Sensing method and related apparatus

Abstract

This application provides a sensing method and related apparatus. The method includes the step of a control device receiving a sensing request from a requesting device. The sensing request includes information indicating a sensing object. The control device determines first beam information based on the information indicating the sensing object. The first beam information indicates the beam used to perform sensing on the sensing object. The control device transmits first sensing control information to a first sensing device. The first sensing control information includes the first beam information, and the first sensing device is configured to perform sensing on the sensing object. According to the technical solution provided in this application, the utilization of sensing resources can be improved and a variety of sensing accuracy requirements can be met.

Description

Technical Field

[0001] This application claims the priority of Chinese Patent Application No. 202310897955.0, titled "SENSING METHOD AND RELATED APPARATUS", filed with the China National Intellectual Property Administration on July 20, 2023, the entire content of which is incorporated herein by reference.

[0002] This application relates to the field of sensing technologies, and particularly to sensing methods and related apparatuses.

Background Art

[0003] Integrated sensing and communication refers to integrating communication and sensing functions through joint signal design, hardware sharing, etc. Sensing refers to wireless sensing technology based on a communication system. Wireless sensing technology is a technology that transmits wireless signals to a specific area or specific substance and then processes the received wireless signals to obtain information about the area or substance. The basic principle is to use wireless channel characteristics to obtain rich environmental information in order to implement basic sensing applications.

[0004] [[ID=第十九]] Wireless communication networks naturally have a wireless sensing function. For example, base stations and terminals have both communication and sensing functions and can provide sensing services for sensing applications that function in multiple fields such as smart transportation, unmanned aircraft monitoring, railway perimeter security detection, smart homes, public security, health monitoring, and environmental monitoring.

[0005] In current sensing methods, generally, the network controls the base station to perform a common sensing operation procedure for a specific location or range. As a result, it is difficult to meet different requirements for different sensing objects, the sensing accuracy is limited, and the resource utilization is low.

Summary of the Invention

[0006] Embodiments of this application provide a sensing method and related apparatus to improve the utilization of sensing resources and to meet diverse sensing accuracy requirements.

[0007] According to a first aspect, one embodiment of the present application provides a sensing method. The method includes the following:

[0008] The control device receives a sensing request from the requesting device. The sensing request includes information indicating the sensing object.

[0009] The control device determines first beam information based on information indicating the sensing object. The first beam information indicates the beam used to perform sensing on the sensing object.

[0010] The control device transmits first sensing control information to the first sensing device. The first sensing control information includes first beam information, and the first sensing device is configured to perform sensing on a sensing object.

[0011] In the above embodiment, the control device determines first beam information indicating the beam to be used to sense the sensing object based on information indicating the sensing object, the control device transmits first sensing control information including the first beam information to the first sensing device, and as a result, the first sensing device senses the sensing object based on the first beam information. Since the first beam information is dynamically determined for the sensing object and is adaptive to the sensing object, when the first sensing device senses the sensing object based on the first beam information, the sensing resources used can be considered adaptive to the sensing resources actually required by the sensing object. This helps to avoid wasting unnecessary sensing resources and improve the utilization of sensing resources.

[0012] In addition, the first beam information may further reflect the sensing accuracy. For example, if the beam width indicated by the first beam information is narrower, i.e., the beam is more focused and the resulting signal is stronger, the achievable sensing accuracy may be considered higher. As another example, if the beam width indicated by the first beam information is wider, i.e., the beam is more divergent and the resulting signal is weaker, the achievable sensing accuracy may be considered higher. Therefore, when a first sensing device senses a sensing object based on the first beam information, the achievable sensing accuracy may also be considered to adapt to the sensing accuracy actually required by the sensing object. This helps to solve the problem of limited sensing accuracy and to meet diverse sensing accuracy requirements.

[0013] With respect to the first embodiment, in some implementations of the first embodiment, the first beam information includes the beam width, or the first beam information includes the beam width and the beam direction.

[0014] In the aforementioned implementation, the first beam information may indicate the beam width, and as a result, the first sensing device may perform sensing on the sensing object based on the beam width indicated by the control device. The first beam information may further indicate the beam direction, and as a result, the first sensing device may further perform sensing on the sensing object based on the beam direction indicated by the control device.

[0015] With respect to the first embodiment, in some implementations of the first embodiment, the first sensing control information further includes a sensing type.

[0016] In the aforementioned implementation, the first sensing control information may further indicate the sensing type, and as a result, the first sensing device may perform sensing on the sensing object based on the sensing type indicated by the control device.

[0017] With respect to the first embodiment, in some implementations of the first embodiment, the information indicating the sensing object includes one or more of the following information: an identifier for the sensing object, sensing area information, and sensing location information.

[0018] In the aforementioned implementation, the sensing object may be accurately identified by using one or more of the following: the sensing object identifier, sensing area information, or sensing location information.

[0019] With respect to the first embodiment, in some implementations of the first embodiment, the first sensing control information further includes sensing accuracy information and / or sensing time information.

[0020] In the aforementioned implementation, the first sensing control information may further indicate sensing accuracy information and / or sensing time information, and as a result, the first sensing device may perform sensing on the sensing object based on the sensing accuracy information and / or sensing time information indicated by the control device.

[0021] With respect to the first embodiment, in some implementations of the first embodiment, the first sensing control information further includes a cooperative sensing mode.

[0022] In the aforementioned implementation, the first sensing control information may further indicate a cooperative sensing mode to show that the first sensing device is working with another sensing device to sense a sensing object.

[0023] With respect to the first embodiment, in some implementations of the first embodiment, the method includes the following:

[0024] The control device transmits first sensing control information to the second sensing device. The second sensing device is configured to perform sensing on the sensing object.

[0025] In the aforementioned implementation, the control device transmits first sensing control information to the second sensing device so that the second sensing device and the first sensing device cooperate in sensing the sensing object.

[0026] With respect to the first embodiment, in some implementations of the first embodiment, the method includes the following:

[0027] The control device receives first sensing data from the first sensing device. The first sensing data is sensing data acquired by the first sensing device by performing sensing on a sensing object based on first beam information.

[0028] The control device processes the first sensing data to obtain a first sensing result.

[0029] The control device transmits the first sensing result to the requesting device.

[0030] In the foregoing implementation form, the control device receives the first sensing data from the first sensing device, processes the first sensing data to obtain a first sensing result, and transmits the first sensing result to the requesting device. As a result, the requester can timely know the sensing result regarding the sensing object.

[0031] Regarding the first aspect, in some implementation forms of the first aspect, the method includes the following.

[0032] The control device determines second beam information based on the first sensing result. The second beam information is different from the first beam information.

[0033] The control device transmits second sensing control information to the first sensing device. The second sensing control information includes the second beam information.

[0034] In the foregoing implementation form, the control device may adjust the first beam information based on the first sensing result to obtain the second beam information, and transmit the second sensing control information including the second beam information to the first sensing device. As a result, the first sensing device may then perform a sensing operation based on the second beam information.

[0035] Regarding the first aspect, in some implementation forms of the first aspect, the first beam information includes a first beam width, the second beam information includes a second beam width, and the fact that the second beam information is different from the first beam information includes that the second beam width is smaller than the first beam width.

[0036] In the aforementioned implementation, the control device supports beamwidth adjustment. When the beamwidth is reduced, the beam can be more focused, generating a stronger sensing signal. As a result, the sensing device can be instructed to perform higher-precision sensing operations, meeting different accuracy requirements from area sensing to specific target sensing.

[0037] With respect to the first embodiment, in some implementations of the first embodiment, the first sensing device is a base station, and the second sensing device is a base station or a terminal device.

