A perception method and apparatus

Abstract

A sensing method and apparatus are disclosed. A fusion center receives at least one set of sensing data from at least one sensing node. The first set of sensing data originates from a first sensing node, and the second set of sensing data originates from a second sensing node. Both the first and second sets of sensing data include sensing data from a first region, and the sensing data from the first region included in both the first and second sets of sensing data correspond to at least two data types. The fusion center determines a sensing result based on at least one set of sensing data. The fusion center can determine the sensing result based on sensing data of more data types, improving sensing accuracy and reducing the missed detection rate.

Description

Technical Field

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

[0002] Sensing refers to the detection of parameters of targets in the physical environment, such as their position and velocity. It can also be called detection. The processing flow of sensing signals involves the processing of sensing nodes and sensing network elements. For example, sensing nodes are responsible for sending and / or receiving sensing signals, as well as related baseband processing, ultimately outputting the sensing results to the sensing network elements. The sensing network elements are responsible for processing the sensing results reported by the sensing nodes, such as identifying the sensing target and determining its path.

[0003] How to improve the accuracy of perception is a problem that needs to be solved. Summary of the Invention

[0004] This application provides a sensing method and apparatus to improve sensing accuracy.

[0005] In a first aspect, a first sensing method is provided, which can be applied to a first device. The first device is, for example, a convergence center, a functional module included in a convergence center, or a larger device including a convergence center. The first device is, for example, a network-side device. This network-side device is also referred to as a network device. The network device is, for example, a network equipment, or other equipment including network equipment functions, or a circuit, or a chip system (or chip) or other functional module capable of implementing the functions of the network equipment, and is, for example, disposed within the network equipment. The network equipment includes, for example, core network equipment and / or access network equipment, or includes equipment located between the core network and the access network. The access network equipment can be a non-ORAN architecture or an ORAN architecture; or, the access network equipment can be a CU, DU, or RU under an ORAN architecture. The access network equipment is, for example, located on the ground, or the access network equipment is, for example, a satellite, or located on a satellite. The core network equipment is, for example, a network element capable of implementing sensing functions, such as a sensing function (SF) or a location management function (LMF). The method includes: receiving at least one sensing data, the at least one sensing data coming from at least one sensing node, wherein a first sensing data in the at least one sensing data comes from a first sensing node, a second sensing data in the at least one sensing data comes from a second sensing node, the first sensing data and the second sensing data both include sensing data of a first region, and the sensing data of the first region included in the first sensing data and the second sensing data both correspond to at least two data types; and determining a sensing result based on the at least one sensing data.

[0006] In this embodiment, at least one sensing node can participate in sensing, and the fusion center can determine the sensing result based on the sensing data reported by at least one sensing node. Integrating the sensing data from at least one sensing node helps improve sensing accuracy and reduces the missed detection rate. Sensing nodes can report sensing data of at least two data types, meaning the fusion node can determine the sensing result based on sensing data of more data types, thereby further improving sensing accuracy and reducing the missed detection rate. Different sensing nodes can cover the same area, such as a first area. Different sensing nodes can report at least two types of data for the first area. The fusion center can perform sensing on the sensing targets within the first area based on the sensing data reported by these different sensing nodes, thereby increasing the amount of data the fusion center uses for sensing and improving the sensing accuracy of the sensing targets in the first area.

[0007] In an optional implementation, the method further includes: sending first information to the at least one sensing node, the first information indicating that sensing data of at least two data types be reported to the first region, wherein the first region is a sensing region covered by both the first sensing node and the second sensing node. For example, the first region is a common region of N sensing nodes, where N is a positive integer, and the N sensing nodes include, for example, the first sensing node and the second sensing node. For the common region of the N sensing nodes, all N sensing nodes can send the sensing data of the common region to the fusion center. When processing the sensing data of the first region, the fusion center can also process the sensing data of the common region reported by the N sensing nodes in a unified manner, thereby improving the sensing accuracy, or it can be understood that the fusion center can obtain fusion gain. Therefore, optionally, each of the N sensing nodes can report at least two types of sensing data to the first region, so that the fusion center can obtain richer sensing data corresponding to the first region, thereby improving the sensing accuracy and reducing the false negative rate.

[0008] In one optional implementation, the first information also indicates the reporting priority of the at least two data types. For example, in situations of insufficient resources or weak signal strength, a sensing node that has received the first information can prioritize sending sensing data of higher priority data types to the fusion center according to the reporting priority, which helps ensure that higher priority or more important sensing data can be transmitted.

[0009] In one optional implementation, the at least two data types include any two or more of the following: information about the signal being sensed and / or channel information corresponding to the signal being sensed; a sensing spectrum corresponding to the signal being sensed; point cloud information corresponding to the target being sensed; or, the distance and / or velocity of the target being sensed. In addition, the at least two data types may also include other types, without limitation.

[0010] In one alternative implementation, the sensing spectrum includes one or more of the following: a power delay spectrum; an angular spectrum; a Doppler spectrum; a micro-Doppler spectrum; or a signal intensity spectrum. In addition, the sensing spectrum may include other sensing spectra, without limitation.

[0011] In one optional implementation, the at least two data types include the point cloud information and the perception spectrum. Determining the perception result based on the at least one perception data includes: determining K coordinates based on the first sub-data included in the first perception data and the second sub-data included in the second perception data, where both the first and second sub-data correspond to the perception spectrum; and determining the coordinates of the perceived target based on the K coordinates, the first point cloud information included in the first perception data, and the second point cloud information included in the second perception data. For example, the fusion center can superimpose the perception spectrum corresponding to the first sub-data with the perception spectrum corresponding to the second sub-data, and determine the K coordinates based on the superposition result. Since interference and noise are random, the superposition of the perception spectrum will not significantly increase interference and noise, but the power of the perceived target will increase with the superposition, thereby improving the detection rate of the perceived target.

[0012] In an optional implementation, the first sensing data further includes sensing data from a second region, where the sensing data corresponds to a data type. The method further includes sending second information to the first sensing node, the second information indicating that sensing data of the aforementioned data type should be reported to the second region. The second region may be, for example, a private region of the first sensing node. For a private region of a sensing node, the fusion center will only receive sensing data from that sensing node and not from other sensing nodes, thus preventing the fusion center from obtaining greater fusion gain. Therefore, optionally, for a private region, the sensing node can report sensing data of a single data type, allowing the fusion center to determine the sensing result without incurring significant transmission overhead.

[0013] Secondly, a second sensing method is provided, which can be applied to a second device. The second device is, for example, a first sensing node, a functional module included in the first sensing node, or a larger device including the first sensing node. The second device is, for example, a network-side device or a terminal-side device. The network-side device is also referred to as a network device. The network device is, for example, a network equipment, or other equipment including network equipment functions, or a circuit, or a chip system (or chip) or other functional module capable of implementing the functions of the network equipment, and the chip system or functional module is, for example, disposed within the network equipment. The network equipment includes, for example, an access network device; a description of access network devices can be found in the first aspect. The terminal-side device is also referred to as a terminal device. The terminal device is, for example, a terminal equipment, or other equipment including terminal equipment functions, or a circuit, or a system-on-a-chip (or a chip, such as a modem chip, also known as a baseband chip, or a system-on-a-chip (SoC) chip or system-in-a-package (SIP) chip containing a modem core) or other functional module, which can realize the functions of the terminal equipment, and which is, for example, disposed in the terminal equipment. The method includes: receiving first information, the first information indicating that at least two types of sensing data be reported to a first area, wherein the first area is...; sending first sensing data, the first sensing data including sensing data of the first area, and the sensing data of the first area included in the first sensing data corresponding to at least two data types, the first sensing data being used to determine a sensing result.

[0014] In one optional implementation, the first area is a sensing area covered by both the first sensing node and the second sensing node, and the first sensing data is used by the fusion center to determine the sensing result based on the first sensing data and the sensing data of the second sensing node.

[0015] In one alternative implementation, the first information also indicates the reporting priority of the at least two data types.

[0016] In one optional implementation, the at least two data types include any two or more of the following: information about the signal being sensed and / or channel information corresponding to the signal being sensed; a sensing spectrum corresponding to the signal being sensed; point cloud information corresponding to the target being sensed; or, the distance and / or velocity of the target being sensed.

[0017] In one alternative implementation, the sensing spectrum includes one or more of the following: time-delay power spectrum; angle spectrum; Doppler spectrum; micro-Doppler spectrum; or signal intensity spectrum.

[0018] In one optional implementation, the at least two data types include the perception spectrum and the point cloud information. The perception spectrum corresponds to M target points, where the signal-to-noise ratio (SNR) of the detected M target points is greater than a threshold, or less than or equal to a threshold, and M is a positive integer. The point cloud information corresponds to P target points, where the SNR of the detected P target points is greater than the threshold, and P is a positive integer. If the first sensing node wants to obtain preliminary sensing data, such as obtaining a perception spectrum based on the detection results, it can obtain the perception spectrum for a target point regardless of whether the SNR detected for that target point is greater than or less than or equal to the threshold. Alternatively, the acquisition of the perception spectrum is not limited by the SNR, or by the threshold corresponding to the SNR. Therefore, the perception spectrum can include more information about the target points, helping to reduce the false negative rate of the perceived targets. The acquisition of point cloud information by the first sensing node can be limited by the SNR, making the point cloud information acquired by the first sensing node more accurate and helping to improve sensing accuracy.

[0019] For information on the technical effects of the second aspect or some of the optional implementation methods, please refer to the description of the technical effects of the first aspect or corresponding implementation methods.

