Communication method, apparatus, system, chip system, and storage medium

Abstract

This application provides a communication method, device, system, chip system, and storage medium. The method is applicable to cross-device perception and collaboration scenarios. In this method, the transmitting network device transmits the motion state information of the perceived target to the receiving network device through a first indication information, enabling the receiving network device to determine the corresponding perception configuration strategy based on the motion state information. This avoids the receiving network device being forced to start full-dimensional beam blind scanning due to the lack of prior target information during cross-device perception handover, which not only reduces computing power consumption but also achieves continuous perception and tracking across devices, preventing target loss.

Description

Technical Field

[0001] This application belongs to the field of communication technology, and in particular relates to a communication method, device, system, chip system and storage medium. Background Technology

[0002] With the development of 5th generation (6G) mobile communication systems, integrated sensing and communication (ISAC) has become one of its core technological features. In ISAC networks, network devices (such as base stations) are endowed with radar sensing capabilities, enabling them to detect, locate, and track targets such as drones and vehicles using communication signals. However, the sensing capabilities of a single network device are limited by line-of-sight, accuracy, and coverage, making it difficult to meet the application requirements of wide-area continuous and highly reliable communication. Collaborative sensing among multiple network devices has become an inevitable evolutionary direction. In a multi-device collaborative sensing network, when a highly maneuverable target (such as a drone) moves from the coverage area of ​​one network device to the coverage area of ​​another, the source network device (such as the source base station) needs to hand over the target sensing task to the target network device (such as the target base station), which then continues to sense the target.

[0003] In existing cross-device sensing handover schemes, source network devices cannot transmit the heterogeneous motion state of a target to the target network device—for example, the difference in maneuverability of the target in the horizontal direction (yaw turn) and the vertical direction (altitude change)—leaving the target network device completely unaware of the motion characteristics of a target about to enter its coverage area. Therefore, the target network device is forced to initiate full-dimensional blind sweeping at the handover moment, i.e., searching for the target by transmitting probe beams in all possible spatial directions one by one. This "cold start" blind sweeping method consumes a large amount of computing power, leading to computational redundancy; furthermore, the target may have already crossed the cell boundary before the blind sweep is completed, resulting in target loss. Summary of the Invention

[0004] This application provides a communication method, device, chip system, computer-readable storage medium, computer program product, and communication system that can avoid target network devices from performing full-dimensional beam blind scanning during cross-device perception handover, avoid computing power redundancy, and achieve continuous perception and tracking of the target to avoid losing the target.

[0005] In a first aspect, embodiments of this application provide a communication method. This method can be executed by a network device, or by a component (such as a circuit, chip, or chip system) configured in the network device, or by a logic module or software capable of implementing all or part of the functions of the network device. This application does not limit this. The following description uses a network device as an example.

[0006] The method is applied to a transmitting network device and includes: sending first indication information to a receiving network device, wherein the receiving network device is at least one adjacent network device of the transmitting network device, the first indication information is used to instruct the receiving network device to determine a perception configuration strategy for perceiving a first target, and the first indication information includes motion state information of the first target perceived by the transmitting network device.

[0007] Based on this implementation, the transmitting network device transmits the motion state information of the perceived target to the receiving network device through the first instruction information, enabling the receiving network device to determine the corresponding perception configuration strategy based on the motion state information. This avoids the receiving network device being forced to start full-dimensional beam blind scanning due to the lack of prior information about the target during cross-device perception handover. This not only reduces computing power consumption but also enables continuous perception and tracking across devices, preventing the target from being lost.

[0008] In one possible implementation of the first aspect, the aforementioned motion situation information includes at least one of the following: situation uncertainty indication information and emergency situation indication information; when the motion situation information includes situation uncertainty indication information, the perception configuration strategy includes beamforming parameters corresponding to the target beam for sensing the first target; when the motion situation information includes emergency situation indication information, the perception configuration strategy includes an emergency coordination strategy.

[0009] Based on this implementation, when a target is about to cross the coverage area of ​​the transmitting network device, the transmitting network device transmits the target's motion situation information to the receiving network device through the first indication information. This enables the receiving network device to determine the beamforming parameters based on the information, thereby avoiding the receiving network device being forced to start full-dimensional blind beam scanning due to the lack of prior target information during cross-device sensing handover. This not only reduces computing power consumption but also achieves continuous sensing and tracking across devices, preventing target loss. When the target experiences an emergency, the transmitting network device transmits emergency situation indication information to the receiving network device through the first indication information. This enables the receiving network device to execute emergency coordination strategies accordingly, preventing interference from the transmitting network device's communication or sensing due to unilateral emergency sensing. This achieves full-network collaborative resource scheduling under emergency situations.

[0010] Optionally, in another possible implementation of the first aspect, the aforementioned situational uncertainty indication information includes a horizontal uncertainty index, a vertical uncertainty index, and beamforming suggestion information.

[0011] Optionally, in another possible implementation of the first aspect, before sending the first indication information to the receiving network device, the method further includes: Obtain the three-dimensional spatial state covariance matrix corresponding to the first target, where the three-dimensional spatial state covariance matrix is ​​used to characterize the uncertainty of the motion state of the first target in three-dimensional space; The horizontal projection operator is used to project the three-dimensional spatial state covariance matrix to obtain the horizontal covariance matrix corresponding to the first target. The horizontal covariance matrix is ​​used to characterize the uncertainty of the motion state of the first target in the horizontal direction. The vertical projection operator is used to project the three-dimensional spatial state covariance matrix to obtain the vertical covariance matrix corresponding to the first target. The vertical covariance matrix is ​​used to characterize the uncertainty of the motion state of the first target in the vertical direction. Determine the level uncertainty index based on the level covariance matrix; The vertical uncertainty index is determined based on the vertical covariance matrix.

[0012] Based on this implementation, the three-dimensional spatial state covariance matrix is ​​orthogonally projected and decoupled using horizontal and vertical projection operators. This allows for the precise decomposition of coupled three-dimensional motion errors into horizontal and vertical components, enabling the independent calculation of the horizontal and vertical uncertainty indices. This avoids misjudgments of maneuvering caused by overall three-dimensional coupling and provides an accurate data source for cross-device signaling interaction. The accurate horizontal and vertical uncertainty indices help receiving network devices accurately determine the horizontal and vertical beamwidths, allowing the target beam to match different maneuvering characteristics of the target in both the horizontal and vertical directions. This avoids the target leaving the beam coverage due to beamforming mismatch and is more conducive to continuous perception and tracking of the target during cross-device handover.

[0013] Optionally, in another possible implementation of the first aspect, the beamforming suggestion information includes real-time motion data of the first target and / or suggested beam pointing, wherein the real-time motion data is used to determine the initial beam pointing of the target beam, and the suggested beam pointing is used to indicate the initial beam pointing of the target beam.

[0014] Based on this implementation method, the beamforming suggestion information, by including real-time motion data or suggested beam pointing, enables the receiving network device to choose to calculate the initial beam pointing itself or directly adopt the pointing suggested by the transmitting network device according to actual needs, providing a flexible and clear pointing basis for the receiving network device to align the target beam with the target at the handover time.

[0015] Optionally, in another possible implementation of the first aspect, the beamforming suggestion information may further include a suggestion for a horizontal beamwidth and / or a suggestion for a vertical beamwidth.

[0016] Based on this implementation method, the beamforming suggestion information also includes a suggested beamwidth, enabling the receiving network device to directly adopt the beamwidth suggestion calculated by the transmitting network device based on local sensing information, reducing the computational burden on the receiving network device. At the same time, as a supplement to the uncertainty index method, it improves the flexibility of the solution.

[0017] Optionally, in another possible implementation of the first aspect, the emergency situation indication information includes at least one of the following: the triggering cause of the emergency situation, the request period, and the affected resource blocks.

[0018] Based on this implementation, the aforementioned emergency situation indication information, by including the triggering reason, request period, and affected resource blocks, enables the transmitting network device to immediately inform neighboring network devices of its upcoming encrypted sensing behavior and the location of the time-frequency resources it occupies after triggering an emergency situation. On the one hand, the receiving network device learns from this information that the transmitting network device will enter an emergency tracking mode, enabling the transmitting network device to continuously lock onto the target with a shorter sensing period, avoiding loss of tracking due to excessive sensing intervals when the target undergoes high-maneuvering behaviors such as sudden drops within the sampling blind zone. On the other hand, the receiving network device learns from the affected resource blocks the specific time-frequency resources occupied by the transmitting network device for emergency sensing, and can execute emergency coordination strategies on the corresponding resources to avoid co-channel interference between the high-frequency detection signals of the transmitting network device and the communication or sensing signals of the receiving network device, thereby ensuring that the target is not lost while not affecting the communication links of neighboring network devices.

[0019] Optionally, in another possible implementation of the first aspect, the aforementioned request period refers to the perception period of the sending network device for the first target after an emergency occurs, and the request period is shorter than the normal perception period, wherein the normal perception period refers to the perception period of the sending network device for the first target before an emergency occurs; correspondingly, the aforementioned affected resource block refers to the time-frequency domain resource block occupied by the sending network device for perceiving the first target after an emergency occurs.

[0020] Optionally, in another possible implementation of the first aspect, the above-mentioned emergency coordination strategy includes resource silencing or synchronous encrypted sensing, wherein resource silencing refers to suspending downlink service scheduling on the affected resource block, and synchronous encrypted sensing refers to sensing the first target using the same sensing period as the sending network device.

[0021] Based on this implementation, receiving network devices can coordinate with the network device in an emergency situation through resource silencing or synchronous encrypted sensing. By silencing resources, receiving network devices can suspend downlink service scheduling on affected resource blocks, avoiding co-channel interference from the communication signals of adjacent network devices to the high-frequency emergency detection of the transmitting network device. This ensures that the transmitting network device can continuously lock onto the target in an emergency situation without interference during the encrypted sensing period, preventing the target echo from being overwhelmed and lost due to interference. On the other hand, by using synchronous encrypted sensing, receiving network devices can sense the target using the same sensing period as the transmitting network device, enabling adjacent network devices to cooperate with the transmitting network device to track the target, further improving the reliability of target sensing when an emergency occurs at the boundary of cross-device coverage areas. Thus, through this emergency coordination strategy, while ensuring that the target is not lost, interference caused by single-site encrypted detection to the communication links of neighboring areas is avoided, achieving network-wide collaborative resource scheduling in an emergency situation.

[0022] Optionally, in another possible implementation of the first aspect, the transmitting network device senses the first target through a main beam and a warning tripwire beam, wherein the sensing period of the warning tripwire beam is shorter than the sensing period of the main beam, the transmission power of the warning tripwire beam is less than the transmission power of the main beam, and the warning tripwire beam is located directly below and / or directly above the main beam; correspondingly, before sending the first indication information to the receiving network device, the method further includes: If the current perception residual of the first target is greater than the activation threshold, it is determined that the first target is in an emergency situation at the current moment. Here, the current perception residual is used to characterize the cumulative perception bias of the first target through the main beam. or, If the warning tripwire beam detects the first target at the current moment, it determines that the first target is in an emergency situation at the current moment.

[0023] Based on this implementation, the transmitting network device senses the target through both the main beam and the warning tripwire beam. The main beam is used for routine tracking, while the warning tripwire beam continuously monitors directly below and / or above the main beam with a shorter sensing period and lower transmission power. On the one hand, when a target experiences a sudden vertical drop or rise within the main beam's sampling blind zone and crosses the warning tripwire beam, the warning tripwire beam can immediately sense the target and trigger an emergency situation. This solves the problem of sudden drops or rises not being captured in time during fixed long-period sensing, and avoids the target losing track due to a sudden drop or rise outside the beam coverage during the interval between two main beam detections. On the other hand, the transmission power of the warning tripwire beam is lower than that of the main beam, so it will not cause additional interference to the main beam's normal sensing and communication links. At the same time, the target's abnormal maneuvering is identified through the residual perception of the target by the main beam, which complements the triggering method of the warning tripwire beam, jointly improving the comprehensiveness and timeliness of emergency situation detection.

[0024] Optionally, in another possible implementation of the first aspect, before determining that the first target is in an emergency situation at the current moment when the current perception residual of the first target is greater than the activation threshold, the method further includes: The current residual vector, the current information covariance matrix, and the historical sensing residual of the previous moment are obtained for the first target. The current residual vector is determined based on the deviation between the current actual measurement value of the first target and the current prediction value of the first target by the transmitting network device. The current actual measurement value is obtained by the main beam sensing the first target at the current moment. The current information covariance matrix is ​​used to characterize the uncertainty of the deviation between the current actual measurement value and the current prediction value. Based on the current residual vector and the current innovation covariance matrix, determine the current normalized innovation square corresponding to the first objective; The current perception residual is determined based on the historical perception residual, the current normalized squared information, and the forgetting factor. The forgetting factor is used to control the degree of influence of the historical perception residual on the current perception residual.

[0025] Based on this implementation, by acquiring the current residual vector, the current innovation covariance matrix, and the historical perception residual from the previous moment, and determining the current normalized innovation square based on the current residual vector and the current innovation covariance matrix, and then combining the historical perception residual to determine the current perception residual, the cumulative statistics of perception deviations at multiple moments are realized, avoiding false triggering caused by noise from a single measurement. Furthermore, by introducing a forgetting factor to weight and attenuate the historical perception residuals, the current perception residuals can reflect both the long-term trend of historical cumulative deviations and remain sensitive to sudden deviations at the current moment, further improving the reliability and robustness of emergency situation identification.

[0026] Optionally, in another possible implementation of the first aspect, when the current sensing residual is greater than the activation threshold, the sensing period of the aforementioned transmitting network device sensing the first target through the main beam is switched from the normal sensing period to the request period, wherein the request period is shorter than the normal sensing period.

[0027] Based on this implementation method, after an emergency situation is triggered, the transmitting network device switches the perception cycle from the regular perception cycle to a shorter request cycle, i.e., encrypted detection. This allows the target trajectory to be captured with higher time resolution when the target undergoes high-maneuvering behaviors such as sudden drop or rapid ascent, avoiding the risk of losing track of the target due to excessively large sampling intervals in the blind zone.

[0028] Optionally, in another possible implementation of the first aspect, after sending the first indication information to the receiving network device, the method further includes: If the current perception residual is less than or equal to the recovery threshold, the emergency situation is determined to be lifted, and a second instruction message is sent to the receiving network device. The recovery threshold is less than the activation threshold, and the second instruction message is used to instruct the receiving network device to stop executing the emergency coordination strategy.

[0029] Based on this implementation method, by setting a recovery threshold below the activation threshold, the emergency situation is determined to be lifted when the current perception residual falls back below the recovery threshold, and a second indication message is sent to notify the receiving network device to stop executing the emergency coordination strategy. This avoids the ping-pong effect of repeated triggering and deactivation caused by measurement noise near the activation threshold, and at the same time achieves the synchronous recovery of the entire network resource status.

[0030] Optionally, in another possible implementation of the first aspect, sending the first indication information to the receiving network device includes: The first instruction information is sent to the receiving network device through the Xn interface.

[0031] Based on this implementation, the first indication information is transmitted directly between network devices through the Xn interface without going through the core network, avoiding the transmission delay caused by high-level signaling interaction. This enables motion situation information to reach the receiving network device with a sub-millisecond latency, realizing the early injection of the perception context before cross-device handover, and further improving the timeliness and reliability of cross-device perception handover.

[0032] Secondly, embodiments of this application provide a communication method. This method can be executed by a network device, or by a component (such as a circuit, chip, or chip system) configured in the network device, or by a logic module or software capable of implementing all or part of the functions of the network device. This application does not limit this. The following description uses a network device (such as a base station) as an example.

[0033] This method is applied to receiving network devices, including: The system receives first indication information sent by a transmitting network device, wherein the transmitting network device is a neighboring network device of the receiving network device, and the first indication information includes motion situation information of a first target sensed by the transmitting network device; and determines a sensing configuration strategy for sensing the first target based on the motion situation information.

[0034] Based on this implementation, the receiving network device obtains the motion state information of the target sensed by the sending network device by receiving the first instruction information, and determines the perception configuration strategy for sensing the target based on the motion state information. Thus, the perception configuration is pre-set before the target enters its coverage area, avoiding the forced start of full-dimensional beam blind scanning due to lack of prior information at the handover time, reducing computing power consumption, and realizing seamless handover of cross-device perception, thus avoiding target loss.

[0035] In one possible implementation of the second aspect, the aforementioned motion situation information includes at least one of the following: situation uncertainty indication information and emergency situation indication information; when the motion situation information includes situation uncertainty indication information, the perception configuration strategy includes beamforming parameters corresponding to the target beam for sensing the first target; when the motion situation information includes emergency situation indication information, the perception configuration strategy includes an emergency coordination strategy.