[0038] According to a second aspect, one embodiment of the present application provides a sensing method. The method includes the following:

[0039] The first sensing device receives first sensing control information from the control device. The first sensing control information includes first beam information, which indicates the beam used to perform sensing on the sensing object.

[0040] The first sensing device performs sensing on the sensing object based on the first beam information.

[0041] According to a third aspect, one embodiment of the present application provides a sensing method. The method includes the following:

[0042] The first sensing device receives first sensing control information from the control device. The first sensing control information includes information indicating a sensing object.

[0043] The first sensing device determines first beam information based on information indicating the sensing object. The first beam information indicates the beam used to perform sensing on the sensing object.

[0044] The first sensing device performs sensing on the sensing object based on the first beam information.

[0045] In the above embodiment, the control device / first sensing device determines first beam information indicating the beam to be used to sense the sensing object based on information indicating the sensing object, the control device transmits first sensing control information to the first sensing device, and as a result, the first sensing device senses the sensing object based on the first beam information. Since the first beam information is dynamically determined for the sensing object and is adaptive to the sensing object, when the first sensing device senses the sensing object based on the first beam information, the sensing resources used can be considered adaptive to the sensing resources actually required by the sensing object. This helps to avoid wasting unnecessary sensing resources and improve the utilization of sensing resources.

[0046] In addition, the first beam information may further reflect the sensing accuracy. For example, if the beam width indicated by the first beam information is narrower, i.e., the beam is more focused and the resulting signal is stronger, the achievable sensing accuracy may be considered higher. As another example, if the beam width indicated by the first beam information is wider, i.e., the beam is more divergent and the resulting signal is weaker, the achievable sensing accuracy may be considered higher. Therefore, when a first sensing device senses a sensing object based on the first beam information, the achievable sensing accuracy may also be considered to adapt to the sensing accuracy actually required by the sensing object. This helps to solve the problem of limited sensing accuracy and to meet diverse sensing accuracy requirements.

[0047] With respect to the second / third aspects, in some implementations of the second / third aspects, the first beam information includes the beam width, or the first beam information includes the beam width and beam direction.

[0048] With respect to the second / third aspects, in some implementations of the second / third aspects, the first sensing control information further includes the sensing type.

[0049] With respect to the second / third aspects, in some implementations of the second / third aspects, the information indicating the sensing object includes one or more of the following information: the identifier of the sensing object, sensing area information, and sensing location information.

[0050] With respect to the second / third aspects, in some implementations of the second / third aspects, the first sensing control information further includes sensing accuracy information and / or sensing time information.

[0051] With respect to the second / third aspects, in some implementations of the second / third aspects, the first sensing control information further includes a cooperative sensing mode.

[0052] With respect to the second and third embodiments, some implementations of the second and third embodiments include the following:

[0053] The first sensing device transmits instruction information to the second sensing device. The instruction information includes first beam information and a co-sensing mode, and the second sensing device is configured to perform sensing on the sensing object.

[0054] In the aforementioned implementation, the first sensing device transmits instruction information, including first beam information and a cooperative sensing mode, to the second sensing device, and as a result, the second sensing device and the first sensing device cooperate to sense the sensing object.

[0055] With respect to the second and third embodiments, some implementations of the second and third embodiments include the following:

[0056] The first sensing device receives second sensing control information from the control device. The second sensing control information includes second beam information, which indicates the beam used to perform sensing on the sensing target, and is different from the first beam information.

[0057] The first sensing device performs sensing on the sensing target based on the second beam information.

[0058] In the aforementioned implementation, the control device may determine the second beam information based on information indicating the sensing target. That is, the control device may independently determine the second beam information, include the second beam information in the second sensing control information, and transmit the second sensing control information to the first sensing device. As a result, the first sensing device can directly obtain the second beam information from the second sensing control information and then perform sensing on the sensing target based on the second beam information.

[0059] With respect to the second and third embodiments, some implementations of the second and third embodiments include the following:

[0060] The first sensing device receives second sensing control information from the control device. The second sensing control information includes information indicating the sensing target.

[0061] The first sensing device determines second beam information based on information indicating the sensing target. The second beam information indicates the beam used to perform sensing on the sensing target, and the second beam information is different from the first beam information.

[0062] The first sensing device performs sensing on the sensing target based on the second beam information.

[0063] In the aforementioned implementation, the control device transmits information indicating a sensing target to the first sensing device, and the first sensing device determines second beam information based on the information indicating the sensing target. That is, the control device and the first sensing device may cooperate in determining the second beam information, and then the first sensing device may perform sensing on the sensing target based on the second beam information.

[0064] With respect to the second and third embodiments, some implementations of the second and third embodiments include the following:

[0065] The first sensing device acquires information indicating a sensing target based on the first sensing data. The first sensing data is sensing data acquired by the first sensing device by performing sensing on a sensing object based on the first beam information.

[0066] The first sensing device determines second beam information based on information indicating the sensing target. The second beam information indicates the beam used to perform sensing on the sensing target, and the second beam information is different from the first beam information.

[0067] The first sensing device performs sensing on the sensing target based on the second beam information.

[0068] In the embodiment described above, the first sensing device acquires information indicating a sensing target based on the first sensing data, and determines second beam information based on the information indicating the sensing target. That is, the first sensing device may independently determine the second beam information and then perform sensing on the sensing target based on the second beam information.

[0069] With respect to the second / third aspects, in some implementations of the second / third aspects, the first beam information includes the first beam width, the second beam information includes the second beam width, and the difference between the second beam information and the first beam information includes the second beam width being smaller than the first beam width.

[0070] With respect to the second / third embodiments, in some implementations of the second / third embodiments, the first sensing device is a base station, and the second sensing device is a base station or a terminal device.

[0071] For beneficial effects of implementations not described in the second / third aspects, please refer to the explanation of beneficial effects in the corresponding implementations in the first aspect. Details will not be repeated here.

[0072] According to a fourth aspect, one embodiment of the present application provides a sensing device. The device includes a module or unit configured to perform a method according to the first aspect or any one of the possible implementations of the first aspect. The device is A transceiver unit configured to receive sensing requests from a requesting device, wherein the sensing request includes information indicating a sensing object, and the transceiver unit A processing unit configured to determine first beam information based on information indicating a sensing object, wherein the first beam information indicates a beam used to perform sensing on the sensing object, and Includes.

[0073] The transceiver unit is further configured to transmit first sensing control information to a first sensing device. The first sensing control information includes first beam information, and the first sensing device is configured to perform sensing on a sensing object.

[0074] With respect to the fourth aspect, in some implementations of the fourth aspect, the first beam information includes the beam width, or the first beam information includes the beam width and beam direction.

[0075] With respect to the fourth aspect, in some implementations of the fourth aspect, the first sensing control information further includes a sensing type.

[0076] With respect to the fourth aspect, in some implementations of the fourth aspect, the information indicating the sensing object includes one or more of the following information: the identifier of the sensing object, sensing area information, and sensing location information.

[0077] With respect to the fourth aspect, in some implementations of the fourth aspect, the first sensing control information further includes sensing accuracy information and / or sensing time information.

[0078] With respect to the fourth aspect, in some implementations of the fourth aspect, the first sensing control information further includes a cooperative sensing mode.

[0079] With respect to the fourth aspect, in some implementations of the fourth aspect, the transceiver unit is further configured to transmit first sensing control information to a second sensing device. The second sensing device is configured to perform sensing on a sensing object.

[0080] With respect to a fourth aspect, in some implementations of the fourth aspect, the transceiver unit is further configured to receive first sensing data from a first sensing device. The first sensing data is sensing data acquired by the first sensing device by sensing a sensing object based on first beam information. The processing unit is further configured to process the first sensing data to obtain a first sensing result. The transceiver unit is further configured to transmit the first sensing result to a requesting device.

