0039] Based on the first sensing signal resource parameters and the second sensing signal resource parameters, the third sensing signal resource parameters of the corresponding node are determined.

[0040] The sum of the third sensing signal resource parameters of the first sensing node and m-1 second sensing nodes is calculated to obtain the reserved resource parameters for reserving signal resources for the first sensing node and m-1 second sensing nodes when performing sensing tasks; wherein, the sensing execution configuration information also includes the reserved resource parameters.

[0041] In the above scheme, the quantization form of the first sensing signal resource parameter includes at least one of the following forms:

[0042] One or more perception frame indices;

[0043] One or more sensing time slot indices;

[0044] One or more perceptual symbol indices;

[0045] The frame start time of one or more sensing frames and the frame length of each sensing frame;

[0046] The start time of one or more sensing time slots and the length of each sensing time slot;

[0047] The symbol start time of one or more perceptual symbols and the symbol length of each of the perceptual symbols.

[0048] In the above scheme, when the control node is a central control device, the control node communicates with the first sensing node and / or one or more second sensing nodes through the NG interface; when the node type of the control node is the same as the node type of the first sensing node, the control node communicates with the first sensing node through the Xn interface; when the node type of the control node is the same as the node type of one or more second sensing nodes, the control node communicates with at least one second sensing node through the Xn interface.

[0049] The method in the above scheme further includes:

[0050] The system receives target measurement information or sensing signal resource adjustment parameters sent by a third sensing node currently performing a sensing task. The target measurement information is the object state parameters of the object to be sensed, which the third sensing node senses at the sensing task switching position. The sensing task switching position is located within a preset area or overlapping area between the third sensing node and the next sensing node performing the sensing task. The sensing signal resource adjustment parameters are determined by the third sensing node based on the target measurement information.

[0051] In the above scheme, the target measurement information includes at least one of the following:

[0052] The current location information of the object to be sensed;

[0053] The motion direction and motion parameters of the object to be sensed;

[0054] The arrival time of the object to be sensed when it reaches the current location information.

[0055] This application provides a method for configuring sensing information, the method being applied to a first sensing node, the method comprising:

[0056] Receive the perception configuration information configured by the control node;

[0057] The perception configuration information indicates that the first perception node and m-1 second perception nodes form a perception cluster to perform a perception task on the object to be perceived. The perception configuration information includes at least one of the following: object attribute information of the object to be perceived, node attribute information of the first perception node, and node attribute information of m-1 second perception nodes, which are used to instruct the first perception node and m-1 second perception nodes to perform perception execution configuration information for the perception task.

[0058] The method in the above scheme further includes:

[0059] Receive target measurement information sent by the fourth sensing node; wherein, the fourth sensing node is the control node, or the preceding sensing node adjacent to the first sensing node in the execution order of executing the sensing task included in the sensing configuration information;

[0060] Based on the target measurement information and the first sensing signal resource parameters of the first sensing node indicated by the sensing configuration information, the sensing signal adjustment resource parameters are determined.

[0061] Based on the sensing signals, the resource parameters are adjusted to adjust the sensing signal configuration, and the current sensing signal resource parameters are obtained.

[0062] The method in the above scheme further includes:

[0063] The system receives the sensing signal resource adjustment parameters sent by the fourth sensing node; wherein the fourth sensing node is the control node, or the preceding sensing node adjacent to the first sensing node in the execution order of the sensing task included in the sensing configuration information, and the sensing signal resource adjustment parameters are determined by the fourth sensing node based on the target measurement information.

[0064] In the above scheme, the sensing signal resource adjustment parameters include at least one of the following:

[0065] One or more sensor frame indices adjusted;

[0066] One or more sensing time slot indices adjusted;

[0067] One or more sensory symbol indices adjusted;

[0068] The adjusted frame start time of one or more sensing frames and the frame length of each sensing frame;

[0069] The adjusted start time of one or more sensing time slots and the time slot length of each of the sensing time slots;

[0070] The adjusted symbol start time of one or more sensing symbols and the symbol length of each sensing symbol;

[0071] The ratio of the adjusted sensing signal length to the sensing signal length indicated in the first sensing signal resource parameter, and the ratio of the adjusted sensing start time to the sensing start time indicated in the first sensing signal resource parameter.

[0072] Sensing advance time offset;

[0073] Sensing shortens signal length;

[0074] The ratio of the sensing advance time offset to the sensing start time indicated in the first sensing signal resource parameters;

[0075] The ratio of the length of the shortened sensing signal to the length of the sensing signal.

[0076] In the above scheme,

[0077] When instructing the first sensing node to cover the overlapping area of ​​the third sensing node, after calculating the first sum of the first sensing area of ​​the first sensing node and the second sensing area of ​​the third sensing node in the sensing configuration information, the first sum is calculated to the first ratio of the first ratio to the first ratio of the motion speed of the object to be sensed by the first sensing node, the length of the sensing signal is obtained, and the sensing start time is determined to be the time when the third sensing node ends the sensing task.

[0078] When instructing the first sensing node not to cover the overlapping area of ​​the third sensing node, the length of the sensing signal is obtained by calculating the second ratio of the first sensing area of ​​the first sensing node to the movement speed, and after determining the third ratio of the second sensing area of ​​the third sensing node to the movement speed, the sum of the time when the third sensing node ends the sensing task and the third ratio is calculated to obtain the sensing start time.

[0079] This application provides a first sensing information configuration device, which is applied to a control node. The device includes: a first determining unit and a configuration unit; wherein:

[0080] The first determining unit is used to determine a first sensing node and m-1 second sensing nodes for providing sensing services to the object to be sensed; where m is a positive integer greater than or equal to 1.

[0081] The configuration unit is used to configure sensing configuration information for the first sensing node and m-1 second sensing nodes;

[0082] The perception configuration information includes at least one of the following: object attribute information of the object to be perceived, node attribute information of the first perception node, and node attribute information of m-1 second perception nodes, which are used to instruct the first perception node and m-1 second perception nodes to execute perception execution configuration information for the perception task of the object to be perceived.

[0083] This application provides a second sensing information configuration device, which is applied to a first sensing node, and the device includes: a receiving unit; wherein:

[0084] The receiving unit is used to receive the perception configuration information configured by the control node;

[0085] The perception configuration information indicates that the first perception node and m-1 second perception nodes form a perception cluster to perform a perception task on the object to be perceived. The perception configuration information includes at least one of the following: object attribute information of the object to be perceived, node attribute information of the first perception node, and node attribute information of m-1 second perception nodes, which are used to instruct the first perception node and m-1 second perception nodes to perform perception execution configuration information for the perception task.

[0086] This application provides a sensing information configuration system, the system comprising at least: a control node, a first sensing node, and m-1 second sensing nodes; wherein:

[0087] The control node is used to implement the steps of the perception information configuration method as described in any of the above items;

[0088] The first sensing node is used to implement the steps of the sensing information configuration method as described in any of the above claims.

[0089] This application provides a storage medium storing a perception information configuration program, which, when executed, implements the steps of the perception information configuration method as described in any of the preceding claims.

[0090] This application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the perception information configuration method as described in any of the preceding claims.

[0091] This application provides a method, apparatus, system, storage medium, and computer program product for configuring sensing information. A control node determines m sensing nodes to provide sensing services for an object to be sensed. Sensing configuration information is configured for these m sensing nodes. A first sensing node receives the sensing configuration information configured by the control node. The sensing configuration information includes at least one of the following: object attribute information of the object to be sensed, node attribute information of the first sensing node, and node attribute information of m-1 second sensing nodes. This information is used to instruct the first sensing node and the m-1 second sensing nodes to execute sensing tasks for the object to be sensed. Thus, by providing sensing tasks for the object to be sensed through the control node, including the first sensing node and m-1 second sensing nodes, and configuring sensing configuration information for these nodes, the m sensing nodes can execute sensing tasks for the object to be sensed according to certain sensing requirements. This solves the problem of blind spots in current base station sensing services and proposes a sensing information configuration method. Through the cooperation of multiple base stations, sensing of the object is achieved, reducing the impact of base station blind spots on the object's perception and enabling continuous tracking and detection of the object, thus improving the accuracy of object location. Attached Figure Description

[0092] Figure 1 A flowchart illustrating the perception information configuration method provided in the embodiments of this application. Figure 1 ;

[0093] Figure 2 A flowchart illustrating the perception information configuration method provided in the embodiments of this application. Figure 2 ;

[0094] Figure 3 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0095] Figure 4 This is a schematic diagram of a frame configuration structure provided in an embodiment of this application;

[0096] Figure 5 Information transmission illustration provided for embodiments of this application Figure 1 ;

[0097] Figure 6 Information transmission illustration provided for embodiments of this application Figure 2 ;

[0098] Figure 7 Information transmission illustration provided for embodiments of this application Figure 3 ;

[0099] Figure 8 Information transmission illustration provided for embodiments of this application Figure 4 ;

[0100] Figure 9 This is a schematic diagram of another frame configuration structure provided in an embodiment of this application;

[0101] Figure 10 A schematic diagram of UAV flight altitude distribution provided in an embodiment of this application;

[0102] Figure 11 This is a schematic diagram of the structure of a first sensing information configuration device provided in an embodiment of this application;

[0103] Figure 12 This is a schematic diagram of the structure of a second sensing information configuration device provided in an embodiment of this application;

[0104] Figure 13 This is a schematic diagram of the structure of a perception information configuration system provided in an embodiment of this application. Detailed Implementation

[0105] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0106] Embodiments of this application provide a method for configuring sensing information, referring to... Figure 1 As shown, the method is applied to the control node, and the method includes the following steps:

[0107] Step 101: Determine the first sensing node and m-1 second sensing nodes to provide sensing services for the object to be sensed.