[0036] Optionally, in another possible implementation of the second aspect, the aforementioned situational uncertainty indication information includes a horizontal uncertainty index, a vertical uncertainty index, and beamforming suggestion information; the beamforming parameters include the horizontal beamwidth, vertical beamwidth, and initial beam pointing of the target beam; correspondingly, the aforementioned perception configuration strategy for determining perception of the first target based on the motion situation information includes: The horizontal beamwidth of the target beam is determined based on the horizontal uncertainty index. The vertical beamwidth of the target beam is determined based on the vertical uncertainty index. Based on the beamforming recommendation information, determine the initial beam pointing of the target beam.

[0037] Based on this implementation, the receiving network device determines the horizontal beamwidth according to the horizontal uncertainty index, the vertical beamwidth according to the vertical uncertainty index, and the initial beam direction according to the beamforming suggestion information. This enables the target beam to match the different maneuvering characteristics of the target in the horizontal and vertical directions, thereby achieving accurate envelopment perception of the target and further improving the reliability of target tracking.

[0038] Optionally, in another possible implementation of the second aspect, the beamforming suggestion information includes real-time motion data of the first target and / or suggested beam pointing; correspondingly, determining the initial beam pointing of the target beam based on the beamforming suggestion information includes: Based on real-time motion data, determine the initial beam pointing of the target beam; and / or, Determine the initial beam direction of the target beam based on the suggested beam direction.

[0039] Based on this implementation, the receiving network device can calculate the initial beam pointing of the target beam on its own according to real-time motion data, or it can directly adopt the suggested beam pointing provided by the transmitting network device. The two methods provide the receiving network device with flexible choices, reduce pointing lag caused by calculation delay, and improve the timeliness and accuracy of beam alignment at the handover time.

[0040] Optionally, in another possible implementation of the second aspect, the beamforming suggestion information further includes a suggestion for horizontal beamwidth and / or a suggestion for vertical beamwidth; correspondingly, the perception configuration strategy for determining the perception of the first target based on the motion situation information includes: The horizontal beamwidth of the target beam is determined based on the horizontal uncertainty index. The vertical beamwidth of the target beam is determined based on the vertical uncertainty index. or, Determine the horizontal beamwidth of the target beam based on the recommended horizontal beamwidth; and / or, Determine the vertical beamwidth of the target beam based on the suggested vertical beamwidth.

[0041] Based on this implementation, the receiving network device can either calculate the beamwidth itself according to the horizontal / vertical uncertainty index, or directly adopt the horizontal / vertical beamwidth suggested by the transmitting network device. The two determination methods complement each other, improving the applicability and flexibility of the solution in different deployment scenarios.

[0042] Optionally, in another possible implementation of the second aspect, the aforementioned emergency situation indication information includes at least one of the following: the triggering cause of the emergency situation, the request period, and the affected resource blocks; correspondingly, the aforementioned perception configuration strategy for determining perception of the first target based on the motion situation information includes: When the situational information includes emergency situation indication information, an emergency coordination strategy is determined based on the emergency situation indication information.

[0043] Optionally, in another possible implementation of the second aspect, the aforementioned request period refers to the perception period of the sending network device for the first target after the occurrence of an emergency situation. The request period is shorter than the normal perception period, wherein the normal perception period refers to the perception period of the sending network device for the first target before the occurrence of an emergency situation. Correspondingly, the aforementioned affected resource block refers to the time-frequency domain resource block occupied by the sending network device for perceiving the first target after the occurrence of an emergency situation.

[0044] Optionally, in another possible implementation of the second aspect, the above-mentioned emergency coordination strategy includes resource silencing or synchronous encrypted sensing, wherein resource silencing refers to suspending downlink service scheduling on the affected resource block, and synchronous encrypted sensing refers to sensing the first target using the same sensing period as the sending network device.

[0045] Optionally, in another possible implementation of the second aspect, after determining the emergency coordination strategy based on the emergency situation indication information when the motion situation information includes emergency situation indication information, the method further includes: Receive the second instruction information sent by the transmitting network device; Based on the second instruction, the emergency coordination strategy is to be discontinued.

[0046] Based on this implementation method, the receiving network device stops executing the emergency coordination strategy after receiving the second instruction information, so that the entire network resources can be restored from the emergency state to the normal state in a timely manner, avoiding unnecessary long-term impact on normal communication services caused by continuous execution of resource silencing or synchronous encryption sensing.

[0047] Optionally, in another possible implementation of the second aspect, the first indication information sent by the receiving and transmitting network device includes: Receive the first indication information sent by the sending network device through the Xn interface.

[0048] The second aspect is the implementation on the receiving network device side, which corresponds to the first aspect. The explanations, supplements, and descriptions of the beneficial effects of the first aspect also apply to the second aspect, and will not be repeated here.

[0049] Thirdly, a communication device is provided, comprising a communication module. The communication module is used to send first indication information to a receiving network device, wherein the receiving network device is at least one adjacent network device of the sending network device. The first indication information is used to instruct the receiving network device to determine a perception configuration strategy for perceiving a first target, and the first indication information includes motion state information of the first target perceived by the sending network device.

[0050] Fourthly, a communication device is provided, comprising a processing module and a communication module. The communication module is used to receive first indication information sent by a transmitting network device, wherein the transmitting network device is a neighboring network device of the receiving network device, and the first indication information includes motion situation information of a first target sensed by the transmitting network device; the processing module is used to determine a sensing configuration strategy for sensing the first target based on the motion situation information.

[0051] The third and fourth aspects are the implementation on the device side, which correspond to the first and second aspects. The explanations, supplements, and descriptions of the beneficial effects of the first and second aspects also apply to the third and fourth aspects, and will not be repeated here.

[0052] Fifthly, an apparatus is provided, including a processor. The processor is coupled to a memory and can be used to execute instructions or data in the memory to implement the methods in any possible implementation of the first or second aspect described above. Optionally, the apparatus further includes a memory. Optionally, the apparatus further includes a communication interface, to which the processor is coupled.

[0053] In one implementation, the communication interface may be a transceiver, or an input / output interface.

[0054] In another implementation, the communication device is a chip configured in a network device (such as a base station). When the device is a chip configured in a base station, the communication interface can be an input / output interface.

[0055] In a sixth aspect, a computer program product is provided, the computer program product comprising: a computer program (also referred to as code or instructions) that, when the computer program is run, causes a computer to perform a method in any possible implementation of any of the above aspects.

[0056] In a seventh aspect, a computer-readable storage medium is provided that stores a computer program (also referred to as code or instructions) that, when run on a computer, causes the computer to perform the methods in any possible implementation of any of the above aspects.

[0057] Eighthly, embodiments of this application provide a chip system including one or more processors for calling and executing instructions stored in memory, causing the methods in any of the above aspects or possible implementations to be executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0058] The chip system may include input circuits or interfaces for transmitting information or data, and output circuits or interfaces for receiving information or data.

[0059] Ninthly, a communication system is provided, including the aforementioned apparatus. As an example, the communication system may include multiple network devices. Optionally, the communication system may also include other devices that communicate with the network devices, such as terminal devices.

[0060] The explanations, supplements, and descriptions of beneficial effects regarding the first and second aspects also apply to the third through ninth aspects, and will not be repeated here. Attached Figure Description

[0061] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 This is a schematic diagram of a communication system provided in an embodiment of this application; Figure 2 This is a schematic flowchart of a communication method provided in an embodiment of this application; Figure 3 This is a signaling interaction diagram of a blind-scan-free beam coordination method based on Xn interface-aware context transfer provided in an embodiment of this application; Figure 4 This is a signaling interaction diagram of a cross-base station emergency sensing and resource silencing method based on low-level residual triggering provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a device provided in another embodiment of this application. Detailed Implementation

[0063] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0064] The technical solutions provided in this application can be applied to various communication systems, such as: Global System for Mobile Communications (GSM) systems, General Packet Radio Service (GPRS), Wireless Local Area Network (WLAN), Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, sidelink communication systems, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication systems, non-terrestrial network (NTN) communication systems, 5th generation (5G) mobile communication systems or new radio access technology (NR), and 6th generation (6G) mobile communication systems. Among these, 5G mobile communication systems can include non-standalone (NSA) and / or standalone (SA) networking. The technical solutions provided in this application can also be applied to future communication systems. This application does not impose any limitations on this.

[0065] Figure 1 This is a schematic diagram of a communication system 100 used in an embodiment of this application. The communication system 100 may include network devices, such as... Figure 1 The network device 110 is shown. The communication system 100 may also include terminal devices, such as... Figure 1 The terminal device 120 shown is (such as a drone, vehicle, etc.). The network device 110 and the terminal device 120 can communicate via a wireless link. The terminal device 120 and the network device 110 may also not communicate with each other. For example, if the terminal device 120 is an unauthorized drone, the terminal device 120 and the network device 110 may not communicate with each other.

[0066] Figure 1An exemplary network device 110 and a terminal device 120 are shown. Optionally, the communication system 100 may further include multiple network devices and / or multiple terminal devices. The multiple network devices in the communication system 100 can communicate with each other, and the sending end can be the transmitting network device in this application, and the receiving end can be the receiving network device in this application.

[0067] The network equipment in this application can be network-side equipment such as access network equipment and core network equipment. Access network equipment is sometimes also called access node. Access network equipment has wireless transceiver capabilities and is used to communicate with terminals. Access network equipment includes, but is not limited to, base stations, evolved NodeBs (eNodeBs), transmission reception points (TRPs) in the above-mentioned communication systems, next-generation NodeBs (gNBs) in 5G and 6G mobile communication systems, access network equipment or modules of access network equipment in open RAN (ORAN) systems, satellites in NTN communication systems, base stations in future mobile communication systems, or access nodes in WiFi systems. Access network equipment can also be modules or units capable of implementing some functions of a base station. Access network equipment can be macro base stations, micro base stations, or indoor stations, relay nodes or donor nodes, or wireless controllers in cloud radio access network (CRAN) scenarios. Optionally, access network equipment can also be servers, wearable devices, or vehicle-mounted equipment, etc. Multiple access network equipment in a communication system can be base stations of the same type or different types. Base stations can communicate with each other, and can also communicate with terminals via relay stations. Terminals can communicate with multiple base stations using different access technologies. The embodiments of this application do not limit the specific technology or device form used in the access network equipment. In this application, the access network equipment is referred to as a network device.

[0068] In this application, the means for implementing the functions of a network device can be a network device itself, or a means capable of supporting the network device in implementing those functions, such as a processor, circuit, chip, or chip system. This means can be installed in or connected to the network device. In the technical solutions provided in this application, the example of a network device being used to implement the functions of a network device is used to describe the technical solutions provided in this application.

[0069] The terminal device in this application can be a wireless terminal device capable of receiving network device scheduling and instruction information. The wireless terminal device can be a device providing voice and / or data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. For example, the terminal device can communicate with one or more core networks or the Internet via a radio access network (RAN). The terminal device can also be referred to as a terminal, user equipment (UE), mobile station, mobile terminal, etc. Terminal devices can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), ultra-reliable low-latency communication (URLLC), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, or satellite communication, etc. The terminal can be a mobile phone, tablet computer, computer with wireless transceiver capabilities, wearable device, vehicle, aircraft (such as drone, helicopter, airplane), hot air balloon, ship, robot, robotic arm, or smart home device, etc. The embodiments of this application do not limit the form of the terminal device.

[0070] In this application, the apparatus for implementing the functions of a terminal device can be the terminal device itself, or any apparatus capable of supporting the terminal device in implementing those functions, such as a processor, circuit, chip, or chip system. This apparatus can be installed in or connected to the terminal device. In the technical solutions provided in this application, the example of a terminal device being used to implement the functions of a terminal device is used to describe the technical solutions provided in this application.

[0071] Access network equipment and / or terminal equipment can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; on water; or in the air on aircraft, balloons, and satellites. This application does not limit the application scenarios of the access network equipment and terminal equipment. They can be deployed in the same or different scenarios; for example, both can be deployed on land simultaneously; or the access network equipment can be deployed on land while the terminal equipment is deployed on water, etc., and so on.

[0072] In practical applications, multiple network devices can collaborate to assist terminals in achieving wireless access, with different network devices each implementing a portion of the base station's functions. For example, network devices can be central units (CUs), distributed units (DUs), CUs (control planes, CPs), CUs (user planes, UPs), or radio units (RUs), etc. CUs and DUs can be set up separately or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio frequency equipment or radio frequency units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs).

[0073] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (Open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules. CU (or CU-CP and CU-UP), DU, and RU can implement different protocol layer functions.

[0074] To facilitate understanding of the embodiments of this application, the terminology used in this application will be briefly explained first. Optionally, the explanation of some terms may also refer to the explanations in the 3rd Generation Partnership Project (3GPP) standard protocol.

[0075] 1. Integrated Sensing and Communication (ISAC): ISAC is one of the core technical features of 6G mobile communication systems. It refers to the ability of network equipment (such as base stations) to actively detect, locate, and track targets such as drones and vehicles while performing traditional communication functions. In an ISAC network, the base station can not only transmit communication data but also sense the position, speed, and trajectory of targets by transmitting probe beams and receiving reflected echoes. 3GPP has initiated the standardization of ISAC channel models in Release 19.

[0076] 2. Network Equipment: In this embodiment, network equipment refers to equipment in a wireless access network that has the ability to transmit, receive, and process wireless signals, including but not limited to base stations (such as gNBs in 5G NR and base stations in future 6G), access points (APs), roadside units (RSUs), etc. For ease of understanding, base stations will be used as an example in the following description.

[0077] The transmitting network device can be a network device that sends information to other network devices. In this embodiment, the transmitting network device is responsible for sensing the first target and sending the sensed motion status information of the first target to the receiving network device through first indication information. The transmitting network device can also be called a source network device, source base station, etc.

[0078] A receiving network device can refer to a network device that receives information sent by other network devices. In this embodiment, the receiving network device receives first indication information sent by the sending network device and determines a perception configuration strategy for perceiving the first target based on the motion situation information contained therein. The receiving network device is an adjacent network device of the sending network device, meaning that the coverage areas of the sending network device and the receiving network device overlap or are adjacent. The receiving network device can also be called a target network device, target base station, etc. It should be understood that the naming of "sending network device" and "receiving network device" is distinguished from the perspective of signaling interaction. In actual networks, the same network device can act as both a sending network device and a receiving network device in different scenarios.

[0079] 3. Xn Interface: The Xn interface is defined in the 3GPP standard for connecting two Next Generation Radio Access Network (NG-RAN) nodes (such as two base stations). The Xn interface supports signaling information exchange and user plane data forwarding between the two NG-RAN nodes. The Xn interface consists of two parts: a control plane (Xn-C) and a user plane (Xn-U). The Xn application protocol (XnAP) runs on the control plane (Xn-C) and is used to carry signaling messages between base stations. In this embodiment, the source network device and the receiving network device transmit first indication information through the control plane (Xn-C) of the Xn interface, without needing to bypass the core network, thus achieving sub-millisecond-level extremely low-latency signaling exchange.

[0080] 4. First Instruction Information: This refers to a signaling message sent by the transmitting network device to the receiving network device, used to instruct the receiving network device to determine a sensing configuration strategy for sensing the first target. In this embodiment, the first instruction information includes motion situation information of the first target sensed by the transmitting network device. The first instruction information can be carried in the XnAP signaling of the Xn interface, for example, in a handover request message, or in a dedicated sensing context transfer signaling (such as SENSING_CONTEXT_TRANSFER) or emergency sensing request signaling (such as ISAC_EMERGENCY_REQUEST). The first instruction information is transmitted between the transmitting and receiving network devices through the control plane (Xn-C) of the Xn interface, without needing to be reported by the terminal device or bypassed through the core network, thus overcoming the bottlenecks of traditional Uu interface reporting delay and core network bypass delay. Depending on the type of motion situation information, the first instruction information can be used to instruct the receiving network device to configure the beamforming parameters of the target beam (corresponding to situation uncertainty instruction information), or it can be used to instruct the receiving network device to execute an emergency coordination strategy (corresponding to emergency situation instruction information).

[0081] 5. Motion Situation Information: This refers to information acquired by network devices during target perception that describes the target's motion state and changing trends. In this embodiment, motion situation information may include at least one of the following: situation uncertainty indication information (used to describe the degree of target motion divergence in space) and emergency situation indication information (used to indicate that the target has experienced a sudden maneuvering anomaly). The motion situation information is transmitted from the sending network device (source network device) to the receiving network device (target network device) through the first indication information, serving as the basis for the receiving network device to determine the perception configuration strategy.