[0081] With respect to the fourth aspect, in some implementations of the fourth aspect, the processing unit is further configured to determine second beam information based on the first sensing result. The second beam information is different from the first beam information. The transceiver unit is further configured to transmit second sensing control information to the first sensing device. The second sensing control information includes the second beam information.

[0082] With respect to the fourth aspect, in some implementations of the fourth aspect, the first beam information includes a first beam width, the second beam information includes a second beam width, and the difference between the second beam information and the first beam information includes the second beam width being smaller than the first beam width.

[0083] According to a fifth aspect, one embodiment of the present application provides a sensing device. The device includes a module or unit configured to perform a method according to the second aspect or any one of the possible implementations of the second aspect. The device is A transceiver unit configured to receive first sensing control information from a control device, wherein the first sensing control information includes first beam information, and the first beam information indicates a beam used to perform sensing on a sensing object, and the transceiver unit A processing unit configured to perform sensing on a sensing object based on first beam information, Includes.

[0084] According to a sixth aspect, one embodiment of the present application provides a sensing device. The device includes a module or unit configured to perform a method according to a third aspect or any one of the possible implementations of a third aspect. The device is A transceiver unit configured to receive first sensing control information from a control device, wherein the first sensing control information includes information indicating a sensing object, A processing unit is configured to determine first beam information based on information indicating a sensing object, the first beam information indicating the beam used to perform sensing on the sensing object, and to perform sensing on the sensing object based on the first beam information. Includes.

[0085] With respect to the fifth / sixth aspects, in some implementations of the fifth / sixth aspects, the first beam information includes the beam width, or the first beam information includes the beam width and beam direction.

[0086] With respect to the fifth and sixth embodiments, in some implementations of the fifth and sixth embodiments, the first sensing control information further includes the sensing type.

[0087] With respect to the fifth / sixth aspects, in some implementations of the fifth / sixth aspects, the information indicating the sensing object includes one or more of the following information: the identifier of the sensing object, sensing area information, and sensing location information.

[0088] With respect to the fifth / sixth aspects, in some implementations of the fifth / sixth aspects, the first sensing control information further includes sensing accuracy information and / or sensing time information.

[0089] With respect to the fifth and sixth embodiments, in some implementations of the fifth and sixth embodiments, the first sensing control information further includes a cooperative sensing mode.

[0090] With respect to the fifth / sixth aspects, in some implementations of the fifth / sixth aspects, the transceiver unit is further configured to transmit instruction information to a second sensing device. The instruction information includes first beam information and a co-sensing mode, and the second sensing device is configured to perform sensing on a sensing object.

[0091] With respect to the fifth / sixth aspects, in some implementations of the fifth / sixth aspects, the transceiver unit is further configured to receive second sensing control information from a control device. The second sensing control information includes second beam information, which indicates the beam used to perform sensing on a sensing target and is different from the first beam information. The processing unit is further configured to perform sensing on a sensing target based on the second beam information.

[0092] With respect to the fifth / sixth aspects, in some implementations of the fifth / sixth aspects, the transceiver unit is further configured to receive second sensing control information from a control device. The second sensing control information includes information indicating a sensing target. The processing unit determines second beam information based on the information indicating the sensing target, the second beam information indicating a beam to be used to perform sensing on the sensing target, and the second beam information is further configured to perform sensing on the sensing target based on the second beam information, unlike the first beam information.

[0093] With respect to the fifth and sixth embodiments, in some implementations of the fifth and sixth embodiments, the processing unit acquires information indicating a sensing target based on first sensing data, the first sensing data being sensing data acquired by the processing unit by performing sensing on a sensing object based on first beam information, the processing unit determines second beam information based on information indicating a sensing target, the second beam information indicates the beam used to perform sensing on the sensing target, and the second beam information differs from the first beam information and is further configured to perform sensing on the sensing target based on the second beam information.

[0094] With respect to the fifth / sixth aspects, in some implementations of the fifth / sixth aspects, the first beam information includes a first beam width, the second beam information includes a second beam width, and the difference between the second beam information and the first beam information includes the second beam width being smaller than the first beam width.

[0095] According to the seventh aspect, one embodiment of the present application provides an electronic device. The electronic device includes a processor. The processor may be coupled to memory and configured to execute computer programs or instructions in memory to carry out a method according to any one of the first to third aspects or possible implementations thereof. Optionally, the electronic device further includes memory. Optionally, the electronic device further includes a communication interface, and the processor is coupled to the communication interface.

[0096] According to the eighth aspect, one embodiment of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program or instruction. When the computer program or instruction is executed, a method according to any one of the first to third aspects or possible implementations thereof is performed.

[0097] According to the ninth aspect, one embodiment of the present application provides a computer program product. The computer program product includes a computer program or instructions. When the computer program or instructions are executed, a method according to any one of the first to third aspects or possible implementations thereof is performed.

[0098] According to a tenth aspect, one embodiment of the present application provides a chip. The chip includes a processor. The processor is configured to execute a computer program or instructions. When the processor executes a computer program or instructions, the chip becomes capable of performing a method according to any one of the first to third aspects or any possible implementations thereof. Optionally, the chip further includes a communication interface, which is configured to receive or transmit signals.

[0099] According to the eleventh aspect, one embodiment of the present application provides a system. The system includes a device in any one of the fourth aspect or a possible implementation of the fourth aspect, and a device in any one of the fifth / sixth aspect or a possible implementation of the fifth / sixth aspect.

[0100] According to a twelfth aspect, one embodiment of the present application provides a system, the system comprising a control device and a first sensing device. The control device is configured to perform a method according to the first aspect or any possible implementation of the first aspect, and the first sensing device is configured to perform a method according to the second / third aspect or any possible implementation of the second / third aspect.

[0101] For the beneficial effects brought about by the fourth through twelfth aspects, please refer to the explanation of the beneficial effects in the first through third aspects. Details will not be repeated here.

[0102] In addition, in a process that performs a method according to any one of the first to third embodiments and its possible implementations, the process of transmitting and / or receiving information in the aforementioned method may be understood as a process in which the processor outputs information and / or a process in which the processor receives input information. When outputting information, the processor may output the information to a transceiver (or communication interface or transmitting module), and as a result, the transceiver transmits the information. After the information is output by the processor, further processing may need to be performed on the information before it arrives at the transceiver. Similarly, when the processor receives input information, the transceiver (or communication interface or transmitting module) receives the information and inputs it to the processor. Furthermore, after the transceiver receives the information, further processing may need to be performed on the information before it is input to the processor.

[0103] Based on the aforementioned principles, for example, transmitting information in the manner described above can be understood as the processor outputting information. In another example, receiving information can be understood as the processor receiving input information.

[0104] Optionally, operations related to the processor, such as transmitting, sending, and receiving, may be more generally understood as operations such as the processor's outputs, receivers, and inputs, unless otherwise specified, or provided that such operations do not contradict the actual functionality or internal logic of the operations in the relevant descriptions.

[0105] In a process of performing the method according to any one of the first to third embodiments and its possible implementations, the processor may be a processor specifically configured to perform the method, or a processor that performs the method by executing computer instructions in memory, such as a general-purpose processor. The memory may be non-transitory memory, such as read-only memory (ROM). The memory and processor may be integrated on the same chip or located separately on different chips. The type of memory, and the arrangement of the memory and processor, are not limited to the embodiments of this application.

