A perception method and apparatus

Abstract

A perception method and device. A perception node receives first information, the first information indicating a size of a perception target. The perception node determines a first target point of the perception target according to the size and first point cloud information, the first point cloud information being point cloud information of the perception target. The perception node sends position information of the first target point. Through the position information of the first target point, the perception center can more accurately determine the position of the perception target, thereby facilitating improvement of perception accuracy.

Description

Technical Field

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

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

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

[0004] This application provides a sensing method and apparatus to improve sensing accuracy. The sensing method and apparatus can also be considered a communication method and apparatus, or an integrated sensing and communication method and apparatus.

[0005] In a first aspect, a first sensing method is provided, which can be applied to a first device. The first device is, for example, a sensing node, a functional module included in a sensing node, or a larger device including a sensing node. The first device is, for example, a network-side device or a terminal-side device. The network-side device is also referred to as a network device. The network device is, for example, a network equipment, or other equipment including network equipment functions, or a circuit, or a chip system (or chip) or other functional module capable of implementing the functions of the network equipment, and the chip system or functional module is, for example, disposed within the network equipment. The network equipment includes, for example, an access network device. The access network device can be a non-ORAN architecture or an ORAN architecture; or, the access network device can be a CU, DU, or RU under an ORAN architecture. The access network device is, for example, located on the ground, or the access network device is, for example, a satellite, or located on a satellite. The terminal-side device is also referred to as a terminal device. The terminal device is, for example, a terminal equipment, or other equipment including terminal equipment functions, or a circuit, or a system-on-a-chip (or a chip, such as a modem chip, also known as a baseband chip, or a system-on-a-chip (SoC) chip or system-in-a-package (SIP) chip containing a modem core) or other functional module, which can realize the functions of the terminal equipment, and which is, for example, disposed in the terminal equipment. The method includes: receiving first information, the first information indicating the size of a sensing target; determining a first target point of the sensing target based on the size and first point cloud information, the first point cloud information being the point cloud information of the sensing target; and sending the location information of the first target point.

[0006] In this embodiment, the sensing node can determine a first target point of the sensing target based on the size of the sensing target and send the location information of the first target point to the sensing center. By using the location information of the first target point, the sensing center can more accurately determine the location of the sensing target, thereby improving sensing accuracy.

[0007] In one optional implementation, the first target point is the centroid of the perceived target; or, the first target point is a specific point on the perceived target. The first target point can be the centroid of the perceived target, or it can be a specific point on the perceived target, such as a vertex, etc., and there is no limitation on the implementation method of the first target point.

[0008] In one alternative implementation, the centroid of the sensing target is the geometric center of the sensing target.

[0009] In one optional implementation, the first target point is the centroid. Determining the first target point of the sensing target based on the size and the first point cloud information includes: matching the contour corresponding to the size with the point indicated by the first point cloud information; and determining the location of the geometric center of the contour as the location of the centroid. The location of the geometric center of the sensing target can be the location of the geometric center of the contour. For example, if the centroid of the sensing target is its geometric center, then the location of the geometric center of the contour can be the location of the centroid, thus determining the centroid.

[0010] In an optional implementation, the first information is further used to request the location information. In addition to indicating the size of the sensing target, the first information can also request the location information, allowing the sensing node to send the location information upon receiving the request, thus reducing the transmission of redundant information.

[0011] In one optional implementation, the size of the sensing target is the size of its projection onto a first plane; or, the size of the sensing target is the size of at least one side of the sensing target; or, the size of the sensing target is its three-dimensional size. There are various ways to implement the size of the sensing target, and no specific limitation is imposed.

[0012] In an optional implementation, the method further includes: receiving an echo signal; and transmitting information from the echo signal, wherein the information from the echo signal is used to determine the size of the sensing target. For example, the sensing center can determine the size of the sensing target based on the information from the echo signal received by the sensing node, making the determined size more accurate; or the size of the sensing target can be preset, and the sensing center can directly determine the preset size, which is simpler.

[0013] Secondly, a second sensing method is provided, which can be applied to a second device. The second device is, for example, a sensing center, a functional module included in a sensing center, or a larger device including a sensing center. The second device is, for example, a network-side device. This network-side device is also referred to as a network device. The network device is, for example, a network equipment, or other equipment including network equipment functions, or a circuit, or a chip system (or chip) or other functional module capable of implementing the functions of the network equipment, and is, for example, disposed within the network equipment. The network equipment includes, for example, core network equipment and / or access network equipment, or includes equipment located between the core network and the access network. The access network equipment can be a non-ORAN architecture or an ORAN architecture; or, the access network equipment can be a CU, DU, or RU under an ORAN architecture. The access network equipment is, for example, located on the ground, or the access network equipment is, for example, a satellite, or located on a satellite. The core network equipment is, for example, a network element such as SF or LMF capable of implementing sensing functions. The method includes: sending first information, the first information being used to indicate the size of a sensing target; and receiving position information of a first target point of the sensing target, the position information being determined based on the size.

[0014] In one alternative implementation, the first target point is the centroid of the sensing target; or, the first target point is a specific point on the sensing target.

[0015] In one alternative implementation, the centroid of the sensing target is the geometric center of the sensing target.

[0016] In one alternative implementation, the first information is further used to request the location information.

[0017] In one optional implementation, the size of the sensing target is the size of the projection of the sensing target onto a first plane; or, the size of the sensing target is the size of at least one side of the sensing target; or, the size of the sensing target is the three-dimensional size of the sensing target.

[0018] In one alternative implementation, before sending the first information, the method further includes: receiving information from the echo signal; performing inverse synthetic aperture radar (ISAR) imaging based on the information to obtain a first image; and determining the size based on the first image.

[0019] In one alternative implementation, before sending the first information, the method further includes determining the size. For example, if the size is preset or a specified size, the sensing center can directly determine the size without the sensing nodes needing to perform a sensing process, which is simpler.

[0020] For information on the technical effects of the second aspect or some of the optional implementation methods, please refer to the description of the technical effects of the first aspect or corresponding implementation methods.

[0021] Thirdly, an apparatus is provided. The apparatus can be the first apparatus described in the first aspect above. The apparatus possesses the functions of the first apparatus described above. For example, the apparatus is capable of implementing the functions described in the first aspect above. For instance, the apparatus includes modules, units, or means corresponding to performing the operations involved in the first aspect above. These modules, units, or means can be implemented through software, hardware, or a combination of software and hardware. The first apparatus is, for example, a terminal device, or other device including terminal device functions, or a chip system (or chip or circuit) or other functional module capable of implementing the functions of a terminal device, and is, for example, disposed in a terminal device. Alternatively, the first apparatus is, for example, a network device, or other device including network device functions, or a chip system (or chip or circuit) or other functional module capable of implementing the functions of a network device, and is, for example, disposed in a network device. The network device includes, for example, an access network device. In an optional implementation, the apparatus includes a baseband device and a radio frequency device. In another optional implementation, the device includes a processing unit (sometimes also called a processing module) and a transceiver unit (sometimes also called a transceiver module). The transceiver unit is capable of both sending and receiving functions. When the transceiver unit performs the sending function, it can be called a sending unit (sometimes also called a sending module); when the transceiver unit performs the receiving function, it can be called a receiving unit (sometimes also called a receiving module). The sending unit and the receiving unit can be the same functional module, which is called the transceiver unit and can perform both sending and receiving functions; alternatively, the sending unit and the receiving unit can be different functional modules, and the transceiver unit is a collective term for these functional modules.

[0022] In one optional implementation, the transceiver unit (or the receiving unit) is configured to receive first information, the first information being used to indicate the size of the sensing target; the processing unit is configured to determine a first target point of the sensing target based on the size and the first point cloud information, the first point cloud information being the point cloud information of the sensing target; and the transceiver unit (or the sending unit) is configured to send the location information of the first target point.

[0023] In an alternative embodiment, the device further includes a storage unit (sometimes also called a storage module), the processing unit being coupled to the storage unit and executing programs or instructions in the storage unit to enable the device to perform the functions of the first device described in the first aspect above.

[0024] Fourthly, an apparatus is provided. The apparatus can be the second apparatus described in the second aspect above. The apparatus possesses the functions of the second apparatus described above. For example, the apparatus is capable of implementing the functions described in the second aspect above; for example, the apparatus includes modules, units, or means corresponding to performing the operations involved in the second aspect above. These modules, units, or means can be implemented through software, hardware, or a combination of software and hardware. The second apparatus is, for example, a network device, or other device including network device functions, or a chip system (or chip or circuit) or other functional module capable of implementing the functions of a network device, and is, for example, disposed within a network device. The network device includes, for example, core network equipment and / or access network equipment. In one optional implementation, the apparatus includes a baseband device and a radio frequency device. In another optional implementation, the apparatus includes a processing unit (sometimes also called a processing module) and a transceiver unit (sometimes also called a transceiver module). For details on the implementation of the transceiver unit, please refer to the relevant description in the third aspect.