[0082] 6. Situational uncertainty indication information: This refers to information used to indicate the motion uncertainty of a target in three-dimensional space. In the embodiments of this application, the situational uncertainty indication information may include a horizontal uncertainty index, a vertical uncertainty index, and beamforming suggestion information. The horizontal uncertainty index is used to quantify the degree of motion divergence of the target in the horizontal direction (such as the severity of yaw turns), the vertical uncertainty index is used to quantify the degree of motion divergence of the target in the vertical direction (such as the severity of altitude changes), and the beamforming suggestion information is used to assist the receiving network device in determining the initial beam direction of the target beam. Situational uncertainty indication information is mainly applied in beam pre-beamforming scenarios before cross-device sensing handover, enabling the receiving network device to complete the target beam configuration before the target enters its coverage area, thereby avoiding full-dimensional blind scanning.

[0083] 7. Emergency Situation Indication Information: This refers to information used to indicate that a target has experienced a sudden maneuvering anomaly. In this embodiment, the emergency situation indication information may include at least one of the following: the triggering cause of the emergency situation, the request period, and the affected resource blocks. The triggering cause indicates the specific reason leading to the emergency situation (e.g., a surge in vertical residual), the request period indicates the period during which the transmitting network device senses the target after the emergency situation occurs (less than the normal sensing period), and the affected resource blocks indicate the time-frequency domain resource blocks occupied by the transmitting network device for sensing after the emergency situation occurs. The emergency situation indication information is mainly applied to emergency maneuvering scenarios such as a sudden vertical drop or ascent, enabling the receiving network device to perform resource silencing or synchronous encrypted sensing, thereby achieving continuous locking of the emergency target while avoiding co-channel interference.

[0084] 8. Horizontal Uncertainty Index and Vertical Uncertainty Index: The horizontal uncertainty index is a measure used to quantify the uncertainty of a target's motion in the horizontal direction (such as yaw turns on a latitude-longitude plane); the vertical uncertainty index is a measure used to quantify the uncertainty of a target's motion in the vertical direction (such as changes in altitude, sudden ascent / descent). When network devices track targets, they typically maintain a covariance matrix describing the uncertainty of the target's motion state. This matrix reflects the network device's confidence level in its estimation of the target's current position and velocity. This application decomposes the coupled uncertainty in three-dimensional space into horizontal and vertical components using horizontal and vertical projection operators, respectively calculating the horizontal and vertical uncertainty indices. A larger horizontal uncertainty index indicates more severe maneuvering of the target in the horizontal direction (such as high-speed S-shaped evasion); a larger vertical uncertainty index indicates more severe maneuvering of the target in the vertical direction (such as sudden descent). The receiving network device can determine the horizontal and vertical beamwidths of the target beam based on these two indices.

[0085] 9. Beamforming Recommendation Information: This refers to information provided by the transmitting network device to the receiving network device to assist the receiving network device in determining the beamforming parameters of the target beam. In this embodiment, the beamforming recommendation information includes at least one of the following: real-time motion data of the first target and a recommended beam pointing. In one possible implementation, the beamforming recommendation information may further include a recommended horizontal beamwidth and / or a recommended vertical beamwidth. The real-time motion data and the recommended beam pointing are used to determine the initial beam pointing of the target beam, and the recommended horizontal beamwidth and the recommended vertical beamwidth are used to determine the beamwidth of the target beam. The beamforming recommendation information, together with the horizontal uncertainty index and the vertical uncertainty index, constitutes situational uncertainty indication information, enabling the receiving network device to flexibly determine the beamforming parameters of the target beam that match the target's maneuvering characteristics based on various reference information provided by the transmitting network device.

[0086] 10. Real-time motion data: This refers to the motion state parameters of the first target sensed by the transmitting network device at the current or most recent moment. In this embodiment, real-time motion data may include the first target's position information (such as three-dimensional coordinates), velocity information (such as horizontal and vertical velocity), azimuth information, etc. The receiving network device can predict the first target's trajectory at future moments based on the real-time motion data, thereby determining the initial beam direction of the target beam. Real-time motion data provides the receiving network device with a basis for calculating the beam direction, enabling the receiving network device to flexibly determine the direction based on its own algorithm.

[0087] 11. Suggested Beampointing: This refers to the initial beampointing of the target beam directly suggested by the transmitting network device to the receiving network device based on its perception of the first target. Suggested beampointing may include suggested azimuth and / or suggested elevation. Unlike real-time motion data, suggested beampointing is a pre-calculated result by the transmitting network device; the receiving network device can directly use this suggested value to determine the initial beampointing of the target beam without needing to calculate it itself. Real-time motion data and suggested beampointing can be transmitted independently or simultaneously. The receiving network device can choose to use one or a combination of both to determine the initial beampointing based on actual needs.

[0088] 12. Recommended Horizontal Beamwidth and Recommended Vertical Beamwidth: The recommended horizontal beamwidth refers to the beamwidth value in the horizontal direction recommended by the transmitting network device to the receiving network device based on its own judgment of the horizontal uncertainty index of the first target. The recommended vertical beamwidth refers to the beamwidth value in the vertical direction recommended by the transmitting network device to the receiving network device based on its own judgment of the vertical uncertainty index of the first target. The receiving network device can directly determine the beamwidth of the target beam based on the recommended horizontal beamwidth and / or the recommended vertical beamwidth, or it can determine the beamwidth itself based on the horizontal and vertical uncertainty indices. These two methods provide the receiving network device with flexible choices.

[0089] 13. Initial Beam Pointing: This refers to the initial transmission direction of the target beam predetermined by the receiving network device before the first target enters its coverage area for sensing the first target. In this embodiment, the initial beam pointing is an important component of beamforming parameters and may include azimuth and / or elevation angles. The receiving network device determines the initial beam pointing based on beamforming suggestion information sent by the transmitting network device. In one possible implementation, the receiving network device predicts the possible future position of the first target based on real-time motion data (such as position information, velocity information, azimuth information, etc.) carried in the beamforming suggestion information, thereby determining the initial beam pointing of the target beam. In another possible implementation, the receiving network device directly determines the initial beam pointing of the target beam based on the suggested beam pointing carried in the beamforming suggestion information. In handover scenarios, the receiving network device needs to pre-set the initial beam pointing before the target arrives so that it can immediately align the target beam with the first target when the first target enters its coverage area, thereby avoiding full-dimensional blind scanning and achieving continuous sensing and tracking across devices. It should be understood that the initial beam pointing is only used for the initial configuration of the target beam. After the receiving network device successfully captures the first target and begins autonomous tracking, the receiving network device will continuously update the beam pointing based on its actual perceived echo in order to follow the real-time movement of the first target.

[0090] 14. Beamforming: This refers to the technique by which network devices adjust the signal amplitude and phase of each antenna element in an antenna array to form a directional beam of transmitted signals in a specific direction. Through beamforming, network devices can focus radio frequency energy in the direction of the target, thereby improving signal strength, expanding coverage, and suppressing interference. In this embodiment, the receiving network device determines the beamforming parameters of the target beam (such as horizontal beamwidth, vertical beamwidth, and initial beam pointing) based on the horizontal and vertical uncertainty indices, thereby generating a detection beam that matches the target's maneuvering characteristics.

[0091] 15. Pancake Beam: This refers to a special beam shape that is wide horizontally and narrow vertically. In the embodiments of this application, when the target maneuvers significantly in the horizontal direction (high horizontal uncertainty index) but moves smoothly in the vertical direction (low vertical uncertainty index), the receiving network device shapes the target beam into a "pancake beam" that is wide horizontally (e.g., 60°) and narrow vertically (e.g., 8°). The wide horizontal beam can encompass the target's turning maneuvers on the horizontal plane, preventing the target from falling out of the beam coverage due to lateral movement; the narrow vertical beam can highly focus the radio frequency energy at the target's altitude, preventing energy leakage downwards and generating ground clutter interference.

[0092] 16. Perception Residual: In this embodiment, the perception residual refers to the cumulative statistical measure of the deviation between the actual measured value of the target and the predicted value based on historical trajectories by the network device. When tracking a target, the network device uses filters (such as Kalman filters) to predict the target's motion state and compares the predicted value with the actual echo measurement value. The deviation between the two reflects the degree of deviation between the actual target motion and the prediction model. To smooth out the influence of single measurement noise, the network device can perform weighted accumulation processing on the deviations at multiple times to obtain the perception residual. The perception residual is used to compare with an activation threshold. When the perception residual is greater than the activation threshold, it indicates that the target has undergone a sudden maneuver (such as a sharp drop) that exceeds the normal prediction range, triggering an emergency situation.

[0093] 17. Residual Vector and Innovation Covariance Matrix: The residual vector (or innovation vector) is the deviation vector between the actual measurement and the predicted value at the current moment within the Kalman filter framework. It reflects the direction and magnitude of the deviation between the current measurement and the prediction in multiple dimensions (such as horizontal and vertical positions). The innovation covariance matrix characterizes the statistical uncertainty of this deviation—that is, what range of deviation is reasonable under normal random noise conditions. The innovation covariance matrix integrates the uncertainty of prediction and the uncertainty of measurement noise. Based on the residual vector and the innovation covariance matrix, the normalized innovation square can be calculated to measure whether the deviation between the current measurement and the predicted value is statistically significant.

[0094] 18. Normalized Innovation Squared (NIPS): This is a scalar value obtained by normalizing the residual vector by dividing it by its covariance matrix. It measures the deviation between the actual measured value and the predicted value at the current moment. When the target is in stationary motion, NIPS follows a chi-square distribution, and its degrees of freedom are equal to the dimension of the state vector. When the value of NIPS exceeds a certain threshold (such as the threshold corresponding to 99% confidence), it means that the probability of the current deviation occurring is less than 1%, indicating that the prediction model may have failed and the target has undergone abnormal maneuvers.

[0095] 19. Activation Threshold and Recovery Threshold: The activation threshold is the threshold used to determine whether an emergency situation has been triggered. When the perceived residual (i.e., the decaying memory statistic) is greater than the activation threshold, the network device determines that an emergency situation has occurred. The activation threshold can correspond to a first confidence level (e.g., 99%), meaning that only when the perceived residual exceeds the threshold value corresponding to this confidence level is the target's maneuver considered statistically significant. The recovery threshold is the threshold used to determine whether the emergency situation has been resolved; the recovery threshold is lower than the activation threshold. When the perceived residual falls back below the recovery threshold, the network device determines that the emergency situation has been resolved. The interval between the activation threshold and the recovery threshold constitutes the hysteresis interval, which can effectively avoid the ping-pong effect of repeated triggering and resolution of emergency situations caused by measurement noise.

[0096] 20. Main Beam and Warning Tripwire Beam: The main beam refers to the detection beam used by network equipment for routine target tracking, emitted periodically according to a standard sensing cycle (e.g., 20ms). The warning tripwire beam refers to an auxiliary detection beam, additionally configured by the network equipment directly below and / or above the main beam, with a shorter sensing cycle (e.g., 2ms) and lower transmission power. The function of the warning tripwire beam is to continuously monitor the target for sudden vertical movement (e.g., a sudden drop) within the interval between two transmissions of the main beam (sampling blind zone). Once the warning tripwire beam detects a target, an emergency situation can be triggered immediately without waiting for the next sensing cycle of the main beam, thus solving the problem of sudden drops not being detected in time during fixed long-cycle sensing.

[0097] 21. Normal Sensing Period vs. Request Period: The normal sensing period refers to the time interval (e.g., 20ms) during which network devices sense a target under normal operating conditions. The request period refers to the time interval (e.g., 5ms) during which network devices sense a target after an emergency occurs. The request period is shorter than the normal sensing period. In an emergency, network devices switch from the normal sensing period to the request period, i.e., encrypted detection, to capture the target's movement trajectory with higher temporal resolution and avoid the target falling out in blind spots due to excessively large sampling intervals.

[0098] 22. Resource Silence: This refers to the behavior of a network device suspending downlink service scheduling on a specified time-frequency resource block. In this embodiment, when the receiving network device receives emergency situation indication information sent by the source network device, the receiving network device suspends its own downlink service scheduling on the corresponding time-frequency resource block according to the affected resource block information carried therein, so as to avoid co-channel interference to the high-frequency emergency detection of the source network device.

[0099] 23. Synchronous Encrypted Sensing: This refers to the behavior of a receiving network device sensing a target using the same sensing period (i.e., request period) as the source network device. In this embodiment, when the receiving network device receives emergency situation indication information sent by the sending network device, the receiving network device can cooperate with the sending network device to perform synchronous encrypted sensing of the target according to the same request period. This allows multiple network devices to jointly lock onto the target when the target may fall into the boundary of the coverage area of ​​multiple network devices, thereby improving the reliability of sensing.

[0100] 24. Second Instruction Message: This refers to the signaling message sent by the transmitting network device to the receiving network device after the emergency situation is resolved, used to instruct the receiving network device to stop executing the emergency coordination strategy. In this embodiment, when the current perception residual of the first target by the transmitting network device is less than or equal to the recovery threshold, the transmitting network device determines that the emergency situation is resolved and sends the second instruction message to the receiving network device. The second instruction message can be carried in the XnAP signaling of the Xn interface. After receiving the second instruction message, the receiving network device stops executing resource silencing or stops executing synchronous encrypted perception according to the information, thereby restoring the entire network resources from the emergency state to the normal state, avoiding unnecessary long-term impact on normal communication services caused by continuous execution of resource silencing or synchronous encrypted perception. It should be understood that the second instruction message and the first instruction message are distinguished from the perspective of signaling function—the first instruction message is used to trigger the receiving network device to execute the perception configuration strategy, and the second instruction message is used to trigger the receiving network device to stop executing the emergency coordination strategy.

[0101] 25. Preemptive Quality of Service (QoS): This refers to a service quality guarantee mechanism with the highest priority. In network transmission links, when resource congestion occurs, data packets assigned preemptive QoS can "preempt" transmission resources originally allocated to low-priority services (such as enhanced mobile broadband, eMBB), thereby gaining priority in transmission. In the embodiments of this application, the first indication information under emergency conditions (such as an emergency awareness request) is assigned preemptive QoS at the ultra-reliable low-latency communication (URLLC) level, giving it the highest queue-jumping right in the underlying routers of the network devices, ensuring that it reaches all neighboring network devices in the network with extremely low latency of sub-milliseconds (<1ms).

[0102] It should be understood that the technical terms used in this application are for illustrative purposes only and not as limiting. For example, as technology evolves, technical terms may also change, and other technical terms that have the same technical meaning should also apply to this application.

[0103] First, the reasons for the technical problem that this application aims to solve will be explained: In 6G integrated sensing networks, network devices (such as base stations) are endowed with radar sensing capabilities, enabling them to detect, locate, and track targets such as drones and vehicles using communication signals. However, the sensing capabilities of a single network device are limited by line-of-sight, accuracy, and coverage, making it difficult to meet the application requirements of wide-area continuous and highly reliable sensing. Therefore, collaborative sensing by multiple network devices has become an inevitable evolutionary direction.

[0104] In multi-network device collaborative sensing scenarios, when a highly maneuverable target (such as a drone) moves from the coverage area of ​​one network device to the coverage area of ​​another, the source network device (such as the source base station) needs to hand over the target sensing task to the target network device (such as the target base station), which then continues to sense the target. During this process, the source network device cannot transmit the target's heterogeneous motion state to the target network device, such as the difference in maneuverability between the target in the horizontal direction (yaw and turn) and the vertical direction (altitude change), leaving the target network device unaware of the motion characteristics of a target about to enter its coverage area. To capture the target, the target network device is forced to initiate a full-dimensional beam blind scan at the handover moment, i.e., searching for the target by firing probe beams in all possible spatial directions. This "cold start" blind scan method consumes a large amount of baseband computing power for full-dimensional matrix operations, leading to computing power redundancy. Furthermore, the target may have already crossed the cell boundary before the blind scan is completed, resulting in target loss. Therefore, how to enable target network devices to quickly and accurately acquire target motion status information during cross-device sensing handover, thereby avoiding blind scanning and achieving seamless continuous sensing and tracking, has become a technical problem that 6G integrated sensing network urgently needs to solve.

[0105] In view of this, this application provides a communication method that enables a source network device to transmit the target's motion state information to a target network device through a first instruction information, thereby avoiding the target network device from performing full-dimensional beam blind scanning during cross-device perception handover. This not only reduces computing power consumption but also enables continuous perception and tracking across devices, preventing the target from being lost.

[0106] The solution provided in this application will be described in detail below with reference to the corresponding flowcharts. It is understood that the illustrative flowcharts provided in this application primarily use different devices (e.g., transmitting network devices and receiving network devices) as examples of the execution entities in this interactive illustration to illustrate the method, but this application does not limit the execution entities of the interactive illustrations. For example, the device in the illustrative flowchart (e.g., the transmitting network device) can also be a chip, chip system, or processor that supports the implementation of this method on that device, or it can be a logic module or software that can implement all or part of the functions of that device.

[0107] As a general statement, the message or signaling interactions involved in the interaction process of this application embodiment can be standard messages or signaling or newly introduced messages or signaling. This application embodiment does not make specific limitations on this.