[0108] Where m is a positive integer greater than or equal to 1.

[0109] In this embodiment, the control node is a node that manages and controls multiple sensing nodes, such as a central control node or a master sensing node. The first and second sensing nodes are nodes used to provide sensing services, such as base stations. The first sensing node and m-1 second sensing nodes form a sensing cluster determined by the control node based on relevant parameters of the object to be sensed, used to provide sensing services to the object. In practical applications, the functions of the first and second sensing nodes can be equivalently replaced; that is, in some application scenarios, the first sensing node acts as the second sensing node, and vice versa.

[0110] Step 102: Configure the sensing configuration information for the first sensing node and m-1 second sensing nodes.

[0111] The perception configuration information includes at least one of the following: object attribute information of the object to be perceived, node attribute information of the first perception node, and node attribute information of m-1 second perception nodes, which are used to instruct the first perception node and m-1 second perception nodes to perform perception execution configuration information for the perception task of the object to be perceived.

[0112] In this embodiment, after determining the first sensing node and m-1 second sensing nodes, the control node configures sensing configuration information for each of the first and m-1 second sensing nodes according to sensing requirements, based on the feature parameters of the first and m-1 second sensing nodes. The object attribute information of the object to be sensed is used to indicate the attribute characteristics of the object. The node attribute information of the first sensing node includes the node attribute characteristics of the first sensing node itself; similarly, the node attribute information of the m-1 second sensing nodes includes the node attribute characteristics of each second sensing node itself. After configuring the sensing configuration information for the first and m-1 second sensing nodes, the control node sends the sensing configuration information to each of the aforementioned sensing nodes.

[0113] Based on the foregoing embodiments, in other embodiments of this application, object attribute information includes one or more of the following:

[0114] The maximum speed of the object to be sensed;

[0115] The minimum speed of the object to be sensed;

[0116] The direction of motion of the object to be sensed;

[0117] Initial position parameters of the object to be sensed.

[0118] Based on the foregoing embodiments, in other embodiments of this application, the node attribute information includes one or more of the following:

[0119] The location parameters of the sensing node;

[0120] The height parameter of the sensing node;

[0121] Perception blind zone parameters of sensing nodes;

[0122] Effective sensing parameters of sensing nodes.

[0123] In this embodiment, the location parameters of the sensing nodes are used to indicate the distribution location parameters of the sensing nodes, such as using coordinate positions. Since the sensing nodes are devices with a certain height, such as base station equipment, and are typically installed on tall buildings or other objects, the height of the sensing nodes above the ground can be statistically determined. The effective sensing parameter of the sensing node is its effective sensing range parameter.

[0124] Based on the foregoing embodiments, in other embodiments of this application, when the perception configuration information includes perception execution configuration information, step 102, configuring the perception configuration information for the first perception node and m-1 second perception nodes, can be implemented by the following steps:

[0125] Based on object attribute information and m node attribute information, determine the perception execution configuration information.

[0126] In this embodiment of the application, when the configured perception configuration information needs to include perception execution configuration information, the object attribute information of the object to be perceived, and the m node attribute information corresponding to the first perception node and m-1 second perception nodes are analyzed and processed to determine the perception execution configuration information.

[0127] Based on the foregoing embodiments, in other embodiments of this application, the step of determining the perception execution configuration information based on object attribute information and m node attribute information can be implemented by one or more of the following steps:

[0128] Based on the motion direction of the object to be sensed, the position parameters of the first sensing node and m-1 second sensing nodes, the task execution order of the first sensing node and m-1 second sensing nodes for performing sensing tasks is determined; wherein, the sensing execution configuration information includes the task execution order;

[0129] Based on the attribute information of m nodes, the perception areas of the first perception node and each second perception node are divided to obtain m perception area ranges; among them, the perception execution configuration information includes the m perception area ranges.

[0130] Based on the range of m sensing areas and object attribute information, the sensing signal configuration parameters of the first sensing node and each second sensing node are determined, resulting in m sets of sensing signal configuration parameters; among them, the sensing execution configuration information includes m sets of sensing signal configuration parameters.

[0131] In this embodiment, when determining the task execution order, for example, according to the movement direction of the object to be sensed, and according to the order in which the object passes through the sensing areas of the first sensing node and m-1 second sensing nodes in sequence, the task execution order of the first sensing node and m-1 second sensing nodes performing the sensing task is determined; the attribute information of m nodes is analyzed and processed to determine the sensing area of ​​each sensing node, thus obtaining the range of m sensing areas; the determined range of m sensing areas and the object attribute information of the object to be sensed are analyzed and configured to obtain the sensing information configuration parameters of the first sensing node and the sensing information configuration parameters of each second sensing node. In this way, m sets of sensing signal configuration parameters can be obtained, thus obtaining the sensing execution configuration information.

[0132] Based on the foregoing embodiments, in other embodiments of this application, the step of dividing the perception region of the first sensing node and each second sensing node based on the attribute information of m nodes to obtain the range of m perception regions can be implemented by the following steps:

[0133] Based on the attribute information of m nodes and the task execution order, the non-overlapping perception areas between two adjacent nodes in the first perception node and m-1 second perception nodes are determined, thus obtaining the range of m perception areas.

[0134] In this embodiment of the application, when determining the sensing area of ​​each sensing node, one implementation method is to divide the sensing area of ​​each sensing node based on at least the sensing blind zone parameters and / or effective sensing parameters included in the attribute information of m nodes, and the determined task execution order, wherein the sensing areas of each sensing node do not overlap.

[0135] Based on the foregoing embodiments, in other embodiments of this application, the step of dividing the perception region of the first sensing node and each second sensing node based on the attribute information of m nodes to obtain the range of m perception regions can be implemented by the following steps:

[0136] Based on the attribute information of m nodes and the task execution order, the non-overlapping perception areas between two adjacent nodes in the first perception node and m-1 second perception nodes are determined, thus obtaining the first perception area of ​​the first perception node and each second perception node.

[0137] Based on the attribute information of m nodes and the task execution order, determine the overlapping area of ​​perception between two adjacent nodes in the first sensing node and m-1 second sensing nodes;

[0138] According to the direction of motion of the object to be sensed, the overlapping area is determined as the second sensing area of ​​the first execution node; wherein, the first execution node is the sensing node that senses the object to be sensed first among two adjacent nodes of the first sensing node and m-1 second sensing nodes;

[0139] The range of the perception area of ​​the first execution node is determined by including the first perception area and the second perception area corresponding to the first execution node, thus obtaining m perception area ranges.

[0140] In this embodiment, when determining the first sensing region of each sensing node, the non-overlapping sensing regions between two adjacent nodes can be obtained by determining that the sensing capability of each sensing node is greater than a preset sensing capability. After obtaining the first sensing region of each sensing node, further division based on the sensing capability of each sensing node yields the overlapping region between two adjacent nodes, which is the critical region between the second sensing regions of the two adjacent nodes. Thus, when finally determining the sensing region range of each sensing node, the sensing region range of each sensing node is the sensing range composed of the first and second sensing regions of each sensing node. In some application scenarios, the second sensing region can be empty; for example, according to the task execution order, the second sensing region of the last sensing node can be empty.

[0141] Based on the foregoing embodiments, in other embodiments of this application, the perception execution configuration information further includes indication information for instructing the first execution node to perform a perception task when the object to be perceived moves to the overlapping area, and instructing the second execution node adjacent to the first execution node to adjust the perception signal configuration parameters of the second execution node.

[0142] In this embodiment of the application, the perception execution configuration information also includes indication information. The indication information is used to indicate that when the object to be perceived moves to the overlapping area, the corresponding first execution node performs the perception task and instructs the second execution node to adjust its perception information configuration parameters. The specific adjustment can be implemented based on the movement of the object to be perceived and the execution time of the first execution node.

[0143] Based on the foregoing embodiments, in other embodiments of this application, based on m sensing area ranges and object attribute information, the sensing signal configuration parameters of the first sensing node and each second sensing node are determined to obtain m sets of sensing signal configuration parameters. This can be achieved through the following steps:

[0144] Based on the range of each sensing area and the minimum movement speed of the object to be sensed, the first sensing signal resource parameters of the corresponding node are determined; wherein, the sensing signal configuration parameters of each second sensing node include the first sensing signal resource parameters.

[0145] In this embodiment of the application, when determining the sensing information configuration parameters of each sensing node, calculation and analysis are performed based on the size of the sensing area of ​​each sensing node and the minimum movement speed of the object to be sensed. The time taken for the object to be sensed to pass through the sensing area of ​​each sensing node at the minimum movement speed is determined, thereby determining the first sensing signal resource parameters of each sensing node. The first sensing signal resource parameters include, for example, at least the sensing time for each sensing node to perform the sensing task for the object to be sensed.

