A communication and perception integrated detection method and system

Abstract

This invention relates to the field of communication sensing, and discloses an integrated communication sensing detection method and system. The integrated communication sensing detection method includes the following steps: each sensing entity reports sensing assistance capability information; when a sensing entity detects a loss in its own sensing performance, it reports sensing anomaly information as a supported sensing entity and requests the activation of a sensing rescue mode; based on the sensing assistance capability information and the sensing anomaly information, the rescue sensing entity and the type of rescue mode to be activated are determined, the sensing rescue area of ​​the rescue sensing entity covers the rescued area of ​​the supported sensing entity, and sensing resource negotiation is performed to determine the sensing rescue resource configuration; based on the sensing rescue resource configuration, a sensing rescue mode activation command is issued to the supported sensing entity and the rescue sensing entity. This invention can restore sensing performance through collaborative rescue among sensing entities when sensing entities experience performance loss, thereby improving the self-healing capability of the integrated communication sensing network.

Description

Technical Field

[0001] This invention relates to the field of communication sensing, and in particular to an integrated communication sensing detection method and system. Background Technology

[0002] Integrated communication and sensing technology reuses communication infrastructure to achieve environmental sensing capabilities, making it valuable for applications in scenarios such as drone surveillance, autonomous driving, and low-altitude security. Sensing devices determine target location and speed by sending sensing signals and detecting echoes, a principle similar to radar detection.

[0003] In existing technologies, the sensing functional unit is responsible for scheduling sensing entities to perform sensing tasks and collecting sensing results. Sensing entities typically report information about their sensing service areas for scheduling by the sensing functional unit. When sensing entities experience performance degradation due to equipment failure, environmental interference, or weather conditions, existing technologies lack effective response mechanisms, forcing the sensing service to be interrupted and resulting in a loss of overall sensing network detection capabilities.

[0004] Specifically, existing technologies have the following shortcomings: when some sensing entities experience performance loss, the network cannot compensate through cooperation with other sensing entities, leading to an expansion of the sensing blind spot or a decrease in sensing accuracy; existing systems lack mutual rescue mechanisms between sensing entities and cannot dynamically adjust sensing strategies according to environmental changes; in addition, the sensing resource negotiation process in existing technologies is imperfect, making it difficult to achieve flexible allocation of sensing resources while ensuring communication services.

[0005] The aforementioned shortcomings render the integrated communication and sensing network lacking in self-healing capabilities when facing complex environmental changes, severely impacting the continuity and reliability of overall sensing services. Summary of the Invention

[0006] The purpose of this invention is to propose an integrated communication and sensing detection method and system that can restore sensing performance through collaborative rescue among sensing entities when the sensing entities suffer performance loss, thereby enhancing the self-healing capability of the integrated communication and sensing network.

[0007] To address the aforementioned technical problems, this invention provides an integrated communication and sensing detection method, comprising the following: Each sensing entity reports sensing assistance capability information, which includes sensing the rescue area and / or the area being rescued. When a sensing entity detects a loss in its own sensing performance, it reports the sensing anomaly information as a receiving sensing entity and requests the activation of the sensing rescue mode. Based on the perception assistance capability information and the perception anomaly information, the rescue perception entity and the type of rescue mode to be activated are determined. The perception rescue area of ​​the rescue perception entity covers the rescued area of ​​the rescued perception entity, and perception resource negotiation is carried out to determine the perception rescue resource configuration. Based on the configured sensing and rescue resources, a sensing and rescue mode activation command is issued to the rescue sensing entity and the rescue sensing entity, so that the rescue sensing entity assists the rescue sensing entity in restoring its sensing performance.

[0008] Furthermore, the perception assistance capability information also includes perception enhancement capabilities, which include at least one of anti-interference enhancement capabilities, anti-rain clutter capabilities, hardware fault resistance capabilities, perception rescue capabilities, and perception being rescued capabilities.

[0009] Furthermore, when determining the rescue sensing entity, a sensing entity with a sensing enhancement capability that matches the source of the performance loss is selected as the rescue sensing entity based on the sensing enhancement capability.

[0010] Furthermore, the perceived anomaly information includes at least one of the following: source of performance loss, quantified loss index, rescue perceived entity identifier suggested by the rescued perceived entity, and perceived rescue area number.

[0011] Furthermore, the negotiation of the perceived resources specifically includes: Send resource suggestions to the rescue sensing entity; The recipient sensing entity provides resource suggestions that this station can use for sensing rescue; The rescue sensing entity accepts or rejects the resource suggestion and, upon acceptance, feeds back sensing resource information, wherein the sensing resources fed back by the rescue sensing entity are the maximum set of resource interactions between the subsequently aided sensing entity and the rescue sensing entity. Send all or a subset of the sensing resources fed back by the rescue sensing entity to the rescued sensing entity; The aided sensing entity may agree to or reject the subset of sensing resources, and when agreeing, may select all or part of the subset of sensing resources.

[0012] Furthermore, the rescue modes corresponding to the rescue mode type to be activated specifically include: A third sensing area is configured simultaneously for the rescued sensing entity and the rescue sensing entity. The third sensing area is the intersection of the rescued area of ​​the rescued sensing entity and the rescue sensing area of ​​the rescue sensing entity. The rescued sensing entity and the rescue sensing entity are instructed to detect targets whose radial velocity projection is away from their respective positions within the third sensing area.

[0013] Preferably, the above-mentioned rescue mode can be activated in scenarios where rain clutter exists, in order to mitigate the clutter and detection degradation caused by rain clutter.