[0108] Figure 2 This is a flowchart illustrating a communication method according to an embodiment of this application. It can be understood that... Figure 2 The sending network device (source network device) in the middle can be Figure 1 The term "access network device" can also refer to any component within the access network device (such as a processor, chip, or chip system). For example... Figure 2 As shown, the method includes the following steps: Step 201: The sending network device sends a first indication message to the receiving network device, and the receiving network device receives the first indication message.

[0109] In this context, the receiving network device is at least one adjacent network device of the sending network device, meaning that the coverage areas of the sending network device and the receiving network device overlap or are adjacent. For example, if the sending network device is the source base station and the receiving network device is the target base station, then the cells covered by the source base station and the cells covered by the target base station are neighboring cells.

[0110] The first instruction information is used to instruct the receiving network device to determine a perception configuration strategy for perceiving the first target. The first instruction information includes motion state information of the first target perceived by the sending network device.

[0111] As one possible implementation, the transmitting network device can transmit the target's motion status information to the receiving network device via a first indication message when the target is about to cross its coverage area. This allows the receiving network device to determine beamforming parameters based on the information, thereby preventing the receiving network device from being forced to initiate full-dimensional blind beam scanning due to a lack of prior target information during cross-device sensing handover. This not only reduces computing power consumption but also enables continuous sensing and tracking across devices, preventing target loss. Furthermore, when the target experiences an emergency, the transmitting network device can transmit emergency status indication information to the receiving network device via the first indication message. This allows the receiving network device to execute emergency coordination strategies accordingly, preventing interference from unilateral emergency sensing by the transmitting network device on the communication or sensing of the receiving network device, and achieving full-network collaborative resource scheduling in emergency situations. In one possible implementation of this application embodiment, the aforementioned motion situation information may include at least one of the following: situation uncertainty indication information and emergency situation indication information; when the motion situation information includes situation uncertainty indication information, the perception configuration strategy may include beamforming parameters corresponding to the target beam for sensing the first target; when the motion situation information includes emergency situation indication information, the perception configuration strategy may include an emergency coordination strategy.

[0112] The communication method provided in the embodiments of this application will be described below in conjunction with two typical times when the first instruction information is sent.

[0113] Timing 1: Beam pre-shaping in cross-device sensing handover scenarios.

[0114] As an example, in a cross-device sensing handover scenario, a transmitting network device (such as a source base station) is tracking a first target (such as a drone) and determines that the first target is about to move from the coverage area of ​​the transmitting network device to the coverage area of ​​the receiving network device (such as the target base station). In this scenario, the transmitting network device sends a first indication message to the receiving network device, which may carry motion situation information. This motion situation information may include situation uncertainty indication information, used to indicate the motion uncertainty of the first target in three-dimensional space. Correspondingly, after receiving the first indication message, the receiving network device can determine the beamforming parameters of the target beam for sensing the first target based on the situation uncertainty indication information it carries. The receiving network device can pre-configure the target beamforming before the first target enters its coverage area, enabling immediate sensing when the first target enters the coverage area. This avoids the computational cost and tracking loss risk caused by the forced initiation of full-dimensional beam blind scanning due to a lack of prior target information in traditional solutions, thus achieving continuous sensing and tracking across devices.

[0115] Timing 2: Emergency coordination in scenarios involving sudden and urgent maneuvers of the target.

[0116] As an example, in a scenario of sudden emergency maneuvering by a target, the transmitting network device, while sensing the first target, detects a sudden maneuver anomaly beyond the normal prediction range (such as a sudden vertical drop or ascent), triggering an emergency situation. In this scenario, the transmitting network device can send a first indication message to the receiving network device, which may carry motion situation information. This motion situation information may include emergency situation indication information, indicating that the first target has experienced a sudden maneuver anomaly. After receiving the first indication message, the receiving network device determines an emergency coordination strategy based on the emergency situation indication information it carries. By executing this emergency coordination strategy, the receiving network device can avoid its own communication or sensing signals interfering with the high-frequency emergency detection of the transmitting network device, or cooperate with the transmitting network device to jointly lock onto the first target at the boundary of multiple network device coverage areas. This achieves network-wide collaborative resource scheduling in an emergency situation, ensuring that the target is not lost while maintaining the normal operation of neighboring cell communication links.

[0117] It should be noted that the two transmission timings and the corresponding two types of motion situation information mentioned above can be implemented independently or in combination. For example, if the target suddenly faces an emergency situation during cross-device sensing handover, the first indication information may simultaneously include situation uncertainty indication information and emergency situation indication information. This application embodiment does not limit this.

[0118] As one possible implementation, the first indication information can be directly transmitted between network devices via the Xn interface without going through the core network, avoiding transmission delays caused by higher-layer signaling interactions. This allows motion situation information to reach the receiving network device with sub-millisecond latency, enabling the early injection of the sensing context before cross-device handover, thereby further improving the timeliness and reliability of cross-device sensing handover. Specifically, in one possible implementation of this application embodiment, step 201 above may include: The transmitting network device sends a first indication message to the receiving network device through the Xn interface, and the receiving network device receives the first indication message through the Xn interface.

[0119] In this embodiment of the application, the first indication information can be carried in different Xn interface signaling, and the specific carrying method can be flexibly selected according to the two different transmission times mentioned above.

[0120] As an example, in scenario one (beamforming pre-configuration in a cross-device sensing handover scenario), the first indication information can be carried in a handover request message or in a newly defined sensing context transfer signaling (such as SENSING_CONTEXT_TRANSFER). When the transmitting network device determines that the first target is about to cross the coverage boundary, it sends a handover request message or sensing context transfer signaling carrying the first indication information to the receiving network device through the control plane (Xn-C) of the Xn interface. This injects the situational uncertainty indication information into the receiving network device in advance, enabling the receiving network device to complete beamforming configuration before the first target arrives. This unicast transmission method based on the Xn interface completely bypasses the slow path of measurement reporting by the terminal device through the Uu interface. The target base station obtains the prior information required for beamforming tens of milliseconds before the terminal device actually enters its coverage area, realizing "beamforming before seeing the target" at the physical layer.

[0121] As an example, in Scenario Two (emergency coordination in a sudden emergency maneuver scenario), the first indication information can be carried in a newly defined emergency awareness request signaling (such as ISAC_EMERGENCY_REQUEST). When the sending network device triggers an emergency situation, it sends an emergency awareness request signaling carrying the first indication information to the receiving network device through the control plane (Xn-C) of the Xn interface, thus transmitting the emergency situation indication information to the receiving network device. To prevent this emergency signaling from being blocked by ordinary services in the transmission link, the emergency awareness request signaling can be assigned URLLC-level preemptive QoS, giving it the highest queue-jumping right in the underlying routers of the network device, ensuring that it reaches the receiving network device with extremely low latency down to the sub-millisecond level. In terms of transmission method, since the first target is very likely to fall into the boundary of the coverage area of ​​multiple network devices during a sudden drop, the emergency sensing request signaling can be sent simultaneously to multiple neighboring network devices through the Xn interface in a multicast manner, so as to drive the surrounding network devices to execute emergency coordination strategies (such as completing resource silencing or synchronous encrypted sensing) within microseconds, and instantly build an interference-free high-frequency capture network in physical space.

[0122] It should be noted that the above two carrying and transmitting methods can be used independently or in combination depending on the actual scenario. For example, if the target suddenly faces an emergency situation during cross-device perception handover, the first indication information can simultaneously include situation uncertainty indication information and emergency situation indication information, and be sent in conjunction with a handover request message (or perception context transfer signaling) and an emergency perception request signaling. This application embodiment does not limit this.

[0123] As one possible implementation, when the motion situation information includes situation uncertainty indication information (i.e., the above-mentioned situation one), the situation uncertainty indication information may include horizontal uncertainty index, vertical uncertainty index and beamforming suggestion information.

[0124] The horizontal uncertainty index quantifies the degree of motion divergence of the first target in the horizontal direction (such as yaw turns on a latitude-longitude plane). A larger horizontal uncertainty index indicates more severe maneuvering of the first target in the horizontal direction (such as high-speed S-shaped evasion). The vertical uncertainty index quantifies the degree of motion divergence of the first target in the vertical direction (such as changes in altitude, rapid ascent / descent). A larger vertical uncertainty index indicates more severe maneuvering of the first target in the vertical direction (such as sudden descent). Beamforming suggestion information can be used to assist receiving network equipment in determining the initial beam pointing of the target beam.

[0125] As an example, when the first indication information is carried in a handover request message or in a newly defined perception context transfer signaling (such as SENSING_CONTEXT_TRANSFER), the signaling may contain three information elements, which are used to carry the horizontal uncertainty index, the vertical uncertainty index, and the beamforming suggestion information, respectively.

[0126] As one possible implementation, the horizontal uncertainty index and the vertical uncertainty index can be determined in the following way: Obtain the three-dimensional spatial state covariance matrix corresponding to the first target, where the three-dimensional spatial state covariance matrix is ​​used to characterize the uncertainty of the motion state of the first target in three-dimensional space; The horizontal projection operator is used to project the three-dimensional spatial state covariance matrix to obtain the horizontal covariance matrix corresponding to the first target. The horizontal covariance matrix is ​​used to characterize the uncertainty of the motion state of the first target in the horizontal direction. The vertical projection operator is used to project the three-dimensional spatial state covariance matrix to obtain the vertical covariance matrix corresponding to the first target. The vertical covariance matrix is ​​used to characterize the uncertainty of the motion state of the first target in the vertical direction. Determine the level uncertainty index based on the level covariance matrix; The vertical uncertainty index is determined based on the vertical covariance matrix.

[0127] As one possible implementation, during the sensing and tracking of the first target, the transmitting network device can maintain in real time a three-dimensional spatial state covariance matrix describing the uncertainty of the first target's motion state. This three-dimensional spatial state covariance matrix can be represented as... , where t represents the current time. This matrix reflects the confidence level of the transmitting network device in estimating the current position, velocity, and other motion states of the first target in three-dimensional space—the larger the trace of the matrix, the higher the overall uncertainty; the larger the eigenvalues ​​of the matrix, the more severe the divergence in the corresponding direction.

[0128] Sending network devices to obtain the three-dimensional spatial state covariance matrix corresponding to the first target Then, it can be done through the horizontal projection operator. For the state covariance matrix in three-dimensional space By projection, the horizontal covariance matrix corresponding to the first target is obtained. ; and through the vertical projection operator For the state covariance matrix in three-dimensional space By projection, the vertical covariance matrix corresponding to the first target is obtained. .

[0129] For example, the horizontal covariance matrix It can be determined using the following formula:

[0130] Vertical covariance matrix It can be determined using the following formula:

[0131] in, Represents the horizontal projection operator The conjugate transpose of . Represents the vertical projection operator The conjugate transpose of .

[0132] By horizontal projection operator and vertical projection operator For the state covariance matrix in three-dimensional space By performing orthogonal projection decoupling, the motion error of the first target coupled in three-dimensional space can be accurately decomposed into horizontal components (based on the horizontal covariance matrix). (characterized by) and vertical components (derived from the vertical covariance matrix) This method (characterization) enables independent quantification of motion uncertainties in the horizontal and vertical directions, avoiding misjudgments of maneuvering caused by three-dimensional overall coupling.

[0133] After obtaining the horizontal covariance matrix and vertical covariance matrix Then, the transmitting network device can determine the horizontal covariance matrix. Determine the horizontal uncertainty index based on the vertical covariance matrix. Determine the vertical uncertainty index.

[0134] As an example, the horizontal uncertainty index By analyzing the horizontal covariance matrix The extracted feature values ​​are obtained; specifically, the level of uncertainty index can be calculated using the following formula. : Tr

[0135] Among them, Tr Represents the level covariance matrix The trace (i.e., the sum of the diagonal elements of a matrix) is used to characterize the total energy of overall uncertainty in the horizontal direction; Represents the horizontal covariance matrix The largest eigenvalue is used to characterize the intensity of the principal direction with the greatest uncertainty in the horizontal direction. It is obtained by multiplying the two and taking the logarithm. The value reflects both the overall degree of horizontal divergence (Tr part) and, through a logarithmic approach, highlights the extreme uncertainty in the dominant direction. (Partially), avoiding the problem of being averaged out when one direction is extremely long and other directions are extremely short.

[0136] Similarly, the vertical uncertainty index By analyzing the vertical covariance matrix The extracted feature values ​​are obtained; specifically, the vertical uncertainty index can be calculated using the following formula. :

[0137] in, Represents the vertical covariance matrix Tracing is used to characterize the total energy of overall uncertainty in the vertical direction; Represents the vertical covariance matrix The largest eigenvalue is used to characterize the intensity of the principal direction with the greatest uncertainty in the vertical direction.

[0138] As an example, the horizontal uncertainty index is calculated based on the above formula. and vertical uncertainty index After obtaining the specific values, the transmitting network device can directly include the calculated values ​​as the horizontal and vertical uncertainty indices in the first indication information and send them to the receiving network device. Upon receiving the specific values, the receiving network device can determine the degree of horizontal / vertical uncertainty based on these values, thereby determining the corresponding beamforming parameters.

[0139] As an example, the transmitting network device calculates the horizontal uncertainty index. and vertical uncertainty index After determining the specific value, the value can be further quantized into different levels according to preset quantization rules, and the quantized level information can be included as the horizontal uncertainty index and vertical uncertainty index in the first indication information and sent to the receiving network device. For example, the sending network device can preset one or more thresholds to quantify the horizontal uncertainty index. Quantified into "high," "medium," and "low" levels, or divided into more or fewer levels—when When the horizontal uncertainty index exceeds the first threshold, it can be classified as "high," indicating that the first target is maneuvering very violently in the horizontal direction (such as a high-speed S-turn). The receiving network equipment can then widen the horizontal beamwidth to a larger angle to encompass the horizontal maneuver. When the horizontal uncertainty index is less than or equal to the first threshold and greater than the second threshold, it can be classified as "medium," indicating that the first target has some horizontal maneuverability but remains within a controllable range; when... When the horizontal uncertainty index is less than or equal to the second threshold, it can be classified as "low," indicating that the first objective moves smoothly in the horizontal direction. Similarly, the vertical uncertainty index can also be classified as "low." Quantification is performed.

[0140] It should be noted that when carrying this information through the first index information, if the horizontal uncertainty index is divided into high, medium and low levels, the values ​​of the information cells corresponding to the horizontal uncertainty index can be 1, 2 and 3 respectively (for example only) to represent the level of the horizontal uncertainty index; the values ​​of the information cells corresponding to the vertical uncertainty index can also be represented in the same way.

[0141] Alternatively, the transmitting network device may not directly transmit the specific values ​​or levels of the horizontal and vertical uncertainty indices. Instead, based on the calculation results of the horizontal and vertical uncertainty indices, it can directly determine the suggested beamforming parameters (such as suggested horizontal beamwidth, suggested vertical beamwidth, suggested beam pointing, etc.) and include these suggested parameters as part of the situational uncertainty indication information in the first indication information, sending them to the receiving network device. The receiving network device can directly use these suggested parameters for beamforming configuration without needing to calculate them itself.

[0142] It should be noted that the specific implementation methods for converting the horizontal covariance matrix and the vertical covariance matrix into the horizontal uncertainty index and the vertical uncertainty index, whether to perform grade quantization, and whether the first indication information carries the original value, the quantization grade, or the suggested parameter can all be flexibly set according to actual needs and specific application scenarios. This application embodiment does not limit these aspects.

[0143] By using this orthogonal projection decoupling method, the transmitting network device can accurately decompose the coupled motion uncertainty in three-dimensional space into horizontal and vertical components, thereby providing a precise data source for the refined shaping of the target beam. The accurate horizontal uncertainty index helps the receiving network device to accurately determine the horizontal beamwidth to encompass the horizontal maneuver of the target, and the accurate vertical uncertainty index helps the receiving network device to accurately determine the vertical beamwidth to focus energy. Together, they ensure that the target beam can match the different maneuver characteristics of the target in the horizontal and vertical directions respectively, avoiding the target from falling out of the beam coverage due to beamforming mismatch, thus making it more conducive to the continuous perception and tracking of the target during cross-device handover.

[0144] As one possible implementation, the beamforming suggestion information may include real-time motion data of the first target and / or suggested beam pointing. The real-time motion data is used to determine the initial beam pointing of the target beam, and the suggested beam pointing is used to indicate the initial beam pointing of the target beam.