[0025] In one optional implementation, the transceiver unit (or the sending unit) is configured to send first information, the first information being used to indicate the size of the sensing target; the transceiver unit (or the receiving unit) is configured to receive position information of a first target point of the sensing target, the position information being determined based on the size.

[0026] In an alternative embodiment, the device further includes a storage unit (sometimes also called a storage module), the processing unit being coupled to the storage unit and executing programs or instructions in the storage unit to enable the device to perform the functions of the second device described in the second aspect above.

[0027] Fifthly, an apparatus is provided, the apparatus comprising a memory and one or more processors. The memory is used to store part or all of a computer program or instructions necessary for implementing the functions involved in the first or second aspect described above. The one or more processors are executable to carry out the computer program or instructions, such that, when executed, the apparatus implements the methods in any possible design or implementation of the first or second aspect described above.

[0028] In one possible design, the device may further include interface circuitry, wherein the processor is configured to communicate with other devices or components via the interface circuitry.

[0029] In one possible design, the device may also include the memory.

[0030] The aforementioned device may be a network device, a communication module in a network device, or a chip in a network device that is responsible for communication functions, such as a modem chip (also known as a baseband chip) or a SoC or SIP chip that contains a modem module.

[0031] A sixth aspect provides an apparatus comprising a memory and one or more processors. The memory is used to store part or all of a computer program or instructions necessary for implementing the functions described in the first aspect. The one or more processors are executable to carry out the computer program or instructions, such that, when executed, the apparatus implements the methods in any possible design or implementation of the first aspect.

[0032] In one possible design, the device may further include interface circuitry, wherein the processor is configured to communicate with other devices or components via the interface circuitry.

[0033] In one possible design, the device may also include the memory.

[0034] The aforementioned device may be a terminal device, a communication module in a terminal device, or a chip in a terminal device that is responsible for communication functions, such as a modem chip (also known as a baseband chip) or a SoC or SIP chip that contains a modem module.

[0035] A seventh aspect provides a sensing system including a sensing center. The sensing center is used to perform the method described in the second aspect, which is executed by the second device. For example, the sensing center can be implemented using the device described in the fourth or fifth aspect.

[0036] Optionally, the sensing system may further include sensing nodes. These sensing nodes are used to perform the method described in the first aspect, which is executed by the first device. The sensing node is, for example, a terminal device or a network device (e.g., an access network device). For example, the terminal device may be implemented using the device described in the third or sixth aspect; the network device may be implemented using the device described in the third or fifth aspect.

[0037] Eighthly, a computer-readable storage medium is provided for storing a computer program or instructions that, when executed, cause the method performed by the first or second means in the preceding aspects to be implemented.

[0038] Ninthly, a computer program product containing instructions is provided, which, when the computer program or instructions are run on a computer, causes the methods described in the above aspects to be implemented.

[0039] In a tenth aspect, a chip system is provided, including a processor and an interface, the processor being configured to call and execute instructions from the interface to enable the chip system to implement the methods described above. Attached Figure Description

[0040] Figure 1A This is a schematic diagram of the access network equipment structure under the ORAN architecture.

[0041] Figure 1B This is a schematic diagram of a RAN chip structure.

[0042] Figure 2A and Figure 2B These are schematic diagrams of single-station sensing mode and dual-station sensing mode, respectively.

[0043] Figure 3 and Figure 4 This is a schematic diagram of two network architectures used in the embodiments of this application;

[0044] Figure 5 , Figures 7-10 Flowcharts of several sensing methods provided in the embodiments of this application;

[0045] Figure 6 This is an example in which the sensing node matches the contour of the sensing target with point cloud information in an embodiment of this application;

[0046] Figure 11 A schematic diagram of an apparatus provided in an embodiment of this application;

[0047] Figure 12 This is a schematic diagram of another device provided in an embodiment of this application. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0049] In this application embodiment, the number of nouns, unless otherwise specified, refers to "singular nouns or plural nouns," that is, "one or more." "At least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. For example, A / B means: A or B. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c means: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0050] The ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects, and are not used to limit the size, content, order, timing, priority, or importance of the multiple objects. Furthermore, the numbering of steps in the various embodiments described in this application is only to distinguish different steps and is not used to limit the order in which the steps are performed.

[0051] The following explanations of some terms or concepts used in the embodiments of this application are provided to facilitate understanding by those skilled in the art.

[0052] In this embodiment of the application, the terminal device is a device with wireless transceiver function, which may be a fixed device, a mobile device, a handheld device (e.g., a mobile phone), a wearable device, an in-vehicle device, or a wireless device (e.g., a communication module, a modem, or a chip system, etc.) built into the above devices. The terminal devices are used to connect people, objects, and machines, and can be widely used in various scenarios, including but not limited to the following: sensing scenarios, cellular communication, device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, machine-to-machine / machine-type (M2M / MTC) communication, Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical care, smart grid, smart furniture, smart office, smart wearables, smart transportation, smart city, drones, robots, and terminal devices in indoor commercial scenarios (such as mobile phone screen mirroring, file sharing, and mobile phone to VR glasses). When the terminal equipment is applied to V2X, it can also be called a V2X device, such as a smart car, digital car, unmanned car, driverless car, pilotless car, or automobile, self-driving car, or autonomous car, pure electric vehicle (EV), hybrid electric vehicle (HEV), range-extended electric vehicle (REEV), plug-in hybrid electric vehicle (PHEV), new energy vehicle, or roadside unit (RSU). The terminal equipment can also be a device used in D2D communication, such as an electricity meter or water meter.

[0053] Furthermore, in this embodiment of the application, the terminal device can also be a terminal device in an Internet of Things (IoT) system. IoT is an important component of the future development of information technology. Its main technical feature is to connect objects to the network through communication technology, thereby realizing an intelligent network of human-machine interconnection and object-to-object interconnection.

[0054] The various terminal devices described above, if located in a vehicle (e.g., placed inside or installed inside a vehicle), can all be considered in-vehicle terminal devices, also known as on-board units (OBUs). The terminal device of this application can also be an in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit built into a vehicle as one or more components or units. The vehicle can implement the methods of this application through the built-in in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit.

[0055] The terminal equipment may sometimes be referred to as user equipment (UE), terminal, access station, UE station, remote station, wireless communication equipment, or user device, etc.

[0056] In this application embodiment, the device for implementing the terminal device function can be a terminal device, which can be a terminal device or a device capable of supporting the terminal device in implementing the function, such as a chip system. This device can be installed in the terminal device. In the technical solutions provided in this application embodiment, the example of a terminal device being used to implement the terminal device function is used to describe the technical solutions provided in this application embodiment.

[0057] The network devices in this application embodiment include, for example, access network devices (or access network elements) and / or core network devices (or core network elements). The access network devices are devices with wireless transceiver capabilities, used to communicate with the terminal devices. The access network devices include, but are not limited to, base stations (base transceiver stations (BTS), Node B, evolved Node B (eNodeB) / eNB, or the next generation Node B (gNodeB) / gNB), transmission reception points (TRPs), base stations evolved from the 3rd generation partnership project (3GPP), access nodes in wireless fidelity (Wi-Fi) systems, wireless relay nodes, wireless backhaul nodes, etc. The base stations can be: macro base stations, micro base stations, pico base stations, small cells, relay stations, etc. Multiple base stations can support networks using the same access technology or networks using different access technologies. A base station can contain one or more co-located or non-co-located transmission and reception points. The access network equipment can also be a radio controller, centralized unit (CU), and / or distributed unit (DU) in a cloud radioaccess network (CRAN) scenario. The access network equipment can also be a server, etc. For example, the network equipment in V2X technology can be a roadside unit (RSU). The following description uses a base station as an example to illustrate the access network equipment. A base station can communicate with a terminal device, or it can communicate with a terminal device through a relay station. A terminal device can communicate with multiple base stations in different access technologies. The core network equipment is used to implement functions such as mobility management, data processing, session management, policy and billing. The names of the equipment implementing core network functions may differ in systems using different access technologies; this application does not limit this.Taking the 5th generation (5G) mobile communication technology system as an example, the core network equipment includes, for example, access and mobility management function (AMF), session management function (SMF), policy control function (PCF), or user plane function (UPF), etc.

[0058] In a CU-DU architecture, or in an open RAN (ORAN) system, access network equipment may include one or more logical network elements such as a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). CUs and DUs can be separate entities or included in the same network element, such as a baseband unit (BBU). RUs may be included in radio equipment or radio units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs). One possible structure for access network equipment can be found in [reference needed]. Figure 1A Among them, core network equipment and access network equipment can communicate through backhaul links; within access network equipment, CU and DU can communicate through midhaul links, and DU and RU can communicate through fronthaul links.