[0106] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used to illustrate the embodiments of this application are briefly described below. It will be apparent that the accompanying drawings in the following description merely illustrate some embodiments of this application, and that those skilled in the art can derive other drawings from these accompanying drawings without any creative effort. [Brief explanation of the drawing]

[0107] [Figure 1] This is a diagram of a network architecture according to one embodiment of the present application. [Figure 2] This is an interaction flowchart of a sensing method according to one embodiment of this application. [Figure 3] This is an interaction flowchart of another sensing method according to one embodiment of this application. [Figure 4] This is an interaction flowchart of another sensing method according to one embodiment of this application. [Figure 5] This is an interaction flowchart of another sensing method according to one embodiment of this application. [Figure 6] This is an interaction flowchart of a sensing method according to one embodiment of this application. [Figure 7]This is an interaction flowchart of another sensing method according to one embodiment of this application. [Figure 8] This is a diagram showing the structure of a sensing device according to one embodiment of this application. [Figure 9] This is a diagram showing the structure of an electronic device according to one embodiment of this application. [Figure 10] This is a diagram showing the structure of a chip according to one embodiment of this application. [Modes for carrying out the invention]

[0108] To further clarify the purpose, technical solutions, and advantages of the embodiments of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0109] In this application, words such as “example” or “for example” are used to indicate that an example, explanatory example, or explanation is being given. Any embodiment or design scheme described as “example” or “for example” in this application should not be described as being preferable or having more advantages than another embodiment or design scheme. More precisely, the use of words such as “example” or “for example” is intended to present relative concepts in a specific manner.

[0110] Terms such as “first” and “second” as used in embodiments of this application are used to distinguish different objects, but not to describe a particular order or quantity. In addition, “first,” “second,” etc., are not limited to being distinctly different. Furthermore, “includes,” “has,” and any other variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, device, etc., which includes a series of steps or units, is not limited to the listed steps or units, but may optionally include further steps, units, etc., that are not listed, or may optionally include further steps or units specific to the process, method, product, device, etc.

[0111] References to “embodiments” in this specification mean that certain features, structures, or characteristics described in conjunction with the embodiments may be included in at least one embodiment of this application. Terms used in various parts of this specification do not necessarily refer to the same embodiment, nor are they exclusive, independent, or arbitrary embodiments. Those skilled in the art will understand, both explicitly and implicitly, that, unless otherwise specified or unless a logical inconsistency arises, the terminology and / or descriptions of embodiments in this application are consistent, may refer to one another, and technical features of different embodiments may be combined to form new embodiments based on internal logical relationships.

[0112] In this application, it should be understood that “at least one (item)” means one or more, “more than one” means two or more, “at least two (items)” means two, three or more, and furthermore, “and / or” is used to describe an association between related objects and indicates that there may be three relationships. For example, “A and / or B” can indicate that only A exists, only B exists, or both A and B exist, and A and B may be singular or plural. The letter “ / ” generally indicates that the related objects are in an “or” relationship. “At least one of the following items (parts)” or similar expressions mean any combination of these items, including any single item (part) or any combination of multiple items (parts). For example, at least one (part) of a, b, or c may be a, b, c, a and b, a and c, b and c, or a, b, and c, and a, b, and c may be singular or plural.

[0113] In this application, “to indicate” may include direct and indirect indications, and explicit and implicit indications. Information that is indicated by some information is called indicated information. In a particular implementation process, there are many ways to indicate indicated information. For example, indicated information may be indicated directly. For example, indicated information or an index of indicated information may be indicated. In another example, indicated information may be indicated indirectly by indicating other information, and there is a correlation between the other information being indicated and the indicated information. In yet another example, only a portion of indicated information may be indicated, and the other portion of indicated information is already known or pre-agreed upon. In addition, certain information may be indicated by using a pre-agreed arrangement order of information (e.g., specified in a protocol) to reduce the indication overhead to some extent.

[0114] Figure 1 is a diagram of a network architecture according to one embodiment of the present application, including a control device 101 and a sensing device 102. There may be one or more sensing devices 102. Optionally, the network architecture further includes a requesting device 103. The control device 101 can communicate with the sensing device 102 to control the sensing device 102 to perform sensing on a sensing object 104. The requesting device 103 can communicate with the control device 101 to initiate a sensing request for the sensing object 104 to the control device 101.

[0115] The control device 101 may be a functional network element in the network, for example, a sensing control network element (sensing function, SF), or a chip or circuit in an access network device or core network device, or a logic module or software capable of implementing all or part of the functions of an access network device or core network device. This is not limited to the present application. The control device 101 may include one or more of the following functions: sensing data processing, sensing result analysis, sensing type / mode determination, sensing device determination, and physical sensing resource configuration.

[0116] The sensing device 102 may be an access network device, such as a radio access network (RAN) node, or a terminal device, or a chip or circuit within an access network device or terminal device, or a logic module or software capable of performing all or part of the functions of a terminal device or network device. This is not limited to the present application. The sensing device 102 may include one or more of the following functions: sensing measurement, sensing data processing, sensing result analysis, and sensing type / mode determination.

[0117] The requesting device 103 may be a functional network element within the network, such as an access and mobility management function (AMF) or an application function (AF), or it may be a terminal device.

[0118] In the above description, access network devices include, but are not limited to, base stations, next-generation NodeBs (gNBs), evolved NodeBs (eNBs), radio network controllers (RNCs), NodeBs (NBs), base station controllers (BSCs), base transceiver stations (BTSs), home evolved NodeBs (HeNBs, or home NodeBs, HNBs), baseband units (BBUs), servers, wearable devices, in-vehicle devices, access points (APs) in wireless fidelity (Wi-Fi) systems, wireless relay nodes, wireless backhaul nodes, transmission points (TPs), and transmission reception points (TRPs), or gNBs, TRPs, or TPs in 5G systems, for example, new radio (New This may be an antenna panel or group of antenna panels of a base station in a Radio (NR) system or a 5G system, or it may be a network node that constitutes a gNB or transmission point, such as a baseband unit (BBU) or distributed unit (DU). The base station may also be a macro base station, micro base station, picocell base station, small cell, relay station, balloon station, etc.

[0119] In some deployments, a gNB may include a central unit (CU) and a DU. The gNB may further include an active antenna unit (AAU). The CU implements some of the functions of the gNB, and the DU implements some of the functions of the gNB. For example, the CU is responsible for processing non-real-time protocols and services and implements the functions of the radio resource control (RRC) layer and the packet data convergence protocol (PDCP) layer. The DU is responsible for processing physical layer protocols and real-time services and implements the functions of the radio link control (RLC) layer, the media access control (MAC) layer, and the physical (PHY) layer. The AAU implements physical layer processing functions, radio frequency processing, and functions related to the active antenna. RRC layer information is generated by the CU and ultimately encapsulated in PHY layer information in the DU's PHY layer, or converted from PHY layer information. Therefore, in this architecture, higher-layer signaling (e.g., RRC layer signaling) can also be considered to be transmitted by the DU, or by the DU and AAU. It can be understood that a network device may be a device comprising one or more of the CU nodes, DU nodes, and AAU nodes. In addition, a CU may be classified as a network device in an access network (radio access network, RAN), or a CU may be classified as a network device in a core network (core network, CN). This is not limited to the present application.

[0120] Terminal devices may also be called terminals, access terminals, subscriber units, user equipment (UE), subscriber stations, mobile stations, remote stations, remote terminals, mobile devices, user terminals, wireless communication devices, user agents, or user equipment. Terminal devices are devices that include wireless communication capabilities (providing voice / data connectivity to a user), such as handheld devices or in-vehicle devices with wireless connectivity. The terminal devices in the embodiments of this application include mobile phones, tablet computers (pads), computers with wireless transceiver functionality, trains, airplanes, mobile internet devices (MIDs), virtual reality (VR) terminals, augmented reality (AR) terminals, wireless terminals for industrial control (e.g., robots), wireless terminals for the Internet of Vehicles (e.g., in-vehicle devices, vehicle devices, in-vehicle modules, or vehicles), wireless terminals for self-driving, wireless terminals for remote medical care, wireless terminals for smart grids, wireless terminals for transportation safety, wireless terminals for smart cities, wireless terminals for smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, and personal digital information terminals (PDIs). This may include an assistant (PDA), a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, an in-vehicle device, a wearable device, a terminal for a 5th generation (5G) network, or a terminal for a future advanced network.