[0014] Furthermore, the rescue modes corresponding to the rescue mode type to be activated specifically include: The supported sensing entity transmits only: the supported sensing entity only sends sensing signals to the detection area and does not receive echo signals from the detection area; the rescue sensing entity receives the echo signals from the supported sensing entity within the detection area and reports them to the corresponding target. Alternatively, the rescued sensing entity may adopt a receiving-only mode: the rescued sensing entity does not send sensing signals to the detection area, switches to the operating frequency of the rescue sensing entity, receives the echo signals sent by the rescue sensing entity to the detection area, and requests the rescue sensing entity to configure corresponding signal transmission resources. When the working bandwidth ranges of the rescue sensing entity and the aid sensing entity are different, the aid sensing entity requests to send or receive signals within the bandwidth range corresponding to the other party, or requests the aid sensing entity to work within the bandwidth range corresponding to the aid sensing entity.

[0015] Preferably, the above rescue mode can be activated when the recipient senses that they are being affected by a strongly interfering environment.

[0016] Furthermore, it also includes: after the perception rescue mode is activated, configuring a transmission cancellation parameter to indicate whether the rescued perception entity is allowed to temporarily not send on the allocated perception resources, and the proportion of unsent resources does not exceed an agreed value or a configured value; after the rescued perception entity detects that the performance loss has been recovered, it requests to restore the normal perception mode; upon receiving the request, it notifies the rescue perception entity to stop perception rescue.

[0017] Furthermore, the present invention also proposes an integrated communication sensing detection system for implementing the integrated communication sensing detection method described above, comprising: multiple sensing entities and sensing functional units; The sensing entity is used to report sensing assistance capability information; any one of the multiple sensing entities is configured to report sensing anomaly information and request the activation of sensing rescue mode as a assisted sensing entity when it detects its own sensing performance loss; the other sensing entities among the multiple sensing entities are configured to participate in sensing rescue as rescue sensing entities. The sensing function unit is used to determine the rescue sensing entity and the type of rescue mode to be activated based on the sensing assistance capability information and the sensing anomaly information; to negotiate sensing resources with the rescue sensing entity and the rescued sensing entity to obtain a sensing rescue resource configuration; and to issue a sensing rescue mode activation command to the rescued sensing entity and the rescue sensing entity based on the sensing rescue resource configuration.

[0018] Furthermore, the sensing entity includes a base station and / or a user terminal; the sensing functional unit is also used as a sensing entity and is managed by other sensing functional units or network elements.

[0019] Through the above technical solution, the present invention has the following beneficial effects: By identifying the sensing entities to be rescued and the types of rescue modes to be activated, and by negotiating sensing resources, it is possible to dynamically match sensing entities with corresponding rescue capabilities based on the sensing assistance capability information and sensing anomaly information reported by the sensing entities. This enables collaborative rescue among sensing entities, thereby compensating for the loss of sensing performance through multi-station collaboration when some sensing entities experience performance loss, and improving the self-healing capability and continuity of sensing services of the integrated communication and sensing network. Attached Figure Description

[0020] Figure 1 This is a flowchart of an integrated communication and sensing detection method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall process of the integrated communication and sensing detection method in one embodiment of the present invention; Figure 3 This is a flowchart of the sensing resource negotiation process in the integrated communication and sensing detection method according to an embodiment of the present invention; Figure 4 This is a block diagram of an integrated communication and sensing detection system according to an embodiment of the present invention; Figure 5 This is a schematic diagram showing the coverage relationship between the rescue area of ​​the first sensing entity and the second sensing entity in a rain clutter scenario of the integrated communication and sensing detection method in Embodiment 2 of the present invention. Figure 6 This is a schematic diagram of the rescue effective area of ​​the first sensing entity and the second sensing entity in a rain clutter scenario of the integrated communication and sensing detection method in Embodiment 2 of the present invention. Figure 7 This is a schematic diagram of the state where the assisted entity only transmits data in the integrated communication and sensing detection method of Embodiment 3 of the present invention; Figure 8 This is a schematic diagram of the strong interference environment sensing state of the integrated communication and sensing detection method in Embodiment 3 of the present invention; Figure 9This is a schematic diagram of the resource configuration for the A-transmitter B-receiver rescue mode of the integrated communication and sensing detection method in Embodiment 4 of the present invention; Figure 10 This is a schematic diagram of the collaborative detection mode of the A-transmitter B-receiver rescue method in the integrated communication and sensing detection method of Embodiment 4 of the present invention. Detailed Implementation

[0021] Based on the teachings of this specification, those skilled in the art can form new technical solutions through cross-combination of different implementation methods without creating technical contradictions. Such variations should all be considered to fall within the protection scope of this invention.

[0022] The following description, in conjunction with the accompanying drawings, provides a more detailed account of an integrated communication sensing detection method and system according to the present invention, which illustrates preferred embodiments of the invention. It should be understood that those skilled in the art can modify the invention described herein while still achieving its advantageous effects. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the invention.

[0023] The invention is described more specifically by way of example in the following paragraphs with reference to the accompanying drawings. The advantages and features of the invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.

[0024] like Figures 1-3 As shown in the figure, an embodiment of the present invention proposes an integrated detection method for communication and sensing, which includes the following steps: S1. Each sensing entity reports sensing assistance capability information, which includes sensing rescue area and / or rescued area. S2. When a sensing entity detects a loss in its own sensing performance, it reports a sensing anomaly as a receiving sensing entity and requests the activation of the sensing rescue mode. S3. Based on the perception assistance capability information and the perception anomaly information, determine the rescue perception entity and the type of rescue mode to be activated. The perception rescue area of ​​the rescue perception entity covers the rescued area of ​​the rescued perception entity. And conduct perception resource negotiation to determine the perception rescue resource configuration. S4. Based on the configured sensing and rescue resources, issue a sensing and rescue mode activation command to the rescue sensing entity and the rescue sensing entity, so that the rescue sensing entity assists the rescue sensing entity in restoring its sensing performance.

