Sensing cooperation method, apparatus, and program product

Abstract

The present disclosure provides a perception cooperation method, device and program product, relates to the technical field of communication, and is used for perfecting a perception mechanism and improving perception performance. The method comprises the following steps: sending perception cooperation request information to a perception cooperation node; and receiving feedback information of the perception cooperation request information sent by the perception cooperation node.

Description

[0001] This application is a divisional application. The original application has the application number 202510416507.3 and the application date is April 3, 2025. The entire contents of the original application can be incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of communication technology, and in particular to a sensing and collaboration method, apparatus, and program product. Background Technology

[0003] The integrated communication and sensing network architecture is a system architecture that supports wireless communication and wireless sensing functions, services, and applications. Mobile communication systems consist of two main parts: the network and the terminal, and possess overall characteristics such as centralized, hierarchical, tree-like, and cellular structures. However, sensing systems such as radar remote sensing do not have the concepts of network and terminal, and lack a standardized and unified architecture and paradigm. To achieve integrated communication and sensing, the sensing system architecture, functional modules, and processes need to be compatible with the communication system. The time-frequency domain resources used by sensing signals compete with or multiplex communication signals. When a sensed target moves within the cellular network and crosses different communication nodes, maintaining the sensing performance requires a robust cooperation mechanism between different sensing nodes. Summary of the Invention

[0004] This disclosure provides a sensing collaboration method, apparatus, and program product to improve the sensing mechanism and enhance sensing performance. The technical solutions provided by this disclosure are as follows:

[0005] On the one hand, a perceptual collaboration method is provided, which includes:

[0006] Send a sensing collaboration request message to the sensing collaboration node;

[0007] The system receives feedback information from sensing collaboration request information sent by sensing collaboration nodes; the sensing collaboration request information includes at least the collaboration type; the collaboration type includes ground sensing collaboration and / or low-altitude sensing collaboration.

[0008] On the other hand, a perceptual collaboration method is provided, which includes:

[0009] Receive sensing and collaboration request information;

[0010] Feedback information for sending perception collaboration request information; the perception collaboration request information includes at least the collaboration type; the collaboration type includes ground perception collaboration and / or low-altitude perception collaboration.

[0011] In another aspect, a sensing collaboration device is provided, the device comprising:

[0012] The first communication module is used to send sensing collaboration request information to the sensing collaboration nodes;

[0013] The second communication module is used to receive feedback information of the sensing collaboration request information sent by the sensing collaboration node; the sensing collaboration request information includes at least the collaboration type; the collaboration type includes ground sensing collaboration and / or low-altitude sensing collaboration.

[0014] In another aspect, a sensing collaboration device is provided, the device comprising:

[0015] The third communication module is used to receive sensing collaboration request information;

[0016] The fourth communication module is used to send feedback information for sensing collaboration request information; the sensing collaboration request information includes at least the collaboration type; the collaboration type includes ground sensing collaboration and / or low-altitude sensing collaboration.

[0017] In another aspect, a communication device is provided, comprising: a memory and a processor; the memory and the processor are coupled; the memory is used to store computer program instructions executable by the processor; and the processor implements the perception cooperation method of any of the above embodiments when executing the computer program instructions.

[0018] In another aspect, a computer-readable storage medium is provided, on which computer program instructions are stored, which, when executed on a computer (e.g., a communication device or a sensing collaboration device), implement the sensing collaboration method of any of the above embodiments.

[0019] In another aspect, a computer program product is provided, which includes computer program instructions that, when executed, implement the perceptual collaboration method of any of the above embodiments.

[0020] The technical solution provided in this disclosure sends perception collaboration request information to perception collaboration nodes and receives feedback information from these nodes. The perception collaboration request information helps perception collaboration nodes better understand actual perception needs and conduct perception collaboration more effectively. Similarly, the feedback information allows perception collaboration nodes to provide their own actual perception status during the perception collaboration process, facilitating better perception collaboration. This disclosure improves the perception collaboration mechanism, achieving more accurate and practical perception of targets. The collaboration types included in the perception collaboration request information include ground perception collaboration and / or low-altitude perception collaboration. Ground perception collaboration can comprehensively and accurately capture ground environment details, significantly improving the perception capability and decision-making accuracy in complex ground scenarios. Low-altitude perception collaboration can integrate multi-source low-altitude perception data, achieving large-scale, high-timeliness low-altitude environment monitoring and effectively enhancing the tracking and early warning capabilities for low-altitude dynamic targets. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the architecture of a communication system provided in an embodiment of the present disclosure;

[0022] Figure 2 A flowchart of a perceptual collaboration method provided in an embodiment of this disclosure;

[0023] Figure 3 A schematic diagram illustrating an application scenario of a sensing collaboration method provided in this embodiment of the disclosure;

[0024] Figure 4 An interactive flowchart of a perceptual collaboration method provided in an embodiment of this disclosure;

[0025] Figure 5 A schematic diagram illustrating an application scenario of another sensing collaboration method provided in this disclosure embodiment;

[0026] Figure 6 A schematic diagram illustrating another application scenario of the sensing collaboration method provided in this disclosure embodiment;

[0027] Figure 7 An interactive flowchart of another perceptual collaboration method provided in an embodiment of this disclosure;

[0028] Figure 8 A schematic diagram illustrating another application scenario of the sensing collaboration method provided in this disclosure embodiment;

[0029] Figure 9 An interaction flowchart for yet another perceptual collaboration method provided in this disclosure embodiment;

[0030] Figure 10 A flowchart of another perceptual collaboration method provided in this disclosure embodiment;

[0031] Figure 11 This is a schematic diagram of the structure of a sensing and collaboration device provided in an embodiment of the present disclosure;

[0032] Figure 12 This is a schematic diagram of another sensing and collaboration device provided in an embodiment of the present disclosure;

[0033] Figure 13 This is a schematic diagram of the structure of a communication device provided in an embodiment of this disclosure. Detailed Implementation

[0034] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0035] In this disclosure, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, "at least one" means one or more, and "multiple" means two or more. The terms "first," "second," etc., do not limit the quantity or order of execution, and "first," "second," etc., do not necessarily imply differences.

[0036] It should be noted that in this disclosure, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in this disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0037] In existing wireless communication network deployments, both low-frequency and high-frequency base stations exist simultaneously; similarly, low-frequency sensing units and high-frequency sensing sites are also deployed. The following is a detailed description of sensing in different frequency bands and their application advantages.

[0038] Low-frequency sensing uses the FR1 band (<6GHz), covering 450MHz to 6GHz (Sub-6GHz), which is a low-frequency band with a relatively long wavelength (e.g., 3.5GHz corresponds to a wavelength of approximately 8.6cm). Its signal has strong penetration and wide-area coverage capabilities, making it suitable for large-scale environmental sensing.

[0039] The FR2 band covers a range of 24 GHz to 52.6 GHz (millimeter wave band), with extremely short wavelengths (e.g., 28 GHz corresponds to a wavelength of approximately 10.7 mm). The signal is susceptible to attenuation by obstacles, but it features ultra-wide bandwidth (up to 400 MHz per carrier) and high spatial resolution, making it suitable for high-precision local sensing.

[0040] The terahertz (THz) band contains electromagnetic waves between 0.1 THz and 10 THz, corresponding to wavelengths of approximately 3 millimeters to 30 micrometers. This band lies between microwaves and infrared light, and its advantages in sensing applications include: high-resolution imaging (shorter wavelengths provide higher spatial resolution than microwaves while still retaining some penetration capability, suitable for security inspections, non-destructive testing, etc.) and material identification capabilities (terahertz waves can resonate with many molecules, enabling them to identify the composition of specific substances).

[0041] In view of this, this disclosure provides a perception collaboration method, which includes: sending perception collaboration request information to perception collaboration nodes; and receiving feedback information from the perception collaboration request information sent by the perception collaboration nodes. The perception collaboration request information helps perception collaboration nodes better understand actual perception needs and to perform perception collaboration more effectively. Similarly, the perception collaboration nodes can also provide their own actual perception status during the perception collaboration process through the feedback information, thereby facilitating better perception collaboration. The embodiments of this disclosure improve the perception collaboration mechanism, achieving more accurate perception of targets and meeting actual needs.

[0042] In some embodiments, transmission in this disclosure includes sending or receiving. For example, sending data or signals, or receiving data or signals.

[0043] In this disclosure, "perceptual collaboration" and "collaborative perception" have the same meaning and can be used interchangeably.

[0044] The sensing and collaboration method provided in this disclosure can be applied to systems with various communication standards. For example, the systems to which the sensing and collaboration method provided in this disclosure can be applied include, but are not limited to, long term evolution (LTE) systems, various versions based on LTE evolution, 5th generation (5G) communication systems, wireless fidelity (Wi-Fi) systems, 3rd generation partnership project (3GPP) related communication systems, ambient internet of things (AmbientIoT) systems, or systems integrating multiple systems. In addition, the sensing and collaboration method provided in this disclosure can also be applied to future-oriented communication systems (such as 6G and 7G communication systems), etc., and this disclosure does not limit this application.

[0045] See Figure 1 This is a schematic diagram of the architecture of a communication system provided in an embodiment of this disclosure. Figure 1 As shown, the communication system includes: a sensing and control node 110, a first sensing unit 120, a second sensing unit 130, and a target 140.

[0046] The sensing control node 110 is used for sensing management and processing of sensing data. The sensing function control entity can also be called a sensing control node.

[0047] In some embodiments, the sensing and control node 110 can be integrated with existing core network elements; or it can be deployed independently in the core network.

[0048] In some embodiments, the sensing control node 110 can be integrated with existing access network elements; or it can be deployed independently in the access network.

[0049] In some embodiments, the sensing control node 110 and the first sensing unit 120 and / or the second sensing unit 130 conduct signaling interaction processes through the interface between the core network and the access network.

[0050] In some embodiments, the first sensing unit 120 is configured to receive a sensing signal configuration sent by the sensing control node 110, and to perform sensing detection on the target 140 based on the sensing signal configuration.

[0051] In some embodiments, the second sensing unit 130 is configured to receive a message sent by the sensing control node 110 or the first sensing unit 120, and to perform cooperative sensing detection of the target 140 based on the message.

[0052] In some embodiments, the sensing control node 110 includes a sensing function control entity 111 and a sensing data processing server 112, wherein the sensing function control entity 111 is responsible for controlling the sensing units in the wireless network, and the sensing data processing server 112 is used to parse, fuse, and process sensing measurement data; the two can be deployed independently or in combination.

[0053] In some embodiments, the sensing function control entity 111 can perform sensing control on the first sensing unit 120 and the second sensing unit 130, and the sensing data processing server 112 can receive sensing data sent by the first sensing unit 120 and the second sensing unit 130.