[0121] The network architecture shown in Figure 1 is an illustrative example, and it should be understood that a network architecture suitable for the embodiments of this application is not limited thereto. Any network architecture capable of implementing some or all of the functions of the aforementioned devices is applicable to the embodiments of this application. The sensing method provided in the embodiments of this application may relate to only some of the devices shown in Figure 1, or to devices not shown in Figure 1. This is not limited to the present application.

[0122] Using an example where the sensing device is a base station, the following three sensing modes are described: sensing based on base station transmission and reception, sensing based on transmission by one base station and reception by another base station, and sensing based on transmission by the UE and reception by the base station.

[0123] (1) Sensing based on base station transmission and reception: A base station's remote radio unit (RRU) or base station (BS) performs sensing using reflected / diffracted signals of communication signals transmitted by the remote radio unit or base station. This sensing mode is applicable to systems where a sensing receiver and a sensing transmitter are deployed together at the same location, such as single-station radar where the base station needs to have full-duplex or equivalent functionality. The BS can sense information about the environment around it through sensing based on base station transmission and reception. Since the transmitter and receiver are on the same platform, they can be easily synchronized with a clock, and the sensing results can be clearly analyzed by a single base station node without the help of external devices.

[0124] (2) Sensing based on transmission from one base station and reception from another base station: One RRU performs sensing using downlink communication signals received from another RRU. This sensing mode is applicable to bistatic or multistatic radar where the transmitter and receiver are spatially separated but need to be clock-synchronized.

[0125] (3) Sensing based on UE transmission and base station reception: The base station performs sensing using the uplink communication signal transmitted from the UE transmitter. This sensing mode is similar to sensing based on transmission from one base station and reception from another base station, where the transmitter and receiver are spatially separated but not synchronized. In sensing based on UE transmission and base station reception, the receiver is fully aware of the system protocol, signal structure, and sensing signal transmission time. Therefore, uplink sensing can be performed directly without changing hardware or network settings, and full-duplex operation is not required. In the sensing process, relative time delay and Doppler frequency are estimated, rather than absolute time delay and Doppler frequency. Due to the spatial separation between the clock / oscillator, there is usually a discrepancy between the UE transmitter and the BS receiver. Ambiguity in the sensing quantity caused by the clock deviation between the transmitter and receiver can be resolved by using relevant algorithms and techniques.

[0126] Optionally, the sensing device may be an UE. For example, the sensing device may be an UE, and the sensing mode may be based on base station transmission and UE reception, with the UE performing sensing using downlink communication signals transmitted from the base station transmitter.

[0127] The sensing method provided in the embodiments of this application is described below.

[0128] Figure 2 is an interaction flowchart of a sensing method according to one embodiment of the present application. The sensing method shown in Figure 2 includes the following steps S201 to S204.

[0129] S201. The requesting device sends a sensing request to the control device. In response, the control device receives a sensing request from the requesting device.

[0130] A sensing request is used to request the execution of a sensing operation on a sensing object. A sensing request contains information indicating the sensing object, which is the object on which the sensing operation is performed. For example, a sensing object may be a region or a specific substance.

[0131] In one embodiment, the information indicating a sensing object includes an identifier for the sensing object. The identifier is information that can represent identification information for the sensing object. The sensing object to be sensed can be determined by using the identifier. For example, the identifier for a sensing object may be the name or geographical location of the sensing object, or other information that can identify the location of the sensing object, such as identification information (ID) configured for the sensing object.

[0132] In another embodiment, the information indicating a sensing object includes sensing area information. The sensing area information indicates a sensing area. In this case, the sensing object is a sensing area. The sensing area here may be understood as a specific range of area, such as a residential area, a park area, or a high-speed rail area. The sensing area to be sensed may be determined using the sensing area information. For example, the sensing area information may include the name or geographical location of the sensing area, and may further include the range of the sensing area or the requested sensing range.

[0133] In yet another embodiment, the information indicating the sensing object includes sensing location information. The sensing location information indicates the sensing target. In this case, the sensing object is the sensing target. The sensing target here may be understood as a specific substance, which may be a static substance, such as a traffic light, or a dynamic substance, such as an unmanned aerial vehicle. The sensing target to be sensed may be determined using the sensing location information. For example, the sensing location information may include the geographical location of the sensing target, and may further include the size of the sensing target or the requested sensing range.

[0134] S202. The control device determines the first beam information based on the information indicating the sensing object.

[0135] After receiving a sensing request, the control device obtains information indicating the sensing object from the sensing request and determines the first beam information based on the information indicating the sensing object.

[0136] The first beam information indicates the beam used to perform sensing on the sensing object. The first beam information, determined by the control device based on information indicating the sensing object, can be understood as adaptive to the sensing object. The first beam information corresponding to different sensing objects may be the same or different.

[0137] In one embodiment, the first beam information includes the beam width. The beam width refers to the angle between two directions in which the radiated power decreases by 3 dB on both sides of the maximum radiation direction.

[0138] In one possible implementation, the control device determines the object type to which the sensing object belongs based on information indicating the sensing object, and then obtains the beam width used to perform sensing on the sensing object based on the object type to which the sensing object belongs and the mapping relationship between the object type and the beam width. The mapping relationship between the object type and the beam width can be predefined or preconfigured.

[0139] In one possible implementation, the control device may obtain the size of the sensing object based on information indicating the sensing object, and then determine the object type to which the sensing object belongs based on the size of the sensing object. It should be understood that if the sensing object is a sensing region, the size of the sensing object may be the size of the sensing region. If the sensing object is a sensing target, the size of the sensing object may be the size of the sensing target.

[0140] In one example, the classification threshold may be set to classify sensing objects into two object types: a first sensing object and a second sensing object. The size of the first sensing object is greater than or equal to the classification threshold, and the size of the second sensing object is less than the classification threshold. Different object types correspond to different beam widths. For example, the first sensing object corresponds to a wide beam, and the width of a wide beam may be a specific width or a range of widths. The second sensing object corresponds to a narrow beam, and the width of a narrow beam may be a specific width or a range of widths. The width of a wide beam is greater than the width of a narrow beam.

[0141] After obtaining the size of the sensing object in this manner, the control device may compare the size of the sensing object to a classification threshold. If the size of the sensing object is greater than or equal to the classification threshold, the control device determines that the object type to which the sensing object belongs is a first sensing object, and then determines that the beam used to sense the sensing object is a wide beam. If the size of the sensing object is less than the classification threshold, the control device determines that the object type to which the sensing object belongs is a second sensing object, and then determines that the beam used to sense the sensing object is a narrow beam.

[0142] It should be understood that the two object types mentioned above are merely examples. In another example, sensing objects may be classified into more object types. For example, sensing objects may be classified into three object types: a first sensing object, a second sensing object, and a third sensing object. The size of the first sensing object is within a first predefined range, the size of the second sensing object is within a second predefined range, and the size of the third sensing object is within a third predefined range. This is not limited to the present application.

[0143] In one possible implementation, information indicating a sensing object may further include object type indication information to indicate the object type to which the sensing object belongs. The control device may determine the object type to which the sensing object belongs based on the object type indication information.