[0020] Thirdly, an apparatus is provided. The apparatus can be the first apparatus described in the first aspect above. The apparatus possesses the functions of the first apparatus described above. For example, the apparatus is capable of implementing the functions described in the first aspect above. For instance, the apparatus includes modules, units, or means corresponding to performing the operations involved in the first aspect above. These modules, units, or means can be implemented through software, hardware, or a combination of software and hardware. The first apparatus is, for example, a network device, or other device including network device functions, or a chip system (or chip or circuit) or other functional module capable of implementing the functions of a network device. This chip system or functional module is, for example, disposed within a network device. The network device includes, for example, core network equipment and / or access network equipment, or equipment located between the core network and the access network. In one optional implementation, the apparatus includes a baseband device and a radio frequency device. In another optional implementation, the apparatus includes a processing unit (sometimes also called a processing module) and a transceiver unit (sometimes also called a transceiver module). A transceiver unit can perform both sending and receiving functions. When the transceiver unit performs the sending function, it can be called a sending unit (sometimes also called a sending module), and when it performs the receiving function, it can be called a receiving unit (sometimes also called a receiving module). The sending unit and the receiving unit can be the same functional module, which is called the transceiver unit and can perform both sending and receiving functions; or, the sending unit and the receiving unit can be different functional modules, and the transceiver unit is a collective term for these functional modules.

[0021] In one optional implementation, the transceiver unit (or the receiving unit) is configured to receive at least one sensing data, the at least one sensing data coming from at least one sensing node, wherein the first sensing data in the at least one sensing data comes from a first sensing node, the second sensing data in the at least one sensing data comes from a second sensing node, both the first sensing data and the second sensing data include sensing data of a first region, and the sensing data of the first region included in both the first sensing data and the second sensing data correspond to at least two data types; the processing unit is configured to determine a sensing result based on the at least one sensing data.

[0022] In an alternative embodiment, the device further includes a storage unit (sometimes also called a storage module), the processing unit being coupled to the storage unit and executing programs or instructions in the storage unit to enable the device to perform the functions of the first device described in the first aspect above.

[0023] Fourthly, an apparatus is provided. The apparatus can be the second apparatus described in the second aspect above. The apparatus possesses the functions of the second apparatus described above. For example, the apparatus is capable of implementing the functions described in the second aspect above. For instance, the apparatus includes modules, units, or means corresponding to performing the operations involved in the second aspect above. These modules, units, or means can be implemented through software, hardware, or a combination of software and hardware. The second apparatus is, for example, a terminal device, or other device including terminal device functions, or a chip system (or chip or circuit) or other functional module capable of implementing the functions of a terminal device, and is, for example, disposed in a terminal device. Alternatively, the second apparatus is, for example, a network device, or other device including network device functions, or a chip system (or chip or circuit) or other functional module capable of implementing the functions of a network device, and is, for example, disposed in a network device. The network device includes, for example, an access network device. In an optional implementation, the apparatus includes a baseband device and a radio frequency device. In another alternative implementation, the apparatus includes a processing unit (sometimes also called a processing module) and a transceiver unit (sometimes also called a transceiver module). For details on the implementation of the transceiver unit, please refer to the relevant description in the third aspect.

[0024] In one optional implementation, the transceiver unit (or the receiving unit) is configured to receive first information, the first information being configured to instruct the reporting of at least two types of sensing data to a first region, wherein the first region; the transceiver unit (or the sending unit) is configured to send first sensing data, the first sensing data including sensing data of the first region, and the sensing data of the first region included in the first sensing data corresponding to at least two types of data, the first sensing data being used to determine a sensing result.

[0025] In an alternative embodiment, the device further includes a storage unit (sometimes also called a storage module), the processing unit being coupled to the storage unit and executing programs or instructions in the storage unit to enable the device to perform the functions of the second device described in the second aspect above.

[0026] Fifthly, an apparatus is provided, the apparatus comprising a memory and one or more processors. The memory is used to store part or all of a computer program or instructions necessary for implementing the functions involved in the first or second aspect described above. The one or more processors are executable to carry out the computer program or instructions, such that, when executed, the apparatus implements the methods in any possible design or implementation of the first or second aspect described above.

[0027] In one possible design, the device may further include interface circuitry, wherein the processor is configured to communicate with other devices or components via the interface circuitry.

[0028] In one possible design, the device may also include the memory.

[0029] The aforementioned device may be a network device, a communication module in a network device, or a chip in a network device that is responsible for communication functions, such as a modem chip (also known as a baseband chip) or a SoC or SIP chip that contains a modem module.

[0030] A sixth aspect provides an apparatus comprising a memory and one or more processors. The memory is used to store part or all of a computer program or instructions necessary for implementing the functions described in the second aspect above. The one or more processors are executable to carry out the computer program or instructions, such that, when executed, the apparatus implements the methods in any possible design or implementation of the second aspect above.

[0031] In one possible design, the device may further include interface circuitry, wherein the processor is configured to communicate with other devices or components via the interface circuitry.

[0032] In one possible design, the device may also include the memory.

[0033] The aforementioned device may be a terminal device, a communication module in a terminal device, or a chip in a terminal device that is responsible for communication functions, such as a modem chip (also known as a baseband chip) or a SoC or SIP chip that contains a modem module.

[0034] A seventh aspect provides a sensing system including a fusion center. The fusion center is used to perform the method described in the first aspect, which is executed by the first device. For example, the fusion center can be implemented using the device described in the third or fifth aspect.

[0035] Optionally, the sensing system may further include sensing nodes. These sensing nodes are used to perform the method described in the second aspect above, which is executed by the second apparatus. The sensing node is, for example, a terminal device or a network device (e.g., an access network device). For example, the terminal device may be implemented using the apparatus described in the fourth or sixth aspect; the network device may be implemented using the apparatus described in the fourth or fifth aspect.

[0036] Eighthly, a computer-readable storage medium is provided for storing a computer program or instructions that, when executed, cause the method performed by the first or second means in the preceding aspects to be implemented.

[0037] Ninthly, a computer program product containing instructions is provided, which, when the computer program or instructions are run on a computer, causes the methods described in the above aspects to be implemented.

[0038] In a tenth aspect, a chip system is provided, including a processor and an interface, the processor being configured to call and execute instructions from the interface to enable the chip system to implement the methods described above. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of a single-station sensing mode;

[0040] Figure 2 This is a schematic diagram of a dual-station sensing mode;

[0041] Figure 3 and Figure 4 These are schematic diagrams illustrating two application scenarios of embodiments of this application;

[0042] Figure 5 A flowchart of a sensing method provided in an embodiment of this application;

[0043] Figure 6 This is an example of a public area and a private area in an embodiment of this application;

[0044] Figure 7 A schematic diagram of an apparatus provided in an embodiment of this application;

[0045] Figure 8 This is a schematic diagram of another device provided in an embodiment of this application. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0047] In this application embodiment, the number of nouns, unless otherwise specified, refers to "singular nouns or plural nouns," that is, "one or more." "At least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. For example, A / B means: A or B. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c means: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0048] The ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects, and are not used to limit the size, content, order, timing, priority, or importance of the multiple objects. Furthermore, the numbering of steps in the various embodiments described in this application is only to distinguish different steps and is not used to limit the order in which the steps are performed.

[0049] The following explanations of some terms or concepts used in the embodiments of this application are provided to facilitate understanding by those skilled in the art.

[0050] In this embodiment of the application, the terminal device is a device with wireless transceiver function, which may be a fixed device, a mobile device, a handheld device (e.g., a mobile phone), a wearable device, an in-vehicle device, or a wireless device (e.g., a communication module, a modem, or a chip system, etc.) built into the above devices. The terminal devices are used to connect people, objects, and machines, and can be widely used in various scenarios, including but not limited to the following: sensing scenarios, cellular communication, device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, machine-to-machine / machine-type (M2M / MTC) communication, Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical care, smart grid, smart furniture, smart office, smart wearables, smart transportation, smart city, drones, robots, and terminal devices in indoor commercial scenarios (such as mobile phone screen mirroring, file sharing, and mobile phone to VR glasses). When the terminal equipment is applied to V2X, it can also be called a V2X device, such as a smart car, digital car, unmanned car, driverless car, pilotless car, or automobile, self-driving car, or autonomous car, pure electric vehicle (EV), hybrid electric vehicle (HEV), range-extended electric vehicle (REEV), plug-in hybrid electric vehicle (PHEV), new energy vehicle, or roadside unit (RSU). The terminal equipment can also be a device used in D2D communication, such as an electricity meter or water meter.

[0051] Furthermore, in this embodiment, the terminal device can also be a terminal device in an IoT system. IoT is an important component of the future development of information technology. Its main technical feature is to connect objects to the network through communication technology, thereby realizing an intelligent network of human-machine interconnection and object-to-object interconnection.

[0052] The various terminal devices described above, if located in a vehicle (e.g., placed inside or installed inside a vehicle), can all be considered in-vehicle terminal devices, also known as on-board units (OBUs). The terminal device of this application can also be an in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit built into a vehicle as one or more components or units. The vehicle can implement the methods of this application through the built-in in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit.

[0053] The terminal equipment may sometimes be referred to as user equipment (UE), terminal, access station, UE station, remote station, wireless communication equipment, or user device, etc.

[0054] In this application embodiment, the communication device used to implement the terminal device function can be the terminal device itself, or it can be a device capable of supporting the terminal device in implementing the function, such as a chip system. This device can be installed in the terminal device. In the technical solutions provided in this application embodiment, the terminal device is used as an example to describe the technical solutions provided in this application embodiment. Furthermore, for ease of description, the terminal device in this application embodiment is described using a UE as an example.