[0054] In some embodiments, the first sensing unit 120 and the second sensing unit 130 are respectively deployed in communication node A and communication node B of the access network. Communication node A and communication node B can interact with each other through the access network interface, the base station interface, the centralized unit (CU), the distributed unit (DU) interface, and the air interface.

[0055] In some embodiments, the first sensing unit 120 and the second sensing unit 130 each include a sensing control module and a data processing module.

[0056] For example, the first sensing unit 120 includes a first sensing control module 121 and a first data processing module 122, and the second sensing unit 130 includes a second sensing control module 131 and a second data processing module 132.

[0057] The sensing function control entity 111 can perform sensing control on the first sensing control module 121 and the second sensing control module 131, so that the first sensing control module 121 and the second sensing control module 131 send sensing signals to the target 140. The first data processing module 122 and the second data processing module 132, according to the needs of the sensing service, can upload the raw sensing data to the sensing data processing server 112 for processing, or they can perform preliminary analysis and feature extraction on the sensing data and then upload the processed data to the sensing data processing server 112 for further processing.

[0058] The second perception control module 131 can receive messages sent by the first perception control module 121 and perform collaborative perception of the target 140 based on the messages. The first data processing module 122 and the second data processing module 132 can interact with each other to exchange perception data.

[0059] In some embodiments, the communication nodes of the access network may be base stations (e.g., BS / gNB), relay nodes, or integrated broadband access (IBA) nodes.

[0060] It should be noted that the forms of communication nodes in the access network described above are only some examples given in the embodiments of this disclosure. Depending on the actual scenario and the different needs of perception services, there may be other implementation forms of communication nodes, which are not limited in this embodiment.

[0061] In some embodiments, the aforementioned base station may be a base station in LTE, Long Term Evolution Advanced (LTEA) or Evolutionary Node B (eNB or eNodeB), base station equipment in 5G networks, or base stations in future communication systems, etc. The base station may include various macro base stations, micro base stations, home base stations, wireless remote extensions, reconfigurable intelligent surfaces (RISs), routers, relays, transmission reception points (TRPs), wireless fidelity (WIFI) equipment, user equipment (UE), and other network-side equipment. This disclosure does not limit this aspect.

[0062] In some embodiments, the target 140 may be a terminal, an Internet of Things device, etc., and this disclosure does not limit this.

[0063] In some embodiments, the terminal may be a mobile phone, tablet computer, computer with wireless transceiver capabilities, virtual reality (VR) terminal, augmented reality (AR) terminal, wireless terminal in industrial control, wireless terminal in self-driving, wireless terminal in remote medical care, wireless terminal in smart grid, wireless terminal in transportation safety, wireless terminal in smart city, wireless terminal in smart home, etc. The embodiments of this disclosure do not limit the application scenarios. The terminal may also be referred to as a user, UE, access terminal, UE unit, UE station, mobile station, mobile station, remote station, remote terminal, mobile device, UE terminal, wireless communication device, UE agent, or UE device, etc., and the embodiments of this disclosure do not limit this to these terms.

[0064] It should be noted that, Figure 1 This is just an example framework diagram. Figure 1 The number of devices included and the names of each device are unlimited, except for... Figure 1 In addition to the devices shown, the communication system may also include other devices, such as core network equipment, and this disclosure does not impose any restrictions on this.

[0065] The application scenarios of the embodiments disclosed herein are not limited. The system architecture and business scenarios described in the embodiments of this disclosure are for the purpose of more clearly illustrating the technical solutions of the embodiments of this disclosure, and do not constitute a limitation on the technical solutions provided by the embodiments of this disclosure. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of this disclosure are also applicable to similar technical problems.

[0066] This disclosure provides a method for perceptual collaboration. For example... Figure 2 As shown, the method includes the following steps:

[0067] S101. Send a sensing collaboration request message to the sensing collaboration node.

[0068] The sensing collaboration request information includes at least one of the following: collaboration type, collaboration requirement priority, acquisition mode of collaborative sensing data, transmission target of collaborative sensing data, spatial information of collaborative sensing area, wide-area sensing environment feature map, collaborative sensing index requirements, collaborative sensing time information, sensing time domain resource configuration information of sensing collaboration nodes, sensing frequency domain resource configuration information of sensing collaboration nodes, and interference control information.

[0069] The perceived collaboration request information may have other names in this disclosure, such as perceived collaboration requirement information, perceived collaboration requirement, etc., and this disclosure does not limit it.

[0070] In some embodiments, the collaboration type includes at least one of the following:

[0071] Improve perception metrics;

[0072] Fill in the gaps in perception;

[0073] Increase the types of perception indicators;

[0074] Increase the magnitude of perceived indicators;

[0075] Sensing frequency domain requirements;

[0076] Required increase in sensing frequency;

[0077] Required increase in sensing bandwidth;

[0078] Required increase in perceived duration;

[0079] Sensing beamwidth precision amplitude requirements;

[0080] Use the first grid for sensing;

[0081] Local / omnidirectional spatial sensing collaboration;

[0082] Ground-based sensing collaboration / Low-altitude sensing collaboration;

[0083] Limited-time / temporary perception collaboration;

[0084] Periodic perception and collaboration.

[0085] In some embodiments, the perception index type includes at least one of the following: perception accuracy, position resolution, height resolution, velocity resolution, perception data refresh rate, target detection rate, confidence level, and false alarm rate.

[0086] In some embodiments, the sensing frequency domain requirement includes FR2 frequency domain sensing and / or terahertz frequency domain sensing.

[0087] In some embodiments, collaboration requirements priority includes at least one of the following:

[0088] It is necessary to perceive the priority of the user to whom the collaborative business belongs;

[0089] The need to perceive the private priority of collaborative business processes;

[0090] Prioritize the perceived quality of service (QOS) standards for collaborative business operations.

[0091] The priority of sensing services that require sensing collaboration relative to communication services.

[0092] In some embodiments, the acquisition mode of collaboratively sensed data includes at least one of the following:

[0093] Continuous feedback of perceived data after collaboration begins;

[0094] Once collaboration begins, sensing data is fed back as needed. In some embodiments, sensing data is fed back based on the real-time requirements of the sensing collaboration initiating node or the sensing control node.

[0095] In some embodiments, the transmission target of collaboratively sensed data includes at least one of the following:

[0096] The target's network protocol (IP) address;

[0097] The target's data processing node identifier (ID) can be used for collaborative sensing data fusion processing.

[0098] In some embodiments, the collaboratively sensed area spatial information includes at least one of the following:

[0099] a) Perception coordinate range. For example, this includes the horizontal coordinate range of the collaboratively perceived target area, such as the length and width of the coordinate range being limited to between 100 meters and 0.01 meters.

[0100] b) Sensing altitude range. For example, this includes ground sensing range, ultra-low altitude sensing range, and ultra-low altitude sensing range, such as ground sensing range: 0 meters to 10 meters; ultra-low altitude sensing range: 10 meters to 100 meters; low altitude sensing range: 100 meters to 3000 meters.

[0101] c) Sensing beam range. For example, this includes the range defined by the capability of the matching high-frequency domain sensing unit, such as the horizontal beam width range: 1 degree to 10 degrees, and the vertical beam width range: 1 degree to 20 degrees.

[0102] d) The type of the first grid.

[0103] e) Identification information of the first grid (e.g., the range to which the identifier of the first grid belongs).

[0104] f) The coordinates of the first grid cell. For example, including the center coordinates of the first grid cell.

[0105] g) The range of the first grid cell.

[0106] In some embodiments, the range of the first grid includes at least one of the following:

[0107] The horizontal plane size range of the collaborative sensing area corresponding to the first grid;

[0108] The vertical plane size range of the collaborative sensing area corresponding to the first grid;

[0109] The horizontal plane size range of the first grid;

[0110] The vertical plane size range of the first grid.

[0111] For example, the size range of the horizontal / vertical plane of the first grid is the size range of the horizontal / vertical plane defined by the capability of the high-frequency domain sensing unit.

[0112] Understandably, the use of first-grid perception can be called refined-grid perception. The first grid can be called refined-grid, which improves the accuracy and effectiveness of network perception by dividing the grid into finer-grained grids.

[0113] In this disclosure, the granularity of the first grid is smaller than that of the second grid; that is, the horizontal plane size of the first grid is smaller than the horizontal plane size of the second grid, or the vertical plane size of the first grid is smaller than the vertical plane size of the second grid. The horizontal or vertical range of the first grid can be accurate to the order of 100 meters to 0.01 meters.

[0114] For example, the horizontal plane size range of the first grid includes: 10-meter level (for medium and close distance perception): 10 meters to 100 meters; meter level (for close distance perception): 1 meter to 20 meters; decimeter level (for ultra-close distance perception): 1 decimeter to 10 decimeters.

[0115] For example, the vertical plane size range of the first grid includes: 10-meter level (for medium and close-range perception): 10 meters to 100 meters; meter level (for close-range perception): 1 meter to 20 meters; decimeter level (for ultra-close-range perception): 1 decimeter to 10 decimeters.

[0116] In some embodiments, the sensing service performed by the sensing initiating node is raster map environment sensing, and the sensing initiating node uses second raster sensing for the target area. When the sensing initiating node determines that high-precision sensing cooperation / blind spot filling is required for the target area, the sensing initiating node can determine the sensing cooperation node itself or through the sensing control node, and send sensing cooperation request information to the sensing cooperation node.

[0117] The sensing frequency domain range of the initiating node is smaller than that of the sensing collaborating node. In other words, the sensing collaborating node supports sensing using a smaller granular grid.

[0118] The collaboration type in the collaboration request information includes using the first grid for perception, and the spatial information of the collaboration perception area in the collaboration request information includes the type of the first grid (including the type of each grid used to cover the target area), the identification information of the first grid (including the identification information of each grid used to cover the target area), the coordinates of the first grid (including the coordinates of each grid used to cover the target area), and the range of the first grid.

[0119] The range of the first grid can be the range of the target area that the first grid needs to cover (including the vertical and / or horizontal size range of the target area) or the range of the first grid selected to cover the target area (including the vertical and / or horizontal size range of each grid used to cover the target area). Other contents included in the perception collaboration request information can be referred to the description in other embodiments or examples and will not be repeated here.

[0120] High-precision perception can be understood as improving the perception accuracy of the target area.

[0121] In some embodiments, the wide-area sensing environment feature map includes at least one of the following:

[0122] A wide-area sensing target distribution map generated by the sensing collaboration initiating node, including a map that labels the coordinates and trajectories of each sensing target acquired by wide-area sensing;

[0123] Distribution map of the second grid;

[0124] Perception parameter indicators for wide-area perception.