[0144] In one example, object type indication information may represent two object types: a sensing region and a sensing target. Different object types correspond to different beam widths. For example, a sensing region corresponds to a wide beam, and the width of a wide beam may be a specific width or a range of widths. A sensing target corresponds to a narrow beam, and the width of a narrow beam may be a specific width or a range of widths. The width of a wide beam is greater than the width of a narrow beam.

[0145] In this way, after obtaining information indicating a sensing object, the control device can identify object type indication information within the information. If the object type indication information indicates a sensing region, the control device determines that the object type to which the sensing object belongs is a sensing region, and then determines that the beam used to sense the sensing object is a wide beam. If the size of the sensing object is less than a classification threshold, the control device determines that the object type to which the sensing object belongs is a second sensing object, and then determines that the beam used to sense the sensing object is a narrow beam.

[0146] It should be understood that the two object types mentioned above are merely examples. In other examples, the object type indication information may indicate more object types as an alternative. For example, the object type indication information may indicate four object types: a first sensing region, a second sensing region, a first sensing target, and a second sensing target. This is not limited to the present application.

[0147] In one embodiment, the first beam information further includes the beam direction. The control device may obtain the position of the sensing object based on information indicating the sensing object, and then determine the beam direction based on the position of the sensing object so that the beam range can cover the sensing object.

[0148] S203. The control device transmits the first sensing control information to the first sensing device. In response, the first sensing device receives the first sensing control information from the control device.

[0149] The first sensing control information includes first beam information. The first sensing control information is used to instruct the first sensing device to perform sensing on the sensing object based on the first beam information. The first sensing device is a device capable of performing sensing on the sensing object. It should be understood that the signal from the first sensing device can cover the sensing object.

[0150] Before transmitting the first sensing control information to the first sensing device, the control device may first determine the first sensing device. Specifically, each sensing device in the network may be used as a candidate sensing device, and the control device may select from all candidate sensing devices a device capable of sensing the sensing object as the first sensing device.

[0151] In one possible implementation, each candidate sensing device may report sensing capability information to a control device. This sensing capability information includes information indicating the region that can be sensed by the candidate sensing device, which can also be understood as the signal coverage region of the candidate sensing device. The control device may obtain the location of a sensing object based on the information indicating the sensing object, then determine which candidate sensing devices have signal coverage regions that include the location of the sensing object, and then select one of these candidate sensing devices as the first sensing device.

[0152] Optionally, the sensing capability information may further include information indicating the beams supported by the candidate sensing devices. After the signal coverage region determines the candidate sensing devices including the location of the sensing object, the control device may further determine the candidate sensing devices that support beams that can satisfy the requirements of the first beam information among these candidate sensing devices, and then select one of the candidate sensing devices that satisfy the requirements as the first sensing device.

[0153] In one embodiment, the first sensing control information further includes a sensing type, which indicates the type of sensing used to perform sensing on a sensing object. Correspondingly, the first sensing control information further instructs the first sensing device to perform sensing on the sensing object based on the sensing type. For example, the sensing type may be scanning sensing or tracking sensing. Scanning sensing is the process of continuously transmitting sensing signals over a specific range of regions to acquire physical characteristic parameters of the region. Tracking sensing is the process of performing sensing measurements on a specific target material.

[0154] In one possible implementation, the sensing type is related to the size of the sensing object. After obtaining the size of the sensing object, the control device may determine the sensing type to be used to perform sensing on the sensing object based on the size of the sensing object and the mapping relationship between the object size and the sensing type. The mapping relationship between the object size and the sensing type may be predefined or preconfigured.

[0155] For example, a size threshold may be set. If the object size is greater than or equal to the size threshold, the sensing type corresponding to the object size is scanning sensing. If the object size is less than the size threshold, the sensing type corresponding to the object size is tracking sensing.

[0156] In this way, after obtaining the size of the sensing object, the control device may compare the size of the sensing object to a size threshold. If the size of the sensing object is greater than or equal to the size threshold, the control device determines that the sensing type used to sense the sensing object is scanning sensing. If the size of the sensing object is less than the size threshold, the control device determines that the sensing type used to sense the sensing object is tracking sensing.

[0157] In one possible implementation, the sensing type is related to the object type to which the sensing object belongs. After determining the object type to which the sensing object belongs, the control device may determine the sensing type to be used to perform sensing on the sensing object, based on the object type to which the sensing object belongs and the mapping relationship between the object type and the sensing type. The mapping relationship between the object type and the sensing type may be predefined or preconfigured.

[0158] For example, the sensing type corresponding to a sensing region is scanning sensing, and the sensing type corresponding to a sensing target is tracking sensing. In this way, if the object type to which the sensing object belongs is a sensing region, the control device determines that the sensing type used to perform sensing on the sensing object is scanning sensing. If the object type to which the sensing object belongs is a sensing target, the control device determines that the sensing type used to perform sensing on the sensing object is tracking sensing.

[0159] In one possible implementation, the sensing type is associated with the first beam information. After determining the first beam information, the control device may obtain the sensing type to be used to perform sensing on the sensing object, based on the first beam information and the mapping relationship between the beam information and the sensing type. The mapping relationship between the beam information and the sensing type can be predefined or preconfigured.

[0160] For example, a width threshold may be set. If the beam width indicated by the beam information is greater than or equal to the width threshold, the sensing type corresponding to the beam information is scanning sensing. If the beam width indicated by the beam information is less than the width threshold, the sensing type corresponding to the beam information is tracking sensing.

[0161] After determining the first beam information in this manner, the control device may compare the beam width indicated by the first beam information with a width threshold. If the beam width indicated by the first beam information is greater than or equal to the width threshold, the control device determines that the sensing type used to perform sensing on the sensing object is scanning sensing. If the beam width indicated by the first beam information is less than the width threshold, the control device determines that the sensing type used to perform sensing on the sensing object is tracking sensing.

[0162] In one embodiment, the first sensing control information further includes sensing accuracy information. The sensing accuracy information indicates the accuracy required to perform sensing on the sensing object, such as resolution, refresh rate, probability of no material being detected, and false alarm rate. Correspondingly, the first sensing control information further instructs the first sensing device to perform sensing on the sensing object based on the sensing accuracy information.

[0163] In one possible implementation, sensing accuracy information may be determined by a control device. Specifically, the control device may determine the accuracy required to perform sensing on a sensing object based on information indicating the sensing object.

[0164] In one possible implementation, sensing accuracy information is related to the size of the sensing object. The control device can obtain the size of the sensing object based on information indicating the sensing object, and then determine the accuracy required to sense the sensing object based on the size of the sensing object and the mapping relationship between the object size and the sensing accuracy information. The mapping relationship between the object size and the sensing accuracy information can be predefined or preconfigured.

[0165] For example, a larger size of the sensing object may indicate lower accuracy as indicated by the corresponding sensing accuracy information; a smaller size of the sensing object may indicate higher accuracy as indicated by the corresponding sensing accuracy information.

[0166] In one possible implementation, sensing accuracy information is related to the object type to which the sensing object belongs. A control device can obtain the object type to which the sensing object belongs based on information indicating the sensing object, and then determine the accuracy required to sense the sensing object based on the object type to which the sensing object belongs and the mapping relationship between the object type and the sensing accuracy information. The mapping relationship between the object type and the sensing accuracy information can be predefined or preconfigured.

[0167] For example, if the object type to which the sensing object belongs is a sensing region, the accuracy indicated by the corresponding sensing accuracy information may be lower. If the object type to which the sensing object belongs is a sensing target, the required sensing accuracy may be higher.