[0059] Alternatively, another architecture for the access network equipment can be referenced. Figure 1B , Figure 1BTaking access network equipment implemented through chips as an example, such as a RAN chip, the RAN chip may include a CU, DU, and RU. The CU can perform L2 and L3 functions, etc.; the DU can perform L1 functions and some L2 functions, etc.; and the RU can perform L1 computing and radio frequency (RF) digital functions, etc. The CU communicates with the core network equipment through a backhaul interface, which carries the traffic between the CU and the core network equipment. The CU may include a central processing unit (CPU) based on x86 or ARM architecture, as well as field programmable gate arrays (FPGAs), graphics processing units (GPUs), or other accelerators, etc. The CPU and the FPGA, GPU, or other accelerators can communicate through a peripheral component interconnect express (PCIe) interface.

[0060] The CU and DU communicate via a midhaul interface, which carries the traffic between the CU and DU. The DU may include an x86 or ARM architecture CPU, as well as FPGAs, GPUs, or other accelerators, which can communicate with the FPGA, GPU, or other accelerators via a PCIe interface.

[0061] The DU and RU communicate via a fronthaul interface, which carries the traffic between the DU and RU. If the access network equipment uses an integrated DU, the integrated DU can include the functions of both the DU and RU, and the RAN may no longer need to include a separate RU. The RU may include a RAN fronthaul processing unit, a digital processing unit, and an RF processing unit. The RAN fronthaul processing unit is implemented, for example, using an FPGA or an application-specific integrated circuit (ASIC). The digital processing unit is implemented, for example, using an FPGA or an ASIC.

[0062] The RU can be connected to an antenna to communicate with the UE via the antenna.

[0063] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called an open CU (O-CU), DU can also be called an open DU (O-DU), CU-CP can also be called an open CU-CP (O-CU-CP), CU-UP can also be called an open CU-UP (O-CU-CP), and RU can also be called an open RU (O-RU). For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples in its embodiments. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in the embodiments of this application can be implemented through software modules, hardware modules, or a combination of software modules and hardware modules.

[0064] The CU and DU can be configured according to the protocol layer functions of the wireless network they implement. For example, the CU can be configured to implement the functions of the Packet Data Convergence Protocol (PDCP) layer and above (such as the Radio Resource Control (RRC) layer and / or the Service Data Adaptation Protocol (SDAP) layer); the DU can be configured to implement the functions of protocol layers below the PDCP layer (such as one or more of the Radio Link Control (RLC) layer, Media Access Control (MAC) layer, or Physical (PHY) layer). As another example, the CU can be configured to implement the functions of protocol layers above the PDCP layer (such as the RRC and / or SDAP layers), and the DU can be configured to implement the functions of protocol layers below the PDCP layer (such as one or more of the RLC, MAC, or PHY layers).

[0065] The above CU and DU configurations are merely examples; the functions of the CU and DU can be configured as needed. For instance, the CU or DU can be configured to have more protocol layer functions, or only some protocol layer processing functions. For example, some RLC layer functions and protocol layer functions above the RLC layer can be placed in the CU, while the remaining RLC layer functions and protocol layer functions below the RLC layer can be placed in the DU. Furthermore, the functions of the CU or DU can be divided according to service type or other system requirements, such as by latency. Functions that require low latency can be placed in the DU, while functions that do not require low latency can be placed in the CU.

[0066] DU and RU can cooperate to implement the functions of the PHY layer. A DU can be connected to one or more RUs. The functions of DU and RU can be configured in various ways depending on the design. For example, a DU can be configured to implement baseband functions, and an RU can be configured to implement mid-RF functions. Another example is that a DU can be configured to implement higher-level functions in the PHY layer, and an RU can be configured to implement lower-level functions in the PHY layer, or to implement both lower-level and RF functions. Higher-level functions in the physical layer can include a portion of the physical layer's functions that are closer to the MAC layer, while lower-level functions in the physical layer can include another portion of the physical layer's functions that are closer to the mid-RF side.

[0067] In this application embodiment, the apparatus for implementing the functions of a network device can be referred to as a network apparatus. This network apparatus can be a network element, a network device, or an apparatus capable of supporting the network device or network element in implementing the function, such as a chip system. This apparatus can be installed within the network device. In the technical solutions provided in this application embodiment, the apparatus for implementing the functions of a network device is described as a network apparatus (for example, an apparatus for implementing the functions of an access network apparatus is an access network apparatus, and an apparatus for implementing the functions of a core network apparatus is a core network apparatus).

[0068] A sensing signal is a signal used to sense (or detect) a target (or object). Sensing signals can also be called detection signals, linear frequency modulated signals, radar signals, radar sensing signals, radar detection signals, or environmental sensing signals, etc. Sensing signals can be pulse signals or signals from wireless communication systems. For example, a sensing signal can be an orthogonal frequency division multiplexing (OFDM) signal obtained by modulating a specific sequence on a subcarrier. This specific sequence can be any of the following sequences: Zadoff-Chu sequence (ZC sequence), pseudo-random sequence, or predefined sequence. Pseudo-random sequences include any of the following sequences: longest linear feedback shift register sequence (m-sequence) or Gold sequence. Predefined sequences can be, for example, random data symbols, such as random data symbols modulated by quadrature phase shift keying (QPSK) or quadrature amplitude modulation (QAM).

[0069] An echo signal is a signal generated by the reflection, scattering, or diffraction of a sensing signal by a target. Both the echo signal and the sensing signal can reflect target parameters. For example, the time delay of the echo signal relative to the sensing signal can reflect the distance of the target relative to the transmitter, and the Doppler shift of the echo signal relative to the sensing signal can reflect the target's velocity.

[0070] Communication-sensing fusion signals, also known as synthetic-sensing fusion signals, synthetic signals, or integrated synthetic-sensing signals, are signals used for both communication and sensing. When used for communication, the fusion signal carries the communication data or reference signal sequence that needs to be transmitted between communication devices. When used for sensing, the fusion signal can be understood as being used to sense (or detect) targets.

[0071] For example, the signals used for sensing described herein may include sensing signals and / or synesthetic fusion signals, etc.

[0072] The target can be any tangible object in the environment that can reflect electromagnetic waves, such as mountains, forests, or buildings, and can also include mobile objects such as vehicles, drones, pedestrians, and terminal devices. The target can also be referred to as a sensing target, detection target, perceived target, detected target, perceived object, detected object, or sensed device, etc., and the embodiments of this application do not limit it.

[0073] For a long time, wireless sensing has been an independently developed technology. Sensing services are provided by various specialized sensing devices, such as conventional radar, lidar, computed tomography (CT), and magnetic resonance imaging (MRI). In 5G and earlier communication systems, positioning was the sensing service that mobile communication systems could provide. In future mobile communication systems, general sensing services other than positioning will be integrated into the communication system, becoming a completely new function, thereby opening up entirely new services, such as high-precision positioning, tracking, environmental reconstruction, gesture and motion recognition, etc.

[0074] Among them, sensing network elements can reconstruct the environment of a target area through means such as lasers, radars, or base stations. For example, sensing network elements can reconstruct the real physical environment based on the measurement results reported by devices such as lasers, radars, or base stations. For example, based on the measurement results, sensing network elements can reconstruct environmental information using methods such as scattering polygons to characterize various scattering objects in the environment, such as walls and furniture (also known as sensing targets, targets, or target objects).

[0075] In sensing, based on the different sender and receiver of the sensing signal, sensing modes can be divided into two types: single-station sensing and dual-station sensing. Single-station sensing mode is also called self-transmitting and self-receiving mode, single-end sensing mode, or monocentric sensing mode, etc. This means that the device transmitting the sensing signal and the device receiving the echo signal reflected from the target are the same device, such as... Figure 2A As shown, both the device transmitting the sensing signal and the device receiving the echo signal are device 1; the dual-station sensing mode, also known as A-transmit B-receive mode or self-transmit and other-receive mode, refers to a mode where the device transmitting the sensing signal and the device receiving the echo signal reflected from the target are different devices, such as... Figure 2B As shown, the device that sends the sensing signal is device 2, and the device that receives the echo signal is device 3. Figure 2A and Figure 2B The example used is a vehicle. Figure 2A In this context, device 1 is a base station or UE. In single-site sensing mode, device 1 transmits a sensing signal, and device 1 receives the sensing signal through sensing targets in the environment (e.g., Figure 2A The echo signals generated by reflection, scattering, or diffraction of vehicles (in the environment) are used for environmental perception. For example, Figure 2B In this dual-site sensing mode, device 2 is a base station and device 3 is a UE, or device 2 is a base station and device 3 is a UE, or device 2 and device 3 are two different UEs, or device 2 and device 3 are two different base stations, etc. In this dual-site sensing mode, device 1 sends a sensing signal, and device 2 receives the sensing signal through scattering objects in the environment (e.g., [missing information]). Figure 2B The echo signals generated by the reflection, scattering, or diffraction of vehicles in the environment are used for environmental perception.