[0125] In some embodiments, the distribution map of the second grid includes at least one of the following:

[0126] The coordinate layout of the second grid includes the center coordinates of each second grid.

[0127] The scale definition of the second grid (matching the range defined by the low-frequency domain sensing unit capability). For example, the scale definition of the second grid includes the range of horizontal and vertical plane sizes of the second grid: 100-meter level (for mid-to-near range sensing): 100 meters to 1000 meters; 10-meter level (for near range sensing): 10 meters to 100 meters.

[0128] In some embodiments, the sensing parameters of wide-area sensing include at least one of the following: horizontal resolution, vertical resolution, horizontal position accuracy, vertical position accuracy, speed resolution, and refresh rate.

[0129] In some embodiments, the collaborative sensing index requirements (the range of sensing indexes that the sensing collaborative nodes are required to meet) include at least one of the following: horizontal resolution, vertical resolution, detection rate, false alarm rate, trajectory integrity rate, confidence level, horizontal position accuracy, vertical position accuracy, perceptible speed range, speed resolution, refresh rate, and sensing capacity.

[0130] In some embodiments, the applicable index range for the FR2 frequency domain sensing node is as follows:

[0131] Horizontal / vertical resolution: 0.1 degrees to 1 degree;

[0132] Detection rate: 80%-99%;

[0133] False alarm rate: 0.1%-5%;

[0134] Track integrity rate: 85%-98%;

[0135] Confidence level: 80%-98%;

[0136] Horizontal / vertical positioning accuracy: 1-10 meters;

[0137] Perceptible speed range: <350m / s;

[0138] Velocity resolution: 0.1-1 m / s;

[0139] Refresh rate: 10-100 times / second;

[0140] Sensing capacity: A single base station can simultaneously sense 100-1000 targets.

[0141] In some embodiments, the applicable index range for terahertz frequency domain sensing nodes is as follows:

[0142] Horizontal / vertical resolution: 0.01°-0.1°;

[0143] Detection rate: 80%-99%;

[0144] False alarm rate: 0.1%-1%;

[0145] Track integrity rate: 90%-99%;

[0146] Confidence level: 90%-99%;

[0147] Horizontal / vertical positioning accuracy: 0.01-0.1 meters;

[0148] Perceptible speed range: <350m / s;

[0149] Velocity resolution: 0.01-0.1 m / s;

[0150] Refresh rate: 50-500 times / second;

[0151] Sensing capacity: A single base station can simultaneously sense 500-5000 targets.

[0152] In some embodiments, the cooperative sensing time information includes at least one of the following: start time, stop time, sensing data time granularity, sensing cooperation period, cooperation duration per sensing cooperation period, and sensing time domain configuration of the sensing cooperation initiating node; wherein, the sensing time domain configuration of the sensing cooperation initiating node includes the period range, time offset range, and combing configuration range of sensing signal transmission (transmission and reception) based on the synchronization signal reference point or the frame structure of the wireless communication signal. The offset in this disclosure can be understood as an offset amount, which will not be elaborated further below.

[0153] In some embodiments, if both the sensing collaboration initiating node and the collaborating node support 3GPP wireless communication services, the period range, time offset range, and comb configuration range for sensing signal transmission and reception are provided based on the frame structure of the wireless communication signal.

[0154] In some embodiments, the sensing temporal resource configuration information of the sensing cooperative node includes at least one of the following:

[0155] Perception frame configuration range;

[0156] Sensing time slot configuration range;

[0157] The upper limit of the allowable bias of the perception time domain of the sensing collaboration node relative to the perception time domain of the sensing collaboration initiating node.

[0158] In some embodiments, the sensing frequency domain resource configuration information of the sensing cooperative node includes at least one of the following: center frequency range, bandwidth range, and comb configuration range.

[0159] In some embodiments, the interference control information includes at least one of the following:

[0160] It is necessary to perceive the temporal information that the cooperating nodes avoid when performing perception collaboration;

[0161] It is necessary to perceive the frequency domain information that the cooperating nodes avoid when performing perception cooperation;

[0162] It is necessary to sense the airspace information that the cooperating nodes avoid when performing sensing cooperation.

[0163] The time-domain information includes at least one of the following: symbol, time slot, frame, and uplink / downlink interference direction. The frequency-domain information includes at least one of the following: harmonic frequency band / frequency point, and uplink / downlink direction. The spatial-domain information includes the sensing beam direction / sensing beam number.

[0164] S102, Receive feedback information of the sensing collaboration request information sent by the sensing collaboration node.

[0165] In some embodiments, the feedback information includes at least one of the following:

[0166] Instruction information used to indicate modification of one or more pieces of information in a perception collaboration request message;

[0167] Used to indicate whether a sensing collaboration node accepts the indication information for sensing collaboration;

[0168] The reason for modifying the perception collaboration request information;

[0169] The reasons for refusing to perceive collaboration.

[0170] In some embodiments, the reason for modifying the sensing collaboration request information or for rejecting sensing collaboration includes at least one of the following:

[0171] Limited sensory resources;

[0172] Perception metrics cannot support this;

[0173] Low priority, meaning that the sensing services that require collaborative sensing have a lower priority than other sensing services.

[0174] Any one of the embodiments or examples in S101-S102 can be applied to the sensing collaboration initiating node or the sensing control node.

[0175] In some embodiments, the deployment locations of the sensing control node include at least one of the following:

[0176] Deployed independently in the core network;

[0177] Deployed in conjunction with at least one node in the core network;

[0178] Deploy independently in the access network;

[0179] It is deployed in conjunction with at least one node in the access network.

[0180] In some embodiments, at least one node in the core network includes at least one of the following: access and mobility management function (AMF), user plane function (UPF), and session management function (SDF); at least one node in the access network includes at least one of the following: base station, CU, DU, relay node, integrated access and backhaul node (IAB node), and TRP.

[0181] In some embodiments, the sensing collaboration initiating node and the sensing collaboration node can be collectively referred to as sensing nodes. The types of sensing nodes include: wireless communication base stations with deployed sensing function modules, remote radio stations, relay type stations, FWA type stations, and mobile devices (mobile phones, drones, vehicle-mounted systems, etc.).

[0182] In some embodiments, the sensing collaboration initiating node and the sensing collaboration node satisfy at least one of the following:

[0183] The sensing frequency domain range of the initiating node of sensing collaboration is different from that of the sensing frequency domain range of the collaborating node.

[0184] The perception accuracy of the sensing collaboration node is different from that of the sensing collaboration node.

[0185] In some embodiments, the sensing frequency domain range of the sensing collaboration initiating node is the low-frequency domain, and the sensing frequency domain range of the sensing collaboration node is the high-frequency domain.

[0186] In some embodiments, the perception accuracy of the sensing collaboration initiating node is lower than that of the sensing collaboration node.

[0187] For example, the sensing collaboration initiating node is the FR1 2.8GHz sensing node, and the sensing collaboration node is the FR1 4.9GHz sensing node.

[0188] For example, the sensing collaboration initiating node is the FR1 (e.g., 4.9GHz) sensing node, and the sensing collaboration node is the FR2 sensing node (e.g., 28GHz).

[0189] For example, the initiating node for sensing collaboration is an FR2 sensing node (e.g., 52GHz) sensing node, and the sensing collaboration node is a terahertz sensing node (e.g., 100GHz).

[0190] For example, the sensing collaboration initiating node sends a sensing collaboration request message to the sensing collaboration node. Alternatively, the sensing control node sends a sensing collaboration request message to the sensing collaboration node. The sensing collaboration request message sent by the sensing control node to the sensing collaboration node can be received by the sensing collaboration initiating node.

[0191] In this process, the data perceived by the sensing collaboration nodes about the target can be sent to the sensing collaboration initiating node, where its sensing processing module performs data fusion. Alternatively, the data perceived by both the sensing collaboration nodes and the sensing collaboration initiating node about the target can be sent to the sensing data processing center, where data fusion is performed. Or, the data perceived by the sensing collaboration nodes about the target can be sent to the sensing collaboration initiating node, which then sends its own data perceived by the target along with the data perceived by the sensing collaboration nodes to the sensing data processing center, where data fusion is performed.

[0192] The sensing data processing center can be located in the sensing control node, or in the core network or access network and independent of the sensing control node.

[0193] In some embodiments, the execution subject of S101-S102 is a sensing collaboration control node. Before sending sensing collaboration request information to the sensing collaboration node, the sensing collaboration control node further includes performing the following steps: the sensing collaboration control node receives sensing collaboration request information sent by the sensing collaboration initiating node.

[0194] In some embodiments, the execution entity of S101-S102 is a perception control node, and the perception control node further includes performing the following steps: the perception control node receives first perception data sent by the perception collaboration initiating node; the perception control node receives second perception data sent by the perception collaboration node; the perception control node performs fusion processing on the first perception data and the second perception data to obtain fused perception data.

[0195] In some embodiments, the execution subject of S101-S102 is a perception control node, and the perception control node further includes performing the following steps: the perception control node receives second perception data sent by the perception cooperation node; the perception control node sends the second perception data to the perception cooperation initiating node.

[0196] In some embodiments, the execution subject of S101-S102 is a perception control node, and the perception control node further includes performing the following steps: the perception control node receives first perception data and second perception data sent by the perception collaboration initiating node; the perception control node performs fusion processing on the first perception data and the second perception data to obtain fused perception data.

[0197] In some embodiments, the execution subject of S101-S102 is a perception collaboration initiating node, and the perception collaboration initiating node further includes performing the following steps: the perception collaboration initiating node receives second perception data sent by the perception collaboration node; the perception collaboration initiating node performs fusion processing on the first perception data and the second perception data it has acquired to obtain fused perception data.

[0198] In some embodiments, the execution subject of S101-S102 is a perception collaboration initiating node, and the perception collaboration initiating node further includes performing the following steps: the perception collaboration initiating node receives second perception data sent by the perception collaboration node; the perception collaboration initiating node sends the second perception data and the first perception data to the perception control node.

[0199] In this disclosure, the number of sensing collaboration nodes, sensing collaboration initiating nodes, and sensing control nodes can be one or more, and this disclosure does not limit the number.

[0200] The following examples illustrate the application of the perceptual collaboration method provided in this disclosure in different scenarios.

[0201] Scenario 1: Perception collaboration based on access network architecture.

[0202] like Figure 3 As shown, Case 1 describes a sensing collaboration scenario in a wireless access network, with base station A (gNB-A) as the initiating node and base station B (gNB-B) as the sensing collaboration cooperating node. Both gNB-A and gNB-B are equipped with sensing functions (including a sensing control module and a sensing data processing module). gNB-A operates in the FR1 frequency band at 4.9 GHz, and gNB-B operates in the FR2 frequency band at 28 GHz. gNB-A requests gNB-B to collaborate on sensing functions through the inter-site access interface, performing cooperative sensing of the target area. gNB-B feeds back high-precision sensing data of the target area to gNB-A, where data fusion is performed in gNB-A's sensing data processing module.