[0168] In one possible implementation, the sensing accuracy information may be determined by the requester. Specifically, the requester may determine the sensing accuracy information based on the service requirements, include the sensing accuracy information in the sensing request, and send the sensing request to the control device, which in turn can directly obtain the sensing accuracy information from the sensing request.

[0169] In one embodiment, the first sensing control information further includes sensing time information. The sensing time information indicates when sensing is performed on the sensing object, for example, the time or period of time when sensing is performed on the sensing object. Correspondingly, the first sensing control information further instructs the first sensing device to perform sensing on the sensing object based on the sensing time information.

[0170] In one possible implementation, the sensing time information may be determined by a control device. For example, the control device may indicate that the time during which the first sensing device senses the sensing object is within a predetermined period after the control device transmits the first sensing control information.

[0171] In one possible implementation, the sensing time information may be determined by the requester. Specifically, the requester may determine the sensing time information based on the service requirements, include the sensing time information in the sensing request, and send the sensing request to the control device, which can then directly obtain the sensing time information from the sensing request.

[0172] It will be understood that the information included in the first sensing control information is not limited to the information described in the embodiments described above. In other embodiments, the first sensing control information may further include more information. For example, the first sensing control information may further include sensing signal configuration information such as signal frequency and signal strength. This is not limited to the present application.

[0173] S204. The first sensing device performs sensing on the sensing object based on the first beam information.

[0174] After receiving the first sensing control information, the first sensing device obtains the first beam information from the first sensing control information and performs sensing on the sensing object based on the first beam information.

[0175] When the first sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information, it will be understood that, in corresponding, the first sensing device further senses the sensing object based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0176] In the above embodiment, the control device determines first beam information indicating the beam to be used to sense the sensing object based on information indicating the sensing object, the control device transmits first sensing control information including the first beam information to the first sensing device, and as a result, the first sensing device senses the sensing object based on the first beam information. Since the first beam information is dynamically determined for the sensing object and is adaptive to the sensing object, when the first sensing device senses the sensing object based on the first beam information, the sensing resources used can be considered adaptive to the sensing resources actually required by the sensing object. This helps to avoid wasting unnecessary sensing resources and improve the utilization of sensing resources.

[0177] In addition, the first beam information may further reflect the sensing accuracy. For example, if the beam width indicated by the first beam information is narrower, i.e., the beam is more focused and the resulting signal is stronger, the achievable sensing accuracy may be considered higher. As another example, if the beam width indicated by the first beam information is wider, i.e., the beam is more divergent and the resulting signal is weaker, the achievable sensing accuracy may be considered higher. Therefore, when a first sensing device senses a sensing object based on the first beam information, the achievable sensing accuracy may also be considered to adapt to the sensing accuracy actually required by the sensing object. This helps to solve the problem of limited sensing accuracy and to meet diverse sensing accuracy requirements.

[0178] Optionally, the sensing method shown in Figure 2 further includes steps S205 to S207 below.

[0179] S205. The first sensing device transmits the first sensing data to the control device. In response, the control device receives the first sensing data from the first sensing device.

[0180] The first sensing data is sensing data acquired by the first sensing device by performing sensing on a sensing object based on the first beam information. Specifically, the first sensing device transmits radio signal data to the sensing object based on the first beam information and receives the reflected radio signal data to acquire the first sensing data.

[0181] S206. The control device processes the first sensing data to obtain the first sensing result.

[0182] The first sensing data includes physical characteristic parameters of the radio signal, and the control device processing the first sensing data may involve specifically identifying these physical characteristic parameters in order to obtain the first sensing result.

[0183] In one example, the sensing object is the sensing region. The control device may identify whether these physical characteristic parameters represent a particular substance (i.e., a sensing target), and the first sensing result obtained accordingly may reflect the state of the sensing target within the sensing region.

[0184] For example, if these physical feature parameters are identified as representing a sensing target, the sensing target may be considered to be located within the sensing area, and accordingly, the first sensing result indicates that the sensing target has been detected. The first sensing result includes information indicating the sensing target, which may include information indicating that the sensing target has been detected, and may further include information such as the target type, attributes, location, and size of the sensing target.

[0185] In another example, if these physical feature parameters are identified as not being able to represent the sensing target, the sensing target may be considered not to exist within the sensing region, and accordingly, the first sensing result indicates that the sensing target was not detected.

[0186] In another example, the sensing object is a sensing target. The control device may identify state information of the sensing target based on these physical characteristic parameters, and the first sensing result obtained accordingly may reflect a change in the state of the sensing target. For example, the sensing target may be an unmanned aerial vehicle, and accordingly, the first sensing result may indicate the movement trajectory of the unmanned aerial vehicle.

[0187] S207. The control device transmits the first sensing result to the requesting device. In response, the requesting device receives the first sensing result from the control device.

[0188] After obtaining the first sensing result, the control device transmits the first sensing result to the requesting device, thereby enabling the requester to obtain the sensing result regarding the sensing object in a timely manner.

[0189] Optionally, the sensing method shown in Figure 2 further includes steps S208 to S210 below.

[0190] S208. The control device determines the second beam information based on the first sensing result.

[0191] In one embodiment, the sensing object is a sensing region (denoted as X), and a first sensing device performs sensing on the sensing region X based on first beam information and acquires first sensing data. A control device processes the first sensing data and acquires a first sensing result. When the first sensing result indicates that a sensing target (denoted as Z) has been detected within the sensing region X, the control device determines second beam information based on the first sensing result.

[0192] The second beam information indicates the beam used to perform sensing on the sensing target Z. The second beam information is different from the first beam information.

[0193] In one embodiment, the first beam information includes a first beam width (denoted as W1). The first beam width W1 is the beam width used for sensing on the sensing region X. The second beam information includes a second beam width (denoted as W2). The second beam width W2 is the beam width used for sensing on the sensing target Z. The second beam width W2 is smaller than the first beam width W1.

[0194] In this way, the control device assists in adjusting the beam width when a sensing target is detected in the sensing region. When the beam width is reduced, the beam can be more focused, generating a stronger sensing signal, which in turn can be instructed to perform higher-precision sensing on the sensing target, thus meeting different accuracy requirements from region sensing to specific target sensing.

[0195] The first sensing result includes information indicating the sensing target, and the control device determining the second beam information based on the first sensing result may specifically mean determining the second beam information based on information indicating the sensing target. The second beam information determined by the control device based on information indicating the sensing target can be understood as adaptive to the sensing target. The second beam information corresponding to different sensing targets may be the same or different.

[0196] In one possible implementation, the control device may obtain the target type to which the sensing target belongs based on information indicating the sensing target, and then obtain the beam width used to perform sensing on the sensing target based on the target type to which the sensing target belongs and the mapping relationship between the target type and the beam width. The mapping relationship between the target type and the beam width may be predefined or preconfigured.

[0197] For example, the target type may be used to represent a specific substance. For instance, if the sensing target is specifically an unmanned aerial vehicle, the target type to which the sensing target belongs is unmanned aerial vehicle. The beam widths corresponding to different target types may be the same or different.

[0198] It should be understood that the target type may be determined by alternative means, and this is not limited to the present application. For example, the target type may be determined by alternative means based on the size of the sensing target. For example, if the size of the sensing target is within a predetermined first size range, the target type to which the sensing target belongs is the first target type. If the size of the sensing target is within a predetermined second size range, the target type to which the sensing target belongs is the second target type.

[0199] In one embodiment, the second beam information further includes the beam direction. The control device may obtain the position of the sensing target based on information indicating the sensing target, and then determine the beam direction based on the position of the sensing target so that the beam range can cover the sensing target.

[0200] S209. The control device transmits the second sensing control information to the first sensing device. In response, the first sensing device receives the second sensing control information from the control device.