[0145] In one possible implementation of this application embodiment, the beamforming suggestion information may include real-time motion data of the first target. Real-time motion data refers to the motion state parameters of the first target sensed by the transmitting network device at the current or most recent moment. For example, real-time motion data may include the first target's position information (e.g., three-dimensional coordinates), velocity information (e.g., horizontal and vertical velocity), azimuth information, etc. The receiving network device can predict the trajectory of the first target at future moments based on the real-time motion data, thereby determining the initial beam direction of the target beam. Specifically, the receiving network device can, based on the first target's current position, velocity, and azimuth information, combined with its own coverage boundary and the first target's motion trend, calculate the direction from which the first target might enter its coverage area, and thus determine the initial direction in which the target beam should point. This method provides the receiving network device with a basis for calculating the beam direction itself, enabling the receiving network device to flexibly determine the direction according to its own algorithm.

[0146] In another possible implementation of this application embodiment, the beamforming suggestion information may include suggested beam pointing. Here, suggested beam pointing refers to the initial beam pointing of the target beam directly suggested by the transmitting network device to the receiving network device based on its own perception of the first target. For example, suggested beam pointing may include suggested azimuth and / or suggested elevation angles. Unlike real-time motion data, suggested beam pointing can be a result already calculated by the transmitting network device—based on its own perception of the current motion state of the first target and combined with the location information of the receiving network device, the transmitting network device can directly calculate the approximate azimuth and elevation angle of the first target when it enters the coverage area of ​​the receiving network device, and include this calculation result as suggested beam pointing in the beamforming suggestion information. The receiving network device can directly use this suggested value to determine the initial beam pointing of the target beam without having to calculate it itself, thereby reducing the computational burden and latency of the receiving network device.

[0147] In another possible implementation of this application embodiment, the beamforming suggestion information may simultaneously include real-time motion data of the first target and suggested beam pointing. The receiving network device can acquire both types of information simultaneously and select to use one or a combination of both to determine the initial beam pointing as needed. For example, the receiving network device may prioritize using the suggested beam pointing to determine the initial beam pointing of the target beam, while simultaneously using real-time motion data to verify or fine-tune the suggested beam pointing; alternatively, the receiving network device may calculate the initial beam pointing itself based on real-time motion data when it cannot directly use the suggested beam pointing (e.g., the suggested beam pointing does not match its own coverage parameters). This flexible information combination method improves the adaptability and reliability of the solution.

[0148] It should be noted that the beamforming suggestion information may include either real-time motion data or suggested beam pointing, or both, depending on the negotiation strategy between the transmitting and receiving network devices, or it may be flexibly configured according to the application scenario. This application embodiment does not limit this.

[0149] As one possible implementation, the beamforming recommendation information may also include a recommendation for horizontal beamwidth and / or a recommendation for vertical beamwidth.

[0150] In one possible implementation of this application embodiment, the beamforming suggestion information, in addition to including real-time motion data and / or suggested beam pointing, may also include suggested horizontal beamwidth and / or suggested vertical beamwidth. The suggested horizontal beamwidth may refer to the beamwidth value in the horizontal direction suggested by the transmitting network device to the receiving network device based on its own judgment of the horizontal uncertainty index of the first target; the suggested vertical beamwidth may refer to the beamwidth value in the vertical direction suggested by the transmitting network device to the receiving network device based on its own judgment of the vertical uncertainty index of the first target.

[0151] For example, suppose the transmitting network device determines the horizontal uncertainty index in the manner described above. A higher horizontal uncertainty index (indicating significant horizontal maneuvering by the first target) allows the transmitting network device to generate a larger suggested horizontal beamwidth value (e.g., 60°) to accommodate the first target's horizontal turning maneuvers. Assume the transmitting network device determines the vertical uncertainty index using the aforementioned method. If the beamwidth is lower (indicating that the first target is moving smoothly in the vertical direction), the transmitting network device can generate a smaller suggested vertical beamwidth value (e.g., 8°) to highly focus the radio frequency energy at the altitude layer where the first target is located, avoiding energy leakage downwards and causing ground clutter interference. The transmitting network device can include the above suggested horizontal beamwidth and / or suggested vertical beamwidth as part of the beamforming suggestion information in the first indication information and send it to the receiving network device.

[0152] For example, suppose the transmitting network device determines the horizontal uncertainty index in the manner described above. A lower horizontal uncertainty index (indicating smooth horizontal movement of the first target) allows the transmitting network device to generate a smaller suggested horizontal beamwidth value (e.g., 15°) to highly focus radio frequency energy within a specific angular range in the horizontal direction, improving sensing accuracy and signal strength in the horizontal direction. Assume the transmitting network device determines the vertical uncertainty index using the aforementioned method. If the vertical beamwidth is high (indicating that the first target is maneuvering violently in the vertical direction, such as a drone ascending or descending), the transmitting network device can generate a larger suggested vertical beamwidth value (e.g., 30°) to accommodate sudden changes in the vertical altitude of the first target, preventing the target from being lost due to the vertical beam being too narrow and thus exiting the beam coverage. The transmitting network device can include the above suggested horizontal beamwidth and / or suggested vertical beamwidth as part of the beamforming suggestion information and send it to the receiving network device in the first indication information.

[0153] In other words, when the first target moves smoothly in the horizontal direction but maneuvers violently in the vertical direction, the receiving network equipment can shape the target beam into a beam shape that is narrow in the horizontal direction and wide in the vertical direction, so as to simultaneously achieve high-precision perception in the horizontal direction and wide coverage in the vertical direction. Corresponding to the aforementioned "wide horizontal, narrow vertical" pancake beam, this "narrow horizontal, wide vertical" beam shape is suitable for scenarios where the first target frequently changes in vertical height (such as frequent ascents and descents of drones in urban canyons), so that the target beam can have sufficient coverage in the vertical direction to accommodate the target's altitude fluctuations, while maintaining a narrow beamwidth in the horizontal direction to ensure horizontal positioning accuracy.

[0154] It should be noted that when both the horizontal and vertical uncertainty indices are high, the transmitting network device can generate larger suggested horizontal and vertical beamwidth values ​​to simultaneously encompass a wide range of target maneuvers in both the horizontal and vertical directions. Conversely, when both the horizontal and vertical uncertainty indices are low, the transmitting network device can generate smaller suggested horizontal and vertical beamwidth values ​​to achieve high-precision sensing with a narrow beam. This application does not limit this aspect.

[0155] In this way, beamforming suggestion information provides receiving network devices with multiple optional information sources, enabling them to flexibly choose the method to determine beamforming parameters according to their own configuration and preferences. This reduces the computational burden on receiving network devices and improves the efficiency and reliability of cross-device sensing handover.

[0156] As one possible implementation, when the motion situation information includes emergency situation indication information (i.e., the second scenario mentioned above), the emergency situation indication information may include at least one of the following: the triggering reason of the emergency situation, the request period, and the affected resource blocks.

[0157] The triggering cause of the emergency situation can be used to indicate the specific reason that causes the transmitting network device to trigger the emergency situation. For example, it can be a surge in vertical residual (indicating that the first target has experienced a sudden abnormal maneuver in the vertical direction, such as a sudden drop or rise), a surge in horizontal residual (indicating that the first target has experienced a sudden abnormal maneuver in the horizontal direction, such as a sharp turn), or a warning tripwire beam triggering, etc. This application embodiment does not limit this.

[0158] The request period can refer to the perception period of the sending network device for the first target after an emergency occurs. The request period is shorter than the normal perception period, which refers to the perception period of the sending network device for the first target before an emergency occurs. The affected resource block can refer to the time-frequency domain resource block occupied by the sending network device for perception of the first target after an emergency occurs.

[0159] For example, when the first indication information is carried in a newly defined emergency perception request signaling (such as ISAC_EMERGENCY_REQUEST), this signaling can contain three information elements (IEs), which are used to carry the triggering reason of the emergency situation, the request period, and the affected resource blocks, respectively. The value of the information element corresponding to the triggering reason can be enumerated and configured as "vertical residual surge," "horizontal residual surge," "warning tripwire beam trigger," etc., to clearly indicate the physical nature of the emergency situation to the receiving network device. The value of the information element corresponding to the request period can be a specific time-domain period value (such as 5ms), or it can be a pre-configured code corresponding to different periods, such as code 1 for 20ms, code 2 for 5ms, etc. (this is just an example) to save signaling overhead. The information element corresponding to the affected resource blocks can contain information such as the frequency domain resource block index and the time domain symbol position to accurately delineate the time-frequency resource map that the transmitting network device will occupy for emergency perception.

[0160] In this embodiment, after determining that an emergency situation has occurred at the first target, the transmitting network device can carry the first indication information in a newly defined emergency awareness request signaling (such as ISAC_EMERGENCY_REQUEST), along with information such as the triggering cause of the emergency situation, the request period, and the affected resource blocks, to notify the receiving network device (at least one adjacent network device of the transmitting network device) that an emergency situation has occurred at the first target, enabling the receiving network device to execute a corresponding emergency coordination strategy; and it will switch its own awareness period for the first target from a longer conventional awareness period to a shorter request period. Correspondingly, after receiving the first indication information, the receiving network device can parse and obtain the emergency situation indication information, including the triggering cause of the emergency situation, the request period, and the affected resource blocks. Based on this information, the receiving network device can know that the transmitting network device has entered emergency awareness mode, that is, the transmitting network device has broken the predetermined long-period awareness and adopted a shorter request period for high-frequency encrypted detection, thereby clarifying the current awareness status and resource occupancy of the transmitting network device. This allows the receiving network device to determine the corresponding emergency coordination strategy to cooperate with the emergency awareness behavior of the transmitting network device.

[0161] As one possible implementation, since the transmitting network device will conduct high-frequency probing with a shorter request cycle after triggering an emergency situation, if the receiving network device continues to send communication or sensing signals on the same time-frequency resources, it may cause co-channel interference with the high-frequency probing signals of the transmitting network device, resulting in the transmitting network device being unable to accurately receive the target echo and losing track of the first target. Simultaneously, if the receiving network device is unaware of the emergency situation of the transmitting network device, it may also be unable to respond in a timely manner when the transmitting network device requires its cooperation for synchronous probing. Therefore, it is necessary to standardize the standard response behavior of the receiving network device after receiving emergency situation indication information to ensure that it does not interfere with the probing of the transmitting network device under emergency conditions, while also cooperating with the transmitting network device to lock onto the first target. That is, in one possible implementation of this application embodiment, the above-mentioned emergency coordination strategy may include resource silencing or synchronous encrypted sensing. Resource silencing refers to suspending downlink service scheduling on the affected resource block; synchronous encrypted sensing refers to using the same sensing cycle (i.e., request cycle) as the transmitting network device to sense the first target.

[0162] As one possible implementation, the transmitting network device can sense the first target using a main beam and a warning tripwire beam before detecting an emergency situation. The main beam refers to the detection beam used by the transmitting network device for routine tracking of the first target, and it can be transmitted periodically according to a regular sensing period (e.g., 20ms). The warning tripwire beam can be an auxiliary detection beam additionally configured by the transmitting network device directly below and / or above the main beam, with a sensing period (e.g., 2ms) shorter than the main beam's sensing period and a lower transmission power. The role of the warning tripwire beam is to continuously monitor whether the first target experiences sudden vertical movement (e.g., a sudden drop) within the interval between two transmissions of the main beam (sampling blind zone). Once the warning tripwire beam senses the first target, an emergency situation can be triggered immediately without waiting for the next sensing period of the main beam.

[0163] In this application embodiment, the methods for triggering an emergency situation may include the following two: Method 1: Triggering based on sensing residuals of the main beam.

[0164] If the current perception residual of the first target is greater than the activation threshold, the transmitting network device determines that the first target is in an emergency situation at the current moment. Here, the current perception residual is used to characterize the cumulative perception deviation of the first target through the main beam.

[0165] As an example, the transmitting network device can sense a first target using the main beam and calculate the current sensing residual in real time. The current sensing residual characterizes the cumulative sensing bias of sensing the first target using the main beam. When the current sensing residual exceeds an activation threshold, the transmitting network device determines that the first target has entered an emergency situation at the current moment. The activation threshold can correspond to a first confidence level (e.g., 99%), meaning that only when the sensing residual exceeds the threshold value corresponding to this confidence level is the maneuvering anomaly of the first target considered statistically significant, thus triggering an emergency situation.

[0166] Method 2: Triggered by warning tripwire beam.

[0167] If the warning tripwire beam detects the first target at the current moment, it is determined that the first target is in the aforementioned emergency situation at the current moment.

[0168] As an example, when a first target undergoes a sudden vertical movement (such as a sudden drop or rise) within the sampling blind zone of the main beam and crosses the warning tripwire beam, the warning tripwire beam can detect the first target at that moment, and the transmitting network equipment can determine that the first target has entered an emergency situation at that moment. Because the detection period of the warning tripwire beam is much shorter than the normal detection period of the main beam, even if the first target drops suddenly between two main beam detections, it can still be captured by the warning tripwire beam in time, thus avoiding the target falling out in the blind zone due to excessively large sampling intervals.

[0169] Understandably, if the warning tripwire beam is directly below the main beam, it can be used to detect whether the first target is plummeting; if the warning tripwire beam is directly above the main beam, it can be used to detect whether the first target is ascending; if warning tripwire beams are positioned both directly above and below the main beam, they can be used to detect both ascending and plummeting of the first target.

[0170] It should be noted that the two methods for triggering an emergency situation can be implemented independently or simultaneously—that is, an emergency situation can be triggered as long as either condition is met. The two methods complement each other, addressing two abnormal scenarios: cumulative deviation (main beam sensing residual exceeds the threshold) and instantaneous penetration (warning tripwire beam senses the target), respectively, thus jointly improving the comprehensiveness and timeliness of emergency situation detection.

[0171] The current perception residual in Method 1 above can be determined in the following way: The network device obtains the current residual vector, the current information covariance matrix, and the historical perception residual of the previous time step corresponding to the first target.

[0172] Based on the current residual vector and the current innovation covariance matrix, determine the current normalized innovation square corresponding to the first objective; The current perception residual is determined based on the historical perception residual, the current normalized squared information, and the forgetting factor. The forgetting factor is used to control the degree of influence of the historical perception residual on the current perception residual.

[0173] The current residual vector is determined based on the deviation between the current actual measurement value of the first target and the current predicted value of the first target by the transmitting network device. The current actual measurement value is obtained by sensing the first target through the main beam at the current moment (for example, the transmitting network device transmits a detection signal through the main beam at the current moment and receives the echo, extracting the current position of the first target from the echo signal as the current actual measurement value). The current information covariance matrix is ​​used to characterize the uncertainty of the deviation between the current actual measurement value and the current predicted value. The current predicted value is the prediction of the position of the first target at the current moment made by the transmitting network device based on historical trajectories and motion models (such as Kalman filters).

[0174] As an example, the transmitting network device can determine the current normalized innovation square corresponding to the first target based on the current residual vector and the current innovation covariance matrix. Specifically, the current normalized innovation square can be calculated as follows:

[0175] in, Represents the current residual vector. This represents the current innovation covariance matrix. The current normalized innovation squared value is... The physical meaning of this is to measure whether the deviation between the actual measured value and the predicted value at the current moment is statistically significant. When the target is in steady motion, the normalized squared innovation follows a chi-square distribution, and its degrees of freedom are equal to the dimension of the state vector.

[0176] Subsequently, the transmitting network device can determine the current sensing residual based on the historical sensing residual from the previous moment, the current normalized squared information, and the forgetting factor. Specifically, the current sensing residual can be determined using the following recursive method:

[0177] in, Indicates the current perceived residual. This represents the historical perception residual from the previous moment. Represents the forgetting factor (0 < <1), This represents the squared normalized new information. Forgetting factor. This is used to control the influence of historical perception residuals on current perception residuals. A larger forgetting factor means a greater influence of historical information on the current value, resulting in smoother fluctuations in the current perception residual; a smaller forgetting factor means a greater influence of the current normalized squared information on the current perception residual, making the current perception residual more sensitive to sudden anomalies. Through this recursive method of decaying memory, the current perception residual can reflect the long-term trend of historical accumulated biases while remaining sensitive to sudden biases at the current moment, and can rapidly decay to below the recovery threshold after the target resumes stable flight.

[0178] Determine the current sensing residual Then, the transmitting network device can transmit the current perceived residual. With activation threshold Compare. If > If this is the case, then it can be determined that the current perception residual is greater than the activation threshold, triggering an emergency situation. Once the movement of the first target returns to normal, the current perception residual... Gradually decline, when Less than or equal to the recovery threshold ( < When the emergency situation is resolved, the transmitting network device can determine that the emergency situation has been lifted. The interval between the activation threshold and the recovery threshold constitutes the hysteresis interval, which can effectively avoid the ping-pong effect of repeated triggering and de-emergence of the emergency situation due to measurement noise.

[0179] As one possible implementation, after an emergency situation is triggered, the transmitting network device can switch the sensing period for detecting the first target using the main beam from the regular sensing period to a request period, where the request period is shorter than the regular sensing period. In other words, after an emergency situation is triggered, the transmitting network device no longer probes according to the regular sensing period (e.g., 20ms), but instead uses a shorter request period (e.g., 5ms) for encrypted detection. This allows for higher temporal resolution in capturing the target's trajectory when it engages in highly maneuverable escape behaviors such as a sudden drop, preventing the target from falling out of the blind zone and being lost due to excessively large sampling intervals.