[0203] The specific signaling interaction process involved in perception collaboration under scenario 1 is as follows: Figure 4 As shown, it includes the following steps:

[0204] The perception modules of S201 and gNB-A decide whether high-precision perception collaboration of the target area is needed based on business requirements.

[0205] For example, determine whether to perform high-precision sensing collaboration on the target area when at least one of the following conditions is met:

[0206] 1) The number of perceptual obstacles in the target area has increased, exceeding the inherent perceptual and discrimination capabilities of gNB-A;

[0207] 2) The target's movement speed in the target area exceeds the gNB-A's own movement speed resolution;

[0208] 3) If a risky target appears in the target area, improve the perception accuracy according to the requirements of the backend users;

[0209] 4) The false alarm rate in the target area exceeds the threshold;

[0210] 5) The perceived confidence level of the target area is below the threshold.

[0211] After gNB-A confirms the need for high-precision sensing collaboration of the target area, it determines the required sensing parameters for the target area.

[0212] S202, gNB-A searches for collaborative sensing objects (sensing collaboration nodes) with sensing capabilities for the target area based on the sensing parameters required for the target area. This requires gNB-A to interact with surrounding nodes with sensing capabilities in advance and save the sensing capabilities of these nodes.

[0213] S203. gNB-A sends a sensing collaboration request message to the eligible collaboration object (there can be multiple collaboration objects; gNB-A selects one of the successfully negotiated objects for sensing collaboration, which is assumed to be gNB-B in this case). The sensing collaboration request message includes at least one of the following:

[0214] 1) The collaboration type includes at least one of the following:

[0215] 1a) Improve perception indicators / fill in perception blind spots: In this case 1, "Improve perception indicators" is selected.

[0216] 1b) Improve the types of perception indicators: including at least one of the following: perception accuracy, location resolution, height resolution, velocity resolution, perception data refresh rate, target detection rate, confidence level, and false alarm rate.

[0217] 1c) Improve the magnitude of perception indicators: For each type of indicator that needs to be improved, indicate the range of improvement. The benchmark for improvement is the perception indicators of gNB-A. gNB-A can send its own perception indicators and perception capabilities to the perception collaboration nodes for reference.

[0218] 1d) Sensing frequency domain requirements: FR2 frequency domain sensing and / or terahertz frequency domain sensing. In case 1, FR2 frequency domain sensing can be filled in.

[0219] 1e) Requirement for improvement in sensing frequency points: Based on the required improvement in indicators, indicate how much the frequency points supported by the sensing collaboration node are expected to be improved relative to gNB-A.

[0220] 1f) Required increase in sensing bandwidth: Based on the required increase in indicators, indicate how much the bandwidth supported by the sensing collaboration node is expected to increase relative to gNB-A.

[0221] 1g) Required improvement in perception duration: Based on the required improvement in indicators, indicate how much the expected perception duration supported by the perception collaboration node should be improved relative to gNB-A.

[0222] 1h) Sensing beamwidth refinement requirements: Based on the required improvement in indicators, indicate how much the desired improvement in the sensing beamwidth supported by the sensing collaboration node is relative to gNB-A.

[0223] 1i) Refined raster sensing; In this case, gNB-A does not use raster sensing maps in the collaboration type, so this item can be left blank.

[0224] 1j) Local / Omnidirectional spatial perception cooperation: This indicates whether the perception cooperation is for a local area or requires the full spatial perception capability of the sensing unit. In this example, a local area can be filled in.

[0225] 1k) Limited-time / temporary perceptual collaboration: This indicates that the perceptual collaboration is within a limited time. This type of collaboration can be filled in in this example.

[0226] 1l) Periodic perceptual collaboration: This indicates that the perceptual collaboration is long-term and periodic. This type of collaboration can be filled in in this example.

[0227] 2) Collaboration requirements should prioritize at least one of the following:

[0228] 2a) Priority of users to which sensing services require sensing collaboration: This indicates the priority level of the user's contract with the operator or sensing service provider, such as VIP / Advanced / Regular user.

[0229] 2b) Private priority of sensing services requiring sensing collaboration: indicates the priority level of the sensing service in the contract with the operator or sensing service provider, such as VIP / premium / normal service level.

[0230] 2c) Priority of QoS standards for sensing services that require sensing collaboration: the QoS level of the sensing service in international / domestic / industry standards.

[0231] 2d) Priority of sensing services relative to communication services that require collaborative sensing: If the collaborating site is a node that integrates communication and sensing, it can also indicate the priority of sensing services relative to communication services. For example, it can indicate which QoS level private priority of communication services the priority of sensing services is higher or lower than.

[0232] 3) Acquisition mode of collaborative sensing data: continuous feedback of sensing data after collaboration begins: for example, continuously sensing and feeding back sensing data based on refresh rate, without the need for additional signaling control of gNB-A.

[0233] 4) The transmission objectives of collaborative sensing data include at least one of the following:

[0234] 4a) Target IP address: In this case, the sensing data fusion is completed by the sensing data processing module of gNB-A, so fill in the IP address of gNB-A.

[0235] 4b) Target data processing node ID for collaborative sensing data fusion processing: You can also fill in the node ID of gNB-A.

[0236] 5) Collaborative sensing of regional spatial information includes at least one of the following:

[0237] 5a) Sensing coordinate range: Latitude and longitude coordinates or privately defined map grid coordinates can be used. For example, the horizontal coordinate range of the collaborative sensing target area is limited to a length and width range of 100 meters to 0.01 meters.

[0238] 5b) Sensing altitude range: Altitude or other reference frame height can be used. For example, ground sensing: 0 meters to 10 meters; ultra-low altitude sensing: 10 meters to 100 meters; low altitude sensing: 100 meters to 3000 meters.

[0239] 5c) Sensing beam range: The range defined by the capabilities of the high-frequency domain sensing unit. Horizontal beam width range: 1 degree to 10 degrees; Vertical beam width range: 1 degree to 20 degrees. If gNB-A has obtained the sensing beam layout map of gNB-B in advance, it can query the corresponding sensing beam range based on the target area to be collaboratively sensed and send it to gNB-B as a suggestion.

[0240] 5d) Refined raster coordinates: the center coordinates of each raster.

[0241] 5e) Refined grid range: The range that matches the capability definition of the high-frequency domain sensing unit.

[0242] 5e-1) The horizontal plane size range of each grid: 10-meter level (for medium and close distance sensing): 10 meters to 100 meters; meter level (for close distance sensing): 1 meter to 20 meters; decimeter level (for ultra-close distance sensing): 1 decimeter to 10 decimeters.

[0243] 5e-2) Vertical plane size range of each grid: 10-meter level (for medium and close range sensing): 10 meters to 100 meters; meter level (for close range sensing): 1 meter to 20 meters; decimeter level (for ultra-close range sensing): 1 decimeter to 10 decimeters.

[0244] In this case, gNB-A does not use a rasterized sensing map in the collaboration type, so options 5d) to 5e) can be left blank.

[0245] 6) The wide-area sensing environmental feature map includes at least one of the following:

[0246] 6a) Wide-area sensing target distribution map generated by the sensing collaboration initiating node: In this case, it is the sensing map of gNB-A, which is sent to gNB-B as a reference for sensing target screening, which helps to reduce the false alarm rate of sensing targets.

[0247] 6b) Perceptual resolution of the map (horizontal resolution, vertical resolution).

[0248] 7) The collaborative perception indicators should include at least one of the following: horizontal resolution, vertical resolution, detection rate, false alarm rate, trajectory integrity rate, confidence level, horizontal position accuracy, vertical position accuracy, perceptible velocity range, velocity resolution, refresh rate, and perception capacity (the number of identifiable targets per unit area).

[0249] These metrics must match the range of metrics supported by the sensing frequency domain of the collaborating object. In this case, the sensing module of gNB-B operates in the 28GHz frequency domain, and its sensing metrics requirements are as follows: horizontal / vertical resolution 50cm, detection rate 95%, false alarm rate 1%, trajectory integrity rate 99%, confidence level 95%, horizontal / vertical position accuracy 10cm, sensing speed range 0-200km, speed resolution 0.1m / s, refresh rate 50 times / s, and sensing capacity 200 targets / km2.

[0250] 8) Collaborative sensing time information includes at least one of the following:

[0251] 8a) Start / End Time: The start and end times of the perceived collaboration, used for a collaboration mode of a specified time period.

[0252] 8b) Sensing data temporal granularity: related to the scanning speed of the sensing beam, how often the sensing map is refreshed.

[0253] 8c) Perception collaboration cycle and collaboration duration per perception collaboration cycle: used for periodic perception collaboration mode.

[0254] 8d) Perception time domain configuration of the sensing collaboration initiating node: For example, the perception time domain offset configuration of gNB-A is the 5th 1ms frame of every 10ms radio frame.

[0255] 8e) Perception time offset range of the sensing collaboration node relative to the sensing collaboration initiating node: The perception time domain configuration of the two nodes may be different, so there may be inconsistencies in the time of acquiring perception data. When fusing data, it is necessary to consider that the offset should not be too different: For example, the perception time domain offset configuration of gNB-A is the 5th 1ms frame of every 10ms radio frame. The perception time domain offset configuration of gNB-B should not be too far from that of gNB-A. For example, the range should be configured to be within ±5ms to avoid too much misalignment during data fusion.

[0256] 9) The collaborative sensing time / frequency domain resource configuration information includes at least one of the following:

[0257] Sensing frame / time slot configuration range (the sensing time domain of the cooperating node should match the sensing time domain of the initiating cooperating node as much as possible to reduce the increase in sensing data fusion error caused by time mismatch): Under the premise that gNB-A obtains the sensing frame format configuration of gNB-B in advance, gNB-A can recommend appropriate frame format, sensing time slot and sensing symbol configuration to gNB-B.

[0258] 10) Interference control information includes at least one of the following:

[0259] 10a) Time-domain information (symbols, timeslots, frames, uplink and downlink interference directions) that need to be avoided when sensing and cooperating nodes perform sensing and cooperation: When gNB-A obtains the frame format of gNB-B's uplink and downlink operation in advance, if there is harmonic interference in the operating frequency domain of gNB-A and gNB-B, a time-domain avoidance method can be adopted. It is recommended that the sensing time domain of gNB-B be staggered from that of gNB-B.

[0260] 10b) Frequency domain information (harmonic bands / frequency points, uplink and downlink directions) that need to be avoided by sensing cooperative nodes when performing sensing cooperation: If gNB-B supports frequency division multiplexing of sensing function, it can be suggested that the sensing band of gNB-B avoid frequency bands with harmonic interference.