[0076] For reference Figure 3 This is a schematic diagram of a potential perceptual network architecture. Figure 3 It is based on the 5G core network (5G core, 5GC). Figure 3 The network architecture shown can also be an application scenario of the embodiments of this application.

[0077] exist Figure 3 The architecture shown includes a new sensing function (SF) network element, also known simply as a sensing network element. This SF can be a device or component that provides sensing functionality to the network; it can also be called a sensing management function (SMF), or have other names. This SF can be deployed on the core network side or the RAN side. Figure 3 Taking deployment in the core network as an example. Figure 3 In the network architecture shown, the SF can reuse the interfaces between the location management function (LMF) and other 5GC network elements such as the AMF, network exposure function (NEF), unified data management (UDM), network data analytics function (NWDAF), and PCF for sensing interaction. Sensing signaling between the SF and the radio access network (RAN) or UE can be transmitted through the AMF; sensing measurement data acquired by the RAN or UE can be transmitted to the SF via the control plane, for example, by reusing the Long Term Evolution (LTE) positioning protocol (LPP) or the New Radio (NR) Positioning Protocol Annex (NRPPa) protocol, or it can be transmitted via the user plane, forwarded to the SF through the UPF, or directly transmitted to the SF.

[0078] The newly added SF in this network architecture can realize basic sensing functions, such as sensing authorization, sensing control, sensing measurement data processing, or result output. Specifically, interfaces are set up and interaction is established between the SF and 5GC network elements such as AMF, NEF, UDM, NWDAF, PCF, LMF, and UPF, as defined below.

[0079] NS1: A new interface between SF and AMF, which can transmit sensing and control signaling. Additionally, this interface can also transmit sensing measurement data in scenarios where sensing measurement data is uploaded to the control plane.

[0080] NS2: A new interface between SF and NEF. This interface can transmit signaling messages between sensing network elements relayed through NEF and application functions (AF) on the service side, and at the same time open the sensing results to the AF.

[0081] NS3: A new interface between SF and UDM. This interface can be used for authentication or authorization, and to obtain UE-aware subscription information, service AMF information, or other information.

[0082] NS4: A new interface between SF and NWDAF. Through this interface, SF and NWDAF can jointly complete artificial intelligence (AI) processing related to perception services.

[0083] NS5: A new interface between SF and PCF. Through this interface, SF can transmit information such as sensing requirements, quality of service (QoS) requirements, or sensing results of sensing services to PCF. PCF can then make decisions to generate policy control and charging (PCC) policies related to sensing services.

[0084] NS6: A new interface between SF and LMF. Through this interface, SF can obtain location-related information, such as the sensing area, the RAN information of the sensing target, and the location information of the sensed UE.

[0085] NS7: A new interface between SF and UPF. Sensing measurement data can be directly transmitted from (R)AN to SF via UPF, or indirectly forwarded to SF via UPF. In scenarios where (R)AN performs sensing, forwarding via UPF can improve the functionality of UPF to support data transmission at the (R)AN granularity.

[0086] In addition to the newly added interfaces mentioned above, existing interfaces (such as N1, N2, N5, N8, N33, etc.) can also support the transmission of information related to sensing services, such as authentication information, sensing service type, sensing service quality requirements, sensing measurement data, or sensing results, etc.

[0087] Figure 3Taking the SF (Side Array) as an independent device as an example; alternatively, the SF and LMF (Location Management Array) can be co-located, meaning the network element used for handling sensing services and the network element used for handling positioning services can be the same network element; or the SF can be co-located with other core network elements, such as the AMF (Location Management Array). The LMF is the core network element in 5GC that provides control plane positioning, capable of calculating and feeding back location information in the 5G network, providing functions such as positioning process management, UE capability acquisition, auxiliary data provision, and UE location estimation. Optionally, if the SF and LMF are co-located, the LMF and the gateway mobile location center (GMLC) can be functionally enhanced to support basic sensing functions. The GMLC can be the first network element within the operator's network to process sensing requests, performing privacy checks or authorization functions, routing sensing requests to the AMF, or performing LMF selection, etc.

[0088] For example, if the SF and LMF are co-located, an additional interface can be added between the LMF and GMLC to transmit information related to awareness services, such as adding an NL9 interface. Additionally, interfaces related to the LMF and GMLC (such as one or more of the following: NL1 interface between AMF and LMF, NL2 interface between AMF and GMLC, NL5 interface between NEF and GMLC, or NL6 interface between UDM and GMLC) can also support the transmission of information related to awareness services, as detailed below.

[0089] N33: The interface between AF and NEF, through which information such as the type of sensing business, business requirements, and sensing results can be transmitted.

[0090] NL5: The interface between NEF and GMLC, through which information such as the type of sensing business, business requirements, and sensing results can be transmitted.

[0091] NL6: The interface between GMLC and UDM, through which privacy inspection data can be transferred.

[0092] NL2: The interface between NEF and AMF, through which information such as the perceived business type, business requirements, and perceived results can be transmitted.

[0093] NL1: The interface between AMF and LMF, through which information such as perceived business type, business requirements, and perceived results can be transmitted.

[0094] NL9: A new interface between GMLC and LMF, through which information such as the type of sensing business, business requirements, and sensing results can be transmitted.

[0095] Can be referenced again Figure 4 This is a schematic diagram of another potential perceptual network architecture. Figure 4It is based on 5GC. Figure 4 The network architecture shown can also be another application scenario of the embodiments of this application.

[0096] exist Figure 4 In the network architecture shown, the SF (Sensitive Detection) is relatively independent of the existing core network elements. The SF requires little or no interaction with the core network elements. For scenarios where sensing needs exist only in a specific area, or where sensing is the only requirement, this network architecture can provide sensing services without 5GC control or with only a few network elements involved in control. Furthermore, localized deployment of the SF ensures that sensing measurement data or results do not leave the campus, thus meeting enterprises' security and privacy requirements for sensing measurement data or results, and reducing sensing latency. This network architecture is relatively simple, flexible, efficient, has few transmission nodes, and is easy to deploy. Optionally, this network architecture can support UE-related sensing needs, and implementation schemes for functions such as authorization, mobility management, and billing can be considered as needed.

[0097] In this network architecture, the SF can directly establish a connection with the RAN node. Control plane sensing signaling and user plane sensing measurement data can be transmitted via the newly defined interface NS1. When the UE participates in sensing, control plane signaling can be forwarded to the SF via the AMF, and sensing measurement data can be transmitted via NS1. Furthermore, there can also be an interface between the SF and 5GC network elements (such as AMF, NEF, or NWDAF) to control the AF to provide sensing service requirements to the SF through core network functions. The interface between the SF and 5GC network elements is described below.

[0098] NS1: A new interface between the SF and (R)AN, which can transmit sensing control signaling or sensing measurement data. In one implementation, the SF can also be deployed on the RAN side; for example, the SF can be co-located with access network equipment (e.g., a base station), or the SF can be a standalone device within the access network.

[0099] NS2: A new interface that may be added between SF and AMF. This interface can receive awareness service requirements from UE, or transmit signaling between SF and other network elements in the core network, such as transmitting interaction messages between SF and UDM.

[0100] NS3: A potential new interface between SF and NEF. This interface can transmit signaling between SF and the service-side AF via NEF, and can also expose the sensing results to the AF. The interaction between SF and AF may not go through NEF. In actual deployment, NS2 and NS3 may be chosen as one of the two options. That is, the AF can send sensing service requests indirectly to SF or directly to SF (without NEF) via NS2 (NEF); or, the AF can send sensing service requests to SF via N33 (NEF) and NS2 (AMF).

[0101] NS4: A potential new interface between SF and NWDAF, through which SF and NWDAF can jointly perform intelligent analysis and prediction to generate perception results.

[0102] Figure 3 or Figure 4 These examples all assume the network includes SF (Sensing Filter). Alternatively, the network may not include SF; instead, sensing-related functions are implemented by other network elements, such as AMF (Awareness Filter) and / or LMF (Learning Filter).

[0103] The technical solutions provided in this application can be applied to fourth-generation (4G) mobile communication systems, such as LTE systems, or to 5G systems, such as NR systems, or to next-generation mobile communication systems or other similar communication systems, such as future communication systems, or to existing satellite mobile communication technology systems; no specific limitations are imposed. For example... Figure 3 and Figure 4 All are based on 5GC. In addition, SF can also be deployed in other networks, such as 6G networks or other future communication networks.

[0104] The embodiments of this application can be applied to Figure 2A , Figure 2B , Figure 3 or Figure 4 The scenario shown can also be used in other scenarios, such as any scenario involving sensing services.