[0180] Accordingly, while switching to the request period, the transmitting network device can send emergency situation indication information to the receiving network device via the first indication information, including the request period (e.g., 5ms) and the affected resource blocks (time-frequency resource blocks that the transmitting network device will soon encrypt and sense using 5ms). Upon receiving this information, the receiving network device executes the corresponding emergency coordination strategy based on the emergency situation indication information, such as resource silencing or synchronous encrypted sensing as described above. Thus, the transmitting network device continuously locks onto the first target with the request period, while the receiving network device avoids interference through resource silencing or cooperates in tracking through synchronous encrypted sensing, jointly achieving coordinated sensing that ensures the target is not lost and the entire network is not interfered with during an emergency.

[0181] It should be noted that in actual use, the regular sensing cycle and the request cycle during an emergency, as well as the activation threshold and recovery threshold, can all be determined according to actual needs and specific application scenarios. This application embodiment does not limit these settings. For example, the activation threshold can be 11.34 (corresponding to 99% confidence level), and the recovery threshold can be 3.84.

[0182] In the manner described above, the communication method provided in this application generates emergency situation indication information by triggering the underlying residual when the target suddenly moves urgently. This information is then transmitted to neighboring network devices via the Xn interface in a multicast manner and with high priority QoS. This drives the neighboring network devices to perform resource silent or synchronous encrypted sensing, thereby achieving emergency collaborative resource scheduling at the network-wide level. This ensures that the emergency target is not lost and avoids uncontrollable co-frequency interference to the entire network caused by single-node encrypted detection.

[0183] As one possible implementation, while the transmitting network device is performing encrypted sensing of the first target using the main beam according to the request period, the transmitting network device can continue to calculate the current sensing residual in real time. and continuously perceive the residual With recovery threshold Comparison is performed when the transmitting network device detects the current perceived residual. Less than or equal to the recovery threshold This indicates that the motion state of the first target has recovered from abnormal maneuvering to normal flight. For example, after the UAV plunges several tens of meters, the flight control system intervenes and successfully "levels off," the vertical velocity stabilizes again, and the acceleration returns to zero. At this point, the predicted value of the base station filter converges with the actual measured value again, and the normalized innovation square... Falling back to a lower level, current perceived residual It then decays to the recovery threshold. The following is a possible implementation of this application embodiment. In this case, the sending network device determines that the emergency situation has been lifted. Specifically, in a possible implementation of this application embodiment, if the motion situation information in the first indication information includes emergency situation indication information, the step 201 described above may further include: If the current perception residual is less than or equal to the recovery threshold, the emergency situation is determined to be lifted, and a second instruction message is sent to the receiving network device.

[0184] The second instruction information is used to instruct the receiving network device to stop executing the emergency coordination strategy. That is, when the sending network device determines that the emergency situation has been resolved, the perception period for the first target can be switched from a higher request period (e.g., 5ms) to a normal perception period (e.g., 5ms). The receiving network device (i.e., neighboring network devices) can be explicitly informed through signaling that the sending network device has exited the emergency perception mode and will no longer perform encrypted probing with a request period. This triggers the receiving network device to correspondingly stop resource silencing or stop synchronous encrypted perception, so that the network resources can return from the emergency state to the normal state.

[0185] For example, the second indication information can be carried in the signaling of the Xn interface (such as in a newly defined emergency situation cancellation signaling or context release signaling) and sent to the receiving network device. The second indication information may include an emergency situation cancellation indication to clearly inform the receiving network device that the emergency situation has been cancelled. In terms of transmission method, since the first indication information may have been sent to multiple neighboring network devices via multicast when the emergency situation is triggered, the second indication information can also be sent synchronously to multiple neighboring network devices via the Xn interface using the same multicast method, so as to ensure that all neighboring network devices that have implemented the emergency coordination strategy can receive the cancellation indication at the same time, thereby achieving synchronous recovery of network resources.

[0186] Step 202: The receiving network device determines the perception configuration strategy for perceiving the first target based on the motion situation information.

[0187] In this embodiment, after receiving the first indication information sent by the sending network device, the receiving network device can parse the first indication information to obtain the motion situation information carried therein. The receiving network device can determine the corresponding perception configuration strategy based on the specific content of the motion situation information. As mentioned above, the motion situation information may include situation uncertainty indication information and / or emergency situation indication information. The specific methods by which the receiving network device determines the perception configuration strategy are described below, taking into account the two different types of motion situation information.

[0188] Scenario 1 (corresponding to timing 1 in step 201): The receiving network device receives situation uncertainty indication information.

[0189] As an example, in a cross-device sensing handover scenario, the transmitting network device (e.g., the source base station) determines that a first target is about to enter the coverage area of ​​the receiving network device (e.g., the target base station) and sends situational uncertainty indication information to the receiving network device through first indication information. The receiving network device can parse the situational uncertainty indication information from the first indication information, which may include a horizontal uncertainty index, a vertical uncertainty index, and beamforming suggestion information. The receiving network device can determine the horizontal beamwidth of the target beam based on the horizontal uncertainty index, determine the vertical beamwidth of the target beam based on the vertical uncertainty index, and determine the initial beam pointing of the target beam based on the beamforming suggestion information.

[0190] In one possible implementation of this application embodiment, when the aforementioned situational uncertainty indication information includes a horizontal uncertainty index, a vertical uncertainty index, and beamforming suggestion information, the aforementioned beamforming parameters may include the horizontal beamwidth, vertical beamwidth, and initial beam pointing of the target beam. Accordingly, step 202 may include: The horizontal beamwidth of the target beam is determined based on the horizontal uncertainty index. The vertical beamwidth of the target beam is determined based on the vertical uncertainty index. Based on the beamforming recommendation information, determine the initial beam pointing of the target beam.

[0191] The larger the horizontal uncertainty index, the more violent the horizontal maneuver of the first target, allowing the receiving network equipment to set a larger horizontal beamwidth to accommodate the target's turning maneuvers. Conversely, the smaller the horizontal uncertainty index, the smoother the horizontal movement of the first target, allowing the receiving network equipment to set a smaller horizontal beamwidth to improve horizontal sensing accuracy and signal strength. Similarly, the larger the vertical uncertainty index, the more violent the vertical maneuver of the first target, allowing the receiving network equipment to set a larger vertical beamwidth to accommodate sudden changes in the target's altitude. Conversely, the smaller the vertical uncertainty index, the smoother the vertical movement of the first target, allowing the receiving network equipment to set a smaller vertical beamwidth to focus radio frequency energy at the target's altitude layer, avoiding downward energy leakage and ground clutter interference.

[0192] As one possible implementation, the horizontal uncertainty index can be information quantized into "high," "medium," and "low" levels by the transmitting network device according to preset quantization rules. The receiving network device can determine the horizontal and vertical beamwidths of the target beam based on the mapping rules pre-defined in the communication protocol or the pre-configured correspondence between the horizontal uncertainty index and horizontal beamwidth, as well as the correspondence between the vertical uncertainty index level and vertical beamwidth.

[0193] For example, when the horizontal uncertainty index is "high," the receiving network device can determine the horizontal beamwidth to a larger angle (e.g., 60°) to accommodate the first target's high-speed S-shaped maneuvers in the horizontal direction; when the horizontal uncertainty index is "medium," the receiving network device can determine the horizontal beamwidth to a moderate angle (e.g., 30°); and when the horizontal uncertainty index is "low," the receiving network device can determine the horizontal beamwidth to a smaller angle (e.g., 15°) to improve horizontal sensing accuracy. Similarly, for a vertical horizontal uncertainty index of "low," the receiving network device can determine the vertical beamwidth to a smaller angle (e.g., 8°).

[0194] As one possible implementation, the transmitting network device may not perform hierarchical quantification of the horizontal and vertical uncertainty indices, but instead directly use the calculated horizontal uncertainty index. and vertical uncertainty index The value of the horizontal uncertainty index, as part of the situational uncertainty indication information, is included in the first indication information and sent to the receiving network device. The receiving network device receives the horizontal uncertainty index. and vertical uncertainty index After obtaining the specific values, the horizontal beamwidth and vertical beamwidth of the target beam can be determined according to the mapping rules pre-defined in the communication protocol or the pre-configured correspondence between network devices.

[0195] For example, the level of uncertainty index can be predefined in the communication protocol. The correspondence between the numerical range of values ​​and the horizontal beamwidth. For example, when When ∈(0, 5], the corresponding horizontal beamwidth is 15°; when When ∈(5, 10], the corresponding horizontal beamwidth is 30°; When ∈(10, 20], the corresponding horizontal beamwidth is 45°; when When the value is >20, the corresponding horizontal beamwidth is 60°. The receiving network device acquires the horizontal uncertainty index transmitted by the sending network device. After determining the specific value, it is determined which of the aforementioned value ranges the value falls into, and then the horizontal beamwidth of the target beam is determined based on this correspondence. Similarly, the vertical uncertainty index can be pre-defined in the communication protocol. The correspondence between the numerical range and the vertical beamwidth is determined by the receiving network device. The value determines the vertical beamwidth of the target beam.

[0196] It should be noted that the correspondence between the aforementioned numerical ranges and beamwidths may not be predetermined by the communication protocol, but rather configured through negotiation between the transmitting and receiving network devices. For example, during initial network device access or the establishment of an Xn interface connection, the transmitting and receiving network devices can negotiate and determine the mapping relationship between the numerical ranges of the horizontal and vertical uncertainty indices and the beamwidth through interactive signaling. In this way, different receiving network devices can flexibly configure a suitable mapping relationship based on their own coverage area, antenna configuration, and service requirements, improving the adaptability and flexibility of the solution.

[0197] It should be noted that the division of numerical ranges and corresponding beamwidth values ​​in the above mapping relationship can be determined according to actual needs and specific application scenarios, and this application embodiment does not limit this. Whether the transmitting network device transmits the level information after pre-classification and quantization, or the transmitting network device directly transmits the values ​​and the receiving network device determines them according to the pre-configured mapping relationship, the receiving network device can determine the horizontal and vertical beamwidths of the target beam based on the horizontal and vertical uncertainty indices, thereby completing the beamforming configuration that matches the maneuvering characteristics of the first target.

[0198] As one possible implementation, the receiving network device can also determine the initial beam pointing of the target beam based on beamforming suggestion information. The beamforming suggestion information may include real-time motion data of the first target and / or suggested beam pointing.

[0199] In one possible implementation, the beamforming suggestion information may include real-time motion data of the first target. This real-time motion data may include the first target's position information (e.g., three-dimensional coordinates), velocity information (e.g., horizontal and vertical velocity), azimuth information, etc. The receiving network device can predict the first target's trajectory in the future based on the real-time motion data, thereby determining the initial beam direction of the target beam. Specifically, the receiving network device can, based on the first target's current position, velocity, and azimuth information, combined with its own coverage area boundaries and the first target's motion trend, calculate the direction from which the first target might enter its coverage area, and thus determine the initial direction in which the target beam should point.

[0200] In another possible implementation, beamforming suggestion information may include suggested beam pointing. The suggested beam pointing is the initial beam pointing of the target beam directly suggested by the transmitting network device to the receiving network device based on its perception of the first target. This suggested beam pointing may include suggested azimuth and / or suggested elevation angles. The receiving network device can directly use this suggested value to determine the initial beam pointing of the target beam without needing to calculate it itself, thereby reducing the computational burden and latency of the receiving network device.

[0201] In another possible implementation, the beamforming suggestion information can simultaneously include real-time motion data of the first target and suggested beam pointing. The receiving network device can choose to use one or a combination of both information to determine the initial beam pointing, depending on actual needs. For example, the receiving network device can prioritize using the suggested beam pointing to determine the initial beam pointing of the target beam, while simultaneously using real-time motion data to verify or fine-tune the suggested beam pointing; alternatively, the receiving network device can also calculate the initial beam pointing based on real-time motion data when it cannot directly use the suggested beam pointing (e.g., the suggested beam pointing does not match its own coverage parameters).

[0202] In one possible implementation of this application embodiment, the beamforming suggestion information may include, in addition to real-time motion data of the first target and / or suggested beam pointing, suggested horizontal beamwidth and / or suggested vertical beamwidth. Accordingly, the receiving network device can determine the beamwidth of the target beam in various ways: In one possible implementation, when the beamforming suggestion information further includes suggested horizontal beamwidth and / or suggested vertical beamwidth, the receiving network device can determine the horizontal beamwidth of the target beam based on the horizontal uncertainty index and the vertical beamwidth based on the vertical uncertainty index. That is, the receiving network device does not use the suggested beamwidth value carried in the beamforming suggestion information, but instead independently calculates the horizontal and vertical beamwidths based on its own acquired horizontal and vertical uncertainty indices and according to its own configured mapping rules (as described above). This approach ensures the receiving network device's autonomous control over the beamwidth.

[0203] In another possible implementation, where the beamforming suggestion information may also include suggested horizontal beamwidth and / or suggested vertical beamwidth, the receiving network device can directly determine the horizontal beamwidth of the target beam based on the suggested horizontal beamwidth carried in the beamforming suggestion information, and / or determine the vertical beamwidth of the target beam based on the suggested vertical beamwidth. In other words, the receiving network device can fully adopt the suggested values ​​given by the transmitting network device without needing to calculate them itself. This approach reduces the computational burden on the receiving network device, and because the transmitting network device has a more complete understanding of the historical trajectory and motion characteristics of the first target, its suggested beamwidth may be more accurate.

[0204] In another possible implementation, where the beamforming recommendation information may also include a recommended horizontal beamwidth and / or a recommended vertical beamwidth, the receiving network device can combine these two methods to determine the horizontal and vertical beamwidths. For example, using the recommended horizontal beamwidth as a reference and combining it with its own judgment of the horizontal uncertainty index, the recommended value can be fine-tuned to better match the actual situation of its coverage area.

[0205] In this way, the receiving network device determines the horizontal beamwidth and vertical beamwidth according to the horizontal uncertainty index and the vertical uncertainty index, respectively, so that the target beam can match the different maneuvering characteristics of the target in the horizontal and vertical directions, respectively. This achieves accurate envelopment perception of the target and avoids the target leaving the beam coverage due to beamforming mismatch, which is more conducive to the continuous perception and tracking of the target in the process of cross-device handover.

[0206] Scenario 2 (corresponding to timing 2 in step 201): The receiving network device receives emergency situation indication information.

[0207] In one possible implementation, in a scenario of sudden emergency maneuvering of the target, after the sending network device triggers an emergency situation, it sends emergency situation indication information to the receiving network device via first indication information. The receiving network device parses the emergency situation indication information from the first indication information, which may include at least one of the following: the reason for triggering the emergency situation, the request period, and the affected resource blocks; correspondingly, step 202 above may include: When the motion situation information includes emergency situation indication information, the receiving network device can determine an emergency coordination strategy based on the emergency situation indication information.

[0208] In one possible implementation of this application embodiment, the aforementioned emergency coordination strategy may include resource silencing or synchronous encrypted sensing. Resource silencing refers to suspending downlink service scheduling on the affected resource block; synchronous encrypted sensing refers to sensing the first target using the same sensing period (i.e., request period) as the sending network device.

[0209] In the embodiments of this application, there may be multiple ways for the receiving network device to determine the emergency coordination strategy.

[0210] As an example, the communication protocol can pre-define the type of emergency coordination strategy that receiving network devices should execute upon receiving emergency situation indication information. For instance, the protocol could stipulate that all receiving network devices receiving emergency situation indication information should perform resource silencing; or it could stipulate that receiving network devices less than a certain threshold from the sending network device should perform resource silencing, while receiving network devices greater than the threshold should perform synchronous encrypted sensing; or it could stipulate that receiving network devices should prioritize synchronous encrypted sensing and perform resource silencing when synchronous encrypted sensing is not possible. After parsing and obtaining the emergency situation indication information, the receiving network device determines whether to use resource silencing or synchronous encrypted sensing according to the pre-defined rules in the protocol.

[0211] As another example, the sending and receiving network devices can pre-negotiate and determine the selection rules for emergency coordination strategies. For instance, during initial network device access or the establishment of an Xn interface connection, the sending and receiving network devices can negotiate through interactive signaling to determine whether the receiving network device should perform resource silencing or encryption awareness in the event of an emergency. After receiving emergency situation indication information, the receiving network device can determine the corresponding emergency coordination strategy based on the rules pre-negotiated with the sending network device.