[0261] 10c) Information on the airspace to be avoided by the sensing and cooperating nodes when performing sensing and cooperation: sensing beam direction / sensing beam number: If there is a conflict between the sensing beams of gNB-A and gNB-B, it is recommended that gNB-B adjust its sensing beam to avoid the sensing beam of gNB-A.

[0262] S204, gNB-B decides whether to accept the perception collaboration request, and the decision is based on at least one of the following:

[0263] 1) Whether the self-perception ability indicators meet the requirements;

[0264] 2) Whether the area that can be sensed by itself meets the requirements;

[0265] 3) Does it meet the interference control requirements?

[0266] 4) Whether its own frame structure and temporal resource configuration meet the temporal requirements in the collaboration;

[0267] 5) Will collaborative sensing cause resource conflicts or excessive loads on other services (such as communication services or sensing services), thereby creating service risks for its own services?

[0268] If the decision result is acceptable sensing collaboration, feedback information is sent to gNB-A. The feedback information includes instructions to accept sensing collaboration, and may also include the sensing indicators, sensing frequency domain configuration, sensing time domain configuration, and sensing spatial domain configuration that it decides to provide.

[0269] If the decision is to refuse sensing collaboration, feedback information is sent to gNB-A. The feedback information includes an indication of refusing sensing collaboration, and may also include the reasons for refusing sensing collaboration (including but not limited to which items in the sensing collaboration request cannot be met, or restrictions on its own business).

[0270] S205. If gNB-B performs collaborative sensing, it negotiates with gNB-A based on the sensing collaboration request information to obtain the sensing negotiation result, and then senses the target area based on the sensing negotiation result to obtain the sensing data of the target area.

[0271] S206, gNB-B feeds back the sensing data of the target area to gNB-A.

[0272] S207 and gNB-A fuse high-precision sensing data with their own sensing data of the target area (soft fusion).

[0273] S208. When gNB-A believes that the target area no longer needs sensing cooperation, it actively sends a sensing cooperation termination message to gNB-B.

[0274] Scenario 2: Perception collaboration based on perception control nodes.

[0275] refer to Figure 5 or Figure 6 As shown in Case 2, in a 5G wireless network, both gNB-A and gNB-B deploy sensing functions (including sensing control modules and sensing data processing modules). The 5G core network domain deploys sensing control nodes (including sensing function control entities and sensing data processing servers) and AMFs. The sensing function control entity is responsible for controlling the sensing units in the wireless network, and the sensing data processing server is used to parse, fuse, and process sensing measurement data. The two can be deployed independently or in combination. In this case, the sensing data processing modules of gNB-A and gNB-B can upload the raw sensing data to the sensing data processing server for processing, or perform preliminary parsing and feature extraction on the sensing data and then upload the processed data to the sensing data processing server for further processing.

[0276] gNB-A operates in the FR1 frequency band at 4.9 GHz, while gNB-B operates in the FR2 frequency band at 28 GHz. gNB-A initiates a sensing cooperation request through the sensing function control entity in the core network domain, which then selects a suitable cooperating base station to complete the cooperation negotiation and sensing cooperation.

[0277] In this scenario, the sensing module of gNB-A performs a sensing service for raster map environment sensing. After initially parsing the sensing data, the gNB-A sensing module discovers a sensing blind spot in the target raster. However, the sensing capabilities of the sensing stations with direct interfaces in the vicinity cannot cover the target raster. Therefore, it chooses to initiate a sensing cooperation request to the core network sensing function control entity, which then selects a suitable cooperation partner (gNB-B in this scenario) to initiate the sensing cooperation request.

[0278] In scenario 2, the specific signaling interaction process involved in perception collaboration is as follows: Figure 7 As shown, it includes the following steps:

[0279] S301. The sensing function control entity initiates a sensing service establishment request (using a large grid sensing map) to the low-frequency FR1 sensing node gNB-A. This service requires the sensing map to be provided in grid mode, which can adopt one of two types of grid modes:

[0280] Single-layer raster: The entire gNB-A perception map is divided into raster layers of uniform scale.

[0281] Multi-layer grid: The entire gNB-A perception map is divided into multiple layers of grids of different scales. Each grid has a different size scale. Large grids can overlap with small grids (containing multiple small grids) or they can not overlap with small grids (each covering a different area).

[0282] For example, Figure 5 The sensing service uses a single-layer raster sensing map (gNB-A can sense raster ID 95, raster ID 96, raster ID 97 and raster ID 99). Figure 6 The mid-range sensing service employs a multi-layered grid sensing map. The low-frequency sensing node gNB-A uses a large-grid sensing map (e.g., it can sense areas such as large grid ID 18, 19, 20, 21, 22, and 23). The high-frequency sensing node gNB-B uses a small-grid sensing map (e.g., it can sense areas such as small grid IDs 194, 195, 196, 197, and 199 within large grid ID 22, and also areas such as small grid IDs 200, 201, 202, 205, and 206 within large grid ID 23). Subsequent steps will provide examples of these two grid modes.

[0283] S302, gNB-A begins execution of perception services (acquiring perception data from the large grid).

[0284] The S303 and gNB-A perception control modules decide whether perception collaboration is needed based on business requirements. In this case, the gNB-A perception control module filters out perception blind spots and determines that perception collaboration is needed.

[0285] by Figure 5 For example, the sensory blind zone of gNB-A corresponds to grid id 98, and grid id 98 is used as the target grid for gNB-B cooperative sensing (cooperative sensing is performed through the sensing beam emitted by gNB-B).

[0286] by Figure 6 For example, the blind spot of gNB-A corresponds to the small grid id 196 within the large grid id 22. The small grid id 196 is used as the target grid for gNB-B cooperative sensing (cooperative sensing is performed through the sensing beam emitted by gNB-B).

[0287] gNB-A determines the sensing parameters needed to fill the target sensing blind spot and selects a cooperation object: In this case, since the sensing capabilities of the sensing stations with direct interfaces in the vicinity cannot cover the sensing blind spot, it chooses to initiate a sensing cooperation request to the core network sensing function control entity.

[0288] S304 and gNB-A send sensing cooperation request information to the core network sensing function control entity. The content of the sensing cooperation request information includes at least one of the following:

[0289] 1) Collaboration type:

[0290] 1a) Improve perception indicators / Fill in the gaps in perception: Select “Fill in the gaps in perception” in this case.

[0291] Improve the types of perception indicators, including at least one of the following: perception accuracy, location resolution, height resolution, velocity resolution, perception data refresh rate, target detection rate, confidence level, and false alarm rate.

[0292] 1b) Improve the magnitude of perception indicators: For each type of indicator that needs to be improved, indicate the range of improvement. The benchmark for improvement is the perception indicators of gNB-A. gNB-A can send its own perception indicators and perception capabilities to the perception collaboration nodes for reference.

[0293] 1c) Frequency domain sensing requirements: FR2 frequency domain sensing and / or terahertz frequency domain sensing. In this case, FR2 frequency domain sensing can be filled in.

[0294] 1d) Requirement for improvement in sensing frequency points: Based on the required improvement in indicators, indicate how much the frequency points supported by the sensing collaboration node are expected to be improved relative to gNB-A.

[0295] 1e) Required increase in sensing bandwidth: Based on the required increase in indicators, indicate how much the bandwidth supported by the sensing collaboration node is expected to be increased relative to gNB-A.

[0296] 1f) Required improvement in perception duration: Based on the required improvement in indicators, indicate how much the expected perception duration supported by the perception collaboration node should be improved relative to gNB-A.

[0297] 1g) Sensing beamwidth refinement requirements: Based on the required improvement in indicators, indicate how much the desired improvement in sensing beamwidth supported by the sensing cooperative node is relative to gNB-A.

[0298] 1h) Refined grid perception; in this case, if the perception service uses multi-layer grids (such as...) Figure 6 Based on the identified blind spot (small grid ID 196), the spatial information of the collaborative sensing area is determined.

[0299] 1i) Local / Omnidirectional spatial perception cooperation: This indicates whether the perception cooperation is for a local area or requires the full spatial perception capability of the sensing unit. In this example, a local area can be filled in.

[0300] 1j) Limited-time / temporary perceptual collaboration: This indicates that the perceptual collaboration is within a limited time. This type of collaboration can be filled in in this example.

[0301] 1k) Periodic Perceptual Collaboration: This indicates that the perceptual collaboration is long-term and periodic. This type of collaboration can be filled in in this example.

[0302] 2) Collaboration requirements should prioritize at least one of the following:

[0303] 2a) Priority of users to which sensing services require sensing collaboration: This indicates the priority level of the user's contract with the operator or sensing service provider, such as VIP / Advanced / Regular user.

[0304] 2b) Private priority of sensing services requiring sensing collaboration: indicates the priority level of the sensing service in the contract with the operator or sensing service provider, such as VIP / premium / normal service level.

[0305] 2c) Priority of QoS standards for sensing services that require sensing collaboration: the QoS level of the sensing service in international / domestic / industry standards.

[0306] 2d) Priority of sensing services relative to communication services that require collaborative sensing: If the collaborating site is a node that integrates communication and sensing, it can also indicate the priority of sensing services relative to communication services. For example, it can indicate which QoS level / private priority of communication services the sensing service has a higher or lower priority than.

[0307] 3) The acquisition mode of collaborative sensing data includes at least one of the following:

[0308] 3a) Continuous feedback of sensing data after collaboration begins: For example, continuously sensing and feeding back sensing data based on the refresh rate, without the need for additional signaling control of gNB-A;

[0309] 3b) Feedback of sensing data as needed after collaboration begins: For example, gNB-B does not start sensing immediately after collaboration begins. It only starts sensing and feeding back data after receiving a sensing instruction from gNB-A. The sensing instruction may include the time domain, frequency domain, spatial domain, and sensing index configuration.

[0310] 4) Target IP address for collaborative sensing data transmission: In this case, sensing data fusion is completed by the sensing data processing server in the core network domain, so fill in the IP address of the sensing data processing server.

[0311] 5) Collaborative sensing of regional spatial information includes at least one of the following:

[0312] 5a) Sensing beam range: If gNB-A has obtained the sensing beam layout map of gNB-A in advance, it can query the corresponding sensing beam range according to the target grid that it wants to cooperate in sensing and send it to gNB-B as a suggestion.

[0313] 5b) Grid type: Small grid (refined grid) (e.g.) Figure 6 A small or medium-sized grid with ID 196, or at least one grid that can cover a small grid with ID 196.