[0055] The network devices in this application embodiment include, for example, access network devices and / or core network devices. The access network devices are devices with wireless transceiver capabilities, used to communicate with the terminal devices. The access network devices include, but are not limited to, base stations (base transceiver stations (BTS), Node B, evolved Node B (eNodeB) / eNB, or the next generation Node B (gNodeB) / gNB), transmission reception points (TRPs), base stations evolved from the 3rd Generation Partnership Project (3GPP), access nodes in Wireless Fidelity (Wi-Fi) systems, wireless relay nodes, wireless backhaul nodes, etc. The base stations can be: macro base stations, micro base stations, pico base stations, small cells, relay stations, etc. Multiple base stations can support networks using the same access technology or networks using different access technologies. A base station can contain one or more co-located or non-co-located transmission and reception points. The access network equipment can also be a radio controller, centralized unit (CU), and / or distributed unit (DU) in a cloud radio access network (CRAN) scenario. The access network equipment can also be a server, etc. For example, the network equipment in V2X technology can be a roadside unit (RSU). The following description uses a base station as an example to illustrate the access network equipment. The base station can communicate with the terminal device, or it can communicate with the terminal device through a relay station. The terminal device can communicate with multiple base stations in different access technologies. The core network equipment is used to implement functions such as mobility management, data processing, session management, policy and billing. The names of the equipment implementing core network functions may differ in systems using different access technologies; this application does not limit this. Taking the 5th generation (5G) mobile communication technology system as an example, the core network equipment includes: access and mobility management function (AMF), session management function (SMF), policy control function (PCF) or user plane function (UPF), etc.

[0056] In the CU-DU architecture, access network equipment can include centralized units (CU) and distributed units.

[0057] One or more logical network elements, such as distributed unit (DU), control plane (CP), user plane (UP), or radio unit (RU). CU and DU can be separate entities or included in the same network element, such as a baseband unit (BBU). RU can be included in radio frequency equipment or radio frequency units, such as remote radio unit (RRU), active antenna unit (AAU), or remote radio head (RRH).

[0058] 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 open RAN (ORAN) system, CU can also be called open CU (open CU, O-CU), DU can also be called open DU (open DU, O-DU), CU-CP can also be called open CU-CP (open CU-CP, O-CU-CP), CU-UP can also be called open CU-UP (open CU-CP, O-CU-UP), and RU can also be called open RU (open RU, O-RU). For ease of description, the embodiments of this application use CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in the embodiments of this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0059] Optionally, in various embodiments of this application, if the network device is a distributed architecture, such as the network device including CU and DU, or including CU-CP, CU-UP and DU, then the network device sends information to the UE, specifically the DU included in the network device sends information to the UE; the network device receives information from the UE, specifically the DU included in the network device receives information from the UE.

[0060] In this application embodiment, the communication device used to implement the network device function can be a network device itself, or it can be a device capable of supporting the network device in implementing that function, such as a chip system. This device can be installed within the network device. In the technical solutions provided in this application embodiment, the example of a network device being used to implement the network device function is used to describe the technical solutions provided in this application embodiment.

[0061] Sensing, in this context, refers to the ability to detect parameters of targets in the physical environment, such as their position and velocity. It can be understood that sensing devices detect targets by emitting electromagnetic waves and analyzing the echo signals reflected from objects. In this sense, sensing can also be called detection.

[0062] A sensing signal is a signal used to sense (or detect) a target (or object). Sensing signals are also called detection signals, linear frequency modulated signals, radar signals, radar sensing signals, radar detection signals, or environmental sensing signals, etc. Sensing signals can be pulse signals or signals from wireless communication systems. For example, a sensing signal can be an orthogonal frequency division multiplexing (OFDM) signal obtained by modulating a specific sequence on a subcarrier. This specific sequence can be any of the following sequences: Zadoff-Chu sequence (ZC sequence), pseudo-random sequence, or predefined sequence. Pseudo-random sequences include any of the following sequences: longest linear feedback shift register sequence (m-sequence) or Gold sequence. Predefined sequences can be, for example, random data symbols, such as random data symbols modulated by quadrature phase shift keying (QPSK) or quadrature amplitude modulation (QAM).

[0063] Communication signals are signals transmitted between communication devices for the purpose of communication. For example, communication signals may include signals transmitted between network devices and terminal devices. Communication signals are, for example, carried on the physical downlink shared channel (PDSCH).

[0064] An echo signal is a signal generated when a sensed signal is reflected by a target. Both the echo signal and the sensed signal can reflect the parameters of the target. For example, the time delay of the echo signal relative to the sensed signal can reflect the distance of the target relative to the transmitter, and the Doppler shift of the echo signal relative to the sensed signal can reflect the velocity of the target.

[0065] Communication-sensing fusion signals, also known as synthetic-sensing fusion signals, synthetic signals, or integrated synthetic-sensing signals, are signals used for both communication and sensing. When used for communication, the fusion signal carries the communication data or reference signal sequence that needs to be transmitted between communication devices. When used for sensing, the fusion signal can be understood as being used to sense (or detect) targets.

[0066] A target can be any tangible object in the environment capable of reflecting electromagnetic waves, such as mountains, forests, or buildings, and can also include mobile objects such as vehicles, drones, pedestrians, and terminal devices. A target can also be referred to as a sensed target, a detected target, a sensed object, a detected object, or a sensed device, etc., and this application does not limit the terminology. For electromagnetic sensing, a target can generally be modeled as at least one scattering point (also called a scattering center), and the process of a target reflecting, scattering, or diffracting electromagnetic waves can be equivalent to the process of at least one scattering point reflecting, scattering, or diffracting electromagnetic waves. For point targets, the target can be modeled by one scattering point; for extended targets, the target can be modeled by multiple scattering points.

[0067] Communication-sensing integration is a key technology in next-generation wireless communication networks. It aims to merge wireless communication and sensing functions into a single system, utilizing the various propagation characteristics of wireless signals to achieve sensing functions such as target localization, detection, imaging, and identification. This allows for the acquisition of information about the surrounding physical environment, the enhancement of communication capabilities, and a better user experience. For example, a first device transmits a signal for sensing, and a second device (or the first device) receives the echo signal reflected from the target in the environment. For instance, the time delay of the echo signal relative to the signal used for sensing can reflect the distance to the target; the Doppler shift of the echo signal relative to the signal used for sensing can reflect the speed of the target, etc.

[0068] In sensing, based on the different sender and receiver of the sensing signal, sensing modes can be divided into two types: single-station sensing and dual-station sensing. Single-station sensing mode, also known as self-transmitting and self-receiving mode, refers to a mode where the device sending the sensing signal and the device receiving the echo signal reflected from the target are the same device, such as... Figure 1 As shown, both the device transmitting the sensing signal and the device receiving the echo signal are device 1; the dual-station sensing mode, also known as A-transmit B-receive mode or self-transmit and other-receive mode, refers to a mode where the device transmitting the sensing signal and the device receiving the echo signal reflected from the target are different devices, such as... Figure 2 As shown, the device that sends the sensing signal is device 2, and the device that receives the echo signal is device 3. Figure 1 and Figure 2All examples assume the target (or scatterer) is a vehicle. Typical single-site sensing scenarios include sensing modes where the base station transmits and receives data independently, and sensing modes where the UE transmits and receives data independently. Typical dual-site sensing scenarios include sensing modes where base station A transmits and base station B receives data, sensing modes where the base station transmits and the UE receives data, and sensing modes where the UE transmits and the base station receives data.

[0069] In short, in this embodiment, at least one sensing node can participate in sensing, and the fusion center can determine the sensing result based on the sensing data reported by at least one sensing node. Integrating the sensing data from at least one sensing node helps improve sensing accuracy and reduces the missed detection rate. Sensing nodes can report sensing data of at least two data types, meaning the fusion node can determine the sensing result based on sensing data of more data types, thereby further improving sensing accuracy and reducing the missed detection rate. Different sensing nodes can cover the same area, such as a first area. Different sensing nodes can report at least two types of data for the first area. The fusion center can perform sensing on the sensing targets within the first area based on the sensing data reported by these different sensing nodes, thereby increasing the amount of data the fusion center uses for sensing and improving the sensing accuracy of the sensing targets in the first area.

[0070] The sensing method provided in this application can be applied to fourth-generation (4G) communication systems, such as Long Term Evolution (LTE) systems, and also to fifth-generation (5G) communication systems, such as 5G New Radio (NR) systems, or to future communication systems. The method provided in this application can also be applied to Bluetooth systems, Wireless Fidelity (Wi-Fi) systems, Long Range Radio (LoRa) systems, or vehicle-to-everything (V2X) systems. The method provided in this application can also be applied to satellite communication systems, wherein the satellite communication system can be integrated with the aforementioned communication systems.

[0071] Please refer to Figure 3 This is a schematic diagram of a scenario where communication and sensing are integrated. Figure 3This includes network equipment and multiple UEs. For example, UE1 and the network equipment adopt a dual-site sensing mode, where UE1 is the transmitter of the sensing signal (or, fusion sensing signal), and the network equipment is the receiver of the echo signal of the sensing signal (or, fusion sensing signal). UE3 and the network equipment also adopt a dual-site sensing mode, where the network equipment is the transmitter of the sensing signal (or, fusion sensing signal), and UE3 is the receiver of the echo signal of the sensing signal (or, fusion sensing signal). The network equipment and UE2 communicate and can transmit communication signals. Figure 3 It also includes a single-site sensing mode, where the network device senses scatterer 3 and scatterer 5 in a single-site sensing mode. Additionally... Figure 3 In this process, the network device can send communication signals to UE4, and the network device can also send sensing signals or fusion signals. UE4 can receive the communication signals. If the network device sends a fusion signal, then UE4 can also receive the fusion signal. The network device adopts a single-site sensing mode, and the network device can also receive the echo signal reflected by the scatterer 4 from the sensing signal or fusion signal.

[0072] Figure 3 Taking UE3 as a vehicle and scatterer 3 as a human body as an example, there are no restrictions on the type of other UEs and scatterers. Figure 3 Take one network device as an example; there may actually be many more network devices.