[0146] Based on the foregoing embodiments, in other embodiments of this application, the control node is further configured to perform the following steps:

[0147] Based on the range of each sensing area and the maximum speed of the object to be sensed, the second sensing signal resource parameters of the corresponding node are determined.

[0148] Based on the first and second sensing signal resource parameters, the third sensing signal resource parameters of the corresponding node are determined.

[0149] Calculate the sum of the third sensing signal resource parameters of the first sensing node and m-1 second sensing nodes to obtain the reserved resource parameters for reserving signal resources for the first sensing node and m-1 second sensing nodes when performing sensing tasks; wherein, the sensing execution configuration information also includes the reserved resource parameters.

[0150] In this embodiment, the time taken for the object to be sensed to pass through the sensing area of ​​each sensing node at its maximum speed is calculated. Based on the time taken, the second sensing signal resource parameter of each node can be obtained. Then, the first and second sensing signal resource parameters of each sensing node are analyzed to determine the third sensing signal resource parameter of the corresponding sensing node. For example, the third sensing signal resource parameter of the corresponding sensing node can be obtained by subtracting the second sensing signal resource parameter from the first sensing signal resource parameter. Finally, the calculated third sensing signal resource parameters of all sensing nodes, namely the first sensing node and m-1 second sensing nodes, are accumulated, and the sum is used as the reserved resource parameter of the corresponding sensing node. This ensures that each sensing node has sufficient sensing resources when identifying the object to be sensed, thereby improving sensing efficiency.

[0151] Based on the foregoing embodiments, in other embodiments of this application, the quantization form of the first sensing signal resource parameter includes at least one of the following forms:

[0152] One or more perception frame indices;

[0153] One or more sensing time slot indices;

[0154] One or more perceptual symbol indices;

[0155] The frame start time of one or more sensing frames and the frame length of each sensing frame;

[0156] The start time of one or more sensing time slots and the length of each sensing time slot;

[0157] The symbol start time of one or more perceptual symbols and the symbol length of each perceptual symbol.

[0158] Based on the foregoing embodiments, in other embodiments of this application, when the control node is a central control device, the control node communicates with the first sensing node and / or one or more second sensing nodes via the NG interface; when the node type of the control node is the same as the node type of the first sensing node, the control node communicates with the first sensing node via the Xn interface; when the node type of the control node is the same as the node type of one or more second sensing nodes, the control node communicates with at least one second sensing node via the Xn interface.

[0159] Based on the foregoing embodiments, in other embodiments of this application, the control node is further configured to perform the following steps:

[0160] Receive target measurement information or sensing signal resource adjustment parameters sent by the third sensing node currently performing the sensing task; wherein, the target measurement information is the object state parameters of the object to be sensed obtained by the third sensing node at the sensing task switching position, the sensing task switching position is located in a preset area or overlapping area between the third sensing node and the next sensing node performing the sensing task adjacent to the third sensing node, and the sensing signal resource adjustment parameters are determined by the third sensing node based on the target measurement information.

[0161] In this embodiment, during the execution of a sensing task targeting an object, the control node receives information exchanged between the third sensing node currently executing the sensing task. After the third sensing node detects that the object is located at the sensing task switching position, the third sensing node reports the target measurement information of the object to the control node. Alternatively, based on the target measurement information, the third sensing node determines the corresponding sensing signal resource adjustment parameters and reports these parameters to the control node. The sensing signal resource adjustment parameters are used to adjust the sensing signal resources of the fourth sensing node. The sensing task switching position is preset. When the object moves to this position, it is the position where adjacent nodes switch sensing tasks for the object. In some application scenarios, the sensing task switching position can be a fixed position or a position within a switching distribution area. The third sensing node is one of the first sensing node and m-1 second sensing nodes. In practical application scenarios, as the application scenario changes, the roles and functions of the third sensing node, the first sensing node, and the second sensing nodes can be equivalently replaced. That is, in some application scenarios, the first sensing node acts as the second sensing node, the second sensing node acts as the third sensing node, the third sensing node acts as the second sensing node, and so on.

[0162] Based on the foregoing embodiments, in other embodiments of this application, the target measurement information includes at least one of the following:

[0163] The current position information of the object to be sensed;

[0164] The motion direction and motion parameters of the object to be sensed;

[0165] The arrival time of the object to be sensed when it reaches the current location information.

[0166] In the embodiments of this application, the motion parameters of the object to be sensed include at least the motion speed of the object to be sensed.

[0167] The sensing information configuration method provided in this application's embodiments determines m sensing nodes for providing sensing services to an object to be sensed through a control node, configures sensing configuration information for the m sensing nodes, and a first sensing node receives the sensing configuration information configured by the control node. The sensing configuration information includes at least one of the following: object attribute information of the object to be sensed, node attribute information of each sensing node, and sensing execution configuration information used to instruct each sensing node to execute sensing tasks for the object to be sensed. Thus, by having the control node provide sensing tasks to the object to be sensed including a first sensing node and m-1 second sensing nodes, and configuring sensing configuration information for the first sensing node and m-1 second sensing nodes, the method enables m sensing nodes to execute sensing tasks for the object to be sensed according to certain sensing requirements. This solves the problem of blind spots in current base station sensing services and proposes a sensing information configuration method that, through the cooperation of multiple base stations, senses the object, reduces the impact of base station blind spots on the object, enables continuous tracking and detection of the object, and improves the accuracy of object location.

[0168] Based on the foregoing embodiments, embodiments of this application provide a method for configuring sensing information, the method being applied to a first sensing node, with reference to... Figure 2 As shown, the method includes the following steps:

[0169] Step 201: Receive the perception configuration information configured by the control node.

[0170] The perception configuration information indicates that the first perception node and m-1 second perception nodes form a perception cluster to perform a perception task on the object to be perceived. The perception configuration information includes at least one of the following: object attribute information of the object to be perceived, node attribute information of the first perception node, and node attribute information of m-1 second perception nodes. It is used to instruct the first perception node and m-1 second perception nodes to perform perception execution configuration information for the perception task.

[0171] In this embodiment, the perception configuration information is used to indicate the first perception node, which, together with the other m-1 second perception nodes, constitutes a perception cluster that performs perception tasks on the object to be perceived.

[0172] Based on the foregoing embodiments, in other embodiments of this application, the first sensing node is further configured to perform the following steps:

[0173] Receive target measurement information sent by the fourth sensing node; wherein the fourth sensing node is a control node, or the preceding sensing node adjacent to the first sensing node in the execution order of the sensing task included in the sensing configuration information;

[0174] Based on the first sensing signal resource parameters of the first sensing node indicated by the target measurement information and sensing configuration information, the sensing signal adjustment resource parameters are determined.

[0175] Adjusting resource parameters based on sensing signals adjusts the configuration of sensing signals, resulting in the current sensing signal resource parameters.

[0176] In one application scenario, when the fourth sensing node is a control node, after receiving target measurement information sent by the preceding sensing node adjacent to the first sensing node in the execution sequence, the control node forwards the target measurement information to the fourth sensing node. In another application scenario, when sensing nodes can communicate directly, the preceding sensing node adjacent to the first sensing node in the execution sequence can directly send the measured target measurement information to the first sensing node; that is, in this case, the fourth sensing node is the preceding sensing node adjacent to the first sensing node in the execution sequence. It should be noted that the target measurement information is the object state parameter of the object to be sensed, which is detected by the preceding sensing node when it determines the switching position of the sensing task between itself and the first sensing node during the execution of the sensing task.

[0177] Based on the foregoing embodiments, in other embodiments of this application, the first sensing node is further configured to perform the following steps:

[0178] The system receives sensing signal resource adjustment parameters sent by the fourth sensing node; wherein the fourth sensing node is a control node, or the preceding sensing node adjacent to the first sensing node in the execution order of the sensing task included in the sensing configuration information, and the sensing signal resource adjustment parameters are determined by the fourth sensing node based on the target measurement information.

[0179] In this embodiment of the application, the sensing signal resource adjustment parameters of the first sensing node can be obtained by the fourth sensing node after calculating and determining the sensing signal resource adjustment parameters, in addition to being calculated and determined by the fourth sensing node itself.

[0180] Based on the foregoing embodiments, in other embodiments of this application, the sensing signal resource adjustment parameters include at least one of the following:

[0181] One or more sensor frame indices adjusted;

[0182] One or more sensing time slot indices adjusted;

[0183] One or more sensory symbol indices adjusted;

[0184] The adjusted frame start time of one or more sensing frames and the frame length of each sensing frame.

[0185] The adjusted start time of one or more sensing time slots and the length of each sensing time slot;

[0186] The adjusted symbol start time of one or more sensory symbols and the symbol length of each sensory symbol;

[0187] The ratio of the adjusted sensing signal length to the sensing signal length indicated in the first sensing signal resource parameter, and the ratio of the adjusted sensing start time to the sensing start time indicated in the first sensing signal resource parameter.