[0105] The method provided in the embodiments of this application is described below with reference to the accompanying drawings. In various embodiments of this application, the signal used for sensing is transmitted through reflection, scattering, or diffraction. The sensing node (e.g., a network device or UE) can determine the relevant characteristics of the sensing target based on the received signal. For example, it can estimate the time delay, Doppler, or angular spectrum information based on the received signal to determine information such as the distance, angle, or velocity of the sensing target. In addition, the sensing node can also send measurement results, such as the point cloud, distance, angle, or velocity information of the sensing target, to the sensing center (e.g., a sensing network element SF). In the accompanying drawings corresponding to the various embodiments of this application, all steps indicated by dashed lines are optional steps.

[0106] The various embodiments described herein can be applied to Figure 2A , Figure 2B , Figure 3 or Figure 4 The network architecture shown. For example, the sensing node described in the various embodiments of this document can be... Figure 2A The device 1 mentioned above may be, or may be Figure 2B The device shown as 3, or it could be Figure 3 or Figure 4 The (R)AN shown, or could be Figure 3 or Figure 4 The UE shown. The sensing center described in the various embodiments of this document can be... Figure 3 or Figure 4 The SF shown.

[0107] This application provides a sensing method, please refer to the embodiments therein. Figure 5 Here is a flowchart of the method.

[0108] S501, The sensing center sends the first information. Correspondingly, the sensing nodes receive the first information.

[0109] The first piece of information can indicate the size of the target being sensed. This target can be the object that the sensing node needs to perform sensing on.

[0110] Optionally, the first information, in addition to indicating the size of the perceived target, can also request the sensing node to send the location information of the first target point. Alternatively, the sensing center can send a second information to the sensing node, which can request the sensing node to send the location information of the first target point. Upon receiving either the first or second information, the sensing node can then send the location information of the first target point to the sensing center. The first target point is the target point of the perceived target, which will be discussed later.

[0111] The size of the sensing target can be varied. For example, the size of the sensing target can include the dimensions of its projection onto a first plane, such as the length and width of the projection onto the first plane (e.g., 5 meters × 2 meters). The first plane can be any plane, such as a horizontal plane or a vertical plane perpendicular to the horizontal plane, etc., without any specific limitations. The sensing target can be a two-dimensional object or a three-dimensional object.

[0112] For example, the size of the perceived target may include the size of at least one side of the perceived target. This at least one side may be part or all of the sides of the perceived target. For instance, the size may include the size of each of the at least one side of the perceived target. For example, if the perceived target is a vehicle, the at least one side includes one side of the vehicle and the top surface of the vehicle, and the size of the vehicle may include the size of the side and the size of the top surface. The size of the side may include, for example, the length of the longest side of the side and the height of the vehicle. The size of the top surface of the vehicle may include, for example, the length and width of the top surface. The perceived target may be a two-dimensional object or a three-dimensional object.

[0113] For example, the size of the sensing target can include its three-dimensional dimensions. These three-dimensional dimensions may include, for example, the length, width, and height of the sensing target, such as 5 meters × 2 meters × 3 meters. The sensing target can be a three-dimensional object.

[0114] The sensing center can determine the size of the sensing target in different ways.

[0115] As an alternative implementation method for determining the size by the sensing center, the size can be a preset size. For example, if the sensing target is a vehicle, different vehicle models have preset sizes, and the sensing center can determine the corresponding size based on the vehicle model. In this implementation method, the size of the sensing target can be determined without performing measurement or sensing, which is relatively simple.

[0116] As another alternative implementation for determining the size of a sensing center, the sensing center can determine the size of the sensing target based on information from sensing nodes. For example, a sensing node can perform sensing, receiving signals used for sensing during the sensing process. These signals can be emitted signals that have been reflected, scattered, transmitted, or diffracted by the sensing target; they can also be called echo signals. The sensing node can obtain information from the echo signal and send this information back to the sensing node. This information includes, for example, phase information and / or frequency information of the echo signal. The sensing node can determine the size of the sensing target based on this information. Optionally, the sensing node can perform imaging processing based on this information to obtain a first image, and the size of the sensing target can be determined based on the first image. This imaging processing can, for example, employ inverse synthetic aperture radar (ISAR) imaging, or other imaging methods can be used, without limitation.

[0117] Taking ISAR imaging as an example. For instance, the sensing center receives information from sensing nodes and can analyze features such as phase and frequency changes in the signal to extract the motion information of the sensed target. The sensing center can synthesize a large aperture using information from echo signals at multiple time points, process the signal, and then convert the processed information into a two-dimensional image, such as a first image. The first image can be a high-resolution two-dimensional image. The first image includes the image of the sensed target, and the sensing center can determine the size of the sensed target based on the first image.

[0118] S502. The sensing node determines the first target point of the sensing target based on the size of the sensing target and the first point cloud information.

[0119] The first point cloud information is, for example, the point cloud information corresponding to the perceived target. The first point cloud information may include information about some or all of the target points of the perceived target. The information of one of the target points may include, for example, one or more of the target point's coordinates, signal-to-noise ratio (SNR), or velocity information. For example, after receiving the first information, the sensing node can perform sensing to obtain the first point cloud information. Alternatively, if the sensing center determines the size of the perceived target based on information from the sensing node (refer to the relevant description in S501), the sensing node can obtain the first point cloud information during this process; that is, the sensing node may have already obtained the first point cloud information before receiving the first information.

[0120] Optionally, the first point cloud information can be the point cloud information obtained by the sensing center based on the received echo signal.

[0121] Alternatively, the sensing center obtains second point cloud information based on the received echo signal. The sensing center can process this second point cloud information to obtain first point cloud information. This processing may include, for example, clustering and / or filtering, to remove as much low-accuracy target point information as possible from the second point cloud information, thereby increasing the accuracy of the first point cloud information and improving sensing precision.

[0122] The first target point can be a set point, a specific point, or a preset point on the sensing target. It can be a vertex of the sensing target or any point on the sensing target. Alternatively, the first target point can be a reference point related to the sensing target, located on the shape of the sensing target, or its geometric center or centroid. For example, the first target point can be set by the sensing center or predefined by a protocol.

[0123] Alternatively, the first target point can be the centroid of the perceived target. Optionally, the centroid of the perceived target can be the geometric center of the perceived target; that is, the centroid and the geometric center of the perceived target can be the same point.

[0124] Optionally, the perception center determines the first target point, for example, by determining the location of the first target point.

[0125] Taking the first target point as a specific point of the sensing target as an example, the sensing center can determine the location of the centroid in the following way: the sensing center can determine the outline of the sensing target based on the size of the sensing target, match the outline with the point indicated (or corresponding) by the first point cloud information, and determine the location of the specific point on the outline. The location of the specific point on the outline can be the location of the specific point of the sensing target.

[0126] For example, refer to Figure 6The left image shows the point indicated by the first point cloud information, the middle rectangle represents the contour corresponding to the size of the perceived target, and the right image shows the result of matching the contour with the point indicated by the first point cloud information. The geometric center of the contour (i.e. the center of the rectangle) in the right image is the location of the centroid of the perceived target. Figure 6 In the diagram, the horizontal axis is the X-axis, and the vertical axis is the Y-axis.

[0127] Taking the first target point as the centroid of the perceived target as an example, the perception center can determine the location of the centroid in the following way: the perception center can determine the outline of the perceived target based on the size of the perceived target, match the outline with the point indicated (or corresponding) by the first point cloud information to determine the location of the geometric center of the outline, and the location of the geometric center can be the location of the centroid.

[0128] Optionally, the sensing center can match the contour corresponding to the size of the sensing target with the points indicated by the first point cloud information according to the first algorithm. The first algorithm is, for example, the nearest neighbor interpolation algorithm, the density-based spatial clustering of applications with noise (DBSCAN) algorithm, or the k-means clustering algorithm (kmeans), etc., and there is no specific limitation.

[0129] S503, the sensing node sends the location information of the first target point to the sensing center. Correspondingly, the sensing center receives this location information.

[0130] The location information of the first target point may include, for example, its coordinates, or one or more of its longitude, latitude, or altitude, or the geographic grid information to which it belongs; there are no specific limitations. The sensing center can perform sensing operations based on this location information, such as identifying the target or tracking its trajectory. This location information allows the sensing center to more accurately determine the location of the target, thereby improving sensing accuracy.

[0131] The target being sensed may be in motion, so the position of the first target point may change over time, for example, related to the period of the signal used for sensing. Therefore, optionally, the sensing node can periodically execute S502 and S503, or in other words, the sensing node can periodically perform sensing measurements to determine the position information of the first target point and send this information to the sensing center, enabling the sensing center to promptly determine the latest position of the target. Optionally, this period can be, for example, the period of the signal used for sensing. For example, the sensing center can track the target based on its position.