[0025] This embodiment can be applied to mobile communication networks (such as 5G, 5G-Advanced or their evolution systems) or dedicated network systems (such as low-altitude coverage networks for communication and services of drones or aircraft equipment, and dedicated ground networks for automobiles or unmanned vehicles, etc.) to achieve continuity of sensing services through multi-site cooperation when the sensing entity experiences performance loss.

[0026] Preferably, in step S1, the perception assistance capability information further includes perception enhancement capability, which includes at least one of anti-interference enhancement capability, anti-rain clutter capability, hardware fault countermeasure capability, perception rescue capability, and perception being rescued capability.

[0027] Preferably, the rain clutter resistance capability may include corresponding capability indicators, such as ensuring that the false alarm probability and detection probability do not deteriorate when the rainfall is less than a preset threshold, or ensuring that the false alarm probability and detection probability do not deteriorate when the rainfall is less than a preset threshold and the wind speed is less than a preset threshold, or that the detection distance deteriorates by less than a preset ratio under the aforementioned conditions. Those skilled in the art will understand that the preset threshold and preset ratio can be set according to actual needs.

[0028] In one embodiment, after the sensing entity comes online, it sends a signal to the sensing functional unit (i.e., Figure 2 The sensing functional network element reports the enhanced sensing capabilities of the current sensing entity, mainly including some special fault countermeasure capabilities and sensing rescue and being rescued capabilities. Simultaneously, it reports one or more sensing rescue areas and rescued areas corresponding to the respective capabilities to the sensing functional unit. Different rescue areas or rescued areas can be distinguished by identifiers.

[0029] Specifically, the anti-interference enhancement capability indicates that the sensing entity possesses one or more of the following enhancement capabilities: The sensing entity can use a stronger transmission power based on the interference detected in the current cell, for example, a power increase range of 3dB (the specific value can be set according to actual conditions), indicating that the sensing entity's power can be increased by 3dB. The sensing entity can use a narrower beam or a higher equivalent isotropic radiation power to transmit based on the interference detected in the current cell. Furthermore, the sensing entity simultaneously reports the adjustable range of the equivalent isotropic radiation power, for example, an equivalent isotropic radiation power increase range of 3dB (the specific value can be set according to actual conditions), indicating that the sensing entity's perceived equivalent isotropic radiation power can be adjusted by a maximum of 3dB.

[0030] Preferably, the sensing entity supports a tracking and search mode, in which the sensing entity can perform high-intensity tracking of one or more targets. In this tracking mode, the sensing entity improves the tracking distance, refresh rate, and even accuracy, but at the cost of tracking fewer targets than in normal mode. The configuration can additionally report performance information related to the tracking and search mode of the sensing entity, including but not limited to the number of targets that can be tracked simultaneously, target distance, maximum and minimum target speeds, maximum refresh rate, and supported field of view. Optionally, the sensing entity can additionally provide the impact of the tracking and search mode on communication performance; the quantification of the impact can include maximum peak value, maximum percentage of available sensing or communication resources, etc. For sensing entities that support the tracking and search mode, the sensing function unit can instruct them to enable or disable the tracking and search mode. Optionally, the tracking and search mode also includes performance indicators such as maximum fuzzy tracking distance and fuzzy tracking angle.

[0031] In this embodiment, in step S2, the perceived anomaly information includes at least one of the following: source of performance loss, quantified loss index, rescue perceived entity identifier suggested by the rescued perceived entity, and perceived rescue area number.

[0032] Preferably, the sources of performance loss include, but are not limited to, unknown strong interference, rain and snow conditions, or equipment failure. Specifically, after the sensing entity suffers performance loss, it reports the corresponding performance loss to the sensing function unit, requests the activation of the sensing rescue mode, and provides corresponding rescue alternative information.

[0033] Preferably, the sensing entity reports corresponding quantified loss (or impact) indicators, including but not limited to information on the detection probability of strong interference clutter, environmental radar cross-section noise floor, spatial radar cross-section noise floor, clutter radio frequency level, interference velocity range, interference distance range, and interference angle range. For faults caused by rain and snow, this includes rainfall forecast, rain and snow clutter velocity range, and rain and snow clutter impact distance range. Regarding other faults, this mainly includes coverage contraction and changes in the lowest target radar cross-section. Simultaneously, the sensing entity reports the suggested rescue sensing entity identifier (i.e., rescue station) and the sensing rescue area number corresponding to the current fault factor to the sensing functional unit. Optionally, the sensing entity does not report suggested stations to the sensing functional unit, which selects them based on network information.

[0034] In step S3, when determining the rescue sensing entity, a sensing entity with sensing enhancement capabilities that match the source of performance loss is selected as the rescue sensing entity based on the sensing enhancement capabilities.

[0035] After determining the rescue sensing entity and the type of rescue mode to be activated, the sensing function unit configures the enhanced mode for the sensing entity, including adjusting the sensing area, sensing object, and sensing indicators of multiple sensing entities. Specifically, the sensing object adjustment includes adjusting the number, type, or priority of sensing targets; the sensing indicator adjustment includes adjusting sensing accuracy, refresh rate, or tracking intensity. The sensing rescue area of ​​the rescue sensing entity covers the rescued area of ​​the rescued sensing entity, and sensing resource negotiation is performed to determine the sensing rescue resource configuration.