[0073] Please refer to Figure 4 This is a schematic diagram of an application scenario according to an embodiment of this application. Figure 4 It includes sensing nodes 1 through 3, and a fusion center. The three sensing nodes can perform sensing operations and send the obtained sensing data to the fusion center; the fusion center can combine the sensing data from the three sensing nodes to determine the sensing result. Figure 4 The scenario shown can be considered a collaborative awareness scenario. Collaborative awareness can involve multiple access network devices collaborating, multiple UEs collaborating, or one or more access network devices and one or more UEs collaborating, etc., without any specific limitations. Figure 4 The three sensing nodes shown are examples of access network devices, but the actual implementation is not limited to these. For instance, any one of these three sensing nodes could be an access network device or a UE. Furthermore, Figure 4 Taking the example of the fusion center existing independently of the sensing nodes, it is not limited to this in practice. For example, the fusion center can also be implemented by one of the sensing nodes.

[0074] The method provided in the embodiments of this application is described below with reference to the accompanying drawings. In various embodiments of this application, the signals used for sensing include, for example, sensing signals and / or sensor fusion signals. In various embodiments of this application, the fusion center is, for example, an access network device or a UE. The access network device can be any access network device participating in sensing, and the UE can be any UE participating in sensing; or, the access network device or UE can be a specific device that does not participate in the transmission and reception of sensing signals, but is only responsible for processing the sensing data reported by each sensing node. Alternatively, the fusion center is, for example, a core network device, which is, for example, a sensing network element. The sensing network element is, for example, a sensing function (SF) or a sensing service function, etc., and the name is not limited. In various embodiments of this document, "network element" can also be replaced with "entity" or "functional entity". For example, a sensing network element can also be called a sensing entity, a sensing function entity, or a sensing function network element, etc., and "sensing network element" will be used as an example below.

[0075] Optionally, the fusion center can be used to perceive the target, such as determining the location of the target or reconstructing the environment of the target, without limitation. This application embodiment does not limit the deployment of the fusion center. For example, the fusion center can be deployed in the core network or in the access network, without limitation. For example, the fusion center can also be a network management platform or network management equipment, etc. It should be understood that in future communication systems, the functional entity used for perceiving the target can still be called a fusion center, or it can have other names; this application embodiment does not limit this.

[0076] In the accompanying drawings corresponding to the various embodiments of this application, all steps indicated by dashed lines are optional steps.

[0077] The various embodiments described herein can be applied to Figures 1-4 The network architecture is shown in any of the accompanying figures. For example, any sensing node described in the various embodiments of this document can be... Figure 1 Device 1 in the document; or, any of the sensing nodes described in the various embodiments herein may be Figure 2 Device 3 in the document; or, any of the sensing nodes described in the various embodiments herein may be Figure 3 The network device or UE3 in the document; or, any of the sensing nodes described in the various embodiments herein may be Figure 4 Any of the sensing nodes in the process, the fusion center described in the various embodiments of this paper can be... Figure 4 The integration center in the middle.

[0078] Please refer to Figure 5 This is a flowchart of a sensing method provided in an embodiment of this application.

[0079] S501. At least one sensing node sends sensing data to the fusion center. Correspondingly, the fusion center receives at least one sensing data, which comes from the at least one sensing node. For example, the at least one sensing data corresponds one-to-one with the at least one sensing node. Figure 5 Taking the at least one sensing node including a first sensing node and a second sensing node as an example, and taking the first sensing node sending first sensing data to the fusion center and the second sensing node sending second sensing data to the fusion center as an example.

[0080] Wherein, if the number of the at least one sensing node is greater than 1, the scenario is a collaborative sensing scenario, and all at least one sensing node are nodes participating in collaborative sensing; if the number of the at least one sensing node is 1, the scenario is not a collaborative sensing scenario. That is, the embodiments of this application can be applied to both collaborative and non-collaborative sensing scenarios.

[0081] The at least one sensing node may be determined by the fusion center. Optionally, the at least one sensing node may have overlapping sensing areas, meaning that all at least one sensing node can sense the overlapping area. Optionally, the parameters used by the at least one sensing node for sensing may be configured by the fusion center or predefined by the protocol. These parameters may include, for example, one or more of the time-domain, frequency-domain, code-domain, or spatial-domain information of the sensing resources. For a sensing node, after experiencing a sensing frame, sensing data can be obtained, and the sensing node can send the sensing data to the fusion center.

[0082] Both the first and second sensing data can include sensing data from the first region. Optionally, the sensing data from the first region included in both the first and second sensing data can correspond to at least two data types. This will be described below.

[0083] Taking a first sensing node as an example, the sensing data sent by the first sensing node to the fusion center can be called the first sensing data. The first sensing data may include sensing data of at least two data types. The sensing data of the at least one region may correspond to at least two data types. For example, each region in the at least one region may correspond to at least one data type, where at least two regions correspond to different data types; therefore, the at least one region may correspond to at least two data types in total. Optionally, some regions in the at least one region may correspond to multiple data types. For example, the first sensing data may include sensing data from two regions: the sensing data of region a corresponds to type a, and the sensing data of region b corresponds to type b; or, the sensing data of region a corresponds to both type a and type b, and the sensing data of region b corresponds to type a.

[0084] The perception data of region a corresponds to type a and type b, which can be understood as follows: the first perception data includes the perception data of region a, which includes both the perception data of type a of region a and the perception data of type b of region a.

[0085] The perception data for a region can refer to the perception data corresponding to that region. For example, the perception data indicates the perception targets in that region, or the perception data is obtained by detecting the perception targets in that region.

[0086] The first sensing data may include data A, which may be, for example, sensing data of a first region. Data A may be obtained by the first sensing node based on the detection of sensing targets within the first region. The first region may include one or more cells, or one or more tracking areas (TAs), or one or more coordinates, etc.

[0087] Data A can correspond to at least one data type. In this embodiment, the data type of the sensing data may include one or more of the following: information of the signal used for sensing and / or channel information corresponding to the signal used for sensing, sensing spectrum corresponding to the signal used for sensing, point cloud information corresponding to the sensing target, or distance and / or velocity of the sensing target. Specifically, the information of the signal used for sensing and / or channel information corresponding to the signal used for sensing can be referred to as raw sensing data, or type A, etc.; the sensing spectrum corresponding to the signal used for sensing can be referred to as preliminary sensing data, or type B, etc.; the point cloud information corresponding to the sensing target can be referred to as intermediate sensing data, or type C, etc.; and the distance and / or velocity of the sensing target can be referred to as sensing parameters, or type D, etc. It is evident that this embodiment does not limit the names of the data types. Data A may include sensing data of at least one of the above data types, such as preliminary sensing data or intermediate sensing data, etc.

[0088] The sensing spectrum may include one or more of the following: power delay profile (PDP), angular spectrum, Doppler spectrum, micro-Doppler spectrum, or signal intensity spectrum. The angular spectrum may include, for example, the angular spectrum corresponding to the pitch angle and / or the angular spectrum corresponding to the horizontal angle. For example, the sensing spectrum may include both the power delay spectrum and the angular spectrum; or the sensing spectrum may include the Doppler spectrum, etc.

[0089] Optionally, data A can correspond to at least two data types, or it can be understood that the number of times data A corresponds to at least one data type is greater than or equal to 2. For example, data A can include data A1 and data A2, where data A1 is the perceived data of data type A, and data A2 is the perceived data of data type B. For instance, data type A is intermediate perceived data, and data type B is preliminary perceived data. That is, a sensing node (e.g., the first sensing node) can report at least two types of perceived data for a region (e.g., the first region), thereby allowing the fusion center to obtain perceived data of more data types, which is beneficial for improving sensing accuracy. Furthermore, because the fusion center obtains perceived data of more data types, it can also reduce the false negative rate of the perceived target. Reducing the false negative rate of the perceived target can also be understood as increasing the detection rate of the perceived target, which will not be elaborated further below.

[0090] For example, data type A is intermediate sensing data, such as data A1 which includes point cloud information; data type B is preliminary sensing data, such as data A2 which includes a sensing spectrum. Optionally, the sensing spectrum can correspond to M target points. This can be understood as the coordinates of the M target points can be determined based on the sensing spectrum, and the M target points can be located in the first region, where M is a positive integer. The point cloud information can correspond to P target points, for example, the point cloud information includes the coordinates of the P target points, and the P target points can be located in the first region, where P is a positive integer. Optionally, the signal-to-noise ratio (SNR) of each of the M target points detected by the first sensing node can be greater than a threshold, or it can be less than or equal to a threshold. This can be understood as the first sensing node obtaining preliminary sensing data, such as obtaining a sensing spectrum based on the detection results, regardless of whether the SNR of a target point detected is greater than or less than or equal to the threshold, the sensing spectrum of that target point can be obtained; or it can be understood as the acquisition of the sensing spectrum is not limited by SNR, or is not limited by the threshold corresponding to SNR.

[0091] Optionally, the SNR of the P target points detected by the first sensing node can be greater than the threshold. This can be understood as follows: if the first sensing node obtains intermediate sensing data, such as point cloud information based on detection results, then to include the information of a target point in the point cloud information, the detected SNR of that target point needs to be greater than the threshold. If the detected SNR of the target point is less than or equal to the threshold, the first sensing node will not include the information of that target point in the point cloud information. Alternatively, it can be understood that the acquisition of point cloud information is limited by the SNR, or by the threshold corresponding to the SNR.

[0092] It is evident that the first sensing node's acquisition of point cloud information is limited by the SNR (Sensitive Noise Ratio), while its acquisition of the sensing spectrum is not. Therefore, if the first sensing node acquires the sensing spectrum corresponding to the first region, it can acquire the sensing spectra of more target points within that region. For example, for a target point within the first region, if the first sensing node detects an SNR of 13 dB for that target point, and the threshold is 15 dB, the first sensing node will not include the information of that target point in the point cloud information, but it can determine the sensing spectrum of that target point. The first sensing node can send the sensing spectrum corresponding to the first region to the fusion node, enabling the fusion node to obtain more information about target points, thereby reducing the false negative rate for perceived targets. Moreover, since the first sensing node reports richer sensing data, it can also improve sensing accuracy.