[0212] As another example, receiving network devices can also dynamically determine emergency coordination strategies based on their own operational status. For instance, when a receiving network device is currently under heavy load and processing a large number of downlink service scheduling requests, it can decide to implement resource silencing—that is, suspend downlink service scheduling on the affected resource blocks. This avoids interference with the high-frequency probing of the sending network device and does not have any additional impact on its own existing service scheduling. When a receiving network device is currently under light load or in an idle state, it can decide to implement synchronous encrypted sensing—that is, using the same request cycle as the sending network device to sense the first target, cooperating with the sending network device to lock onto the first target, improving the reliability of sensing in emergency situations. By dynamically determining emergency coordination strategies based on its own operational status, the receiving network device can flexibly choose the most appropriate coordination method without affecting its normal communication services.

[0213] It should be noted that the above-mentioned methods for determining emergency coordination strategies can be implemented independently or in combination. For example, the protocol can stipulate that the default strategy is resource silence, but the receiving network device can switch to synchronous encryption sensing autonomously when certain conditions are met (such as being idle and being close to the sending network device). The specific method adopted can be determined according to actual needs and specific application scenarios, and this application embodiment does not limit this.

[0214] As an example, when the receiving network device determines that the emergency coordination strategy is resource silencing, it can suspend its downlink service scheduling on the affected resource blocks, that is, it will not send any downlink data or control signals on those time-frequency resource blocks, thereby avoiding co-channel interference to the high-frequency emergency probe of the transmitting network device. This resource silencing behavior ensures that the transmitting network device can continuously receive the echo signal of the first target without interference during the encrypted probe period, avoiding the target echo being overwhelmed and lost due to interference.

[0215] As an example, when the receiving network device determines that the emergency coordination strategy is synchronous encrypted sensing, it can use the same request cycle as the sending network device to sense the first target. That is, the receiving network device synchronously transmits a detection beam and receives the target echo according to the same encrypted detection cycle as the sending network device. When the first target is at the boundary between the coverage areas of the sending and receiving network devices, multiple network devices simultaneously detect the first target at the same high-frequency cycle. This can form multi-station collaborative sensing in physical space, jointly locking onto the first target. Even if the first target rapidly moves from the coverage area of ​​the sending network device to the coverage area of ​​the receiving network device, there will be no sensing blind spots, further improving the reliability of cross-device sensing in emergency situations.

[0216] It should be noted that the two emergency coordination strategies, resource silencing and synchronous encrypted sensing, can be implemented independently or in combination. For example, some receiving network devices can perform resource silencing to avoid interference, while others can perform synchronous encrypted sensing to help lock onto the target. The specific strategy adopted can be flexibly determined based on factors such as the location, load, and distance from the transmitting network device of the receiving network device. This application does not limit this approach.

[0217] In one possible implementation of this application embodiment, when the aforementioned motion situation information includes emergency situation indication information, after the receiving network device determines the emergency coordination strategy based on the emergency situation indication information, it may further include: The receiving network device receives the second instruction information sent by the sending network device; The receiving network device stops executing the emergency coordination strategy based on the second instruction information.

[0218] The second instruction message is sent by the sending network device when the current sensing residual is less than or equal to the recovery threshold. It instructs the receiving network device to cease executing the emergency coordination strategy. Once the sending network device determines that the emergency situation has been resolved, it explicitly informs the receiving network device via signaling, allowing the receiving network device to know that the sending network device has exited emergency sensing mode and will no longer perform encrypted probing at request intervals. Upon receiving the second instruction message, the receiving network device can stop executing the emergency coordination strategy accordingly.

[0219] As an example, if the receiving network device was previously performing resource quiescence, it can resume downlink service scheduling on the affected resource blocks after receiving the second indication information; if the receiving network device was previously performing synchronous encrypted sensing, it can stop sensing the first target according to the request cycle after receiving the second indication information and revert to the normal sensing mode. Thus, the entire network resources are synchronously restored from an emergency state to a normal state, avoiding unnecessary long-term impacts on normal communication services caused by continuous resource quiescence or synchronous encrypted sensing.

[0220] In the above manner, the receiving network device can determine the corresponding perception configuration strategy based on the motion situation information carried in the first indication information. In the cross-device perception handover scenario, the beamforming parameters are configured based on the situation uncertainty indication information, realizing continuous perception and tracking without blind scanning. In the emergency maneuver scenario, the emergency coordination strategy is executed based on the emergency situation indication information, realizing full-network collaborative resource scheduling that does not interfere with the detection of the transmitting network device and can cooperate to lock.

[0221] The communication method of this application embodiment transmits the motion state information of the perceived target to the receiving network device through the first instruction information, so that the receiving network device can determine the corresponding perception configuration strategy according to the motion state information. This avoids the receiving network device being forced to start full-dimensional beam blind scanning due to the lack of prior information about the target when the perception is handed over across devices. This not only reduces the consumption of computing power, but also realizes continuous perception and tracking across devices, and avoids losing the target.

[0222] Figure 3 This is a signaling interaction diagram of a blind-scan-free beam coordination method based on Xn interface-aware context transfer provided in an embodiment of this application. This method can be applied to the beam pre-shaping process in a cross-device sensing handover scenario corresponding to time 1. Figure 3 As shown, the method may include the following steps: Step 301: The source base station predicts that the first target is about to move across regions and triggers the perception context transfer process.

[0223] When the source base station (i.e., the transmitting network device) is tracking a first target (such as a drone), and it predicts that the first target is about to move from the coverage area of ​​the source base station to the coverage area of ​​the target base station (i.e., the receiving network device) in a neighboring cell, the source base station (i.e., the transmitting network device) can trigger a perception context transfer process.

[0224] Step 302: The source base station performs orthogonal projection decoupling on the three-dimensional spatial state covariance matrix and calculates the horizontal uncertainty index and the vertical uncertainty index respectively.

[0225] The source base station can orthogonally project and decouple the three-dimensional spatial state covariance matrix using horizontal and vertical projection operators, and calculate the horizontal uncertainty index and the vertical uncertainty index respectively.

[0226] Step 303: The source base station sends a sensing context transfer signaling to the target base station through the Xn interface, carrying information elements: horizontal uncertainty index, vertical uncertainty index and beamforming suggestion information.

[0227] The source base station can send a sensing context transfer signaling (such as SENSING_CONTEXT_TRANSFER) to the target base station via the Xn interface. This signaling can carry situational uncertainty indication information, which may include three information elements: horizontal uncertainty index, vertical uncertainty index, and beamforming suggestion information. This signaling can be sent via unicast through the control plane (Xn-C) of the Xn interface, completely bypassing the slow path of measurement reporting by terminal devices through the Uu interface.

[0228] Step 304: The target base station receives and parses the sensing context transfer signaling through the Xn interface.

[0229] The target base station can receive sensing context transfer signaling through the Xn interface and parse it to obtain the horizontal uncertainty index, vertical uncertainty index and beamforming suggestion information, thereby obtaining the motion situation information of the first target.

[0230] Step 305: The target base station completes the pre-shaping of the target beam by skipping the full-dimensional blind beam scan.

[0231] The target base station determines the horizontal beamwidth of the target beam based on the horizontal uncertainty index (e.g., when the horizontal uncertainty index is high, the horizontal beamwidth is widened to a larger angle to accommodate horizontal maneuvers), and determines the vertical beamwidth of the target beam based on the vertical uncertainty index (e.g., when the vertical uncertainty index is low, the vertical beamwidth is compressed to a smaller angle to focus energy), and determines the initial beam pointing of the target beam based on beamforming suggestion information. Thus, the target base station can skip full-dimensional blind scanning and pre-configure the beamforming of the target beam to match the maneuver characteristics of the first target.

[0232] Step 306: After completing the beamforming configuration, the target base station can return a confirmation message of the sensing context transfer signaling to the source base station.

[0233] After completing the beamforming configuration, the target base station can return an acknowledgment message (such as SENSING_CONTEXT_TRANSFER ACK) to the source base station.

[0234] Step 307: The source base station and the target base station initiate cross-base station blind-scan-free collaborative tracking.

[0235] The source base station and the target base station complete the initialization of cross-base station blind-scan-free cooperative tracking, and the target base station enters the ready-to-sense state. When the first target enters the coverage area of ​​the target base station, the target base station can use the pre-shaped target beam to sense the first target, thereby realizing continuous sensing and tracking across devices.

[0236] Figure 4 This is a signaling interaction diagram of a cross-base station emergency sensing and resource silencing method based on underlying residual triggering provided in an embodiment of this application. This method can be applied to the emergency coordination process in the target sudden emergency maneuver scenario corresponding to timing two. Figure 4 As shown, the method may include the following steps: Step 401: The source base station (i.e., the transmitting network device) monitors the sensing residual in the vertical direction in real time.

[0237] Step 402: The source base station determines whether to initiate the emergency sensing process based on whether the sensing residual is greater than the activation threshold.

[0238] If the source base station determines that the sensing residual is greater than the activation threshold, the emergency sensing process is initiated.

[0239] Step 403: The source base station sends an emergency sensing request signaling to the neighboring base station (i.e., the receiving network device) through the Xn interface, carrying the triggering reason, request period and affected resource blocks.

[0240] Step 404: The neighboring base station receives and parses the emergency sensing request signaling through the Xn interface, and configures resource silencing on the affected resource block.

[0241] Step 405: After completing the silent resource configuration, the neighboring base station returns an emergency sensing request confirmation message (such as ISAC_EMERGENCY_CONFIRM) to the source base station.

[0242] Step 406: The source base station initiates high-frequency emergency sensing and detection, and performs encrypted sensing of the first target according to the request cycle.

[0243] Step 407: After the source base station completes emergency sensing, it sends an emergency sensing release signal (such as ISAC_EMERGENCY_RELEASE) to the neighboring base station through the Xn interface.

[0244] Step 408: The neighboring base station releases the resource quiescent signal based on the emergency sensing signal, and resumes normal scheduling.

[0245] It should be understood that Figures 1 to 4 The flowcharts or scene diagrams provided are for illustrative purposes only and are not intended to limit the embodiments of this application to the examples shown. In fact, those skilled in the art can interpret them based on... Figures 1 to 4 The examples in the document can be transformed into equivalent ways to obtain more implementations.

[0246] The above text combined Figures 1 to 4 This document describes in detail the communication method provided in the embodiments of this application. The following will combine... Figures 5 to 6 The apparatus embodiments of this application are described in detail below. It should be understood that the apparatus of this application embodiments can execute the various communication methods described in the foregoing embodiments of this application, that is, the specific working processes of the various products described below can be referred to the corresponding processes in the foregoing method embodiments.

[0247] In the embodiments described above, the network device may execute some or all of the steps in each embodiment. These steps or operations are merely examples, and other operations or variations thereof may also be performed in the embodiments of this application. Furthermore, the steps may be executed in different orders as presented in the embodiments, and it is not necessary to execute all the operations in the embodiments of this application. Moreover, the sequence number of each step does not imply the order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0248] Figure 5 This is a schematic block diagram of a communication device provided in an embodiment of this application. Figure 5 As shown, the communication device 500 may include a communication module 520. The communication module 520 can implement corresponding communication functions, which can be internal communication functions of the communication device 500 or communication functions between the communication device 500 and other devices. Optionally, the communication module 520 may also be referred to as a communication interface or transceiver module. Optionally, the communication device 500 further includes a processing module 510. The processing module 510 can implement corresponding processing functions.

[0249] Optionally, the communication device 500 further includes a storage module, which can be used to store instructions and / or data; the processing module 510 can read the instructions and / or data in the storage module so that the communication device 500 can implement the aforementioned method embodiments.

[0250] In one possible design, the communication device 500 may correspond to the transmitting network device in the above method embodiments, or to a component (such as a circuit, chip, or chip system) configured in the transmitting network device. The communication device 500 can be used to perform the steps or processes executed by the terminal device in any of the above method embodiments.

[0251] For example, the communication module 520 is used for: Sending first indication information to a receiving network device, wherein the receiving network device is at least one adjacent network device of the sending network device, the first indication information is used to instruct the receiving network device to determine a perception configuration strategy for perceiving the first target, and the first indication information includes motion situation information of the first target perceived by the sending network device.

[0252] For example, the aforementioned motion situation information includes at least one of the following: situation uncertainty indication information, emergency situation indication information; when the motion situation information includes situation uncertainty indication information, the perception configuration strategy includes beamforming parameters corresponding to the target beam for sensing the first target; when the motion situation information includes emergency situation indication information, the perception configuration strategy includes an emergency coordination strategy.

[0253] For example, the aforementioned situational uncertainty indication information includes the horizontal uncertainty index, the vertical uncertainty index, and beamforming recommendation information.

[0254] For example, the above processing module 510 is used for: Obtain the three-dimensional spatial state covariance matrix corresponding to the first target, where the three-dimensional spatial state covariance matrix is ​​used to characterize the uncertainty of the motion state of the first target in three-dimensional space; The horizontal projection operator is used to project the three-dimensional spatial state covariance matrix to obtain the horizontal covariance matrix corresponding to the first target. The horizontal covariance matrix is ​​used to characterize the uncertainty of the motion state of the first target in the horizontal direction. The vertical projection operator is used to project the three-dimensional spatial state covariance matrix to obtain the vertical covariance matrix corresponding to the first target. The vertical covariance matrix is ​​used to characterize the uncertainty of the motion state of the first target in the vertical direction. Determine the level uncertainty index based on the level covariance matrix; The vertical uncertainty index is determined based on the vertical covariance matrix.

[0255] For example, the beamforming suggestion information mentioned above includes real-time motion data of the first target and / or suggested beam pointing, wherein the real-time motion data is used to determine the initial beam pointing of the target beam, and the suggested beam pointing is used to indicate the initial beam pointing of the target beam.

[0256] For example, the beamforming recommendation information mentioned above also includes recommendations for horizontal beamwidth and / or vertical beamwidth.

[0257] For example, the above emergency situation indication information includes at least one of the following: the triggering reason for the emergency situation, the request period, and the affected resource blocks.

[0258] For example, the above-mentioned request period refers to the perception period of the sending network device for the first target after an emergency occurs. The request period is shorter than the normal perception period, where the normal perception period refers to the perception period of the sending network device for the first target before an emergency occurs. Correspondingly, the above-mentioned affected resource block refers to the time-frequency domain resource block occupied by the sending network device for perceiving the first target after an emergency occurs.

[0259] For example, the above emergency coordination strategies include resource silencing or synchronous encrypted sensing, where resource silencing refers to suspending downlink service scheduling on the affected resource block, and synchronous encrypted sensing refers to sensing the first target using the same sensing period as the sending network device.

[0260] For example, the aforementioned transmitting network device senses the first target through a main beam and a warning tripwire beam. The sensing period of the warning tripwire beam is shorter than that of the main beam, the transmission power of the warning tripwire beam is less than that of the main beam, and the warning tripwire beam is located directly below and / or directly above the main beam. Correspondingly, the aforementioned processing module 510 is also used for: If the current perception residual of the first target is greater than the activation threshold, it is determined that the first target is in an emergency situation at the current moment. Here, the current perception residual is used to characterize the cumulative perception bias of the first target through the main beam. or, If the warning tripwire beam detects the first target at the current moment, it determines that the first target is in an emergency situation at the current moment.

[0261] For example, the above-mentioned processing module 510 is also used for: The current residual vector, the current information covariance matrix, and the historical sensing residual of the previous moment are obtained for the first target. The current residual vector is determined based on the deviation between the current actual measurement value of the first target and the current prediction value of the first target by the transmitting network device. The current actual measurement value is obtained by the main beam sensing the first target at the current moment. The current information covariance matrix is ​​used to characterize the uncertainty of the deviation between the current actual measurement value and the current prediction value. Based on the current residual vector and the current innovation covariance matrix, determine the current normalized innovation square corresponding to the first objective; The current perception residual is determined based on the historical perception residual, the current normalized squared information, and the forgetting factor. The forgetting factor is used to control the degree of influence of the historical perception residual on the current perception residual.

[0262] For example, when the current sensing residual is greater than the activation threshold, the sensing period of the aforementioned transmitting network device for sensing the first target through the main beam is switched from the normal sensing period to the request period, wherein the request period is shorter than the normal sensing period.

[0263] For example, the communication module 520 described above is also used for: If the current perception residual is less than or equal to the recovery threshold, the emergency situation is determined to be lifted, and a second instruction message is sent to the receiving network device. The recovery threshold is less than the activation threshold, and the second instruction message is used to instruct the receiving network device to stop executing the emergency coordination strategy.

[0264] For example, the communication module 520 described above is also used for: The first instruction information is sent to the receiving network device through the Xn interface.

[0265] The above are merely examples; for detailed steps or procedures, please refer to the descriptions in the foregoing embodiments.

[0266] In one possible design, the communication device 500 may correspond to the receiving network device in the above method embodiments, or to a component (such as a circuit, chip, or chip system) configured in the receiving network device. The communication device 500 can be used to perform the steps or processes performed by the receiving network device in any of the above method embodiments.