[0188] Sensing advance time offset;

[0189] Sensing shortens signal length;

[0190] The ratio of the sensing advance time offset to the sensing start time indicated in the first sensing signal resource parameters;

[0191] The ratio of the shortened signal length to the perceived signal length.

[0192] Based on the foregoing embodiments, in other embodiments of this application, when instructing the first sensing node to cover the overlapping area of ​​the third sensing node, the first sum of the first sensing area of ​​the first sensing node and the second sensing area of ​​the third sensing node in the sensing configuration information is calculated, and then the first ratio of the first sum to the first speed of the motion of the object to be sensed by the first sensing node is calculated to obtain the length of the sensing signal, and the sensing start time is determined to be the time when the third sensing node ends the sensing task.

[0193] When instructing the first sensing node not to cover the overlapping area of ​​the third sensing node, the length of the sensing signal is obtained by calculating the second ratio of the first sensing area and the movement speed of the first sensing node. After determining the third ratio of the second sensing area and the movement speed of the third sensing node, the sum of the time when the third sensing node ends the sensing task and the third ratio is calculated to obtain the sensing start time.

[0194] In this embodiment, the third sensing node is the preceding sensing node adjacent to the first sensing node in the execution sequence. After the third sensing node finishes its sensing task, the first sensing node needs to perform its sensing task. When the first sensing node is notified that it needs to start its sensing task from the overlapping area of ​​the third sensing node, the first sensing node calculates the sum of the first sensing area of ​​the first sensing node and the second sensing area of ​​the third sensing node configured in the sensing configuration information to obtain the first sum. Then, it calculates the ratio of the first sum to the motion speed of the object to be sensed by the first sensing node, i.e., the actual motion speed of the object to be sensed, to obtain the second ratio. The second ratio is then determined as the sensing signal length. Thus, starting from the moment the third sensing node finishes its sensing task, the first sensing node begins to perform its sensing task and ends its sensing task after the duration corresponding to the sensing signal length.

[0195] When the first sensing node is notified that there is no need for the overlapping area of ​​the third sensing node, the third ratio of the second sensing area of ​​the third sensing node to the motion speed of the object to be sensed by the first sensing node is determined, and the sum of the time when the third sensing node completes the sensing task in the first sensing area of ​​the third sensing node and the third ratio is calculated to obtain the sensing start time of the first sensing node executing the sensing task, and the sensing duration of the first sensing node executing the sensing task is determined to be the second ratio of the first sensing node's first sensing area to the motion speed.

[0196] It should be noted that the descriptions of the same steps and contents as in other embodiments in this embodiment can be found in the descriptions in other embodiments, and will not be repeated here.

[0197] The sensing information configuration method provided in this application's embodiments determines m sensing nodes for providing sensing services to an object to be sensed through a control node, configures sensing configuration information for the m sensing nodes, and a first sensing node receives the sensing configuration information configured by the control node. The sensing configuration information includes at least one of the following: object attribute information of the object to be sensed, node attribute information of each sensing node, and sensing execution configuration information used to instruct each sensing node to execute sensing tasks for the object to be sensed. Thus, by having the control node provide sensing tasks to the object to be sensed including a first sensing node and m-1 second sensing nodes, and configuring sensing configuration information for the first sensing node and m-1 second sensing nodes, the method enables m sensing nodes to execute sensing tasks for the object to be sensed according to certain sensing requirements. This solves the problem of blind spots in current base station sensing services and proposes a sensing information configuration method that, through the cooperation of multiple base stations, senses the object, reduces the impact of base station blind spots on the object, enables continuous tracking and detection of the object, and improves the accuracy of object location.

[0198] Based on the foregoing embodiments, this application provides a method for configuring sensing information. This method is applied to application scenarios where multiple base stations with different vertical heights cooperate to avoid speed measurement blind spots. Figure 3 As shown, base stations 1, 2, 3, and 4 are used for speed measurement of the UAV. Base stations 1, 2, 3, and 4 can be in a multi-base station self-transmit / receive mode or a multi-A transmit / B / C / D transmit / receive mode. During implementation, the base station performing the sensing task is dynamically switched according to the UAV's flight altitude to ensure that a base station outside the speed measurement blind zone is always present for sensing during the UAV's vertical flight. For example, in a multi-A transmit / receive mode, when the UAV is at position 1, it uses base station 1 for sensing; when the UAV flies to position 2, it uses base station 2 for sensing. Thus, in... Figure 3 Base stations 1, 2, 3, and 4 have formed a cooperative sensing cluster, consisting of four base stations at different altitudes with independent sensing capabilities. When the transceiver base stations cooperate (i.e., cooperative sensing) to sense the flight speed of the UAV, the specific implementation process can be as follows:

[0199] Step a11: Semi-static configuration of sensing signals during multi-base station collaborative speed measurement.

[0200] The specific implementation process may include the following steps:

[0201] Step a111: Pre-configuration of collaborative multi-base station sensing resources.

[0202] The specific implementation process includes: the central entity or main base station transmitting prior information of the UAV and the prior information of each base station to each base station; and each base station determining the time-domain sensing signal configuration information. After configuration processing, different base stations will send sensing signals sequentially according to different time sequences.

[0203] And / or, the central entity or main base station determines the time-domain sensing signal configuration information of each base station based on the prior information of the UAV and the prior information of the base station, and then sends the signal configuration information to each base station. Each base station configures the sensing signal according to the configuration information and sends it in sequence.

[0204] The prior information of the UAV includes at least one of the following: the maximum flight speed of the UAV, vmax; the minimum flight speed of the UAV, vmin; the flight direction of the UAV, such as the angle α in the global polar coordinate system; and the horizontal distance d from the UAV to the base station when the UAV is flying vertically.

[0205] The prior information of the base station includes at least one of the following: the height Hi of different base stations; the range of the velocity measurement height blind zone of different base stations when the horizontal distance is equal to r(i,n). Blind zone range of speed measurement angle for different base stations Effective altitude range for velocity measurement at different base stations when the horizontal distance is equal to r(i,n) Effective range of speed measurement angle for different base stations

[0206] The sensing signal configuration information includes at least one of the following: at least one sensing frame index, or sensing time slot index, or sensing symbol index of at least one base station; at least one sensing frame start time and frame length, or sensing time slot start time and time slot length, or sensing symbol start time and symbol length of at least one base station.

[0207] The specific implementation process of determining the time-domain sensing signal configuration information in the aforementioned process may include the following steps:

[0208] (1) Base station timing sorting: Based on the UAV's movement direction, base station location, etc., determine the order in which the UAV will pass through the base stations, and sort the base stations, for example, sort them as base station 1, base station 2, ..., base station N.

[0209] (2) Base station sensing area allocation: Since the N base stations forming a cooperative cluster can cover the entire area, but overlap may exist, the sensing area responsible for each base station is allocated based on the prior information of the base stations. The allocation result can be that the sensing areas of each base station do not overlap, so as to save sensing resources; or the sensing areas of each base station overlap within a certain range, so as to ensure smooth sensing transition and sensing accuracy during base station handover. For example, assume that the sensing area range of base station i is determined to be [H(i,min),H(i,max)].

[0210] Furthermore, to ensure smooth handover between base stations, at least one critical region can be set within the sensing area of ​​each base station, corresponding to a height range of ΔH(i,th). The at least one critical region for each base station can be the region with a height range of ΔH(i,th) corresponding to the upper and / or lower edges of the coverage height range of each base station. For example, when a UAV takes off, the upper edge critical region of the base station is considered; conversely, when a UAV lands, the lower edge critical region is considered. When a UAV flies into the critical region set for the base station, the base station currently sensing the UAV needs to notify the next base station to dynamically adjust its sensing signal configuration. The specific implementation process can be found in the relevant description in step a12.

[0211] (3) Sensing signal configuration parameters for each base station: Based on the minimum and maximum speed of the UAV, combined with the sensing area range allocated to each base station in the previous step, calculate the maximum and minimum length of the sensing signal for each base station, as well as the start time.

[0212] Where the minimum speed of the UAV is denoted as vmin and the maximum speed of the UAV is denoted as vmax, the maximum duration of the sensing signal for base station i can be calculated using the formula T(i,max) = (H(i,max) - H(i,min)) / vmin, and the minimum duration of the sensing signal for base station i can be calculated using the formula T(i,min) = (H(i,max) - H(i,min)) / vmax. The difference between the maximum and minimum duration of the sensing signal for base station i can then be calculated using the formula ΔTi = T(i,max) - T(i,min). Thus, in static configuration, sensing signal resources can be allocated to each base station according to the maximum duration.

[0213] Furthermore, before the start time of the sensing signal of the i-th base station (2≤i≤N), a length of [length] is reserved for subsequent dynamic configuration. The adjustment window ensures that subsequent dynamic adjustments to the sensing frame position do not affect existing communication frames, thus reserving resources. Following the timing sequence of the base stations, assuming the sensing signal start time of the first base station is t(1,pre) = 0, the relationship between the sensing start time of the (i+1)th base station and the sensing start time of the ith base station can be expressed as: t(i+1,pre) = t(i,pre) + T(i,max), i = 1, 2, ..., N-1. For example, after the above static configuration, a possible frame structure configuration for each base station can be referenced... Figure 4 As shown, Ds represents the sensing time slot, and Dc represents the communication time slot. Figure 4 The shaded area in the image represents the corresponding reserved time.