[0314] 5c) Refined grid identification information, such as refined grid ID range;

[0315] 5d) Refine the grid coordinates, such as the grid center coordinates and the target grid coordinates (horizontal and vertical coordinates) required for collaborative perception;

[0316] 5e) Refined Grid Range: Predefined 3D map grid settings, grid size (horizontal and vertical range). The grid size can be filled in according to the small grid size predefined by the perception business, for example: 50 meters.

[0317] 6) The wide-area sensing environmental feature map includes at least one of the following:

[0318] 6a) Wide-area sensing target distribution map generated by the sensing collaboration initiating node: In this case, it is the sensing grid map of gNB-A, which is sent to gNB-B as a reference for sensing target screening, which helps to reduce the false alarm rate of sensing targets.

[0319] 6b) Perceptual resolution of the map (horizontal resolution, vertical resolution).

[0320] 7) The collaborative perception indicators should include at least one of the following: horizontal / vertical resolution, detection rate, false alarm rate, trajectory integrity rate, confidence level, horizontal / vertical position accuracy, perceptible velocity range, velocity resolution, refresh rate, and perception capacity (the number of identifiable targets per unit area).

[0321] These metrics must match the range of metrics supported by the sensing frequency domain of the collaborating object. In this case, the sensing module of gNB-B operates in the 28GHz frequency domain, and its sensing metrics requirements are as follows: horizontal / vertical resolution 50cm, detection rate 95%, false alarm rate 1%, trajectory integrity rate 99%, confidence level 95%, horizontal / vertical position accuracy 10cm, sensing speed range 0-200km, speed resolution 0.1m / s, refresh rate 50 times / s, and sensing capacity 200 targets / km2.

[0322] 8) Collaborative sensing time information includes at least one of the following:

[0323] 8a) Start / End Time: The start and end times of the perceived collaboration, used for a collaboration mode of a specified time period.

[0324] 8b) Sensing data temporal granularity: related to the scanning speed of the sensing beam, how often the sensing map is refreshed.

[0325] 8c) Perceived collaboration cycle and collaboration duration per perceived collaboration cycle: used for periodic collaboration modes.

[0326] 8d) Perception time domain configuration of the sensing collaboration initiating node: For example, the perception time domain offset configuration of gNB-A is the 5th 1ms frame of every 10ms radio frame.

[0327] 8e) Perception time offset range of the sensing collaboration node relative to the sensing collaboration initiating node: The perception time domain configuration of the two nodes may be different, so there may be inconsistencies in the time of acquiring perception data. When fusing data, it is necessary to consider that the offset should not be too different: For example, the perception time domain offset configuration of gNB-A is the 5th 1ms frame of every 10ms radio frame. The perception time domain offset configuration of gNB-B should not be too far from that of gNB-A. For example, the range should be configured to be within ±5ms to avoid too much misalignment during data fusion.

[0328] 9) The collaborative sensing time / frequency domain resource configuration information includes at least one of the following:

[0329] Sensing frame / time slot configuration range (the sensing time domain of the cooperating node should match the sensing time domain of the initiating cooperating node as much as possible to reduce the increase in sensing data fusion error caused by time mismatch): Under the premise that gNB-A obtains the sensing frame format configuration of gNB-B in advance, gNB-A can recommend appropriate frame format, sensing time slot and sensing symbol configuration to gNB-B.

[0330] 10) Interference control information includes at least one of the following:

[0331] 10a) Time-domain information (symbols, time slots, frames, uplink and downlink interference directions) that need to be avoided when cooperating nodes perform sensing cooperation: When gNB-A obtains the frame format of gNB-B's uplink and downlink operation in advance, if there is harmonic interference in the operating frequency domain of gNB-A and gNB-B, a time-domain avoidance method can be adopted. It is recommended that the sensing time domain of gNB-B be staggered from that of gNB-B.

[0332] 10b) Frequency domain information (harmonic bands / frequency points, uplink and downlink directions) that need to be avoided by sensing cooperative nodes when performing sensing cooperation: If gNB-B supports frequency division multiplexing of sensing function, it can be suggested that the sensing band of gNB-B avoid frequency bands with harmonic interference.

[0333] 10c) Information on the airspace to be avoided by the sensing and cooperating nodes when performing sensing and cooperation: sensing beam direction / sensing beam number: If there is a conflict between the sensing beams of gNB-A and gNB-B, it is recommended that gNB-B adjust its sensing beam to avoid the sensing beam of gNB-A.

[0334] S305. The sensing function control entity searches for collaborative sensing objects (sensing collaboration nodes) with sensing capabilities in the target area based on the sensing collaboration request information. This requires the sensing function control entity to have previously acquired and saved the sensing capabilities of nodes with sensing capabilities in the service area.

[0335] S306. The sensing function control entity selected gNB-B and forwarded the sensing cooperation request information (including the small grid sensing map) to it.

[0336] S307 and gNB-B decisions on whether to accept perceived collaboration are based on at least one of the following criteria:

[0337] 1) Whether the self-perception ability indicators meet the requirements;

[0338] 2) Whether the area that can be sensed by itself meets the requirements;

[0339] 3) Does it meet the interference control requirements?

[0340] 4) Whether its own frame structure and temporal resource configuration meet the temporal requirements in the collaboration;

[0341] 5) Will collaborative sensing cause resource conflicts or excessive loads on other services (such as communication services or sensing services), thereby creating service risks for its own services?

[0342] If the decision result is acceptable perception collaboration, then information is fed back to the perception function control entity. The feedback information includes instructions to accept perception collaboration, and may also include the perception indicators, perception frequency domain configuration, perception time domain configuration, and perception spatial domain configuration that it decides to provide.

[0343] If the decision result is to refuse cooperation, feedback information is sent to the sensing function control entity. The feedback information includes an instruction to refuse sensing cooperation, and may also include the reasons for refusing sensing cooperation (including but not limited to which items in the sensing cooperation request cannot be met, or restrictions on its own business).

[0344] S308, The sensing function control entity forwards feedback information to gNB-A.

[0345] S309. If gNB-B performs collaborative sensing, then based on the sensing request information, determine the sensing collaboration configuration; based on the sensing collaboration configuration, sense the target area and obtain sensing data (including sensing data of small grids).

[0346] S310 and gNB-B feed back sensing data (including sensing data from small grids) to the sensing function control entity.

[0347] S311 and gNB-A upload sensing data (including large grid sensing data / wide area sensing grid map data) to the sensing data processing server in the core network domain.

[0348] S312. The sensing data processing server merges the sensing data of gNB-A and gNB-B. The fusion method is to stitch the sensing data together according to the grid (which can also be called sensing map combination).

[0349] Among them, raster-based sensing is not limited to stitching as a fusion method. In this example, a collaborative method similar to that in Case 1 can also be implemented to fuse high-precision and low-precision sensing data from the same raster from different sensing units.

[0350] S313. When gNB-A believes that the target area no longer needs sensing cooperation, it actively sends a sensing cooperation termination message to the sensing function control entity.

[0351] S314. The sensing function control entity forwards the sensing collaboration termination message to gNB-B.

[0352] Scenario 3: Perception collaboration initiated by the perception control node.

[0353] refer to Figure 8As shown in Case 3, in a 5G wireless network, gNB-A / B / C all deploy sensing functions (including sensing control modules and sensing data processing modules); a third-party area (which can be a core network domain or an access network domain) deploys a sensing function control entity and a sensing data processing server. The sensing function control entity is responsible for controlling the sensing units in the wireless network, and the sensing data processing server is used to parse, fuse, and process sensing measurement data. The two can be deployed independently or in combination. In this case, the sensing data processing module of gNB-A / B / C can upload the raw sensing data to the sensing data processing server for processing according to the needs of the sensing service, or it can perform preliminary parsing and feature extraction on the sensing data and then upload the processed data to the sensing data processing server for further processing.

[0354] The gNB-A operates in the FR1 frequency band at 4.9 GHz, the gNB-B operates in the FR2 frequency band at 28 GHz, and the gNB-C operates in the FR2 frequency band at 32 GHz. Based on the needs of the sensing service, the sensing function control entity discovers a suspicious sensing target in the wide-area sensing map of the gNB-A and needs to perform high-precision tracking sensing on that target. Sensing units capable of high-precision sensing cooperation in the target's path area include gNB-B and gNB-C. Based on the target's trajectory and arrival location, the sensing function control entity sequentially initiates sensing cooperation requests to gNB-B and gNB-C as needed.

[0355] The specific signaling interaction process involved in perception collaboration under scenario 3 is as follows: Figure 9 As shown, it includes the following steps:

[0356] S401, The sensing function control entity initiates a sensing service establishment request to the low-frequency FR1 sensing node gNB-A.

[0357] S402. The sensing function control entity decides whether to initiate sensing collaboration (high-precision sensing of the target area) based on business needs.

[0358] For example, in this scenario, the sensing service backend identifies a target to be tracked in the gNB-A's wide-area sensing map and requests improved sensing accuracy and refresh rate, notifying the sensing function control entity. The sensing function control entity then determines the necessary collaborative sensing parameters for the target area based on the backend's requirements.

[0359] The sensing function control entity or sensing data processing server identifies the target to be tracked in the wide-area sensing map of gNB-A and requests to improve sensing accuracy and refresh rate. The sensing function control entity then formulates the required collaborative sensing parameters for the target area based on the requirements.

[0360] S403. The sensing function control entity searches for a cooperating sensing object with target area sensing capability based on the cooperative sensing parameters. In this case, assuming that the tracking target first enters the sensing area of ​​gNB-B, the sensing function control entity first selects gNB-B as the cooperative object.

[0361] S404. The sensing function control entity sends a sensing collaboration request message to the gNB-B. The content of the sensing collaboration request message is the same as in Case 1 and will not be repeated here (in this case, the upload address of the collaborative sensing data is the sensing data processing server).

[0362] S405 and gNB-B decide whether to accept sensory collaboration. The decision is based on reference situation 1, which will not be repeated here.

[0363] If the decision result is acceptable sensing collaboration, feedback information is sent to gNB-A. The feedback information includes instructions to accept sensing collaboration, and may also include the sensing indicators, sensing frequency domain configuration, sensing time domain configuration, and sensing spatial domain configuration that it decides to provide.

[0364] If the decision is to refuse sensing collaboration, feedback information is sent to gNB-A. The feedback information includes an indication of refusing sensing collaboration, and may also include the reasons for refusing sensing collaboration (including but not limited to which items in the sensing collaboration request cannot be met, or restrictions on its own business).

[0365] S406. If gNB-B performs collaborative sensing, it negotiates with gNB-A based on the sensing collaboration request information, and senses the target area based on the sensing negotiation result to obtain the sensing data of the target area.

[0366] S407 and gNB-B feed back the perception data (including high-precision perception data) of the target area to the perception data processing server.

[0367] S408 and gNB-A feed back sensing data (including wide-area sensing data) to the sensing data processing server.