[0093] There are several ways for the first sensing node to report preliminary sensing data. One method is for the first sensing node to directly report the preliminary data, such as the sensing spectrum. This method is straightforward, requiring minimal processing from the first sensing node and simplifying its implementation.

[0094] For example, another reporting method includes the first sensing node obtaining intermediate sensing data based on preliminary sensing data and reporting this intermediate sensing data. For instance, the first sensing node can obtain point cloud information based on the sensing spectrum and report this point cloud information. To distinguish between them, the point cloud information corresponding to the intermediate sensing data directly reported by the first sensing node can be called point cloud information A, while the point cloud information obtained by the first sensing node based on the sensing spectrum can be called point cloud information B. This can be understood as follows: point cloud information A is determined under SNR constraints (or under the constraints of a corresponding SNR threshold), while point cloud information B is determined without SNR constraints (or without the constraints of a corresponding SNR threshold). For example, point cloud information B, compared to point cloud information A, can include more information about target points.

[0095] Optionally, the first sensing data may further include data B, which is sensing data for a second region. The first and second regions may be different regions. The sensing data for the second region may refer to sensing data corresponding to the second region, i.e., the sensing data indicates a sensing target within the second region, or the sensing data is obtained based on the detection of a sensing target within the second region. Data B may be obtained by the first sensing node based on the detection of a sensing target within the second region. The second region may include one or more cells, one or more TAs, or one or more coordinates, etc.

[0096] Data B can correspond to at least one data type, such as including preliminary sensing data or intermediate sensing data. The data types corresponding to Data A and Data B can be completely different; for example, Data A corresponds to preliminary sensing data, and Data B corresponds to intermediate sensing data. Alternatively, the data types corresponding to Data A and Data B can be partially the same; for example, Data A corresponds to both preliminary and intermediate sensing data, while Data B corresponds to intermediate sensing data but not preliminary sensing data. Or, the data types corresponding to Data A and Data B can be completely identical; for example, Data A corresponds to both preliminary and intermediate sensing data, and Data B also corresponds to both preliminary and intermediate sensing data. That is, any sensing node participating in the sensing process can report sensing data from one region or multiple regions. For each region, the sensing node can report at least one type of sensing data. If a sensing node reports sensing data from multiple regions, the data types corresponding to different regions can be completely different, partially the same, or completely different.

[0097] Taking the application of this embodiment in a collaborative sensing scenario as an example, the at least one sensing node includes other sensing nodes besides the first sensing node, such as a second sensing node. The sensing data sent by the second sensing node to the fusion center can be called second sensing data. The second sensing data includes, for example, sensing data corresponding to at least two data types. For example, the second sensing data includes sensing data of at least one region, and the sensing data of the at least one region corresponds to at least two data types. For example, each region in the at least one region can correspond to at least one data type, wherein at least two regions correspond to different data types, and the at least one region can correspond to at least two data types in total. Optionally, some regions in the at least one region can also correspond to multiple data types. For example, the second sensing data includes sensing data of two regions, where the sensing data of region 1 corresponds to type 1, and the sensing data of region 2 corresponds to type 2; or, the sensing data of region 1 corresponds to both type 1 and type 2, and the sensing data of region 2 corresponds to type 1.

[0098] The perception data of region 1 corresponds to type 1 and type 2. It can be understood that the second perception data includes the perception data of region 1, which includes both the perception data of type 1 and the perception data of type 2 of region 1.

[0099] For example, the second sensing data may include data C, which is the sensing data of the first region. Data C may be obtained by the second sensing node based on the detection of sensing targets within the first region.

[0100] Data C can also correspond to at least one data type, such as data C including preliminary perception data or intermediate perception data.

[0101] Optionally, data C can correspond to at least two data types, or it can be understood that the number of times data C corresponds to at least one of these data types is greater than or equal to two. For example, data C can include data C1 and data C2, where data C1 is perceptual data of data type C, and data C2 is perceptual data of data type D. For instance, data type C can be intermediate perceptual data, and data type D can be preliminary perceptual data.

[0102] If data A and data C both correspond to at least two data types, then the perceptual data of the first region included by the first and second perceptual data both correspond to at least two data types.

[0103] In this context, the data types corresponding to data A and data C can be completely different. For example, data A might correspond to preliminary sensing data, while data C might correspond to intermediate sensing data. Alternatively, the data types corresponding to data A and data C can be partially the same. For example, data A might correspond to both preliminary and intermediate sensing data, while data C might correspond to intermediate sensing data but not preliminary sensing data. Or, the data types corresponding to data A and data C can be completely identical. For example, data A might correspond to both preliminary and intermediate sensing data, and data C might also correspond to both preliminary and intermediate sensing data. If the data types corresponding to data A and data C are partially or completely the same, the fusion center can fuse data of the same type from both data A and data C when processing the sensing data in the first region. Because the types of data involved in the processing are richer and there is more sensing data, this is beneficial for improving sensing accuracy and reducing the false negative rate.

[0104] Optionally, the second sensing data may also include sensing data from other regions (such as the third region). For more information on this, please refer to the previous introduction to data B.

[0105] As an optional implementation of the first region, the first region can be a common region of N sensing nodes. These N sensing nodes can be some or all of at least one sensing node, where N is a positive integer. For example, the N sensing nodes include a first sensing node and a second sensing node. The common region of different sensing nodes can be understood as the sensing area covered by all of these sensing nodes. For example, the protocol predefines the common region for the at least one sensing node; or the at least one sensing node can interact to determine the common region; or the fusion center indicates the common region to the at least one sensing node, allowing the at least one sensing node to clearly identify which areas are the common region. Optionally, the at least one sensing node can inform the fusion center of the common region. Alternatively, the common region of the at least one sensing node may be known to the fusion center, but unknown to the at least one sensing node. In this case, the at least one sensing node can report sensing data of the corresponding data type according to the instructions from the fusion center (e.g., the first information described later).

[0106] Since the first region is a common area shared by N sensing nodes, all N sensing nodes can send sensing data from the first region to the fusion center. For example, the first sensing node sends data A, and the second sensing node sends data B. When processing the sensing data from the first region, the fusion center can also process the sensing data reported by all N sensing nodes uniformly, or in other words, the fusion center can obtain fusion gain. Therefore, optionally, each of the N sensing nodes can report at least two types of sensing data from the first region, enabling the fusion center to obtain richer sensing data corresponding to the first region, thereby improving sensing accuracy and reducing the false negative rate.

[0107] As an optional implementation of the second region, the second region can be the private region of the first sensing node. In this embodiment, the private region of a sensing node can be understood as the sensing area covered by that sensing node, and not the sensing area covered by the remaining sensing nodes other than the first sensing node. For example, among the at least one sensing node, the first sensing node covers the second region, while the remaining sensing nodes do not cover the second region; therefore, the second region can be the private region of the first sensing node. For example, the protocol predefines the private region for the at least one sensing node; or the at least one sensing node can interact to determine the private region of each sensing node (for example, for a sensing node, the area covered by that sensing node and not covered by other sensing nodes is its private region). Optionally, the at least one sensing node can inform the fusion center of its respective private region; or the fusion center can indicate the private region to the at least one sensing node, thus allowing the at least one sensing node to clearly identify which region(s) are private regions. Alternatively, the private area of ​​the at least one sensing node may be known to the fusion center, but not to the at least one sensing node itself. The at least one sensing node may then report sensing data of the corresponding data type according to instructions from the fusion center (e.g., the second information described later).

[0108] For a private area of ​​a single sensing node, the fusion center only receives sensing data from that single sensing node, not from other sensing nodes. Therefore, the fusion center can only determine the sensing result for that private area based on the sensing data from that single node, and cannot perform fusion processing on sensing data from multiple sensing nodes. In other words, the fusion center cannot obtain significant fusion gain. Therefore, alternatively, for private areas, sensing nodes can report sensing data of a single data type. The fusion center can then determine the sensing result based on this data without incurring excessive transmission overhead.

[0109] If other sensing nodes, such as the second sensing node, also have private regions, such as the third region, the processing method is similar, and will not be elaborated further.

[0110] For example, refer to Figure 6 This is an example of public and private areas. Figure 6 This includes sensing node 1, sensing node 2, and sensing node 3, all of which are taken as examples of access network devices. Figure 6In some areas, such as the area where vehicle 1 is located, which can be covered by sensing nodes 1, 2, and 3, this area can be considered a common area for these three sensing nodes, as all three can detect vehicle 1. In other areas, due to limitations in the coverage range of sensing nodes and / or occlusion by obstacles, the area can only be covered by some sensing nodes. For example, the area where vehicle 2 is located can only be covered by sensing nodes 1 and 2, while sensing node 3 cannot cover it due to occlusion. Therefore, the area where vehicle 2 is located is a common area for sensing nodes 1 and 2. In still other areas, due to limitations in the coverage range of sensing nodes and / or occlusion by obstacles, the area can only be covered by one sensing node. For example, the area where vehicle 3 is located can only be covered by sensing node 3, while neither sensing nodes 1 nor 2 can cover it. Therefore, the area where vehicle 3 is located is a private area of ​​sensing node 3.

[0111] For a sensing node, the type of sensing data to be reported in the public area can be predefined by the protocol, instructed by the fusion center, or set by the sensing node itself. If instructed by the fusion center, the embodiment of this application may optionally include S502, whereby the fusion center sends first information, and correspondingly, some or all of the at least one sensing node can receive the first information. Figure 5 Taking the reception of first information by the first and second sensing nodes as an example, the first information can be broadcast or unicast, for example, without limitation. The first information may indicate that at least two types of sensing data should be reported for the first area. Optionally, the first information may specifically indicate the at least two types of data, such as indicating preliminary sensing data and intermediate sensing data. Sensing nodes that have received the first information can report sensing data according to the instructions of the first information.