[0214] The information format of the sensing signal configuration information can be one of the following:

[0215] (1) Symbol-level configuration: Within a time slot (containing multiple symbols), different symbols are configured for different base stations to sense targets at different time periods; the adjustment window of each base station can be configured to sense the target using the sensing symbol, or to be idle, while the remaining symbols can be used to transmit downlink communication signals.

[0216] (2) Time slot level configuration: Within a frame (containing multiple time slots), different time slots are configured for different base stations to sense targets at different times; the adjustment window of each base station can be configured to sense the target in the sensing time slot, or idle, and the remaining time slots can be used to transmit downlink communication signals.

[0217] (3) Frame-level configuration: In a time period with multiple frames, different frames are configured for different base stations to sense targets in different time periods; the adjustment window of each base station can be configured to sense the target in the sensing frame, or idle, and the remaining frames can be used to transmit downlink communication signals.

[0218] In the foregoing description, the transmission method for transmitting prior information or sensing signal configuration information can be one or more of the following methods in combination:

[0219] (1) The central control equipment sends UAV and the prior information or sensing signal configuration information of the base station to base station 1, base station 2, ... base station N through the NG interface.

[0220] (2) When one of the multiple base stations acts as the master base station, the host station sends UAV and the base station's prior information or sensing signal configuration information to other base stations through the Xn interface.

[0221] For example, assume a UAV takes off vertically with a flight speed ranging from 5 to 20 m / s. The current sensing cluster providing sensing services to this UAV consists of 10 base stations: base station 1, base station 2, ..., base station 10. Each base station uses its own independent sensing method to sense and track the UAV. In the sensing frame structure, each slot has a duration of 3.5 milliseconds (ms). Figure 4 The frame structure shown indicates that base station 1 performs static configuration on the remaining 9 base stations respectively. The parameter settings can be found in Table 1 below.

[0222] Table 1

[0223] parameter Value UAV flight speed range [vmin, vmax] [5,20]m / s Number of base stations N 1 The sensing height range of base station i [H(i,min),H(i,max)] [50(i-1), 50i]m The critical region height ΔH(i,th) of base station i 10m The critical region range of base station i is [H(i,th,min),H(i,th,max)] 50i+[-10,0]m The maximum time length T(i,max) of the sensing signal of the i-th base station is preset. 10s The minimum time length T(i,min) for the sensing signal of the i-th base station is preset. 2.5s The preset time adjustment window ΔT for the sensing signal of the i-th base station 7.5s The preset start time t(i,pre) for the sensing signal of the i-th base station is given. 10is

[0224] Specifically, this is achieved through a central entity by adding the parameter SensingTRPsInfo = {10, 50, 10} to the IE XnSetupRequest of the Xn interface protocol. These three parameters represent the number of participating base stations, the coverage area of ​​each base station, and the critical area range of each base station, respectively. Additionally, add the parameter SensingTargetInfo = {5, 20}, which represents the minimum and maximum flight speed of the UAV, respectively.

[0225] Alternatively, when the configuration information is sent from the host station, such as base station 1, to base stations 2 through 10, the corresponding implementation is as follows: In the IE Intended TDD DL-ULConfiguration NR message of the XN SETUP REQUEST in the Xn interface protocol, assign values ​​to the parameters All DL, All UL, and Both DL and UL, as shown in Table 2 below. The values ​​of these three parameters are 1-bit strings. Specifically, for the slot index of a base station, when these three parameters are "1", it indicates that the slot is used for sensing; when they are "0", it indicates that the slot is used for communication.

[0226] Table 2

[0227]

[0228] Step a112: Dynamic configuration of sensing resources for collaborative multi-base stations.

[0229] The specific implementation process includes: according to the statically configured base station timing sequence in step a111, starting from the first base station (e.g., base station 1) in sequence 1, the UAV sensing process is executed, including: transmitting sensing signals according to the statically configured sensing signals; in independent sensing, the receiving base station itself, or in cooperative sensing, receiving the echo signal reflected by the UAV, performing sensing measurement and estimation to obtain the UAV's position p(T,1) and velocity v1; wherein, in cooperative sensing, the receiving base station needs to feed back the obtained UAV's position p(T,1) and velocity v1 to the first base station. Within the sensing range of base station 1 [H(1,min), H(1,max)], base station 1 continuously repeats the above process to track the target until, at time t(1,th), the UAV flies into the critical area of ​​base station 1. Base station 1 sends the target measurement information v(1,th) of the UAV within the critical area to base station 2. Based on the target measurement information, base station 2 determines the start time and length of the sensing signal that needs to be adjusted and adjusts its own sensing signal configuration. Alternatively, after determining the adjustment information of the start time and length of the sensing signal that base station 2 needs to adjust based on the target measurement information, base station 1 directly sends the adjustment information to base station 2 so that base station 2 can adjust its own sensing signal configuration according to the adjustment information.

[0230] The determination of the start time and length of the sensing signal that need to be adjusted is mainly achieved based on the actual situation and in the following ways:

[0231] When the coverage areas of each base station overlap, i.e., the (i+1)th base station needs to cover the critical area of ​​the ith base station, the base station 2 adjusts the sensing signal length to T2 = (H(2,max) - H(2,min) + ΔH(1,th)) / v(1,th), and the sensing start time of base station 2 is adjusted to t(2,int) = t(1,th).

[0232] Alternatively, when the coverage areas of each base station do not overlap, base station 2 adjusts the sensing signal length to T2 = (H(2,max) - H(2,min)) / v(1,th), and the sensing start time of base station 2 is adjusted to t(2,int) = t(1,th) + ΔH(i,th) / v(1,th).

[0233] The aforementioned target measurement information includes at least the following three parameters: whether the UAV has reached the upper or lower edge of the critical region, or the direction of velocity. It should be noted that when only one critical region is specified, it is not necessary to indicate whether it is the upper or lower edge; the magnitude of the UAV's velocity v(1,th); the time t_(1,th) when the UAV reaches the critical region; furthermore, the aforementioned target measurement information may also include the UAV's acceleration a(1,th).

[0234] When the aforementioned target measurement information or adjustment information is referred to simply as information transmission, the transmission method used can be at least one of the following:

[0235] like Figure 5 As shown, base station 1 sends target measurement information directly to base station 2 through the Xn interface.

[0236] like Figure 6 As shown, base station 1 reports the target measurement information to the central entity through the NG interface, and the central entity sends the adjustment information to base station 2 through the NG interface.

[0237] Thus, after dynamically adjusting its own sensing signal configuration, base station 2 transmits sensing signals to perform sensing tasks for the UAV, and at the end of the sensing task, instructs base station 3 to adjust its sensing signal configuration. Subsequent base stations follow this process, up to the Nth base station. Figure 5 and Figure 6 Similarly, for all N base stations, it is as follows: Figure 7 and Figure 8 The two indication methods shown are direct indication between base stations and indication through a central entity. For example... Figure 7 The diagram illustrates direct inter-base station indication, where the i-th base station sends, for example, target measurement information and / or adjustment information to the (i+1)-th base station. Figure 8 The diagram shows the central entity instruction, which means that the i-th base station first sends the target measurement information and / or adjustment information to the central entity, and then the central entity sends the adjustment information to the (i+1)-th base station.

[0238] The start time and length of the sensing signal of the i-th base station (2≤i≤N) after dynamic adjustment can be calculated using the following formulas: When the i-th base station needs to cover the critical area of ​​the (i-1)-th base station, Ti=(H(i,max)-H(i,min)) / v(i-1,th),t(i,int)=t(i-1,th)+(ΔH(i-1,th)) / v(i-1,th); When the coverage areas of each base station do not overlap, Ti=(H(i,max)-H(i,min)+ΔH(i-1,th)v(i-1,th),t(i,int)=t(i-1,th); where v(i-1,th) is the flight speed of the UAV sensed by the (i-1)-th base station when the UAV reaches the critical area ΔH(i-1,th) of the (i-1)-th base station.

[0239] Ultimately, a possible dynamically adjusted configuration of sensing signals for each base station can be as follows: Figure 9 As shown, Df represents the signal resources saved through dynamic adjustment, which can be selected for communication or sensing as needed. The bolded rectangles indicate overlapping areas at critical points.

[0240] For example, starting from time 0, each base station sequentially measures the speed of the vertically taking-off UAVs according to the time sequence. Assume the initial speed of the UAV is 0 m / s, and its speed changes with time according to the following rule: Accordingly, in this uniformly accelerated linear motion, the formula for the UAV height can be: Correspondingly, the change in UAV flight altitude over time is as follows: Figure 10 As shown.

[0241] Thus, base station 1 first performs sensing and speed measurement on the UAV, measuring that the UAV accelerates at 0.5 m / s². 2 Uniformly accelerated motion. At 6.2s, the UAV reaches an altitude of 40.61m and enters the critical region of base station 1. At this time, base station 1 sends target measurement information to base station 2. Specifically, the parameter SensingTargetMeas={'1',8.1,6.2,0.5} can be added to the IE XnSetupResponse of the Xn interface protocol. These four parameters represent that the UAV's velocity direction is "upward", the velocity magnitude is 8.1m / s, the time of reaching the "critical region" is 6.2s, and the acceleration is 0.5m / s².