[0132] To better understand the technical solutions of the embodiments of this application, several embodiments are described below. Among them, the following are... Figures 7-10 The embodiments shown can be understood as examples of Figure 5 Several examples of the embodiments shown. For example Figures 7-10 The embodiment shown is to Figure 5 The illustrated embodiments are applied in different scenarios.

[0133] The embodiments of this application can be applied to both single-site sensing mode and dual-site sensing mode. Furthermore, the solutions of the embodiments of this application are applicable regardless of whether the sensing node is a network device or a UE. Figures 7-10 The illustrated examples demonstrate these scenarios. Because... Figures 7-10 The embodiments shown are all Figure 5 The example shown is of the embodiment, therefore in Figures 7-10 The dashed line is no longer used to indicate whether a step is optional.

[0134] Please refer to Figure 7 This is a flowchart illustrating an application of this application in a single-station sensing mode. Figure 7 In the illustrated embodiment, taking a network device as an example, the single-site sensing mode is a sensing mode in which the network device transmits and receives signals on its own.

[0135] S701, The sensing center interacts with network devices to exchange sensing capability information. This sensing center may be, for example, SF or LMF.

[0136] For example, a network device can send its sensing capability information to a sensing center, which indicates whether the network device has sensing capabilities. Optionally, the sensing capability information can also indicate whether the network device supports determining the first target point of the sensing target in accordance with the method provided in the embodiments of this application.

[0137] Optionally, the sensing center can also send information to network devices, such as indicating the sensing mode to be used, for example, indicating the use of a single-site sensing mode.

[0138] S701 is an optional step. The sensing center and the network device may not need to exchange sensing capability information. For example, the sensing center may know the sensing capability of the network device in advance, or the sensing center may assume that the sensing capability of the network device is default, such as having sensing capability by default.

[0139] S702, The sensing center sends a first request. Correspondingly, the network device receives the first request. Optionally, the first request may be, for example, a sensing measurement request.

[0140] The first request may request one or more of the following: request the network device to measure the signal, request the network device to perform a sensing task, request the network device to report the sensing results, or request the network device to send the location information of the first target point. Optionally, the first request may also indicate the sensing mode to be used, such as indicating the use of a single-site sensing mode. If the sensing center in S701 has already indicated the sensing mode to the network device, then the first request does not need to indicate the sensing mode again.

[0141] Optionally, the first request may also indicate the size of the perceived target; for example, the first request may include... Figure 5 The first information of the illustrated embodiment. In this case, S702 and Figure 5 In the illustrated embodiment, S501 can be the same step. Alternatively, the first information can also be included in other messages sent by the sensing center, but not in the first request. In this case, S702 is the same as... Figure 5 S501 in the illustrated embodiment can be a different step.

[0142] S703, The network device determines the first target point. For example, it determines the location information of the first target point.

[0143] For example, a network device can send a second signal and receive the signal after the second signal has been reflected, scattered, transmitted, or diffracted by a sensing target in the environment. Figure 7 Taking reflection as an example, the received signal is called the first signal. The first signal and the second signal can be the same signal, only with different transmission paths. By measuring the first signal, the network device can determine the point cloud of the perceived target, for example... Figure 5 The illustrated embodiment describes the first point cloud information. Based on the first point cloud information and the size of the perceived target, the network device can determine the location information of the first target point.

[0144] Optionally, the first signal (or the second signal) may be, for example, a channel state information reference signal (CSI-RS), a synchronization signal and a physical broadcast channel (PBCH) block (SSB), or a positioning reference signal (PRS), or other signals used for sensing, such as a demodulation reference signal (DMRS).

[0145] S703 and Figure 5 In the illustrated embodiment, S502 can be the same step, and more details about S703 can be found in the description of S502.

[0146] S704. The network device sends the location information of the first target point. Correspondingly, the sensing center receives this location information.

[0147] S704 and Figure 5 In the illustrated embodiment, S503 can be the same step, and more details about S704 can be found in the description of S503.

[0148] Please refer to Figure 8 This is another flowchart illustrating the application of this application's embodiments in a single-station sensing mode. Figure 8 In the embodiment shown, the sensing node is the UE, that is, the single-site sensing mode is the sensing mode of the UE transmitting and receiving on its own.

[0149] S801, The perception center interacts with the UE to exchange perception capability information. This perception center may be, for example, SF or LMF.

[0150] For example, the UE can send its sensing capability information to the sensing center, which indicates whether the UE has sensing capabilities. Optionally, the sensing capability information can also indicate whether the UE supports determining the first target point of the sensing target in accordance with the method provided in the embodiments of this application.

[0151] Optionally, the perception center may also send information to the UE, such as indicating the perception mode to be used, for example, indicating the use of a single-site perception mode.

[0152] S801 is an optional step. The perception center and the UE may not interact with each other's perception capability information. For example, the perception center may know the UE's perception capability in advance, or the perception center may assume that the UE's perception capability is default, such as having perception capability by default.

[0153] S802, The sensing center sends a first request. Correspondingly, the UE receives the first request. Optionally, the first request may be, for example, a sensing measurement request.

[0154] The first request may request one or more of the following: requesting the UE to measure signals, requesting the UE to perform a sensing task, requesting the UE to report sensing results, or requesting the UE to send the location information of the first target point. Optionally, the first request may also indicate the sensing mode to be used, such as indicating the use of a single-site sensing mode. If the sensing center in S801 has already indicated the sensing mode to the network device, then the first request does not need to indicate the sensing mode again.

[0155] Optionally, the first request may also indicate the size of the perceived target; for example, the first request may include... Figure 5 The first information of the illustrated embodiment. In this case, S802 and Figure 5 In the illustrated embodiment, S501 can be the same step. Alternatively, the first information can also be included in other messages sent by the sensing center, but not in the first request. In this case, S802 is the same as... Figure 5 S501 in the illustrated embodiment can be a different step.

[0156] S803, UE determines the first target point. For example, it determines the location information of the first target point.

[0157] For example, the UE can send a second signal and receive the signal after the second signal has been reflected, scattered, transmitted, or diffracted by a sensing target in the environment. Figure 8 Taking reflection as an example, the received signal is called the first signal. The first signal and the second signal can be the same signal, only with different transmission paths. By measuring the first signal, the UE can determine the point cloud of the perceived target, for example... Figure 5 The illustrated embodiment describes the first point cloud information. Based on the first point cloud information and the size of the perceived target, the UE can determine the location information of the first target point.

[0158] For details on the implementation of the first (or second) signal, please refer to [link / reference]. Figure 7 The example shown.

[0159] S803 and Figure 5 In the illustrated embodiment, S502 can be the same step, and more details about S803 can be found in the description of S502.

[0160] S804, the UE sends the location information of the first target point. Correspondingly, the perception center receives this location information.

[0161] S804 and Figure 5In the illustrated embodiment, S503 can be the same step, and more details about S804 can be found in the description of S503.

[0162] Please refer to Figure 9 This is a flowchart illustrating an application of the dual-station sensing mode in an embodiment of this application. Figure 9 The illustrated embodiment involves a first sensing node and a second sensing node. The first sensing node is, for example, a UE (User Equipment), and the second sensing node is, for example, a network device. This dual-site sensing mode is a sensing mode where the UE transmits and the network device receives. The second sensing node and... Figure 5 The sensing nodes described in the illustrated embodiments can be the same sensing node.

[0163] S901, The perception center interacts with the UE and / or network devices to exchange perception capability information. This perception center may be, for example, an SF or LMF.

[0164] For example, a UE can send its sensing capability information, such as sensing capability information A, to a sensing center; and / or, a network device can send its sensing capability information, such as sensing capability information B, to a sensing center. Sensing capability information A can indicate whether the UE has sensing capabilities. Sensing capability information B can indicate whether the network device has sensing capabilities. Optionally, sensing capability information B can also indicate whether the network device supports determining the first target point according to the method provided in the embodiments of this application.

[0165] Optionally, the sensing center may also send information to the UE and / or network devices, such as indicating the sensing mode to be used, for example, indicating the use of a dual-site sensing mode.

[0166] S901 is an optional step. The perception center and the UE may not need to exchange perception capability information. For example, the perception center may know the UE's perception capability in advance, or the perception center may assume that the UE's perception capability is default, such as having perception capability by default. The perception center and the network device may also not need to exchange perception capability information. For example, the perception center may know the network device's perception capability in advance, or the perception center may assume that the network device's perception capability is default, such as having perception capability by default.

[0167] S902, the sensing center sends a first request. Correspondingly, the network device receives the first request. Optionally, the first request may be, for example, a sensing measurement request. In this embodiment, the sensing measurement is performed by the network device; therefore, the sensing center can send the first request to the network device.