[0112] Since the first area is a common area for N sensing nodes, the fusion center can send the first information to all N sensing nodes, but not to any of the other sensing nodes besides the N sensing nodes. Alternatively, the fusion center can broadcast the first information. In this case, in addition to the N sensing nodes receiving the first information, other sensing nodes besides the N sensing nodes may also receive the first information. However, since these other sensing nodes do not cover the first area, they may not respond to the first information.

[0113] Each of the N sensing nodes can detect the first region, and each sensing node can report sensing data of at least two data types as indicated by the first information. For example, if the first information indicates at least two specific data types, then each sensing node can report preliminary sensing data and intermediate sensing data for the first region. For the fusion center, since the sensing data received from each sensing node is of the same data type, the fusion center can perform fusion processing on the sensing data of the same data type reported by each sensing node, thereby achieving better fusion gain.

[0114] Optionally, the first information may also indicate the reporting priority of the at least two data types. For example, the first information may indicate that the at least two data types are preliminary sensing data and intermediate sensing data, and may further indicate that the reporting priority of preliminary sensing data is higher than that of intermediate sensing data. Then, the sensing node that receives the first information can send the at least two types of sensing data to the fusion center according to this reporting priority. For example, in situations of insufficient resources or weak signal strength, a sensing node that receives the first information can prioritize sending the sensing data of the higher-priority data type to the fusion center according to this reporting priority, which helps ensure that higher-priority or more important sensing data can be transmitted.

[0115] For example, the first information includes information about data type A and data type B, as well as information about a first region (e.g., the identifier of the first region), indicating that the perceived data of these two data types is reported to the first region. Additionally, the first information may also include priority information A and priority information B. Priority information A corresponds to data type A; that is, the reporting priority of perceived data of data type A is the priority indicated by priority information A. Priority information B corresponds to data type B; that is, the reporting priority of perceived data of data type B is the priority indicated by priority information B. Priority information A and priority information B each occupy one bit, for example, priority information A is "1" and priority information B is "0", indicating that the reporting priority of data type A is higher than the reporting priority of data type B.

[0116] Alternatively, priority information can occupy more bits. For example, if priority information occupies 2 bits, please refer to Table 1 for an example of the content indicated by priority information.

[0117] Table 1

[0118] Value meaning 00 Highest priority 01 Second highest priority 10 Second lowest priority 11 Lowest priority

[0119] For example, if priority information A is "00" and priority information B is "01", it means that the reporting priority of data type A is higher than the reporting priority of data type B.

[0120] In addition to the examples above, the first information can also indicate the reporting priority of the at least two data types in other ways, without limitation.

[0121] For a sensing node with a private area, the type of sensing data that this private area should report can be predefined by the protocol, indicated by the fusion node, or set by the sensing node itself. If indicated by the fusion center, the fusion center can optionally send a second message, which can indicate that sensing data of a certain data type should be reported to the second area. Optionally, the second message can specifically indicate the data type, such as sensing intermediate data. The second area is the private area of ​​the first sensing node, so the fusion center can send the second message to the first sensing node, and the first sensing node can receive the second message. The second message can be unicast. If the first message is also unicast, then for the first sensing node, the first and second messages can be the same message, which can indicate that sensing data of at least two data types should be reported to the first area, and that sensing data of one data type should be reported to the second area.

[0122] Alternatively, even if both the first and second information are unicast, the first and second information can still be different information.

[0123] Alternatively, if the first message is broadcast and the second message is unicast, then the first message and the second message can be different messages.

[0124] For sensing nodes that cover both public and private areas, optionally, sensing data from different areas can also have reporting priorities. Take the first sensing node as an example. For instance, if the first sensing node covers both a public area (area one) and a private area (area two), then areas one and two can also have corresponding reporting priorities. This reporting priority can be indicated by the fusion center or set by the first sensing node itself. Taking the fusion center's indication as an example, optionally, the fusion center can indicate the reporting priority of the first and second areas covered by the first sensing node through first information or second information, for example, indicating that the reporting priority of area one is higher than that of area two.

[0125] Alternatively, the fusion center can also indicate the reporting priority of the first and second regions by the order in which the first and second information are sent. For example, if the fusion center indicates that the first region should report at least two types of sensing data, and the second region should report one type of sensing data, and the first and second information are different, then the order in which the first and second information are sent can also indicate the reporting priority of the first and second regions. For example, if the first information is sent before the second information, it means that the reporting priority of the first region is higher than that of the second region; for the first sensing node, if it receives the first information first and then the second information, then the first sensing node can determine that the reporting priority of the first region is higher than that of the second region.

[0126] In the implementation methods of the first or second region described above, the protocol may predefine public and / or private regions; or the at least one sensing node may determine the public and / or private regions through interaction and inform the fusion center of the determined public and / or private regions; or the fusion center may indicate the public and / or private regions to the at least one sensing node. It is evident that the fusion center can clearly define the public and / or private regions, and thus can instruct the reporting of corresponding data types for the public and / or private regions.

[0127] In addition, as another optional implementation of the first region, the first region is the sensing area covered by some or all of the at least one sensing node. Alternatively, it can be understood that the protocol does not predefine a common region, the at least one sensing node does not determine a common region through interaction or other means, and the fusion center does not indicate a common region to the at least one sensing node; for example, the fusion center and the at least one sensing node do not explicitly specify which region(s) are common regions. For the fusion center, it can instruct the reporting of corresponding data types for the corresponding regions covered by the at least one sensing node; for the at least one sensing node, if it receives the first information, it can report sensing data of the corresponding data type according to the first information. In this implementation, the first information can instruct the reporting of at least one data type of sensing data for the first region. Taking the first sensing node receiving the first information as an example, the first sensing node can report sensing data of at least one data type for the first region.

[0128] As an alternative implementation of the second region, the second region is the sensing area covered by some or all of the at least one sensing node. Alternatively, it can be understood that the protocol does not predefine a private region, the at least one sensing node does not determine a private region through interaction or other means, and the fusion center does not indicate a private region to the at least one sensing node; for example, neither the fusion center nor the at least one sensing node explicitly identifies which regions are private. For the fusion center, it can instruct the reporting of the corresponding data type for the corresponding region covered by the at least one sensing node; for the at least one sensing node, if it receives the second information, it can report sensing data of the corresponding data type according to the second information. In this implementation, the second information can instruct the reporting of at least one data type of sensing data for the second region. Taking the first sensing node receiving the second information as an example, the first sensing node can report sensing data of at least one data type for the second region. The data type indicated by the first information and the data type indicated by the second information can be completely identical, partially identical, or completely different.

[0129] The first and second regions may not intersect, or they may overlap. If the first and second regions overlap, then for the overlapping region, the first information indicates at least one data type, and the second information also indicates at least one data type. For a sensing node that receives the first and second information, it can report sensing data of both the data type indicated by the first information and the data type indicated by the second information for that overlapping region. For example, a first sensing node receives the first and second information, where the first information indicates reporting preliminary sensing data for the first region and the second information indicates reporting intermediate sensing data for the second region, and the first and second regions have an overlapping region A. Then, the first sensing node can report preliminary sensing data for the remaining regions in the first region excluding the overlapping region A, and can report intermediate sensing data for the remaining regions in the second region excluding the overlapping region A. For region A, it can report both preliminary and intermediate sensing data. Therefore, even when the first and second regions overlap, although both the first and second information indicate at least one data type, a sensing node that receives both information can still report sensing data of at least two data types for the same region.

[0130] S503. The fusion center determines the sensing result based on at least one sensing data. The at least one sensing data comes from the at least one sensing node, for example, the at least one sensing data corresponds one-to-one with the at least one sensing node.

[0131] The at least one sensing data may include sensing data from at least one region, such as sensing data from a first region, and optionally, sensing data from a second region. During processing, the fusion center can process each region separately. For example, for the first region, the fusion center can uniformly process the sensing data corresponding to the first region from the at least one sensing data to obtain the sensing result for the first region. For the second region, the fusion center can uniformly process the sensing data corresponding to the second region from the at least one sensing data to obtain the sensing result for the second region. The process is similar for other regions.

[0132] Taking the first region as an example. As mentioned earlier, if N of the at least one set of sensing data includes sensing data from the first region, the fusion center can process the sensing data from the first region included in these N sets of sensing data in a unified manner. Let's take N=2 as an example to illustrate the processing method of the fusion center. When N=2, these two sets of sensing data are, for example, the first sensing data and the second sensing data. The first sensing data includes sensing data from the first region, which is data A. Data A includes, for example, the first sub-data and the first point cloud information; the first sub-data is, for example, the sensing spectrum. The second sensing data includes sensing data from the first region, which is data C. Data C includes, for example, the second sub-data and the second point cloud information; the second sub-data is, for example, the sensing spectrum. One possible way for the fusion center to determine the sensing result is that the fusion center can determine K coordinates based on the first and second sub-data, and then determine the coordinates of one or more sensing targets within the first region based on these K coordinates, the first point cloud information, and the second point cloud information. K is a positive integer.

[0133] For example, the fusion center can overlay the first and second sub-data and determine the K coordinates based on the overlaid data (e.g., the overlaid sensing spectrum). Here, both the first and second sub-data are sensing spectra, meaning the fusion center can overlay sensing spectra from the same region and ultimately determine the coordinates based on the overlaid sensing spectrum. Because interference and noise are random, overlaying the sensing spectrum does not significantly increase interference and noise levels, but the power of the sensed target will increase with overlay, thereby improving the detection rate of the sensed target.