[0242] Alternatively, base station 1 sends the ratio of the start time of the sensing signal to base station 2. Since the start time changes from 10s to 6.2s, the start time ratio is 62%. Since the signal length changes from 10s to 5.78s, the signal length ratio is 58%. These two ratios can be sent from base station 1 to base station 2. In the NG-RAN NODE CONFIGURATIONUPDATE message, the IE Intended TDD DL-UL Configuration NR is added with a Presence of Optional (O) and a value of 100, as shown in Table 3. Furthermore, it is specified that when this IE has a value in the message, only the original Slot Configuration List message as shown in Table 3 needs to be transmitted again. This achieves the overall forward shift and shortening of the sensing slots, eliminating the need to reconfigure all 51200 slots sequentially for sensing or communication, greatly saving signaling overhead during frame structure adjustment.

[0243] Table 3

[0244]

[0245] Similarly, base station i (2≤i≤9) notifies base station i+1 to adjust the sensing signal frame structure by predicting the flight speed and trajectory of the UAV. This can significantly save sensing signal resources.

[0246] By combining pre-static configuration of sensing signals from multiple base stations with real-time dynamic configuration adjustment, the signaling overhead for configuration and the latency of base station handover can be significantly reduced. Without hardware modifications or the introduction of other sensing sources, the dynamic configuration of sensing signals from each base station in the sensing cluster can eliminate the speed measurement blind spot during UAV vertical takeoff, ensuring continuous speed measurement of vertically taking off UAVs, enabling continuous detection and tracking, and solving the UAV speed measurement blind spot problem. This saves sensing resources while maintaining sensing accuracy. Furthermore, during the dynamic configuration phase, only the offset, difference, or even the ratio needs to be configured and adjusted, saving considerable signaling overhead compared to configuring the entire sensing signal time interval.

[0247] Based on the foregoing embodiments, embodiments of this application provide a first sensing information configuration device, which can be applied to... Figure 1 In the perception information configuration method provided in the corresponding embodiments, refer to Figure 11 As shown, the first sensing information configuration device 3 may include: a first determining unit 31 and a configuration unit 32; wherein:

[0248] The first determining unit 31 is used to determine a first sensing node and m-1 second sensing nodes for providing sensing services to the object to be sensed; where m is a positive integer greater than or equal to 1.

[0249] Configuration unit 32 is used to configure sensing configuration information for the first sensing node and m-1 second sensing nodes;

[0250] The perception configuration information includes at least one of the following: object attribute information of the object to be perceived, node attribute information of the first perception node and m-1 second perception nodes, which is used to instruct the first perception node and m-1 second perception nodes to perform perception execution configuration information for the object to be perceived.

[0251] In other embodiments of this application, the object attribute information includes one or more of the following:

[0252] The maximum speed of the object to be sensed;

[0253] The minimum speed of the object to be sensed;

[0254] The direction of motion of the object to be sensed;

[0255] Initial position parameters of the object to be sensed.

[0256] In other embodiments of this application, the node attribute information includes one or more of the following:

[0257] The location parameters of the sensing node;

[0258] The height parameter of the sensing node;

[0259] Perception blind zone parameters of sensing nodes;

[0260] Effective sensing parameters of sensing nodes.

[0261] In other embodiments of this application, when sensing configuration information includes sensing execution configuration information, the configuration unit is specifically used to implement the following steps:

[0262] Based on object attribute information and m node attribute information, determine the perception execution configuration information.

[0263] In other embodiments of this application, when the configuration unit executes the step of determining the perception execution configuration information based on object attribute information and m node attribute information, it can be implemented through the following steps:

[0264] Based on the motion direction of the object to be sensed, the position parameters of the first sensing node and m-1 second sensing nodes, the task execution order of the first sensing node and m-1 second sensing nodes for performing sensing tasks is determined; wherein, the sensing execution configuration information includes the task execution order;

[0265] Based on the attribute information of m nodes, the perception areas of the first perception node and each second perception node are divided to obtain m perception area ranges; among them, the perception execution configuration information includes the m perception area ranges.

[0266] Based on the range of m sensing areas and object attribute information, the sensing signal configuration parameters of the first sensing node and each second sensing node are determined, resulting in m sets of sensing signal configuration parameters; among them, the sensing execution configuration information includes m sets of sensing signal configuration parameters.

[0267] In other embodiments of this application, when the configuration unit performs the step of dividing the sensing regions of the first sensing node and each second sensing node based on the attribute information of m nodes to obtain the range of m sensing regions, it can be achieved through the following steps:

[0268] Based on the attribute information of m nodes and the task execution order, the non-overlapping perception areas between two adjacent nodes in the first perception node and m-1 second perception nodes are determined, thus obtaining the range of m perception areas.

[0269] In other embodiments of this application, when the configuration unit performs the step of dividing the sensing regions of the first sensing node and each second sensing node based on the attribute information of m nodes to obtain the range of m sensing regions, it can be achieved through the following steps:

[0270] Based on the attribute information of m nodes and the task execution order, determine the non-overlapping perception areas between two adjacent nodes in the first perception node and m-1 second perception nodes, and obtain the first perception area of ​​the first perception node and each second perception node.

[0271] Based on the attribute information of m nodes and the task execution order, determine the overlapping area of ​​perception between two adjacent nodes in the first sensing node and m-1 second sensing nodes;

[0272] According to the direction of motion of the object to be sensed, the overlapping area is determined as the second sensing area of ​​the first execution node; wherein, the first execution node is the sensing node that senses the object to be sensed first among two adjacent nodes of the first sensing node and m-1 second sensing nodes;

[0273] The range of the perception area of ​​the first execution node is determined by including the first perception area and the second perception area corresponding to the first execution node, thus obtaining m perception area ranges.

[0274] In other embodiments of this application, the perception execution configuration information also includes indication information for instructing the first execution node to perform a perception task when the object to be perceived moves to an overlapping area, and instructing the second execution node adjacent to the first execution node to adjust the perception signal configuration parameters of the second execution node.

[0275] In other embodiments of this application, when the configuration unit performs the step of determining the sensing signal configuration parameters of the first sensing node and each second sensing node based on the range of m sensing areas and object attribute information, and obtains m sets of sensing signal configuration parameters, it can be achieved through the following steps:

[0276] Based on the range of each sensing area and the minimum movement speed of the object to be sensed, the first sensing signal resource parameters of the corresponding node are determined; wherein, the sensing signal configuration parameters of each second sensing node include the first sensing signal resource parameters.

[0277] In other embodiments of this application, the configuration unit is further configured to perform the following steps:

[0278] Based on the range of each sensing area and the maximum speed of the object to be sensed, the second sensing signal resource parameters of the corresponding node are determined.

[0279] Based on the first and second sensing signal resource parameters, the third sensing signal resource parameters of the corresponding node are determined.

[0280] Calculate the sum of the third sensing signal resource parameters of the first sensing node and m-1 second sensing nodes to obtain the reserved resource parameters for reserving signal resources for the first sensing node and m-1 second sensing nodes when performing sensing tasks; wherein, the sensing execution configuration information also includes the reserved resource parameters.

[0281] In other embodiments of this application, the quantization form of the first sensing signal resource parameter includes at least one of the following forms:

[0282] One or more perception frame indices;

[0283] One or more sensing time slot indices;

[0284] One or more perceptual symbol indices;

[0285] The frame start time of one or more sensing frames and the frame length of each sensing frame;

[0286] The start time of one or more sensing time slots and the length of each sensing time slot;

[0287] The symbol start time of one or more perceptual symbols and the symbol length of each perceptual symbol.

[0288] In other embodiments of this application, when the control node is a central control device, the control node communicates with the first sensing node and / or one or more second sensing nodes via the NG interface; when the node type of the control node is the same as the node type of the first sensing node, the control node communicates with the first sensing node via the Xn interface; when the node type of the control node is the same as the node type of one or more second sensing nodes, the control node communicates with at least one second sensing node via the Xn interface.

[0289] In other embodiments of this application, the first sensing information configuration device further includes: a receiving unit; wherein:

[0290] The receiving unit is used to receive target measurement information or sensing signal resource adjustment parameters sent by the third sensing node currently performing the sensing task; wherein, the target measurement information is the object state parameters of the object to be sensed obtained by the third sensing node at the sensing task switching position, the sensing task switching position is located in a preset area adjacent to or overlapping with the sensing area of ​​the third sensing node and the sensing area of ​​the fourth sensing node, and the sensing signal resource adjustment parameters are determined by the third sensing node based on the target measurement information.

[0291] In other embodiments of this application, the target measurement information includes at least one of the following:

[0292] The current position information of the object to be sensed;

[0293] The motion direction and motion parameters of the object to be sensed;

[0294] The arrival time of the object to be sensed when it reaches the current location information.

[0295] It should be noted that the process of information interaction between units and modules in this embodiment can be referred to the description in other embodiments, and will not be repeated here.