[0368] S409. The sensing data processing server performs sensing data fusion (soft fusion) between the sensing data of gNB-B and the sensing data of gNB-A.

[0369] S410. When the sensing function control entity identifies that the tracked target will leave the sensing area of ​​gNB-B (for example, it can determine whether to stop the sensing collaboration of gNB-B based on the position of the tracked target or the decline of indicators such as the confidence level of the sensing data), it believes that the sensing collaboration of gNB-B needs to be terminated, a new collaboration object is replaced, and a sensing collaboration termination message is actively sent to gNB-B.

[0370] Then, in steps S411-S417, the perception function control entity repeats steps S402-S403, selects a new cooperative object gNB-C, and then repeats steps S404-S410 to maintain the improved perception accuracy of the tracked target.

[0371] Scenario 4: Feedback on collaborative perception data as needed.

[0372] In all three scenarios, the feedback mode for collaborative sensing data can be: feedback of sensing data on demand after sensing collaboration begins. For example, after sensing collaboration begins, the sensing collaboration node does not start sensing immediately, but only after receiving a real-time sensing instruction from the sensing collaboration initiating node does it start sensing and feed back sensing data. The real-time sensing instruction may include the time domain, frequency domain, spatial domain, and sensing index configuration of the sensing.

[0373] In each embodiment or example, the terms "large grid" and "small grid" are used to more clearly represent the relative concepts of different grid granularities. The large grid can be the second grid defined in this disclosure, and the small grid can be the first grid defined in this disclosure. The granularity of the large grid is larger than that of the small grid, and the sensing accuracy (or sensing frequency range) of nodes that can be sensed using the large grid may be smaller than the sensing accuracy (or sensing frequency range) of nodes that can be sensed using the small grid. Specifically, the ranges of the large grid and the small grid can be predefined for different scenarios.

[0374] Based on this, a perception collaboration request message is sent to the perception collaboration node, and feedback information is received from the perception collaboration request message sent by the perception collaboration node. The perception collaboration request message helps the perception collaboration node to better perform perception collaboration when it understands the actual perception needs. Similarly, the perception collaboration node can also provide its own actual perception situation during the perception collaboration process through feedback information, so as to better perform perception collaboration. This embodiment of the disclosure improves the perception collaboration mechanism, achieving more accurate perception of the target and meeting actual needs.

[0375] This disclosure provides a method for perceptual collaboration. For example... Figure 10 As shown, the method includes the following steps:

[0376] S501, Receive sensing collaboration request information.

[0377] In some embodiments, the sensing collaboration request information includes at least one of the following: collaboration type, collaboration requirement priority, acquisition mode of collaborative sensing data, transmission target of collaborative sensing data, spatial information of collaborative sensing area, wide-area sensing environment feature map, collaborative sensing index requirements, collaborative sensing time information, sensing time domain resource configuration information of sensing collaboration nodes, sensing frequency domain resource configuration information of sensing collaboration nodes, and interference control information.

[0378] In some embodiments, the collaboration type includes at least one of the following:

[0379] Improve perception metrics;

[0380] Fill in the gaps in perception;

[0381] Increase the types of perception indicators;

[0382] Increase the magnitude of perceived indicators;

[0383] Sensing frequency domain requirements;

[0384] Required increase in sensing frequency;

[0385] Required increase in sensing bandwidth;

[0386] Required increase in perceived duration;

[0387] Sensing beamwidth precision amplitude requirements;

[0388] Use the first grid for sensing;

[0389] Local / omnidirectional spatial sensing collaboration;

[0390] Ground-based sensing collaboration / Low-altitude sensing collaboration;

[0391] Limited-time / temporary perception collaboration;

[0392] Periodic perception and collaboration.

[0393] In some embodiments, the perception index type includes at least one of the following: perception accuracy, position resolution, height resolution, velocity resolution, perception data refresh rate, target detection rate, confidence level, and false alarm rate.

[0394] In some embodiments, the sensing frequency domain requirement includes FR2 frequency domain sensing and / or terahertz frequency domain sensing.

[0395] In some embodiments, collaboration requirements priority includes at least one of the following:

[0396] It is necessary to perceive the priority of the user to whom the collaborative business belongs;

[0397] The need to perceive the private priority of collaborative business processes;

[0398] Prioritize the perceived business service quality standards that require collaborative awareness.

[0399] The priority of sensing services that require sensing collaboration relative to communication services.

[0400] In some embodiments, the acquisition mode of collaboratively sensed data includes at least one of the following:

[0401] Once collaboration begins, continuously provide feedback on perceived data;

[0402] Once collaboration begins, feedback of perceived data is provided as needed.

[0403] In some embodiments, the transmission target of collaboratively sensed data includes at least one of the following:

[0404] The target's network protocol address;

[0405] The data processing node identifier of the target.

[0406] In some embodiments, the collaboratively sensed area spatial information includes at least one of the following:

[0407] Perceive the coordinate range;

[0408] Perceive altitude range;

[0409] Sensing beam range;

[0410] The type of the first grid;

[0411] The identification information of the first grid;

[0412] The coordinates of the first grid cell;

[0413] The range of the first grid.

[0414] In some embodiments, the range of the first grid includes at least one of the following:

[0415] The horizontal size range of the collaborative sensing area corresponding to the first grid;

[0416] The vertical plane size range of the collaborative sensing area corresponding to the first grid;

[0417] The horizontal size range of the first grid;

[0418] The vertical plane size range of the first grid.

[0419] In some embodiments, the wide-area sensing environment feature map includes at least one of the following:

[0420] A wide-area perception target distribution map generated by the perception collaboration initiating node;

[0421] Distribution map of the second grid;

[0422] Perception parameters for wide-area sensing.

[0423] In some embodiments, the distribution map of the second grid includes at least one of the following: a layout map of the coordinates of the second grid, and a scale definition of the second grid.

[0424] In some embodiments, the sensing parameters of wide-area sensing include at least one of the following: horizontal resolution, vertical resolution, horizontal position accuracy, vertical position accuracy, speed resolution, and refresh rate.

[0425] In some embodiments, collaboration-aware metrics are required to include at least one of the following:

[0426] Horizontal resolution, vertical resolution, detection rate, false alarm rate, trajectory integrity rate, confidence level, horizontal position accuracy, vertical position accuracy, perceptible speed range, speed resolution, refresh rate, and sensing capacity.

[0427] In some embodiments, the collaboratively sensed time information includes at least one of the following:

[0428] The start time, termination time, sensing data time granularity, sensing collaboration cycle, collaboration duration of each sensing collaboration cycle, and sensing time domain configuration of the sensing collaboration initiating node; wherein, the sensing time domain configuration of the sensing collaboration initiating node includes the period range, time offset range, and comb configuration range of sensing signal transmission based on the synchronization signal reference point or the frame structure of the wireless communication signal.

[0429] In some embodiments, the sensing temporal resource configuration information of the sensing cooperative node includes at least one of the following:

[0430] Perception frame configuration range;

[0431] Sensing time slot configuration range;

[0432] The upper limit of the allowable bias of the perception time domain of the sensing collaboration node relative to the perception time domain of the sensing collaboration initiating node.

[0433] In some embodiments, the sensing frequency domain resource configuration information of the sensing cooperative node includes at least one of the following: center frequency range, bandwidth range, and comb configuration range.

[0434] In some embodiments, the interference control information includes at least one of the following:

[0435] It is necessary to perceive the temporal information that the cooperating nodes avoid when performing perception collaboration;

[0436] It is necessary to perceive the frequency domain information that the cooperating nodes avoid when performing perception cooperation;

[0437] It is necessary to sense the airspace information that the cooperating nodes avoid when performing sensing cooperation.

[0438] In some embodiments, the feedback information includes at least one of the following:

[0439] Instruction information used to indicate modification of one or more pieces of information in a perception collaboration request message;

[0440] Used to indicate whether a sensing collaboration node accepts the indication information for sensing collaboration;

[0441] The reason for modifying the perception collaboration request information;

[0442] The reasons for refusing to perceive collaboration.

[0443] In some embodiments, the reason for modifying the sensing collaboration request information or the reason for rejecting sensing collaboration includes at least one of the following:

[0444] Limited sensory resources;

[0445] Perception metrics cannot support this;

[0446] Low priority.

[0447] S502, Send feedback information for sensing collaboration request information.

[0448] In some embodiments, the feedback information includes at least one of the following:

[0449] Instructions used to indicate modifications to one or more requirements in the perceived collaboration request information;

[0450] Used to indicate whether a sensing collaboration node accepts the indication information for sensing collaboration;

[0451] The reason for modifying the perception collaboration request information;

[0452] The reasons for refusing to perceive collaboration.

[0453] In some embodiments, the reason for modifying the sensing collaboration request information or the reason for rejecting sensing collaboration includes at least one of the following:

[0454] Limited sensory resources;

[0455] Perception metrics cannot support this;

[0456] Low priority.

[0457] In some embodiments, S501 to S502 can be used to sense cooperative nodes. For a more detailed description of S501 to S502, as well as a more detailed description of each technical feature therein, and a description of the beneficial effects, please refer to the description in the above embodiments or examples, which will not be repeated here.

[0458] The foregoing primarily describes the solutions of the embodiments of this disclosure from a methodological perspective. The following also illustrates a perceptual cooperation device for executing the perceptual cooperation method in any of the above embodiments and their possible implementations. It is understood that, in order to implement the perceptual cooperation method, the perceptual cooperation device includes hardware structures and / or software modules corresponding to the execution of various functions; those skilled in the art should readily recognize that, in conjunction with the algorithm steps of the various examples described in the embodiments of this disclosure, this disclosure can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in a hardware or computer software-driven hardware manner depends on the target application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each target application, but such implementation should not be considered beyond the scope of this disclosure.

[0459] This disclosure embodiment can divide the sensing and collaboration device into functional modules according to the above method embodiment. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into one functional module. The integrated module can be implemented in hardware or software. It should be noted that the module division in this disclosure embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. The following description uses the example of dividing each functional module according to each function.

[0460] Figure 11 This is a schematic diagram of the structure of a sensing and collaboration device provided in an embodiment of the present disclosure. The sensing and collaboration device includes: a first communication module 61, a second communication module 62, and a processing module 63.

[0461] The first communication module 61 is used to send a sensing collaboration request message to the sensing collaboration node.

[0462] The second communication module 62 is used to receive feedback information of the sensing collaboration request information sent by the sensing collaboration node.

[0463] In some embodiments, the sensing collaboration device is applied to a sensing collaboration initiating node or a sensing control node.

[0464] In some embodiments, the deployment locations of the sensing control node include at least one of the following:

[0465] Deployed independently in the core network;

[0466] Deployed in conjunction with at least one node in the core network;

[0467] Deploy independently in the access network;

[0468] It is deployed in conjunction with at least one node in the access network.