[0267] In one possible design, the communication module 520 described above is used for: Receive first indication information sent by a transmitting network device, wherein the transmitting network device is a neighboring network device of the receiving network device, and the first indication information includes motion state information of a first target sensed by the transmitting network device; The aforementioned processing module 510 is used for: Based on motion situation information, determine the perception configuration strategy for sensing the first target.

[0268] For example, the aforementioned motion situation information includes at least one of the following: situation uncertainty indication information, emergency situation indication information; when the motion situation information includes situation uncertainty indication information, the perception configuration strategy includes beamforming parameters corresponding to the target beam for sensing the first target; when the motion situation information includes emergency situation indication information, the perception configuration strategy includes an emergency coordination strategy.

[0269] For example, the aforementioned situational uncertainty indication information includes a horizontal uncertainty index, a vertical uncertainty index, and beamforming suggestion information. The beamforming parameters include the horizontal beamwidth, vertical beamwidth, and initial beam pointing of the target beam. Correspondingly, the aforementioned processing module 510 is also used for: The horizontal beamwidth of the target beam is determined based on the horizontal uncertainty index. The vertical beamwidth of the target beam is determined based on the vertical uncertainty index. Based on the beamforming recommendation information, determine the initial beam pointing of the target beam.

[0270] For example, the beamforming suggestion information mentioned above includes real-time motion data of the first target and / or suggested beam pointing; correspondingly, the processing module 510 is also used for: Based on real-time motion data, determine the initial beam pointing of the target beam; and / or, Determine the initial beam direction of the target beam based on the suggested beam direction.

[0271] For example, the beamforming suggestion information mentioned above also includes suggestions for horizontal beamwidth and / or suggestions for vertical beamwidth; correspondingly, the processing module 510 is also used to: The horizontal beamwidth of the target beam is determined based on the horizontal uncertainty index. The vertical beamwidth of the target beam is determined based on the vertical uncertainty index. or, Determine the horizontal beamwidth of the target beam based on the recommended horizontal beamwidth; and / or, Determine the vertical beamwidth of the target beam based on the suggested vertical beamwidth.

[0272] For example, the aforementioned emergency situation indication information includes at least one of the following: the triggering reason for the emergency situation, the request period, and the affected resource blocks; correspondingly, the aforementioned processing module 510 is also used for: When the situational information includes emergency situation indication information, an emergency coordination strategy is determined based on the emergency situation indication information.

[0273] For example, the above-mentioned request period refers to the perception period of the sending network device for the first target after an emergency occurs. The request period is shorter than the normal perception period, where the normal perception period refers to the perception period of the sending network device for the first target before an emergency occurs. Correspondingly, the above-mentioned affected resource block refers to the time-frequency domain resource block occupied by the sending network device for perceiving the first target after an emergency occurs.

[0274] For example, the above emergency coordination strategies include resource silencing or synchronous encrypted sensing, where resource silencing refers to suspending downlink service scheduling on the affected resource block, and synchronous encrypted sensing refers to sensing the first target using the same sensing period as the sending network device.

[0275] For example, the communication module 520 described above is also used for: Receive the second instruction information sent by the transmitting network device; Accordingly, the aforementioned processing module 510 is also used for: Based on the second instruction, the emergency coordination strategy is to be discontinued.

[0276] For example, the communication module 520 described above is also used for: Receive the first indication information sent by the sending network device through the Xn interface.

[0277] The above are merely examples; for detailed steps or procedures, please refer to the descriptions in the foregoing embodiments.

[0278] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0279] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0280] Figure 6 This is another schematic block diagram of the apparatus 600 provided in the embodiments of this application. The apparatus 600 may be a chip, chip system, or processor, etc., in a network device that implements the above-described methods. The apparatus 600 can be used to implement the methods described in the above-described method embodiments; for details, please refer to the descriptions in the above-described method embodiments.

[0281] like Figure 6As shown, the device 600 may include one or more processors 610, which may also be referred to as processing units or processing modules, and can implement certain control functions. The processor 610 may be a general-purpose processor or a dedicated processor, such as a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, while the central processing unit can be used to control the device 600 (e.g., a base station, baseband chip, user, user chip), execute software programs, and process data from the software programs.

[0282] In an alternative design, the processor 610 may also store instructions and / or data that can be executed by the processor 610 to cause the device 600 to perform the methods described in the above method embodiments.

[0283] In another alternative design, the device 600 may include a communication interface 620 for implementing receiving and transmitting functions. For example, the communication interface 620 may be a transceiver circuit, interface, interface circuit, or transceiver. The transceiver circuit, interface, interface circuit, or transceiver for implementing receiving and transmitting functions may be separate or integrated. The aforementioned transceiver circuit, interface, interface circuit, or transceiver may be used for reading and writing code / data, or it may be used for transmitting or relaying signals.

[0284] Optionally, the device 600 may include one or more memories 630, which may store instructions that can be executed on the processor 610, causing the device 600 to perform the methods described in the above method embodiments. Optionally, the memories 630 may also store data. Optionally, the processor 610 may also store instructions and / or data. The processor 610 and the memories 630 may be provided separately or integrated together.

[0285] It should be understood that, in one possible design, the steps in the method embodiments provided in this application can be implemented by integrated logic circuits in the processor's hardware or by instructions in software form. The steps of the methods disclosed in the embodiments of this application can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are not provided here.

[0286] In one implementation, the device 600 may correspond to the network device in the above method embodiments and may be used to execute the various steps and / or processes executed by the network device in the above method embodiments. The processor 610 may be used to execute instructions stored in the memory 630, and when the processor 610 executes the instructions stored in the memory, the processor 610 is used to execute the various steps and / or processes of the above method embodiments corresponding to the network device.

[0287] It should be understood that the aforementioned processing device can be one or more chips. For example, the processing device can be a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system-on-chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0288] It is understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0289] According to the method provided in the embodiments of this application, this application also provides a chip system, which includes one or more processors for calling and executing instructions stored in memory, thereby causing the method described in the embodiments of this application to be executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0290] The chip system may include input circuits or interfaces for transmitting information or data, and output circuits or interfaces for receiving information or data.

[0291] According to the method provided in the embodiments of this application, this application also provides a communication system, which includes the aforementioned apparatus, such as a transmitting network device and a receiving network device.

[0292] According to the method provided in the embodiments of this application, this application also provides a computer program product, which includes: computer program code, which, when run on a computer, causes the computer to execute the various steps or processes executed by the network device in any of the foregoing method embodiments.

[0293] According to the method provided in the embodiments of this application, this application also provides a computer-readable storage medium storing program code, which, when run on a computer, causes the computer to execute the various steps or processes executed by the network device in any of the foregoing method embodiments.

[0294] The computer-readable storage medium may be the aforementioned volatile memory or non-volatile memory, or it may include both volatile memory and non-volatile memory.

[0295] In the embodiments of this application, the terms and English abbreviations are exemplary examples given for ease of description and should not be construed as limiting the application in any way. This application does not preclude the possibility of defining other terms that can achieve the same or similar functions in existing or future agreements.

[0296] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated.

[0297] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0298] It should be understood that in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0299] In summary, the above description is merely a preferred embodiment of the technical solution of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A communication method characterized by comprising: Applied to transmitting network devices, including: A first indication message is sent to a receiving network device, wherein the receiving network device is at least one neighboring network device of the sending network device. The first indication message is used to instruct the receiving network device to determine a perception configuration strategy for perceiving a first target. The first indication message includes motion situation information of the first target perceived by the sending network device. The motion situation information includes at least one of the following: situation uncertainty indication information and emergency situation indication information. When the motion situation information includes the situation uncertainty indication information, the perception configuration strategy includes beamforming parameters corresponding to the target beam for perceiving the first target. When the motion situation information includes the emergency situation indication information, the perception configuration strategy includes an emergency coordination strategy.

2. The method of claim 1, wherein, The situational uncertainty indication information includes the horizontal uncertainty index, the vertical uncertainty index, and beamforming suggestion information.

3. The method of claim 2, wherein, Before sending the first indication information to the receiving network device, the method further includes: Obtain the three-dimensional spatial state covariance matrix corresponding to the first target, wherein the three-dimensional spatial state covariance matrix is ​​used to characterize the uncertainty of the motion state of the first target in three-dimensional space; The horizontal projection operator is used to project the three-dimensional spatial state covariance matrix to obtain the horizontal covariance matrix corresponding to the first target, wherein the horizontal covariance matrix is ​​used to characterize the uncertainty of the motion state of the first target in the horizontal direction. The vertical projection operator is used to project the three-dimensional spatial state covariance matrix to obtain the vertical covariance matrix corresponding to the first target, wherein the vertical covariance matrix is ​​used to characterize the uncertainty of the motion state of the first target in the vertical direction. The level uncertainty index is determined based on the level covariance matrix. The vertical uncertainty index is determined based on the vertical covariance matrix.

4. The method of claim 2, wherein, The beamforming suggestion information includes real-time motion data of the first target and / or suggested beam pointing, wherein the real-time motion data is used to determine the initial beam pointing of the target beam, and the suggested beam pointing is used to indicate the initial beam pointing of the target beam.

5. The method of claim 4, wherein, The beamforming recommendation information also includes recommendations for horizontal beamwidth and / or vertical beamwidth.

6. The method according to any one of claims 1 to 5, wherein, The emergency situation indication information includes at least one of the following: the reason for triggering the emergency situation, the request period, and the affected resource blocks.

7. The method as described in claim 6, characterized in that, The request period refers to the perception period of the sending network device for the first target after the emergency situation occurs. The request period is shorter than the normal perception period, where the normal perception period refers to the perception period of the sending network device for the first target before the emergency situation occurs. The affected resource block refers to the time-frequency domain resource block occupied by the sending network device for perception of the first target after the emergency situation occurs.

8. The method as described in claim 6, characterized in that, The emergency coordination strategy includes resource silencing or synchronous encrypted sensing. Resource silencing refers to suspending downlink service scheduling on the affected resource block, and synchronous encrypted sensing refers to sensing the first target using the same sensing period as the sending network device.

9. The method according to any one of claims 1-5 and 7-8, characterized in that, The transmitting network device senses the first target through a main beam and a warning tripwire beam. The sensing period of the warning tripwire beam is shorter than that of the main beam, the transmission power of the warning tripwire beam is lower than that of the main beam, and the warning tripwire beam is located directly below and / or directly above the main beam. Before sending the first indication information to the receiving network device, the method further includes: If the current perception residual of the first target is greater than the activation threshold, it is determined that the first target is in the emergency situation at the current moment, wherein the current perception residual is used to characterize the cumulative perception deviation of the first target perceived by the main beam. or If the warning tripwire beam senses the first target at the current moment, it determines that the first target is in the emergency situation at the current moment.

10. The method as described in claim 9, characterized in that, The step of determining that the first target is in the emergency situation at the current moment before the current perception residual of the first target is greater than the activation threshold further includes: The current residual vector, the current information covariance matrix, and the historical sensing residual of the previous moment are obtained for the first target. The current residual vector is determined based on the deviation between the current actual measurement value of the first target and the current prediction value of the first target by the transmitting network device. The current actual measurement value is obtained by the main beam sensing the first target at the current moment. The current information covariance matrix is ​​used to characterize the uncertainty of the deviation between the current actual measurement value and the current prediction value. Based on the current residual vector and the current innovation covariance matrix, determine the current normalized innovation square corresponding to the first objective; The current perception residual is determined based on the historical perception residual, the current normalized innovation square, and the forgetting factor, wherein the forgetting factor is used to control the degree of influence of the historical perception residual on the current perception residual.

11. The method as described in claim 9, characterized in that, When the current sensing residual is greater than the activation threshold, the sensing period for the transmitting network device to sense the first target through the main beam is switched from the normal sensing period to the request period, wherein the request period is shorter than the normal sensing period.

12. The method as described in claim 9, characterized in that, After sending the first indication information to the receiving network device, the method further includes: If the current perception residual is less than or equal to the recovery threshold, the emergency situation is determined to be lifted, and a second indication message is sent to the receiving network device, wherein the recovery threshold is less than the activation threshold, and the second indication message is used to instruct the receiving network device to stop executing the emergency coordination strategy.

13. The method according to any one of claims 1-5, 7-8, and 10-12, characterized in that, Sending the first indication information to the receiving network device includes: The first indication information is sent to the receiving network device via the Xn interface.

14. A communication method, characterized in that, Applied to receiving network devices, including: The system receives first indication information sent by a transmitting network device, wherein the transmitting network device is a neighboring network device of the receiving network device, and the first indication information includes motion situation information of a first target sensed by the transmitting network device, wherein the motion situation information includes at least one of the following: situation uncertainty indication information and emergency situation indication information. Based on the motion situation information, a perception configuration strategy for sensing the first target is determined, wherein, when the motion situation information includes the situation uncertainty indication information, the perception configuration strategy includes beamforming parameters corresponding to the target beam for sensing the first target; when the motion situation information includes the emergency situation indication information, the perception configuration strategy includes an emergency coordination strategy.

15. The method as described in claim 14, characterized in that, The situational uncertainty indication information includes a horizontal uncertainty index, a vertical uncertainty index, and beamforming suggestion information. The beamforming parameters include the horizontal beamwidth, vertical beamwidth, and initial beam pointing of the target beam. The step of determining a perception configuration strategy for sensing the first target based on the motion situation information includes: The horizontal beamwidth of the target beam is determined based on the horizontal uncertainty index. The vertical beamwidth of the target beam is determined based on the vertical uncertainty index. Based on the beamforming suggestion information, the initial beam pointing of the target beam is determined.

16. The method as described in claim 15, characterized in that, The beamforming suggestion information includes real-time motion data of the first target and / or suggested beam pointing. Determining the initial beam pointing of the target beam based on the beamforming suggestion information includes: Based on the real-time motion data, determine the initial beam pointing of the target beam; and / or, Based on the suggested beam pointing, the initial beam pointing of the target beam is determined.

17. The method as described in claim 16, characterized in that, The beamforming suggestion information further includes suggested horizontal beamwidth and / or suggested vertical beamwidth. The step of determining the perception configuration strategy for sensing the first target based on the motion situation information includes: The horizontal beamwidth of the target beam is determined based on the horizontal uncertainty index. The vertical beamwidth of the target beam is determined based on the vertical uncertainty index. or, Based on the suggested horizontal beamwidth, determine the horizontal beamwidth of the target beam; and / or, The vertical beamwidth of the target beam is determined based on the suggested vertical beamwidth.

18. The method according to any one of claims 14-17, characterized in that, The emergency situation indication information includes at least one of the following: the triggering reason for the emergency situation, the request period, and the affected resource blocks. The step of determining the perception configuration strategy for perceiving the first target based on the motion situation information includes: If the motion situation information includes the emergency situation indication information, the emergency coordination strategy is determined based on the emergency situation indication information.

19. The method as described in claim 18, characterized in that, The request period refers to the perception period of the sending network device for the first target after the emergency situation occurs. The request period is shorter than the normal perception period, where the normal perception period refers to the perception period of the sending network device for the first target before the emergency situation occurs. The affected resource block refers to the time-frequency domain resource block occupied by the sending network device for perception of the first target after the emergency situation occurs.

20. The method as described in claim 18, characterized in that, The emergency coordination strategy includes resource silencing or synchronous encrypted sensing. Resource silencing refers to suspending downlink service scheduling on the affected resource block, and synchronous encrypted sensing refers to sensing the first target using the same sensing period as the sending network device.

21. The method as described in claim 18, characterized in that, When the motion situation information includes the emergency situation indication information, after determining the emergency coordination strategy based on the emergency situation indication information, the method further includes: Receive the second indication information sent by the transmitting network device; Based on the second instruction, the emergency coordination strategy is stopped.

22. The method according to any one of claims 14-17 and 19-21, characterized in that, The first indication information sent by the receiving and sending network device includes: The first indication information sent by the transmitting network device is received through the Xn interface.

23. An apparatus, characterized in that, The device includes at least one processor coupled to a memory storing a program or instructions, wherein the processor executes the program or instructions to cause the device to perform the method as claimed in any one of claims 1 to 13, or the processor executes the program or instructions to cause the device to perform the method as claimed in any one of claims 14 to 22.

24. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, they cause the computer to perform the method as described in any one of claims 1 to 13, or cause the computer to perform the method as described in any one of claims 14 to 22.

25. A communication system, characterized in that, Includes the apparatus as described in claim 23.

26. A chip system, characterized in that, The chip system includes one or more processors, the one or more processors being configured to retrieve and execute instructions stored in memory, such that the method as claimed in any one of claims 1 to 13 is executed, or that the method as claimed in any one of claims 14 to 22 is executed.

27. A computer program product, characterized in that, The computer program product includes: a computer program that, when run, causes a computer to perform the method as described in any one of claims 1 to 13, or causes a computer to perform the method as described in any one of claims 14 to 22.

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