[0036] In step S3, the sensing resource negotiation specifically includes: sending resource suggestions to the rescue sensing entity; the rescued sensing entity providing resource suggestions that can be used for sensing rescue at this station; the rescue sensing entity accepting or rejecting the resource suggestions, and feeding back sensing resource information upon acceptance, wherein the sensing resources fed back by the rescue sensing entity constitute the maximum set of resource interactions between the rescued sensing entity and the rescue sensing entity in the future; sending all or a subset of the sensing resources fed back by the rescue sensing entity to the rescued sensing entity; the rescued sensing entity agreeing or rejecting the subset of sensing resources, and selecting all or part of the subset of sensing resources upon agreement.

[0037] Specifically, the sensing unit determines whether there are nearby rescue stations, i.e., if the restrictions of the rescue area and the area to be rescued are met, and then requests the activation of the rescue sensing mode from at least two stations (including the rescued station). More specifically: the rescued station provides the sensing entity with resources that it can use for rescue sensing, and as a suggestion, these resources can be provided to the rescue sensing entity. The sensing unit provides resource suggestions to the rescue sensing entity, and the rescue sensing entity feeds back information such as the corresponding sequence, time-frequency resources, duty cycle, and effective duty offset. Because the rescue sensing entity itself has resource constraints, the resources provided by the sensing unit can be accepted or rejected. Rejection can be accompanied by a simultaneous feedback of resource suggestions from the rescue base station. The sensing unit feeds back the resources provided by the rescue base station to the rescued base station. Due to interference control, the sensing unit may only distribute a portion of the resources. The rescued base station can agree to or refuse to activate rescue sensing; for example, when it affects communication services, it may agree to only a subset of resources. If the rescued sensing entity agrees, the sensing unit can issue a rescue mode activation command to both the rescue sensing entity and the rescued entity.

[0038] Preferably, the rescue mode differs from the traditional one in that: starting from a local fault event, the recipient base station, as the requesting party, only has the right to accept or cancel, while the rescue base station has the right to select and schedule resources, and can apply to use the sensing resources of both sites. In the above implementation process, the resources provided by the rescue sensing entity constitute the maximum set of subsequent resource interactions between the two parties; that is, other resources can only be subsets of this resource.

[0039] In the first embodiment, step S4 specifically includes: when the rescue mode type to be enabled corresponds to a rain clutter environment, configuring a third sensing area for both the rescued sensing entity and the rescue sensing entity, wherein the third sensing area is the intersection of the rescued area of ​​the rescued sensing entity and the rescue sensing area of ​​the rescue sensing entity, and instructing both the rescued sensing entity and the rescue sensing entity to detect targets whose radial velocity projection is away from their respective positions within the third sensing area.

[0040] Specifically, asymmetric velocity sensing means that the sensing entity can only sense a portion of the velocity range, which is not relatively zero-symmetric or only includes positive or negative velocities. The direction of the velocity is defined by the system; for example, the sensing entity may define the direction in which the radial velocity projection is directed toward the sensing entity as positive velocity, or vice versa, by protocol agreement or configuration. Furthermore, asymmetric velocity can also be defined not by a velocity sign, but by whether the radial velocity projection is directed toward or away from the sensing entity. That is, in asymmetric velocity sensing mode, the sensing entity can only sense targets whose velocity projection is away from the sensing entity. A typical use case for asymmetric velocity sensing is in a rainy environment, where raindrops, in their radial projection, fly toward the base station, thus causing a large amount of clutter in that velocity direction, but the impact is smaller in the direction away from the base station.

[0041] In the second embodiment, step S4 specifically includes: when the rescue mode type to be activated corresponds to a strong interference environment, an A-transmit B-receive rescue mode is adopted: the rescued sensing entity only transmits in a mode where the rescued sensing entity only sends sensing signals to the detection area and does not receive echo signals from the detection area; the rescue sensing entity receives the echo signals from the rescued sensing entity in the detection area and reports them to the corresponding target.

[0042] Alternatively, the rescued sensing entity may adopt a receiving-only mode: the rescued sensing entity does not send sensing signals to the detection area, switches to the operating frequency of the rescue sensing entity, receives the echo signals sent by the rescue sensing entity to the detection area, and requests the rescue sensing entity to configure corresponding signal transmission resources.

[0043] When the working bandwidth ranges of the rescue sensing entity and the aid sensing entity are different, the aid sensing entity requests to send or receive signals within the bandwidth range corresponding to the other party, or requests the aid sensing entity to work within the bandwidth range corresponding to the aid sensing entity.

[0044] In this embodiment, the embodiment further includes: after the perception rescue mode is activated, configuring a transmission cancellation parameter to indicate whether the rescued perception entity is allowed to temporarily not send on the allocated perception resources, and the proportion of unsent resources does not exceed an agreed value or a configured value; after the rescued perception entity detects that the performance loss has been recovered, it requests to restore the normal perception mode; after receiving the request, the perception function unit notifies the rescue perception entity to stop perception rescue.

[0045] Specifically, in rescue mode, the sensing function unit can be additionally configured to allow transmission cancellation, i.e., whether the recipient site can be temporarily allowed to refrain from transmitting on certain resources, such as temporarily protecting its communication services from conflict, but the proportion of untransmitted resources cannot exceed a pre-agreed or configured value. After the recipient site detects that the interference has been resolved, it requests to resume normal sensing mode, and the sensing function unit notifies the corresponding rescue site to stop rescue sensing.