[0296] The first sensing information configuration device provided in this application embodiment determines m sensing nodes for providing sensing services to the object to be sensed through a control node, configures sensing configuration information for the m sensing nodes, and the first sensing node receives the sensing configuration information configured by the control node. The sensing configuration information includes at least one of the following: object attribute information of the object to be sensed, node attribute information of each sensing node, and sensing execution configuration information used to instruct each sensing node to execute sensing tasks for the object to be sensed. Thus, after the control node provides sensing tasks to the object to be sensed by the first sensing node and m-1 second sensing nodes, and configures sensing configuration information for the first sensing node and m-1 second sensing nodes, it enables the m sensing nodes to execute sensing tasks for the object to be sensed according to certain sensing requirements. This solves the problem of blind spots in current base station sensing services and proposes a sensing information configuration method. By having multiple base stations cooperate to sense the object, the impact of base station blind spots on the object is reduced, continuous tracking and detection of the object is achieved, and the accuracy of object location is improved.

[0297] Based on the foregoing embodiments, embodiments of this application provide a second sensing information configuration device, which can be applied to... Figure 2 In the perception information configuration method provided in the corresponding embodiments, refer to Figure 12 As shown, the second sensing information configuration device 4 may include: a receiving unit 41; wherein:

[0298] The receiving unit 41 is used to receive the perception configuration information configured by the control node;

[0299] The perception configuration information indicates that the first perception node and m-1 second perception nodes form a perception cluster to perform a perception task on the object to be perceived. The perception configuration information includes at least one of the following: object attribute information of the object to be perceived, node attribute information of the first perception node, and node attribute information of m-1 second perception nodes. It is used to instruct the first perception node and m-1 second perception nodes to perform perception execution configuration information for the perception task.

[0300] In other embodiments of this application, the second sensing information configuration device further includes: a second determining unit and a obtaining unit; wherein:

[0301] The receiving unit is also used to receive target measurement information sent by the fourth sensing node; wherein the fourth sensing node is a control node, or the preceding sensing node adjacent to the first sensing node in the execution order of the sensing task included in the sensing configuration information.

[0302] The second determining unit is used to determine the sensing signal adjustment resource parameters based on the first sensing signal resource parameters of the first sensing node indicated by the target measurement information and sensing configuration information.

[0303] The obtaining unit is used to adjust the configuration of the sensing signal based on the sensing signal resource parameters, and obtain the current sensing signal resource parameters.

[0304] In other embodiments of this application, the receiving unit is further configured to receive sensing signal resource adjustment parameters sent by the fourth sensing node; wherein the fourth sensing node is a control node, or the preceding sensing node adjacent to the first sensing node in the execution order of the sensing task included in the sensing configuration information, and the sensing signal resource adjustment parameters are determined by the fourth sensing node based on the target measurement information.

[0305] In other embodiments of this application, the sensing signal resource adjustment parameters include at least one of the following:

[0306] One or more sensor frame indices adjusted;

[0307] One or more sensing time slot indices adjusted;

[0308] One or more sensory symbol indices adjusted;

[0309] The adjusted frame start time of one or more sensing frames and the frame length of each sensing frame.

[0310] The adjusted start time of one or more sensing time slots and the length of each sensing time slot;

[0311] The adjusted symbol start time of one or more sensory symbols and the symbol length of each sensory symbol;

[0312] The ratio of the adjusted sensing signal length to the sensing signal length indicated in the first sensing signal resource parameter, and the ratio of the adjusted sensing start time to the sensing start time indicated in the first sensing signal resource parameter.

[0313] Sensing advance time offset;

[0314] Sensing shortens signal length;

[0315] The ratio of the sensing advance time offset to the sensing start time indicated in the first sensing signal resource parameters;

[0316] The ratio of the shortened signal length to the perceived signal length.

[0317] In other embodiments of this application, when instructing the first sensing node to cover the overlapping area of ​​the third sensing node, the first sum of the first sensing area of ​​the first sensing node and the second sensing area of ​​the third sensing node in the sensing configuration information is calculated, and then the first ratio of the first sum to the first speed of the motion of the object to be sensed by the first sensing node is calculated to obtain the length of the sensing signal, and the sensing start time is determined to be the time when the third sensing node ends the sensing task.

[0318] When instructing the first sensing node not to cover the overlapping area of ​​the third sensing node, the length of the sensing signal is obtained by calculating the second ratio of the first sensing area and the movement speed of the first sensing node. After determining the third ratio of the second sensing area and the movement speed of the third sensing node, the sum of the time when the third sensing node ends the sensing task and the third ratio is calculated to obtain the sensing start time.

[0319] It should be noted that the process of information interaction between units and modules in this embodiment can be referred to the description in other embodiments, and will not be repeated here.

[0320] The second sensing information configuration device provided in this application embodiment determines m sensing nodes for providing sensing services to the object to be sensed through a control node, and configures sensing configuration information for the m sensing nodes. Each sensing node receives the sensing configuration information configured by the control node. The sensing configuration information includes at least one of the following: object attribute information of the object to be sensed, node attribute information of each sensing node, and sensing execution configuration information used to instruct each sensing node to execute the sensing task for the object to be sensed. In this way, after the control node provides sensing tasks to the object to be sensed by the first sensing node and m-1 second sensing nodes, and configures sensing configuration information for the first sensing node and m-1 second sensing nodes, it enables the m sensing nodes to execute the sensing task for the object to be sensed according to certain sensing requirements. This solves the problem of blind spots in the current base station sensing service and proposes a sensing information configuration method. By having multiple base stations cooperate with each other to sense the object, the influence of the base station's sensing blind spot on the object is reduced, continuous tracking and detection of the object can be achieved, and the positioning accuracy of the object is improved.

[0321] Based on the foregoing embodiments, embodiments of this application provide a perception information configuration system, which can be applied to... Figures 1-2 In the perception information configuration method provided in the corresponding embodiments, refer to Figure 13 As shown, the sensing information configuration system 5 includes at least: a control node 51, a first sensing node 52, and m-1 second sensing nodes 53; wherein:

[0322] Control node 51 is used to implement, for example Figure 1The implementation process of the perception information configuration method provided in the corresponding embodiment will not be described in detail here;

[0323] The first sensing node 52 and m-1 second sensing nodes 53 are used to implement, for example... Figure 2 The implementation process of the perception information configuration method provided in the corresponding embodiment will not be described in detail here.

[0324] Based on the foregoing embodiments, embodiments of this application provide a computer-readable storage medium, simply referred to as a storage medium, which stores one or more programs that can be executed by one or more processors to implement the reference. Figure 1 or Figure 2 The implementation process of the perception information configuration method provided in the corresponding embodiments will not be elaborated here.

[0325] Based on the foregoing embodiments, this application also provides a computer program product, including a computer program that can be executed by the processor of a control node or the processor of a second control node to complete any of the foregoing method steps.

[0326] 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 hardware embodiments, software embodiments, or embodiments 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.

[0327] 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 program instructions. These computer program 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.

[0328] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0329] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment 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.

[0330] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application.

Claims

1. A method for configuring sensing information, characterized in that, The method is applied to a control node, and the method includes: Determine the first sensing node and m-1 second sensing nodes to provide sensing services for the object to be sensed; where m is a positive integer greater than or equal to 1; Configure sensing configuration information for the first sensing node and m-1 second sensing nodes; The perception configuration information includes at least one of the following: object attribute information of the object to be perceived, node attribute information of the first perception node, and node attribute information of m-1 second perception nodes, which are used to instruct the first perception node and m-1 second perception nodes to execute perception execution configuration information for the perception task of the object to be perceived.

2. The method according to claim 1, characterized in that, The object attribute information includes one or more of the following: The maximum speed of the object to be sensed; The minimum speed of the object to be sensed; The direction of motion of the object to be sensed; The initial position parameters of the object to be sensed.

3. The method according to claim 1, characterized in that, The node attribute information includes one or more of the following: The location parameters of the sensing node; The height parameter of the sensing node; Perception blind zone parameters of sensing nodes; Effective sensing parameters of sensing nodes.

4. The method according to any one of claims 1 to 3, characterized in that, When the perception configuration information includes the perception execution configuration information, configuring the perception configuration information for the first perception node and m-1 second perception nodes includes: Based on the object attribute information and the m node attribute information, the perception execution configuration information is determined.

5. The method according to claim 4, characterized in that, Determining the perception execution configuration information based on the object attribute information and the m node attribute information includes one or more of the following steps: Based on the motion direction of the object to be sensed, the position parameters of the first sensing node and m-1 second sensing nodes, the task execution order of the first sensing node and m-1 second sensing nodes performing the sensing task is determined; wherein, the sensing execution configuration information includes the task execution order; Based on the node attribute information of m nodes, the perception regions of the first sensing node and each of the second sensing nodes are divided to obtain m perception region ranges; wherein, the perception execution configuration information includes the m perception region ranges; Based on the m sensing area ranges and the object attribute information, the sensing signal configuration parameters of the first sensing node and each of the second sensing nodes are determined, resulting in m sets of sensing signal configuration parameters; wherein, the sensing execution configuration information includes the m sets of sensing signal configuration parameters.