[0168] The first request may request one or more of the following: request the network device to measure the signal, request the network device to perform a sensing task, request the network device to report the sensing results, or request the network device to send the location information of the first target point. Optionally, the first request may also indicate the sensing mode to be used, such as indicating the use of a single-site sensing mode. If the sensing center in S701 has already indicated the sensing mode to the network device, then the first request does not need to indicate the sensing mode again.

[0169] Optionally, the first request may also indicate the size of the perceived target; for example, the first request may include... Figure 5 The first information of the illustrated embodiment. In this case, S902 and Figure 5 In the illustrated embodiment, S501 can be the same step. Alternatively, the first information can also be included in other messages sent by the sensing center, but not in the first request. In this case, S902 is the same as... Figure 5 S501 in the illustrated embodiment can be a different step.

[0170] S903, the network device sends first configuration information to the UE. Correspondingly, the UE receives the first configuration information. The first configuration information can be used to configure reference signal resources. The reference signal corresponding to this reference signal resource can be a signal used for sensing.

[0171] S904, the UE sends a second signal. Correspondingly, the network device receives the first signal.

[0172] The UE can transmit a second signal based on the reference signal resource. The first signal can be the signal obtained after the second signal has been reflected, scattered, or diffracted by a sensing target in the environment. Figure 9 (Taking reflection as an example). The first signal and the second signal can be the same signal, only with different transmission paths.

[0173] Optionally, the first signal (or the second signal) may be, for example, SRS, or other signals used for sensing, such as DMRS.

[0174] S905. The network device determines the first target point. For example, it determines the location information of the first target point.

[0175] S905 and Figure 5 In the illustrated embodiment, S502 can be the same step, and more details about S905 can be found in the description of S502.

[0176] S906. The network device sends the location information of the first target point. Correspondingly, the sensing center receives this location information.

[0177] S906 and Figure 5In the illustrated embodiment, S503 can be the same step, and more details about S906 can be found in the description of S503.

[0178] Please refer to Figure 10 This is another flowchart of an embodiment of this application applied to the dual-station sensing mode. Figure 10 The illustrated embodiment involves a first sensing node and a second sensing node. The first sensing node is, for example, a network device, and the second sensing node is, for example, a UE. This dual-site sensing mode is a sensing mode where the network device transmits and the UE receives. The second sensing node and... Figure 5 The sensing nodes described in the illustrated embodiments can be the same sensing node.

[0179] S1001, The perception center interacts with the UE and / or network devices to exchange perception capability information. This perception center may be, for example, an SF or LMF.

[0180] For example, a UE can send its sensing capability information, such as sensing capability information A, to a sensing center; and / or, a network device can send its sensing capability information, such as sensing capability information B, to a sensing center. Sensing capability information A can indicate whether the UE has sensing capabilities. Optionally, sensing capability information A can also indicate whether the UE supports determining a first target point according to the method provided in the embodiments of this application. Sensing capability information B can indicate whether the network device has sensing capabilities.

[0181] For more information about S1001, please refer to [link / reference]. Figure 9 S901 in the illustrated embodiment.

[0182] S1002, the perception center sends a first request. Correspondingly, the UE receives the first request. Optionally, the first request may be, for example, a perception measurement request. In this embodiment, the perception measurement is performed by the UE, therefore the perception center can send the first request to the UE.

[0183] The first request may request one or more of the following: requesting the UE to measure signals, requesting the UE to perform a sensing task, requesting the UE to report sensing results, or requesting the UE to send the location information of the first target point. Optionally, the first request may also indicate the sensing mode to be used, such as indicating the use of a single-site sensing mode. If the sensing center has already indicated the sensing mode to the network device in S1001, then the first request does not need to indicate the sensing mode again.

[0184] Optionally, the first request may also indicate the size of the perceived target; for example, the first request may include... Figure 5 The first information of the illustrated embodiment. In this case, S1002 and Figure 5In the illustrated embodiment, S501 can be the same step. Alternatively, the first information can also be included in other messages sent by the sensing center, but not in the first request. In this case, S1002 is the same as... Figure 5 S501 in the illustrated embodiment can be a different step.

[0185] S1003, the network device sends first configuration information to the UE. Correspondingly, the UE receives the first configuration information. The first configuration information can be used to configure reference signal resources.

[0186] Optionally, the sensing center can also send information A to the network device, and the network device receives information A accordingly. Information A can instruct the network device to configure signals or resources for sensing, whereby the signals are used for sensing and the resources carry the signals used for sensing. This step, for example, occurs before S1003; after the network device receives information A, it can execute S1003.

[0187] S1004, The network device sends a second signal. Correspondingly, the UE receives the first signal.

[0188] The network device can transmit a second signal based on the reference signal resource, and the UE can receive a first signal based on the reference signal resource. The first signal can be a signal obtained by reflecting, scattering, or diffracting the second signal after passing through a sensing target in the environment. Figure 10 (Taking reflection as an example). The first signal and the second signal can be the same signal, only with different transmission paths.

[0189] Optionally, the first signal (or the second signal) may be, for example, CSI-RS, SSB, or PRS, or other signals used for sensing, such as DMRS.

[0190] S1005, UE determines the first target point. For example, it determines the location information of the first target point.

[0191] S1005 and Figure 5 In the illustrated embodiment, S502 can be the same step, and more details about S1005 can be found in the description of S502.

[0192] S1006, the UE sends the location information of the first target point. Correspondingly, the perception center receives the location information.

[0193] For example, the UE can send the location information to the network device, and the network device can then send the location information to the sensing center. In other words, the network device can transmit the location information to the sensing center.

[0194] Alternatively, after receiving the location information, the network device can process it accordingly before sending it to the sensing center. For example, the UE can send the location information of the first target point to the network device multiple times (e.g., the UE can periodically perform sensing measurements to determine the location information of the first target point and send it to the network device). The network device can perform filtering and / or tracking processing based on the location information sent by the UE at different times to obtain more accurate location information, and / or the estimated movement trajectory information of the UE. The network device can then send this more accurate location information and / or the movement trajectory information to the sensing center, which will then perform subsequent sensing processing. This approach can further improve sensing accuracy.

[0195] S1006 and Figure 5 In the illustrated embodiment, S503 can be the same step, and more details about S1006 can be found in the description of S503.

[0196] In summary, the sensing node in this embodiment can determine the first target point of the sensing target based on the size of the sensing target and send the location information of the first target point to the sensing center. By using the location information of the first target point, the sensing center can more accurately determine the location of the sensing target, thereby improving sensing accuracy.

[0197] Figure 11 A schematic diagram of a device provided in an embodiment of this application is given. The device 1100 may be... Figure 5 , Figures 7-10 The sensing center or its circuitry, as shown in any of the accompanying drawings, is used to implement the method corresponding to the sensing center in the above method embodiments. Alternatively, the device 1100 may be... Figure 5 The sensing node or its circuitry described in the illustrated embodiment is used to implement the method corresponding to the sensing node in the above method embodiments. Alternatively, the device 1100 may be... Figure 7 or Figure 9 The network device or its circuitry described in the illustrated embodiment is used to implement the method corresponding to the network device in the above method embodiments. Alternatively, the apparatus 1100 may be... Figure 8 or Figure 10 The UE or its circuit system described in the illustrated embodiment is used to implement the method corresponding to the UE in the above method embodiments. For example, one type of circuit system is a chip system.

[0198] Since the device 1100 in the embodiments of this application can implement the sensing method, the device 1100 can also be called a sensing device. In implementation, the device 1100 may have sensing function but no communication function, or it may have both sensing function and communication function. If the device 1100 has communication function, it may also be called a communication device, etc., without limitation.

[0199] The device 1100 includes at least one processor 1101. The processor 1101 can be used for internal processing within the device to implement certain control processing functions. Optionally, the processor 1101 includes instructions. Optionally, the processor 1101 can store data. Optionally, different processors can be independent devices, located in different physical locations, or located on different integrated circuits. Optionally, different processors can be integrated into one or more processors, for example, integrated on one or more integrated circuits.

[0200] Optionally, the device 1100 includes one or more memories 1103 for storing instructions. Optionally, the memories 1103 may also store data. The processor and the memories may be separate or integrated together.

[0201] Optionally, the device 1100 includes a communication line 1102 and at least one communication interface 1104. Since the memory 1103, communication line 1102, and communication interface 1104 are all optional, therefore... Figure 11 All are represented by dashed lines.

[0202] Optionally, device 1100 may further include a transceiver and / or an antenna. The transceiver can be used to send information to or receive information from other devices. The transceiver may be referred to as a transceiver unit, transceiver circuit, input / output interface, etc., and is used to realize the transmission and reception functions of device 1100 via the antenna. Optionally, the transceiver includes a transmitter and a receiver. For example, the transmitter can be used to generate a radio frequency (RF) signal from a baseband signal, and the receiver can be used to convert the RF signal back into a baseband signal.

[0203] Processor 1101 may include a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs according to the present application.