[0046] In addition, such as Figure 4 As shown in the figure, this embodiment also proposes an integrated communication sensing detection system to implement the integrated communication sensing detection method as described above, including: multiple sensing entities and sensing functional units.

[0047] Specifically, the sensing entity is used to report sensing assistance capability information; any one of the plurality of sensing entities is configured to, upon detecting a loss in its own sensing performance, report sensing anomaly information as a recipient sensing entity and request the activation of the sensing rescue mode; the other sensing entities among the plurality of sensing entities are configured to participate in sensing rescue as rescue sensing entities; the sensing function unit is used to determine the rescue sensing entity and the type of rescue mode to be activated based on the sensing assistance capability information and the sensing anomaly information; it is used to negotiate sensing resources with the rescue sensing entity and the recipient sensing entity to obtain a sensing rescue resource configuration; and it is also used to issue a sensing rescue mode activation command to the recipient sensing entity and the rescue sensing entity based on the sensing rescue resource configuration.

[0048] In one embodiment, the sensing entity includes a base station (gNB) and / or a user terminal (UE), with this embodiment primarily using a gNB as an example. The sensing functional unit is also used as a sensing entity, managed by other sensing functional units or network elements. Specifically, this embodiment can extend the sensing entity to the terminal, and the sensing functional unit can act as a sensing entity, managed by other sensing functional units (i.e., sensing functional network elements).

[0049] In this embodiment, the following four different scenarios from four specific examples demonstrate how this embodiment can compensate for sensing performance loss through multi-site collaboration, thereby improving the self-healing capability of the integrated communication and sensing network and the continuity of sensing services.

[0050] First, this embodiment clarifies the relevant terminology: Assisted sensing entity: refers to a sensing entity whose sensing function or performance is impaired due to its own or environmental factors, resulting in a decline in performance.

[0051] Rescue sensing entities: These refer to sensing entities capable of using special sensing modes (such as rain-resistant clutter mode, A-to-B-to-receive mode, asymmetric velocity sensing, etc.) to assist rescue sites in restoring or mitigating sensing performance losses. Note that the definitions of rescue sensing entities and those intended for rescue and assistance are primarily used to understand the characteristics of the corresponding sensing entities and are not intended to limit the definition of sensing entities.

[0052] Perception Rescue Mode: The essence of perception rescue mode is that when the perception capability of a certain perception entity is impaired, it conducts special collaborative perception with surrounding perception entities that have auxiliary capabilities. Note that perception rescue mode is only for the convenience of understanding this scheme. This feature is limited to: at least one perception entity (the entity being rescued) experiences a loss of perception performance; under the scheduling of the perception functional unit, at least one perception entity (the rescue perception entity) uses a special replication perception mode to improve the perception performance of at least one entity being rescued, thereby reducing the impact on it.

[0053] Sensing Rescue Area / Rescued Area: Distinguished from the regular sensing area (sensing area / sensingservice area), this refers to the area where a sensing entity can perform rescue sensing (or be rescued). The sensing rescue area is usually larger than the normal sensing area, but this also means that the sensing entity needs to expend a greater sensing cost for rescue.

[0054] Asymmetric velocity sensing: This means that the sensing entity can only sense a portion of the velocity range. Specifically, this velocity range is not symmetrical relative to zero or only includes positive or negative velocities. Note that the direction of the velocity is system-defined. For example, the sensing entity may define the direction of the radial velocity projection toward the sensing entity as positive velocity, or vice versa, by protocol agreement or configuration. This embodiment does not limit the positive or negative definition of the velocity itself. Furthermore, asymmetric velocity can also be defined not by a velocity sign, but by whether the radial velocity projection is toward or away from the sensing entity. That is, the sensing entity in asymmetric velocity sensing mode can only sense targets whose velocity projection is away from the sensing entity. A typical use case for asymmetric velocity sensing is in a rainy environment, where raindrops, in their radial projection, fly toward the base station, thus causing significant clutter in that velocity direction, but having less impact in directions away from the base station.

[0055] Example 1: General Rescue Procedure In this embodiment, when the detection capability of sensed entities decreases due to environmental factors such as equipment damage, environmental interference, or weather, affecting the overall sensing service, the performance of the sensing service is restored through multi-station rescue. The process is as follows: Step 1: After the sensing entity comes online, it reports its enhanced sensing capabilities to the sensing function unit, mainly including some special fault countermeasure capabilities and sensing rescue and rescue capabilities. Simultaneously, it reports one or more sensing rescue areas and rescued areas corresponding to the respective capabilities to the sensing function unit. Different rescue areas or rescued areas can be distinguished by identifiers.

[0056] Step 2: After the perceived entity suffers performance loss, it reports the corresponding performance loss to the perception function unit, requests to activate the perception rescue mode, and provides corresponding rescue alternative information.

[0057] Step 3: The sensing unit determines whether there are rescue stations nearby, i.e., if the rescue area and the area to be rescued are met, and then requests the activation of the rescue sensing mode from at least two stations (including the rescued station). Specifically, this includes: Step 301: The recipient site provides the sensing entity with the resources available for sensing rescue at this site, which, as a suggestion, may be provided to the rescue sensing entity for use.

[0058] Step 302: The sensing unit provides resource suggestions to the rescue sensing entity, and the rescue sensing entity feeds back the corresponding information.

[0059] Step 303: Since the rescue sensing entity itself has resource constraints, the resources provided by the sensing functional unit can be accepted or rejected. Rejection can simultaneously feed back resource suggestions to the rescue base station.