[0134] For example, the first sub-data includes a PDP and an angle spectrum, which can include the angle spectrum corresponding to the horizontal angle and the angle spectrum corresponding to the pitch angle; the second sub-data also includes a PDP and an angle spectrum, which can include the angle spectrum corresponding to the horizontal angle and the angle spectrum corresponding to the pitch angle. The following example illustrates how the fusion center superimposes the first and second sub-data. For instance, the PDP and angle spectrum can be denoted as {SPECTRUM(R,θ,φ),R∈{r1,r2,…r}. m},θ∈{θ1,θ2,…,θ n},φ∈{φ1,φ2,…,φ p In this context, m, n, and p represent the lengths of the corresponding dimensions, R represents the distance, θ represents the horizontal angle, and φ represents the pitch angle. The PDP and angle spectrum included in the first sub-data can be considered as a single perception spectrum, for example, perception spectrum A; the PDP and angle spectrum included in the second sub-data can also be considered as a single perception spectrum, for example, perception spectrum B. The fusion center can transform perception spectrum A to obtain perception spectrum C in the first coordinate system, and transform perception spectrum B to obtain perception spectrum D in the first coordinate system. The fusion center then superimposes perception spectrum C and perception spectrum D to obtain a superimposed spectrum, and performs perception detection based on this superimposed spectrum, for example, determining the K coordinates. For example, the first coordinate system can be a Cartesian coordinate system under a uniformly defined global coordinate system, or it can be another coordinate system. For example, if the first coordinate system is a Cartesian coordinate system, the superimposed spectrum can be represented as {SPECTRUM(x,y,z)} in the Cartesian coordinate system. Based on this superimposed spectrum, the fusion center, for example, determines the coordinates (x...). i ,y i ,z i If a target point is detected at a location (), then the location corresponding to that target point is the coordinate of the target to be detected.

[0135] Optionally, the conversion can be based on the same sampling, i.e., the perceptual spectrum A and perceptual spectrum B above can be converted based on the same sampling. Furthermore, the conversion should be based on the consistency of the lengths of the X, Y, and Z dimensions in the first coordinate system, and the fact that they represent the same region. Optionally, if any of the converted perceptual spectra (e.g., perceptual spectrum C or perceptual spectrum D) is a complex spectrum, it can first be converted to energy (e.g., the modulus of a complex number) or power (e.g., the square of energy) units, and then the converted complex spectrum can be superimposed on the other converted perceptual spectra. Optionally, the superposition method can include linear addition, multiplicative addition, envelope superposition (e.g., upper envelope, where for a certain position in the first coordinate system, the maximum value of all participating perceptual spectra corresponding to that position can be taken; or lower envelope, where for a certain position in the first coordinate system, the minimum value of all participating perceptual spectra corresponding to that position can be taken), or average superposition (for any position in the first coordinate system, the average value of all participating perceptual spectra corresponding to that position can be taken), etc.

[0136] For another example, sensing nodes can also report velocity spectra. For instance, the fusion center receives sensing spectra from at least one sensing node, where some or all of the sensing nodes' sensing spectra include velocity spectra. The fusion center can first filter from the sensing spectra including velocity spectra. For example, the fusion center can determine which sensing spectra may contain sensing targets, and thus process the determined sensing spectra. Other sensing spectra can be left unprocessed to reduce the computational load on the fusion center. For example, the first sub-data includes PDP, angle spectrum, and velocity spectrum. The angle spectrum may include the angle spectrum corresponding to the horizontal angle and the angle spectrum corresponding to the pitch angle. The second sub-data also includes PDP, angle spectrum, and velocity spectrum. The angle spectrum may include the angle spectrum corresponding to the horizontal angle and the angle spectrum corresponding to the pitch angle. The first and second sub-data are, for example, sensing data that the fusion center determines may contain sensing targets. The following example illustrates how the fusion center superimposes the first and second sub-data. For example, the PDP, angle spectrum, and velocity spectrum can be denoted as {SPECTRUM(R,θ,φ,v),R∈{r1,r2,…r}. m},θ∈{θ1,θ2,…,θ n},φ∈{φ1,φ2,…,φ p},v∈{v1,v2,…,v q In the diagram, m, n, p, and q represent the lengths of the corresponding dimensions, R represents the distance, θ represents the horizontal angle, φ represents the pitch angle, and v represents the velocity. The first sub-data set, including the PDP, angle spectrum, and velocity spectrum, can be considered a single sensing spectrum, for example, called sensing spectrum E. The second sub-data set, also including the PDP, angle spectrum, and velocity spectrum, can also be considered a single sensing spectrum, for example, called sensing spectrum F. The fusion center can transform the four-dimensional sensing spectrum E to obtain the three-dimensional sensing spectrum G in the first coordinate system, and transform the four-dimensional sensing spectrum F to obtain the three-dimensional sensing spectrum H in the first coordinate system. The fusion center then superimposes the sensing spectra G and H to obtain the superimposed spectrum, and performs sensing detection based on this superimposed spectrum, for example, determining the K coordinates. For a more detailed explanation of this part, please refer to the previous section on the superposition process of sensing spectra excluding the velocity spectrum.

[0137] One optional method for the fusion center to determine coordinates based on the K coordinates, the first point cloud information, and the second point cloud information includes: the fusion center can calculate the arithmetic mean of the coordinates corresponding to the same sensing target in the K coordinates, the first point cloud information, and the second point cloud information, thereby obtaining the coordinates of the sensing target. For example, if the first coordinate L1(x1,y1,z1), the second coordinate L2(x2,y2,z2) in the first point cloud information, and the third coordinate L3(x3,y3,z3) in the second point cloud information correspond to the same sensing target, the fusion center can calculate the average of these three coordinates; that is, the coordinates of the sensing target can be...

[0138] Alternatively, the fusion center can determine the coordinates based on the K coordinates, the first point cloud information, and the second point cloud information in other ways. For example, the fusion center can calculate a weighted average of the coordinates corresponding to the same sensing target from the K coordinates, the first point cloud information, and the second point cloud information. Or, the fusion center can determine the coordinates based on the K coordinates, the first point cloud information, the second point cloud information, and corresponding parameters, such as signal-to-noise ratio (SNR) and / or error covariance. For example, if the first sensing center reports an SNR A for the first point cloud information, and the second sensing center reports an SNR B for the second point cloud information, then the parameter can include the SNR. For instance, if the first coordinate L1 (x1, y1, z1), the second coordinate L2 (x2, y2, z2), and the third coordinate L3 (x3, y3, z3) in the K coordinates correspond to the same sensing target, where the first coordinate corresponds to SNR1, the second coordinate to SNR2, and the third coordinate to SNR3, the fusion center can determine the coordinates of the sensing target as follows:

[0139] For example, if the first sensing center reports an error covariance A for the first point cloud information, and the second sensing center reports an error covariance B for the second point cloud information, then this parameter can include the error covariance. For instance, the first coordinate L1(x1,y1,z1) in the K coordinates, the second coordinate L2(x2,y2,z2) in the first point cloud information, and the third coordinate L3(x3,y3,z3) in the second point cloud information correspond to the same sensing target, where the first coordinate corresponds to the error covariance. The second coordinate corresponds to the error covariance. The third coordinate corresponds to the error covariance. The fusion center can determine the coordinates of the perceived target.

[0140] In this embodiment, at least one sensing node can participate in sensing, and the fusion center can determine the sensing result based on the sensing data reported by at least one sensing node. Integrating the sensing data from at least one sensing node helps improve sensing accuracy and reduces the false negative rate. In this embodiment, sensing nodes can report sensing data of at least two data types. This means that the fusion node can determine the sensing result based on sensing data of more data types, thereby further improving sensing accuracy and further reducing the false negative rate. Furthermore, this embodiment can report different data types according to different regions and can also prioritize reporting, thereby minimizing transmission overhead. In other words, this embodiment achieves both improved sensing accuracy and reduced false negative rate with low transmission overhead.

[0141] Figure 7 A schematic diagram of a device provided in an embodiment of this application is given. The device 700 may be... Figure 5 The fusion center or its circuit system described in the illustrated embodiment is used to implement the method corresponding to the fusion center in the above method embodiments. Alternatively, the device 700 may be... Figure 5 The sensing node or its circuit system described in the illustrated embodiment is used to implement the method corresponding to the sensing node in the above method embodiments. For example, one type of circuit system is a chip system.

[0142] Since the device 700 in the embodiments of this application can implement the sensing method, the device 700 can also be called a sensing device. In implementation, the device 700 may have sensing function but no communication function, or it may have both sensing and communication functions. If the device 700 has communication function, it may also be called a communication device, etc., without limitation.

[0143] The device 700 includes at least one processor 701. The processor 701 can be used for internal processing within the device to implement certain control processing functions. Optionally, the processor 701 includes instructions. Optionally, the processor 701 can store data. Optionally, different processors can be independent devices, located in different physical locations, or located on different integrated circuits. Optionally, different processors can be integrated into one or more processors, for example, integrated on one or more integrated circuits.

[0144] Optionally, the device 700 includes one or more memories 703 for storing instructions. Optionally, the memories 703 may also store data. The processor and the memories may be separate or integrated together.

[0145] Optionally, the device 700 includes a communication line 702 and at least one communication interface 704. Since the memory 703, communication line 702, and communication interface 704 are all optional, therefore... Figure 7 All are represented by dashed lines.

[0146] Optionally, device 700 may further include a transceiver and / or an antenna. The transceiver can be used to send information to or receive information from other devices. The transceiver may be referred to as a transceiver unit, transceiver circuit, input / output interface, etc., and is used to realize the transmission and reception functions of device 700 via the antenna. Optionally, the transceiver includes a transmitter and a receiver. For example, the transmitter can be used to generate a radio frequency (RF) signal from a baseband signal, and the receiver can be used to convert the RF signal back into a baseband signal.

[0147] The processor 701 may include a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs according to the present application.

[0148] Communication line 702 may include a path for transmitting information between the aforementioned components.