[0204] Communication line 1102 may include a path for transmitting information between the aforementioned components.

[0205] Communication interface 1104 uses any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area network (WLAN), wired access network, etc.

[0206] The memory 1103 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), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 1103 may exist independently and be connected to the processor 1101 via communication line 1102. Alternatively, the memory 1103 may be integrated with the processor 1101.

[0207] The memory 1103 stores computer execution instructions for implementing the scheme of this application, and its execution is controlled by the processor 1101. The processor 1101 executes the computer execution instructions stored in the memory 1103, thereby realizing... Figure 5 , Figures 7-10 The steps performed by the sensing center or sensing node in any of the embodiments shown in the accompanying drawings.

[0208] Optionally, the computer execution instructions in the embodiments of this application may also be referred to as application code, and the embodiments of this application do not specifically limit this.

[0209] In a specific implementation, as one example, the processor 1101 may include one or more CPUs, for example... Figure 11 CPU0 and CPU1 in the CPU.

[0210] In a specific implementation, as one embodiment, device 1100 may include multiple processors, for example... Figure 11Processors 1101 and 1105 are mentioned. Each of these processors can be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. A processor here can refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0211] when Figure 11 When the device shown is a chip, such as a chip for a sensing center or a sensing node, the chip includes a processor 1101 (and may also include a processor 1105), a communication line 1102, and a communication interface 1104. Optionally, it may include a memory 1103. Specifically, the communication interface 1104 may be an input interface, pins, or circuits, etc. The memory 1103 may be a register, cache, etc. The processor 1101 and processor 1105 may be a general-purpose CPU, microprocessor, ASIC, or one or more integrated circuits for controlling the execution of a program for controlling the sensing method of any of the above embodiments.

[0212] This application embodiment can divide the device into functional modules according to the above method example. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware or as software functional modules. The module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, other division methods may be used. For example, in the case of dividing the device into functional modules corresponding to each function... Figure 12 This is a schematic diagram of an apparatus. The apparatus 1200 can be a sensing center or sensing node involved in the various method embodiments described above, or a chip in a sensing center or a chip in a sensing node. The apparatus 1200 includes a processing unit 1202 and a transceiver unit 1201. Since the apparatus 1200 in the embodiments of this application can implement a sensing method, the apparatus 1200 can also be called a sensing device. In implementation, the apparatus 1200 may have sensing functions but no communication functions, or it may have both sensing and communication functions. If the apparatus 1200 has communication functions, it can also be called a communication device, etc., without limitation.

[0213] It should be understood that the device 1200 can be used to implement the steps performed by the sensing center or sensing node in the sensing method of the embodiments of this application, and the relevant features can be referred to above. Figure 5 , Figures 7-10 The embodiments shown in any of the accompanying drawings will not be described in detail here.

[0214] Optional, Figure 12The functions / implementation process of the transceiver unit 1201 and the processing unit 1202 can be obtained through Figure 11 The processor 1101 in the memory calls computer execution instructions stored in memory 1103 to implement this. Or, Figure 12 The function / implementation process of the processing unit 1202 can be achieved through... Figure 11 The processor 1101 in the memory calls computer execution instructions stored in memory 1103 to implement this. Figure 12 The function / implementation process of the transceiver unit 1201 can be obtained through Figure 11 It is implemented using the communication interface 1104.

[0215] Optionally, when the device 1200 is a chip or circuit, the function / implementation process of the transceiver unit 1201 can also be implemented through pins or circuits. Optionally, the transceiver unit 1201 may include a transmitting unit and / or a receiving unit, wherein the transmitting unit is used to implement the transmitting function and the receiving unit is used to implement the receiving function; or, the transceiver unit 1201 may be an integral module capable of implementing the transmitting and / or receiving functions. Optionally, the transceiver unit 1201 may be implemented using a transceiver.

[0216] This application also provides a computer-readable storage medium storing a computer program or instructions that, when executed, implement the methods performed by the sensing center and / or sensing nodes in the aforementioned method embodiments. Thus, the functions described in the above embodiments can be implemented as software functional units and sold or used as independent products. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to it, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0217] This application also provides a computer program product comprising: computer program code, which, when run on a computer, causes the computer to perform the method executed by the perception center and / or perception node in any of the foregoing method embodiments.

[0218] This application also provides a processing device, including a processor and an interface; the processor is used to execute the methods performed by the sensing center and / or sensing node involved in any of the above method embodiments.

[0219] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0220] The various illustrative logic units and circuits described in the embodiments of this application can be implemented or operate the described functions using a general-purpose processor, digital signal processor (DSP), ASIC, field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. The general-purpose processor can be a microprocessor; alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented using a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors combined with a digital signal processor core, or any other similar configuration.

[0221] The steps of the methods or algorithms described in the embodiments of this application can be directly embedded in hardware, software units executed by a processor, or a combination of both. The software units can be stored in RAM, flash memory, ROM, erasable programmable read-only memory (EPROM), EEPROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium in the art. Exemplarily, the storage medium can be connected to the processor so that the processor can read information from the storage medium and write information to the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and storage medium can be disposed in an ASIC, which can be disposed in the terminal device. Optionally, the processor and storage medium can also be disposed in different components of the terminal device.

[0222] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0223] The contents of the various embodiments of this application can be referenced to each other. Unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0224] It is understood that in the embodiments of this application, the sensing center and / or sensing nodes may perform some or all of the steps in the embodiments of this application. These steps or operations are merely examples, and other operations or variations thereof may also be performed in the embodiments of this application. Furthermore, the various steps may be performed in different orders as presented in the embodiments of this application, and it is not necessarily necessary to perform all the operations in the embodiments of this application.

Claims

1. A sensing method, characterized in that, The method includes: Receive first information, which indicates the size of the perceived target; Based on the size and the first point cloud information, a first target point of the sensing target is determined, wherein the first point cloud information is the point cloud information of the sensing target; Send the location information of the first target point.

2. The method according to claim 1, characterized in that, The first target point is the centroid of the perceived target; or, The first target point is a specific point on the perceived target.

3. The method according to claim 2, characterized in that, The centroid of the perceived target is the geometric center of the perceived target.

4. The method according to claim 3, characterized in that, The first target point is the centroid, wherein determining the first target point of the perceived target based on the size and the first point cloud information includes: Match the contour corresponding to the size with the points indicated by the first point cloud information; The location of the geometric center of the contour is determined as the location of the centroid.

5. The method according to any one of claims 1 to 4, characterized in that, The first information is also used to request the location information.

6. The method according to any one of claims 1 to 5, characterized in that, The size of the sensing target is the size of the projection of the sensing target onto the first plane; or... The size of the sensing target is the size of at least one side of the sensing target; or, The size of the sensing target is the three-dimensional size of the sensing target.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Receive echo signal; The information transmitted by the echo signal is used to determine the size of the sensed target.

8. A sensing method, characterized in that, The method includes: Send a first message, which is used to indicate the size of the perceived target; The location information of the first target point of the perceived target is received, and the location information is determined based on the size.

9. The method according to claim 8, characterized in that, The first target point is the centroid of the perceived target; or, The first target point is a specific point on the perceived target.

10. The method according to claim 9, characterized in that, The centroid of the perceived target is the geometric center of the perceived target.

11. The method according to any one of claims 8 to 10, characterized in that, The first information is also used to request the location information.

12. The method according to any one of claims 8 to 11, characterized in that, The size of the sensing target is the size of the projection of the sensing target onto the first plane; or... The size of the sensing target is the size of at least one side of the sensing target; or, The size of the sensing target is the three-dimensional size of the sensing target.

13. The method according to any one of claims 8 to 12, characterized in that, Before sending the first message, the method further includes: Information received from echo signals; Based on the information, inverse synthetic aperture radar (ISAR) imaging is performed to obtain a first image; The size is determined based on the first image.

14. The method according to any one of claims 8 to 12, characterized in that, Before sending the first message, the method further includes: Determine the dimensions.

15. A sensing system, characterized in that, The sensing system includes a sensing center and access network equipment, wherein... The sensing center is used to send first information, which is used to indicate the size of the sensing target; The access network device is used to determine a first target point of the sensing target based on the size and the first point cloud information, wherein the first point cloud information is the point cloud information of the sensing target; The access network device is also used to send the location information of the first target point; The sensing center is also used to receive the location information of the first target point.

16. The system according to claim 15, characterized in that, The system also includes a terminal, wherein... The terminal is used to send a second signal, which is used for sensing; The access network device is used to receive the echo signal of the second signal and determine the first point cloud information based on the echo signal.

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

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

19. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program that, when run on a computer, causes the method as described in any one of claims 1 to 7 to be performed, or causes the method as described in any one of claims 8 to 14 to be performed.

20. A computer program product, characterized in that, The computer program product includes a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 7, or causes the computer to perform the method as described in any one of claims 8 to 14.

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