[0060] Step 304: The sensing function unit feeds back the resources provided by the rescue base station to the base station in need of assistance. The sensing function unit is under interference control and may only send out a portion of the resources.

[0061] Step 305: The assisted base station may agree to or refuse to enable rescue sensing (e.g., affecting communication services), or may agree to only a subset of resources.

[0062] Step 306: If the recipient sensing entity agrees, the sensing function unit can issue a rescue mode activation command to both the rescue sensing entity and the recipient entity.

[0063] Step 4: In rescue mode, the sensing function unit can be additionally configured to allow transmission cancellation, that is, whether the rescued site can be temporarily allowed not to send on resources, such as temporarily protecting the communication services of this site in case of conflict, but the proportion of unsent resources cannot exceed the agreed value or the configured value.

[0064] Step 5: After the rescued site detects that the interference has been restored, it requests to restore the normal perception mode. The perception function unit notifies the corresponding rescue site to stop the rescue perception.

[0065] Furthermore, the above-mentioned exception information interface messages can be directly used for the interaction between the perception function unit and the perception application unit.

[0066] Example 2: Rain Clutter Scene In this embodiment, the main focus is on refining the rescue perception mode between rescue stations and recipient stations, or between recipient stations, in rain clutter scenarios. This embodiment uses a sensing entity as an example, but it can also be extended to use between two sensing functional units and higher-level sensing functional units or other network elements. Furthermore, based on the general rescue process described in Embodiment 1, this embodiment focuses on describing differentiated rescue steps in rain clutter scenarios. Except for the differentiated steps described below, the other steps in this embodiment (including sensing entity reporting, anomaly reporting, resource negotiation, issuing instructions, and recovery procedures) are the same as in Embodiment 1, and will not be repeated here.

[0067] Based on the configuration and negotiation process of Implementation Example 1, the following additional content is included: Pre-condition: In normal working mode: the first sensing entity and the second sensing entity each detect their corresponding areas.

[0068] The specific process is as follows: Step 1: According to Embodiment 1, the first sensing entity at least reports support for rain clutter asymmetric sensing capability, i.e., the rescued sensing entity, which can perform asymmetric velocity sensing within the sensing and rescue area. The second sensing entity at least reports rain clutter rescue capability, i.e., the rescue sensing entity. Simultaneously, the first and second sensing entities report their respective supported rescue areas (first sensing area) and rescued areas (second sensing area).

[0069] Step 2: According to Example 1, the first sensing entity, as the supported sensing entity, detects an increase in rain clutter and reports the corresponding rain clutter information.

[0070] Step 3: Following Embodiment 1, the sensing function unit requests and configures the second sensing entity as a support station to participate in the rain clutter sensing rescue mode of the first sensing entity. Specifically, the sensing function unit simultaneously configures a third sensing area (rescue effective area) for both the first sensing entity (also representing the rescued station) and the second sensing entity (also representing the rescue station). Within this third sensing area, it is also instructed that the first and second sensing entities only need to detect targets whose radial velocity projection is in a direction away from the sensing entity's location (here, representing the respective sensing entity's location). The third sensing area is the intersection of the first and second sensing areas.

[0071] like Figure 5As shown, the second sensing entity's sensing and rescue area (represented by the dashed box) has a large coverage area, extending leftward from the location of the second sensing entity to the vicinity of the first sensing entity. Target V is located near the first sensing entity, and its velocity direction (represented by arrow V) is towards the first sensing entity (or away from the second sensing entity). In normal operating mode, the first and second sensing entities each detect their corresponding areas, and the rescue area of ​​the second sensing entity can cover the area near the first sensing entity.

[0072] like Figure 6 As shown, the third sensing region (represented by a dashed box and labeled "rescue region") is the intersection of the rescued area of ​​the first sensing entity and the sensing rescue area of ​​the second sensing entity, located in the middle area between the right side of the first sensing entity and the left side of the second sensing entity. Target V is located within this third sensing region, and its velocity direction (represented by arrow V) is towards the first sensing entity.

[0073] Within this third sensing area, both the first and second sensing entities are instructed to detect targets whose radial velocity projections are away from their respective positions. For the first sensing entity, the velocity direction of target V is either approaching the first sensing entity (or moving away from the second sensing entity), which does not meet the "moving away" detection condition; therefore, the first sensing entity does not detect this target. However, for the second sensing entity, the velocity direction of target V is moving away from the second sensing entity, which meets the detection condition; therefore, the second sensing entity detects this target. In this way, rain clutter directed towards the first sensing entity (which has the same velocity direction as target V relative to the first sensing entity, both being approaching) is filtered out by the first sensing entity, while the second sensing entity detects targets moving away from itself, thus suppressing rain clutter interference.

[0074] Example 3: Strong Interference Scenario (Supported Sensing Entity Only Transmits) This embodiment mainly focuses on the details of the rescue mode under strong interference, specifically the rescue sensing mode between the rescue station and the assisted station, or between the assisted stations. This embodiment primarily addresses the "A transmits, B receives" rescue mode, where the assisted station (or the assisted sensing entity) only transmits. This embodiment uses a sensing entity as an example, but it can also be extended to use between two sensing functional units and higher-level sensing functional units or other network elements. Furthermore, based on the general rescue process described in Embodiment 1, this embodiment focuses on describing the differentiated rescue steps for the assisted sensing entity only transmitting mode under strong interference. Except for the differentiated steps described below, the other steps in this embodiment (including sensing entity reporting, anomaly reporting, resource negotiation, issuing instructions, and recovery procedures) are the same as in Embodiment 1, and will not be repeated here.