[0469] In some embodiments, when the sensing collaboration device is applied to the sensing collaboration control node, before sending the sensing collaboration request information to the sensing collaboration node, the second communication module 62 is also used to receive the sensing collaboration request information sent by the sensing collaboration initiating node.

[0470] In some embodiments, the sensing collaboration device is applied to a sensing control node. The second communication module 62 is also used to receive first sensing data sent by the sensing collaboration initiating node; the second communication module 62 is also used to receive second sensing data sent by the sensing collaboration node; and the processing module 63 is used to perform fusion processing on the first sensing data and the second sensing data to obtain fused sensing data.

[0471] In some embodiments, when the sensing collaboration device is applied to a sensing control node, the second communication module 62 is further configured to receive second sensing data sent by the sensing collaboration node; the first communication module 61 is further configured to send the second sensing data to the sensing collaboration initiating node.

[0472] In some embodiments, the sensing collaboration device is applied to the sensing control node, the second communication module 62 is also used to receive the first sensing data and the second sensing data sent by the sensing collaboration initiating node; the processing module 63 is used to perform fusion processing on the first sensing data and the second sensing data to obtain fused sensing data.

[0473] In some embodiments, the sensing collaboration device is applied to the sensing collaboration initiating node, the second communication module 62 is also used to receive the second sensing data sent by the sensing collaboration node; the processing module 63 is used to perform fusion processing on the first sensing data and the second sensing data it has acquired to obtain fused sensing data.

[0474] In some embodiments, the sensing collaboration device is applied to the sensing collaboration initiating node, the second communication module 62 is further configured to receive second sensing data sent by the sensing collaboration node; the first communication module 61 is further configured to send the second sensing data and the first sensing data to the sensing control node.

[0475] For a more detailed description of the first communication module 61, the second communication module 62, and the processing module 63, as well as a more detailed description of their respective technical features and beneficial effects, please refer to the corresponding method embodiment section above, which will not be repeated here.

[0476] Figure 12 This is a schematic diagram of another sensing and collaboration device provided in an embodiment of the present disclosure. The sensing and collaboration device includes: a third communication module 71 and a fourth communication module 72.

[0477] The third communication module 71 is used to receive sensing collaboration request information;

[0478] The fourth communication module 72 is used to send feedback information for the sensing and collaboration request information.

[0479] For a more detailed description of the third communication module 71 and the fourth communication module 72, as well as a more detailed description of their respective technical features and beneficial effects, please refer to the corresponding method embodiment section above, which will not be repeated here.

[0480] It should be noted that, Figure 11 , Figure 12 Modules in a module can also be called units; for example, a communication module can be called a communication unit. Additionally, in... Figure 11 , Figure 12 In the embodiments shown, the names of the modules may not be the same as those shown in the figures. For example, the communication module may also be called the sending module or the receiving module.

[0481] Figure 11 , Figure 12 If the various units or modules in the present disclosure are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this disclosure, or the parts that contribute to related technologies, or all or part of the technical solutions, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this disclosure. Storage media for storing computer software products include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0482] In implementing the functions of the integrated modules described above using hardware, embodiments of this disclosure also provide a possible structure for a communication device used to execute the sensing and collaboration method provided in embodiments of this disclosure. Figure 13 As shown, the communication device 800 includes a communication interface 803, a processor 802, and a bus 804. Optionally, the communication device may also include a memory 801.

[0483] Processor 802 may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with embodiments of this disclosure. Processor 802 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with embodiments of this disclosure. Processor 802 may also be a combination of functions implementing computational capabilities, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0484] The communication interface 803 is used to connect to other devices via a communication network. This communication network can be Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0485] The memory 801 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 electrically erasable programmable read-only memory (EEPROM), disk storage medium or other magnetic storage device, 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.

[0486] In one possible implementation, the memory 801 can exist independently of the processor 802. The memory 801 can be connected to the processor 802 via a bus 804 and is used to store instructions or program code. When the processor 802 calls and executes the instructions or program code stored in the memory 801, it can implement the perception cooperation method provided in the embodiments of this disclosure.

[0487] In another possible implementation, the memory 801 can also be integrated with the processor 802.

[0488] The 804 bus can be an extended industry standard architecture (EISA) bus, etc. The 804 bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 13 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0489] Some embodiments of this disclosure provide a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium) storing computer program instructions that, when executed on a computer, cause the computer to perform the perceptual cooperation method as described in any of the above embodiments.

[0490] In one exemplary embodiment, the computer may be the aforementioned communication device, and this disclosure does not limit the specific form of the computer.

[0491] In some examples, the aforementioned computer-readable storage media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks, or magnetic tapes), optical discs (e.g., compact disks (CDs), digital versatile disks (DVDs), etc.), smart cards, and flash memory devices (e.g., erasable programmable read-only memory (EPROMs), cards, sticks, or key drives, etc.). The various computer-readable storage media described in this disclosure may represent one or more devices for storing information and / or other machine-readable storage media. The term "machine-readable storage media" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0492] This disclosure provides a computer program product containing instructions that, when run on a computer, cause the computer to execute the perceptual collaboration method described in any of the above embodiments.

[0493] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any changes or substitutions within the technical scope disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A method for perceptual collaboration, characterized in that, The method includes: Send a sensing collaboration request message to the sensing collaboration node; Feedback information received from the sensing collaboration request information sent by the sensing collaboration node; the sensing collaboration request information includes at least a collaboration type; the collaboration type includes ground sensing collaboration and / or low-altitude sensing collaboration.

2. The method according to claim 1, characterized in that, The sensing collaboration request information also includes at least one of the following: collaboration requirement priority, acquisition mode of collaborative sensing data, transmission target of collaborative sensing data, spatial information of collaborative sensing area, wide-area sensing environment feature map, collaborative sensing index requirements, collaborative sensing time information, sensing time domain resource configuration information of the sensing collaboration node, sensing frequency domain resource configuration information of the sensing collaboration node, and interference control information.

3. The method according to claim 1, characterized in that, The collaboration type also includes at least one of the following: Improve perception metrics; Fill in the gaps in perception; Increase the types of perception indicators; Increase the magnitude of perceived indicators; Sensing frequency domain requirements; Required increase in sensing frequency; Required increase in sensing bandwidth; Required increase in perceived duration; Sensing beamwidth precision amplitude requirements; Use the first grid for sensing; Local / omnidirectional spatial sensing collaboration; Limited-time / temporary perception collaboration; Periodic perception and collaboration.

4. The method according to claim 2, characterized in that, The collaborative sensing area spatial information includes at least one of the following: Perceive the coordinate range; Perceive altitude range; Perceive beam range.

5. The method according to claim 2, characterized in that, The collaboration perception metric must include at least one of the following: Horizontal resolution, vertical resolution, detection rate, false alarm rate, trajectory integrity rate, confidence level, horizontal position accuracy, vertical position accuracy, perceptible speed range, speed resolution, refresh rate, and sensing capacity.

6. The method according to claim 2, characterized in that, The collaborative sensing time information includes at least one of the following: The start time, termination time, sensing data time granularity, sensing collaboration cycle, collaboration duration of each sensing collaboration cycle, and sensing time domain configuration of the sensing collaboration initiating node; wherein, the sensing time domain configuration of the sensing collaboration initiating node includes the period range, time offset range, and comb configuration range of sensing signal transmission based on the synchronization signal reference point or the frame structure of the wireless communication signal.

7. The method according to claim 1, characterized in that, The feedback information includes at least one of the following: Instruction information used to indicate the modification of one or more pieces of information in the perception collaboration request information; Used to indicate whether the sensing collaboration node accepts the sensing collaboration instruction information; The reason for modifying the perception collaboration request information; The reasons for refusing to perceive collaboration.

8. The method according to claim 7, characterized in that, The reason for modifying the sensing collaboration request information or the reason for rejecting sensing collaboration includes at least one of the following: Limited sensory resources; Perception metrics cannot support this; Low priority.

9. The method according to any one of claims 1 to 8, characterized in that, The method is applied to either the sensing collaboration initiating node or the sensing control node.

10. The method according to claim 9, characterized in that, The deployment locations of the sensing and control nodes include at least one of the following: Deployed independently in the core network; Deployed in conjunction with at least one node in the core network; Deploy independently in the access network; It is deployed in conjunction with at least one node in the access network.

11. The method according to claim 10, characterized in that, At least one node in the core network includes at least one of the following: access and mobility management functions, user plane functions, and session management functions; at least one node in the access network includes at least one of the following: base station, centralized unit, distributed unit, relay node, integrated access and backhaul node, and transmission receiving point.

12. The method according to claim 9, characterized in that, The method is applied to a sensing collaboration control node. Before sending sensing collaboration request information to the sensing collaboration node, the method further includes: Receive the perception collaboration request information sent by the perception collaboration initiating node.

13. The method according to claim 9, characterized in that, The method is applied to the sensing and control node, and the method further includes: Receive the first sensing data sent by the sensing collaboration initiating node; Receive the second sensing data sent by the sensing collaboration node; The first sensing data and the second sensing data are fused to obtain fused sensing data.

14. The method according to claim 9, characterized in that, The method is applied to the sensing and control node, and the method further includes: Receive the second sensing data sent by the sensing collaboration node; The second sensing data is sent to the sensing collaboration initiating node.

15. The method according to claim 9, characterized in that, The method is applied to the sensing and control node, and the method further includes: Receive the first and second sensing data sent by the sensing collaboration initiating node; The first sensing data and the second sensing data are fused to obtain fused sensing data.

16. The method according to claim 9, characterized in that, The method is applied to the sensing collaboration initiating node, and the method further includes: Receive the second sensing data sent by the sensing collaboration node; The first and second perception data acquired by the system are fused together to obtain fused perception data.

17. The method according to claim 9, characterized in that, The method is applied to the sensing collaboration initiating node, and the method further includes: Receive the second sensing data sent by the sensing collaboration node; The second sensing data and the first sensing data are sent to the sensing control node.

18. A method for perceptual collaboration, characterized in that, The method includes: Receive sensing and collaboration request information; Feedback information for sending the perception collaboration request information; the perception collaboration request information includes at least the collaboration type; the collaboration type includes ground perception collaboration and / or low-altitude perception collaboration.

19. A communication device, characterized in that, include: Memory and processor; Memory and processor are coupled; The memory is used to store instructions that can be executed by the processor; When the processor executes the instructions, it performs the method as described in any one of claims 1 to 17, or performs the method as described in claim 18.

20. A computer program product, characterized in that, When the computer program product is executed, it implements the method as claimed in any one of claims 1 to 17, or performs the method as claimed in claim 18.

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