[0149] The communication interface 704 uses any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area network (WLAN), wired access network, etc.

[0150] The memory 703 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or it may be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto. The memory 703 may exist independently and be connected to the processor 701 via communication line 702. Alternatively, the memory 703 may be integrated with the processor 701.

[0151] The memory 703 stores computer execution instructions for implementing the scheme of this application, and its execution is controlled by the processor 701. The processor 701 executes the computer execution instructions stored in the memory 703, thereby realizing... Figure 5 The steps performed by the fusion center or sensing node in the illustrated embodiment.

[0152] Optionally, the computer execution instructions in the embodiments of this application may also be referred to as application code, and the embodiments of this application do not specifically limit this.

[0153] In a specific implementation, as one example, the processor 701 may include one or more CPUs, for example... Figure 7 CPU0 and CPU1 in the CPU.

[0154] In a specific implementation, as one embodiment, device 700 may include multiple processors, for example... Figure 7 Processors 701 and 705 are described in the text. Each of these processors can be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. Here, "processor" can refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0155] when Figure 7When the device shown is a chip, such as a chip in a fusion center or a chip in a sensing node, the chip includes a processor 701 (and may also include a processor 705), a communication line 702, and a communication interface 704. Optionally, it may include a memory 703. Specifically, the communication interface 704 may be an input interface, pins, or circuits, etc. The memory 703 may be a register, cache, etc. The processor 701 and processor 705 may be a general-purpose CPU, microprocessor, ASIC, or one or more integrated circuits for controlling the execution of a program that controls the sensing method of any of the above embodiments.

[0156] This application embodiment can divide the device into functional modules according to the above method example. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware or as software functional modules. The module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, other division methods may be used. For example, in the case of dividing the device into functional modules corresponding to each function... Figure 8 This is a schematic diagram of an apparatus. The apparatus 800 can be the fusion center or sensing node involved in the above-described method embodiments, or it can be a chip in the fusion center or a chip in the sensing node. The apparatus 800 includes a processing unit 802 and a transceiver unit 801. Since the apparatus 800 in the embodiments of this application can implement the sensing method, the apparatus 800 can also be called a sensing device. In implementation, the apparatus 800 may have sensing functions but no communication functions, or it may have both sensing and communication functions. If the apparatus 800 has communication functions, it can also be called a communication device, etc., without limitation.

[0157] It should be understood that the device 800 can be used to implement the steps performed by the fusion center or the sensing node in the sensing method of the embodiments of this application, and the relevant features can be referred to above. Figure 5 The embodiments shown are not described in detail here.

[0158] Optional, Figure 8 The functions / implementation process of the transceiver unit 801 and the processing unit 802 can be obtained through Figure 7 The processor 701 in the memory calls computer execution instructions stored in memory 703 to implement the function. Alternatively, Figure 8 The function / implementation process of the processing unit 802 in the middle can be achieved through Figure 7 The processor 701 in the memory calls computer execution instructions stored in the memory 703 to implement this. Figure 8 The function / implementation process of the transceiver unit 801 in the middle can be obtained through Figure 7 It is implemented using the 704 communication interface.

[0159] Optionally, when the device 800 is a chip or circuit, the function / implementation process of the transceiver unit 801 can also be implemented through pins or circuits. Optionally, the transceiver unit 801 may include a transmitting unit and / or a receiving unit, whereby the transmitting unit implements the transmitting function and the receiving unit implements the receiving function; or, the transceiver unit 801 may be an integral module capable of implementing both transmitting and / or receiving functions. Optionally, the transceiver unit 801 can be implemented using a transceiver.

[0160] This application also provides a computer-readable storage medium storing a computer program or instructions that, when executed, implement the methods performed by the fusion center and / or sensing nodes in the aforementioned method embodiments. Thus, the functions described in the above embodiments can be implemented as software functional units and sold or used as independent products. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to it, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0161] This application also provides a computer program product comprising: computer program code, which, when run on a computer, causes the computer to perform the method executed by the fusion center and / or sensing node in any of the foregoing method embodiments.

[0162] This application also provides a processing apparatus, including a processor and an interface; the processor is used to execute the methods performed by the fusion center and / or sensing node involved in any of the above method embodiments.

[0163] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program 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. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0164] The various illustrative logic units and circuits described in the embodiments of this application can be implemented or operate the described functions using a general-purpose processor, digital signal processor (DSP), ASIC, field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. The general-purpose processor can be a microprocessor; alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented using a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors combined with a digital signal processor core, or any other similar configuration.

[0165] The steps of the methods or algorithms described in the embodiments of this application can be directly embedded in hardware, software units executed by a processor, or a combination of both. The software units can be stored in RAM, flash memory, ROM, erasable programmable read-only memory (EPROM), EEPROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium in the art. Exemplarily, the storage medium can be connected to the processor so that the processor can read information from the storage medium and write information to the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and storage medium can be disposed in an ASIC, which can be disposed in the terminal device. Optionally, the processor and storage medium can also be disposed in different components of the terminal device.

[0166] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0167] The contents of the various embodiments of this application can be referenced to each other. Unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0168] It is understood that in the embodiments of this application, the fusion center and / or sensing nodes may perform some or all of the steps in the embodiments of this application. 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 various steps may be performed in different orders as presented in the embodiments of this application, and it is not necessarily necessary to perform all the operations in the embodiments of this application.

Claims

1. A sensing method, characterized in that, The method includes: Receive at least one sensing data, the at least one sensing data comes from at least one sensing node, wherein the first sensing data in the at least one sensing data comes from a first sensing node, the second sensing data in the at least one sensing data comes from a second sensing node, the first sensing data and the second sensing data both include sensing data of a first region, and the sensing data of the first region included in the first sensing data and the second sensing data both correspond to at least two data types; The perception result is determined based on the at least one perception data.

2. The method according to claim 1, characterized in that, The method further includes: Send first information to the at least one sensing node, the first information being used to instruct the reporting of sensing data of the at least two data types to the first area, wherein the first area is a sensing area covered by both the first sensing node and the second sensing node.

3. The method according to claim 2, characterized in that, The first information also indicates the reporting priority of the at least two data types.

4. The method according to any one of claims 1 to 3, characterized in that, The at least two data types include any two or more of the following: Information about the signal used for sensing and / or channel information corresponding to the signal used for sensing; The sensing spectrum corresponding to the signal used for sensing; Perceive the point cloud information corresponding to the target; or, Perceive the distance and / or speed of the target.

5. The method according to claim 4, characterized in that, The perception spectrum includes one or more of the following: Power delay spectrum; Angular spectrum; Doppler spectrum; Micro-Doppler spectrum; or, Signal intensity spectrum.

6. The method according to any one of claims 1 to 5, characterized in that, The at least two data types include the point cloud information and the perception spectrum. Determining the perception result based on the at least one perception data includes: K coordinates are determined based on the first sub-data included in the first sensing data and the second sub-data included in the second sensing data, wherein the first sub-data and the second sub-data both correspond to the sensing spectrum; The coordinates of the perceived target are determined based on the K coordinates, the first point cloud information included in the first perception data, and the second point cloud information included in the second perception data.

7. The method according to any one of claims 1 to 6, characterized in that, The first sensing data also includes sensing data from a second region, wherein the sensing data from the second region corresponds to a data type, and the method further includes: Send a second message to the first sensing node, the second message being used to instruct the reporting of sensing data of the aforementioned data type to the second area.

8. A sensing method, characterized in that, The method includes: Receive first information, the first information being used to instruct the reporting of at least two types of perceived data to a first region, wherein the first region; Send first sensing data, which includes sensing data of a first region, and the sensing data of the first region included in the first sensing data corresponds to at least two data types. The first sensing data is used to determine the sensing result.

9. The method according to claim 8, characterized in that, The first area is a sensing area covered by both the first sensing node and the second sensing node, and the first sensing data is used by the fusion center to determine the sensing result based on the first sensing data and the sensing data of the second sensing node.

10. The method according to claim 9, characterized in that, The first information also indicates the reporting priority of the at least two data types.

11. The method according to any one of claims 8 to 10, characterized in that, The at least two data types include any two or more of the following: Information about the signal used for sensing and / or channel information corresponding to the signal used for sensing; The sensing spectrum corresponding to the signal used for sensing; Perceive the point cloud information corresponding to the target; or, Perceive the distance and / or speed of the target.

12. The method according to claim 11, characterized in that, The perception spectrum includes one or more of the following: Time-delay power spectrum; Angular spectrum; Doppler spectrum; Micro-Doppler spectrum; or, Signal intensity spectrum.

13. The method according to claim 11 or 12, characterized in that, The at least two data types include the perceptual spectrum and the point cloud information, wherein... The sensing spectrum corresponds to M target points, wherein the signal-to-noise ratio of the detected M target points is greater than a threshold, or less than or equal to a threshold, and M is a positive integer; The point cloud information corresponds to P target points, wherein the signal-to-noise ratio of the detected P target points is greater than the threshold, and P is a positive integer.

14. An apparatus, characterized in that, The apparatus includes a module for performing the method as described in any one of claims 1 to 7, or a module for performing the method as described in any one of claims 8 to 13.

15. An apparatus, characterized in that, The apparatus includes a processor for performing the method as described in any one of claims 1 to 7, or the method as described in any one of claims 8 to 13.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program that, when run on a computer, causes the method as described in any one of claims 1 to 7 to be performed, or causes the method as described in any one of claims 8 to 13 to be performed.

17. A computer program product, characterized in that, The computer program product includes a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 7, or causes the computer to perform the method as described in any one of claims 8 to 13.

18. A sensing system, characterized in that, The sensing system includes a fusion center and sensing nodes, wherein... The fusion center is used to perform the method as described in any one of claims 1 to 7; The sensing node is used to perform the method as described in any one of claims 8 to 13.

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