[0075] Based on the configuration and negotiation process of Implementation Example 1, the following additional content is included: Pre-operation state: In normal operating mode, the first sensing entity and the second sensing entity each detect their respective areas.

[0076] The specific process is as follows: Step 1: According to Embodiment 1, the first sensing entity (the receiving sensing entity) borrows bandwidth from neighboring cells or uses the bandwidth of its own cell, and uses a transmit-only A-transmit B-receive mode for sensing. The second sensing entity (the rescue sensing entity) at least reports its ability to serve as a receiving station for the corresponding rescue mode.

[0077] Step 2: According to Example 1, the first sensing entity reports the presence of strong interference in the surrounding area, and the sensing function unit coordinates the second sensing entity to carry out the sensing rescue mode.

[0078] Step 3: According to Example 1, the first sensing entity and the second sensing entity coordinate to use sensing resources.

[0079] Step 4: After the perception-based rescue mode is triggered, within the perception-based rescue area, the first perception entity only sends signals to the detection area and no longer receives echoes from that area (i.e., the resources reserved for the echoes, such as time-domain symbols and beam resources, are no longer occupied by perception and can be used for communication), or the first perception entity does not report targets in the detection area. The second perception entity receives the echo signals from the first perception entity within the detection area and reports the corresponding targets.

[0080] like Figure 7 As shown, the area where the first sensing entity is located experiences strong interference, making it impossible to receive echoes normally. For example... Figure 8 As shown, the first sensing entity only emits signals. Figure 7 and Figure 8 The second sensing entity in the system receives the echo and reports it to the target, thus avoiding strong local interference.

[0081] Optionally, in normal mode, the first sensing entity and the second sensing entity have different operating bandwidth ranges. The first sensing entity can request the second bandwidth range corresponding to the second sensing entity to send signals, or request the second sensing entity to receive echo signals in the first bandwidth range.

[0082] Example 4: Sector-wide interference scenario (received sensing entity only receives signals) In this embodiment, Example 4 primarily addresses scenarios with strong sector interference, requesting entry into a rescue sensing mode. The difference from Example 3 is that this mode uses an A-to-B-to-receive rescue mode, where the assisted site (or assisted sensing entity) only receives. Furthermore, based on the general rescue process described in Example 1, Example 4 focuses on describing the differentiated rescue steps for the assisted sensing entity's only-receive mode under strong sector interference conditions. Except for the differentiated steps described below, all other steps in this embodiment (including sensing entity reporting, anomaly reporting, resource negotiation, issuing instructions, and recovery procedures) are the same as in Example 1 and will not be repeated here.

[0083] The core difference from Embodiment 3 is that the first sensing entity in the rescue sensing can request the second bandwidth range corresponding to the second sensing entity to receive signals. Specifically, the rescued sensing entity (the first sensing entity) has the ability to borrow bandwidth from neighboring cells or use the bandwidth of its own cell, and to use the A-transmit B-receive mode for sensing. The rescue sensing entity (the second sensing entity) must at least report the capability to serve as a transmitting station for the corresponding rescue mode. When the rescued sensing entity reports strong interference information in the vicinity, the sensing function unit coordinates the second sensing entity to use the rescue sensing mode. The sensing resources used by the rescued sensing entity and the rescue sensing entity are coordinated in the same way as the sensing resource negotiation process described in Embodiment 3, and will not be repeated here.

[0084] In step 4, after the sensing rescue mode is triggered, within the sensing rescue area, the first sensing entity does not send a signal to the detection area, but switches to the frequency of the rescue station to receive the echo sent to the detection area by the second sensing entity.

[0085] In particular, in normal mode, the first sensing entity and the second sensing entity have different operating bandwidth ranges. The first sensing entity needs to apply for the second bandwidth range corresponding to the second sensing entity to receive signals and request the signal transmission resource configuration corresponding to the second sensing entity.

[0086] like Figure 9 Strong interference exists in the area where the first sensing entity is located. Therefore, in Figure 10 In this embodiment, the first sensing entity switches to the operating frequency of the second sensing entity and receives signals within the second bandwidth range corresponding to the second sensing entity. The second sensing entity configures corresponding signal transmission resources. This embodiment can temporarily utilize the frequency of a neighboring cell when the bandwidth range where the first sensing entity is located experiences excessive interference, without affecting the operation of the neighboring cell.

[0087] In summary, the integrated communication sensing detection method and system proposed in this invention have the following advantages: By identifying the sensing entities to be rescued and the types of rescue modes to be activated, and by negotiating sensing resources, it is possible to dynamically match sensing entities with corresponding rescue capabilities based on the sensing assistance capability information and sensing anomaly information reported by the sensing entities. This enables collaborative rescue among sensing entities, thereby compensating for the loss of sensing performance through multi-station collaboration when some sensing entities experience performance loss, and improving the self-healing capability and continuity of sensing services of the integrated communication and sensing network.

[0088] Furthermore, by matching and selecting enhanced perception capabilities, rescue perception entities with corresponding capabilities can be precisely dispatched based on the source of performance loss, improving the targeting of rescue efforts and the efficiency of perception performance recovery. Through a two-way resource negotiation mechanism, the flexibility and reliability of resource allocation can be improved, taking into account the collaborative needs of perception and communication services. By configuring asymmetric velocity perception and a third perception area in rain clutter environments, rain clutter interference can be reduced, increasing the probability of perception detection in adverse weather conditions. Through the A-to-B-to-B mode and bandwidth adaptation in strong interference environments, local strong interference can be avoided, improving the quality of perception signals. By configuring transmission cancellation parameters, flexible allocation of perception resources can be achieved while ensuring communication services, improving the overall resource utilization efficiency of the system.