6. The method according to claim 5, characterized in that, Based on the attribute information of m nodes, the perception regions of the first sensing node and each of the second sensing nodes are divided to obtain m perception region ranges, including: Based on the attribute information of m nodes and the task execution order, the non-overlapping perception regions between two adjacent nodes in the first perception node and m-1 second perception nodes are determined, thus obtaining the range of m perception regions.

7. The method according to claim 5, characterized in that, Based on the attribute information of m nodes, the perception regions of the first sensing node and each of the second sensing nodes are divided to obtain m perception region ranges, including: Based on the node attribute information of m nodes and the task execution order, the non-overlapping perception areas between two adjacent nodes in the first perception node and m-1 second perception nodes are determined, thus obtaining the first perception area of ​​the first perception node and each second perception node. Based on the attribute information of m nodes and the task execution order, determine the overlapping area of ​​perception between two adjacent nodes in the first sensing node and m-1 second sensing nodes; According to the movement direction of the object to be sensed, the overlapping area is determined as the second sensing area of ​​the first execution node; wherein, the first execution node is the sensing node that senses the object to be sensed first among two adjacent nodes of the first sensing node and m-1 second sensing nodes; The range of the perception area of ​​the first execution node is determined to include the first perception area and the second perception area corresponding to the first execution node, thus obtaining m perception area ranges.

8. The method according to claim 7, characterized in that, The perception execution configuration information also includes indication information for instructing the first execution node to execute the perception task when the object to be perceived moves to the overlapping area, and instructing the second execution node adjacent to the first execution node to adjust the perception signal configuration parameters of the second execution node.

9. The method according to claim 5, characterized in that, Based on the m sensing area ranges and the object attribute information, the sensing signal configuration parameters of the first sensing node and each of the second sensing nodes are determined, resulting in m sets of sensing signal configuration parameters, including: Based on the range of each sensing area and the minimum movement speed of the object to be sensed, the first sensing signal resource parameters of the corresponding node are determined; wherein, the sensing signal configuration parameters of each second sensing node include the first sensing signal resource parameters.

10. The method according to claim 9, characterized in that, The method further includes: Based on the range of each sensing area and the maximum speed of the object to be sensed, the second sensing signal resource parameters of the corresponding node are determined. Based on the first sensing signal resource parameters and the second sensing signal resource parameters, the third sensing signal resource parameters of the corresponding node are determined. The sum of the third sensing signal resource parameters of the first sensing node and m-1 second sensing nodes is calculated to obtain the reserved resource parameters for reserving signal resources for the first sensing node and m-1 second sensing nodes when performing sensing tasks; wherein, the sensing execution configuration information also includes the reserved resource parameters.

11. The method according to claim 9, characterized in that, The quantization form of the first sensing signal resource parameter includes at least one of the following forms: One or more perception frame indices; One or more sensing time slot indices; One or more perceptual symbol indices; The frame start time of one or more sensing frames and the frame length of each sensing frame; The start time of one or more sensing time slots and the length of each sensing time slot; The symbol start time of one or more perceptual symbols and the symbol length of each of the perceptual symbols.

12. The method according to claim 1, characterized in that, When the control node is a central control device, the control node communicates with the first sensing node and / or one or more of the first sensing nodes through the NG interface; when the node type of the control node is the same as the node type of the first sensing node, the control node communicates with the first sensing node through the Xn interface. When the node type of the control node is the same as the node type of one or more second sensing nodes, the control node communicates with at least one second sensing node through the Xn interface.

13. The method according to claim 1, characterized in that, The method further includes: The system receives target measurement information or sensing signal resource adjustment parameters sent by a third sensing node currently performing a sensing task. The target measurement information is the object state parameters of the object to be sensed, which the third sensing node senses at the sensing task switching position. The sensing task switching position is located within a preset area or overlapping area between the third sensing node and the next sensing node performing the sensing task. The sensing signal resource adjustment parameters are determined by the third sensing node based on the target measurement information.

14. The method according to claim 13, characterized in that, The target measurement information includes at least one of the following: The current location information of the object to be sensed; The motion direction and motion parameters of the object to be sensed; The arrival time of the object to be sensed when it reaches the current location information.

15. A method for configuring sensing information, characterized in that, The method is applied to a first sensing node, and the method includes: Receive the perception configuration information configured by the control node; The perception configuration information indicates that the first perception node and m-1 second perception nodes form a perception cluster to perform a perception task on the object to be perceived. The perception configuration information includes at least one of the following: object attribute information of the object to be perceived, node attribute information of the first perception node, and node attribute information of m-1 second perception nodes, which are used to instruct the first perception node and m-1 second perception nodes to perform perception execution configuration information for the perception task.

16. The method according to claim 15, characterized in that, The method further includes: Receive target measurement information sent by the fourth sensing node; wherein, the fourth sensing node is the control node, or the preceding sensing node adjacent to the first sensing node in the execution order of executing the sensing task included in the sensing configuration information; Based on the target measurement information and the first sensing signal resource parameters of the first sensing node indicated by the sensing configuration information, the sensing signal adjustment resource parameters are determined. Based on the sensing signals, the resource parameters are adjusted to adjust the sensing signal configuration, and the current sensing signal resource parameters are obtained.

17. The method according to claim 15, characterized in that, The method further includes: The system receives the sensing signal resource adjustment parameters sent by the fourth sensing node; wherein the fourth sensing node is the control node, or the preceding sensing node adjacent to the first sensing node in the execution order of the sensing task included in the sensing configuration information, and the sensing signal resource adjustment parameters are determined by the fourth sensing node based on the target measurement information.

18. The method according to claim 16 or 17, characterized in that, The sensing signal resource adjustment parameters include at least one of the following: One or more sensor frame indices adjusted; One or more sensing time slot indices adjusted; One or more sensory symbol indices adjusted; The adjusted frame start time of one or more sensing frames and the frame length of each sensing frame; The adjusted start time of one or more sensing time slots and the time slot length of each of the sensing time slots; The adjusted symbol start time of one or more sensing symbols and the symbol length of each sensing symbol; The ratio of the adjusted sensing signal length to the sensing signal length indicated in the first sensing signal resource parameter, and the ratio of the adjusted sensing start time to the sensing start time indicated in the first sensing signal resource parameter. Sensing advance time offset; Sensing shortens signal length; The ratio of the sensing advance time offset to the sensing start time indicated in the first sensing signal resource parameters; The ratio of the length of the shortened sensing signal to the length of the sensing signal.

19. The method according to claim 18, characterized in that, When instructing the first sensing node to cover the overlapping area of ​​the third sensing node, after calculating the first sum of the first sensing area of ​​the first sensing node and the second sensing area of ​​the third sensing node in the sensing configuration information, the first sum is calculated to the first ratio of the first ratio to the first ratio of the motion speed of the object to be sensed by the first sensing node, the length of the sensing signal is obtained, and the sensing start time is determined to be the time when the third sensing node ends the sensing task. When instructing the first sensing node not to cover the overlapping area of ​​the third sensing node, the length of the sensing signal is obtained by calculating the second ratio of the first sensing area of ​​the first sensing node to the movement speed, and after determining the third ratio of the second sensing area of ​​the third sensing node to the movement speed, the sum of the time when the third sensing node ends the sensing task and the third ratio is calculated to obtain the sensing start time.

20. A first sensing information configuration device, characterized in that, The device is applied to a control node, and the device includes: a first determining unit and a configuring unit; wherein: The first determining unit is used to determine a first sensing node and m-1 second sensing nodes for providing sensing services to the object to be sensed; where m is a positive integer greater than or equal to 1. The configuration unit is used to configure sensing configuration information for the first sensing node and m-1 second sensing nodes; The perception configuration information includes at least one of the following: object attribute information of the object to be perceived, node attribute information of the first perception node, and node attribute information of m-1 second perception nodes, which are used to instruct the first perception node and m-1 second perception nodes to execute perception execution configuration information for the perception task of the object to be perceived.

21. A second sensing information configuration device, characterized in that, The device is applied to a first sensing node, and the device includes: a receiving unit; wherein: The receiving unit is used to receive the perception configuration information configured by the control node; The perception configuration information indicates that the first perception node and m-1 second perception nodes form a perception cluster to perform a perception task on the object to be perceived. The perception configuration information includes at least one of the following: object attribute information of the object to be perceived, node attribute information of the first perception node, and node attribute information of m-1 second perception nodes, which are used to instruct the first perception node and m-1 second perception nodes to perform perception execution configuration information for the perception task.

22. A sensing information configuration system, characterized in that, The system includes at least: a control node, a first sensing node, and m-1 second sensing nodes; wherein: The control node is used to implement the steps of the perception information configuration method as described in any one of claims 1 to 14; The first sensing node is used to implement the steps of the sensing information configuration method as described in any one of claims 15 to 19.

23. A storage medium, characterized in that, The storage medium stores a sensing information configuration program, which, when executed, implements the steps of the sensing information configuration method as described in any one of claims 1 to 14, or claims 15 to 19.

24. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the perceptual information configuration method as described in any one of claims 1 to 14, or claims 15 to 19.

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