[0089] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A communication-sensing integrated detection method, characterized in that, Including the following: Each sensing entity reports sensing assistance capability information, which includes sensing the rescue area and / or the area being rescued. When a sensing entity detects a loss in its own sensing performance, it reports the sensing anomaly information as a receiving sensing entity and requests the activation of the sensing rescue mode. Based on the perception assistance capability information and the perception anomaly information, the rescue perception entity and the type of rescue mode to be activated are determined. The perception rescue area of ​​the rescue perception entity covers the rescued area of ​​the rescued perception entity, and perception resource negotiation is carried out to determine the perception rescue resource configuration. Based on the configured sensing and rescue resources, a sensing and rescue mode activation command is issued to the rescue sensing entity and the rescue sensing entity, so that the rescue sensing entity assists the rescue sensing entity in restoring its sensing performance.

2. The integrated communication and sensing detection method as described in claim 1, characterized in that, The perception assistance capability information also includes perception enhancement capability, which includes at least one of the following: anti-interference enhancement capability, anti-rain clutter capability, hardware failure countermeasure capability, perception rescue capability, and perception being rescued capability.

3. The integrated communication and sensing detection method as described in claim 2, characterized in that, When determining the rescue sensing entity, a sensing entity with sensing enhancement capabilities that match the source of performance loss is selected as the rescue sensing entity based on the sensing enhancement capabilities.

4. The integrated communication and sensing detection method as described in claim 1, characterized in that, The perceived anomaly information includes at least one of the following: source of performance loss, quantified loss index, rescue perception entity identifier suggested by the rescued perception entity, and perception rescue area number.

5. The integrated communication and sensing detection method as described in claim 1, characterized in that, The negotiation of the sensing resources specifically includes: Send resource suggestions to the rescue sensing entity; The recipient sensing entity provides resource suggestions that this station can use for sensing rescue; The rescue sensing entity accepts or rejects the resource suggestion and, upon acceptance, feeds back sensing resource information, wherein the sensing resources fed back by the rescue sensing entity are the maximum set of resource interactions between the subsequently aided sensing entity and the rescue sensing entity. Send all or a subset of the sensing resources fed back by the rescue sensing entity to the rescued sensing entity; The aided sensing entity may agree to or reject the subset of sensing resources, and when agreeing, may select all or part of the subset of sensing resources.

6. The integrated communication and sensing detection method as described in claim 1, characterized in that, The rescue modes corresponding to the rescue mode type to be activated specifically include: A third sensing area is configured simultaneously for the rescued sensing entity and the rescue sensing entity. The third sensing area is the intersection of the rescued area of ​​the rescued sensing entity and the rescue sensing area of ​​the rescue sensing entity. The rescued sensing entity and the rescue sensing entity are instructed to detect targets whose radial velocity projection is away from their respective positions within the third sensing area.

7. The integrated communication and sensing detection method as described in claim 1, characterized in that, The rescue modes corresponding to the rescue mode type to be activated specifically include: The supported sensing entity transmits only: the supported sensing entity only sends sensing signals to the detection area and does not receive echo signals from the detection area; the rescue sensing entity receives the echo signals from the supported sensing entity within the detection area and reports them to the corresponding target. Alternatively, the rescued sensing entity may adopt a receiving-only mode: the rescued sensing entity does not send sensing signals to the detection area, switches to the operating frequency of the rescue sensing entity, receives the echo signals sent by the rescue sensing entity to the detection area, and requests the rescue sensing entity to configure corresponding signal transmission resources. When the working bandwidth ranges of the rescue sensing entity and the aid sensing entity are different, the aid sensing entity requests to send or receive signals within the bandwidth range corresponding to the other party, or requests the aid sensing entity to work within the bandwidth range corresponding to the aid sensing entity.

8. The integrated communication and sensing detection method as described in claim 1, characterized in that, Also includes: After the perception rescue mode is activated, a transmission cancellation parameter is configured to indicate whether the rescued perception entity is allowed to temporarily refrain from sending data on the allocated perception resources, and the proportion of unsent resources does not exceed a predetermined or configured value; after the rescued perception entity detects that the performance loss has been recovered, it requests to restore the normal perception mode; upon receiving the request, the rescue perception entity is notified to stop perception rescue.

9. A communication sensing integrated detection system, used to implement the communication sensing integrated detection method as described in any one of claims 1-8, characterized in that, include: Multiple sensing entities and sensing functional units; The sensing entity is used to report sensing assistance capability information; Any one of the plurality of sensing entities is configured to report sensing anomaly information and request the activation of sensing rescue mode as a receiving sensing entity when it detects a loss in its own sensing performance. The other sensing entities among the plurality of sensing entities are configured to participate in sensing rescue as rescue sensing entities. The sensing function unit is used to determine the rescue sensing entity and the type of rescue mode to be activated based on the sensing assistance capability information and the sensing anomaly information; to negotiate sensing resources with the rescue sensing entity and the rescued sensing entity to obtain a sensing rescue resource configuration; and to issue a sensing rescue mode activation command to the rescued sensing entity and the rescue sensing entity based on the sensing rescue resource configuration.

10. The integrated communication and sensing detection system as described in claim 9, characterized in that, The sensing entity includes a base station and / or a user terminal; the sensing functional unit is also used as a sensing entity and is managed by other sensing functional units or network elements.

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