[0201] The second sensing control information includes second beam information. The second sensing control information instructs the first sensing device to perform sensing on the sensing target based on the second beam information.

[0202] In one embodiment, the second sensing control information further includes a sensing type, which indicates a sensing type used to perform sensing on a sensing target. Correspondingly, the second sensing control information further instructs the first sensing device to perform sensing on the sensing target based on the sensing type.

[0203] In one possible implementation, the sensing type in the first sensing control information is scanning sensing, and the sensing type in the second sensing control information is tracking sensing.

[0204] In this way, the control device further assists in adjusting the sensing type when a sensing target is detected in the sensing area. With the sensing type adjusted from scanning sensing to tracking sensing, the control device may be instructed to track the target after it is detected, thereby meeting the service requirements for target intrusion detection and tracking within a specific area.

[0205] In one embodiment, the second sensing control information further includes sensing accuracy information. The sensing accuracy information indicates the accuracy required to perform sensing on the sensing target, such as resolution, refresh rate, probability of no material being detected, and false alarm rate. Accordingly, the second sensing control information further instructs the first sensing device to perform sensing on the sensing target based on the sensing accuracy information.

[0206] In one embodiment, the second sensing control information further includes sensing time information. The sensing time information indicates when sensing is performed on the sensing target, for example, the time or period of time when sensing is performed on the sensing target. Correspondingly, the second sensing control information further instructs the first sensing device to perform sensing on the sensing target based on the sensing time information.

[0207] For a detailed explanation of sensing time information and its specific nature, please refer to the relevant descriptions in the embodiments described above. Details will not be repeated here.

[0208] S210. The first sensing device performs sensing on the sensing target based on the second beam information.

[0209] After receiving the second sensing control information, the first sensing device obtains the second beam information from the second sensing control information and performs sensing on the sensing target based on the second beam information.

[0210] When the second sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information, it will be understood that the first sensing device then performs further sensing on the sensing target based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0211] Optionally, the sensing method shown in Figure 2 further includes steps S211 to S213 below.

[0212] S211. The first sensing device transmits the second sensing data to the control device. In response, the control device receives the second sensing data from the first sensing device.

[0213] The second sensing data is the sensing data acquired by the first sensing device by performing sensing on the sensing target based on the second beam information. Specifically, the first sensing device transmits radio signal data to the sensing target based on the second beam information, and receives the reflected radio signal data to acquire the second sensing data.

[0214] S212. The control device processes the second sensing data to obtain the second sensing result.

[0215] The control device may identify state information of the sensing target based on the second sensing data, and the second sensing result obtained accordingly may reflect the state change of the sensing target. For example, the sensing target may be an unmanned aerial vehicle, and accordingly the second sensing result may indicate the movement trajectory of the unmanned aerial vehicle. In another example, the sensing target may be a traffic light, and accordingly the second sensing result may indicate a change in the color of the traffic light.

[0216] S213. The control device transmits the second sensing result to the requesting device. In response, the requesting device receives the second sensing result from the control device.

[0217] After obtaining the second sensing result, the control device transmits the second sensing result to the requesting device, thereby allowing the requester to obtain the sensing result regarding the sensing target in a timely manner.

[0218] According to the solution described above, the control device may first instruct the first sensing device to perform scanning sensing within a specific area using a wider beam, and then perform target identification on the scanning sensing data acquired by the first sensing device. Once the sensing target is identified, the control device may adjust the beam width and sensing type, and then instruct the first sensing device to perform tracking sensing on the sensing target using a narrower beam. In this way, efficient scanning sensing and high-precision tracking sensing can be performed, satisfying the sensing requirements in two different stages, namely target detection and target tracking, and improving the utilization of sensing resources.

[0219] Optionally, the first sensing device is a base station, and the aforementioned solution is applicable to sensing services, such as target intrusion detection and tracking, in a mode of sensing based on the base station's transmission and reception.

[0220] Figure 3 is an interaction flowchart of another sensing method according to one embodiment of the present application. The sensing method shown in Figure 3 includes the following steps S301 to S303.

[0221] S301. The control device transmits the first sensing control information to the first sensing device. In response, the first sensing device receives the first sensing control information from the control device.

[0222] The first sensing control information includes information indicating the sensing object. Optionally, the first sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information.

[0223] For specific descriptions of the information indicating the sensing object, sensing type, sensing accuracy information, and sensing time information, please refer to the relevant descriptions in the embodiments described above. Details will not be repeated here.

[0224] The entity for determining the sensing type, sensing accuracy information, or sensing time information is not limited to the control device or requester described in the embodiments above, but may be a first sensing device, that is, the sensing type, sensing accuracy information, or sensing time information may not be carried in the first sensing control information, but may be determined by the first sensing device after receiving the first sensing control information. For example, the first sensing device may determine the sensing type based on information indicating a sensing object, and the first sensing device may further determine the sensing accuracy information or sensing time information based on the configuration or capabilities of the first sensing device.

[0225] S302. The first sensing device determines first beam information based on information indicating the sensing object.

[0226] After receiving the first sensing control information, the first sensing device obtains information indicating a sensing object from the first sensing control information and determines the first beam information based on the information indicating the sensing object.

[0227] The first beam information indicates the beam used to perform sensing on the sensing object. In this embodiment, the first sensing device determines the first beam information.

[0228] For a specific description of the first beam information, please refer to the relevant description of the first beam information in the embodiments described above. For a specific description of how the first beam information is determined by the first sensing device, please refer to the relevant description of how the first beam information is determined by the control device in the embodiments described above. Details will not be repeated here.

[0229] S303. The first sensing device performs sensing on the sensing object based on the first beam information.

[0230] When the first sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information, or when the first sensing device further determines sensing type and / or sensing accuracy information and / or sensing time information, it will be understood that, in correspondence, the first sensing device further senses the sensing object based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0231] Optionally, the sensing method shown in Figure 3 further includes steps S304 to S308 below.

[0232] S304. The first sensing device transmits the first sensing data to the control device. In response, the control device receives the first sensing data from the first sensing device.

[0233] S305. The control device acquires information indicating the sensing target based on the first sensing data.

[0234] In one embodiment, the sensing object is a sensing region, and the first sensing device senses the sensing region based on first beam information and acquires first sensing data. The control device processes the first sensing data to identify whether the first sensing data includes data representing a sensing target, that is, it detects whether the sensing region includes a sensing target. If the control device detects a sensing target in the sensing region, it may acquire information indicating the sensing target.

[0235] S306. The control device transmits the second sensing control information to the first sensing device. In response, the first sensing device receives the second sensing control information from the control device.

[0236] The second sensing control information includes information indicating the sensing target. Optionally, the second sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information.

[0237] For specific descriptions of the information indicating the sensing target, sensing type, sensing accuracy information, and sensing time information, please refer to the relevant descriptions in the embodiments described above. Details will not be repeated here.

[0238] S307. The first sensing device determines the second beam information based on the information indicating the sensing target.

[0239] After receiving the second sensing control information, the first sensing device obtains information indicating the sensing target from the second sensing control information and determines the second beam information based on the information indicating the sensing target.

[0240] The second beam information indicates the beam used to perform sensing on the sensing target. In one embodiment, the beam width indicated by the second beam information is smaller than the beam width indicated by the first beam information.

[0241] In this embodiment, the first sensing device determines the second beam information. For a specific explanation of how the first sensing device determines the second beam information, please refer to the related explanation of how the control device determines the second beam information in the previously described embodiment. Details will not be repeated here.

[0242] S308. The first sensing device performs sensing on the sensing target based on the second beam information.

[0243] If the second sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information, or if the first sensing device further determines sensing type and / or sensing accuracy information and / or sensing time information, it will be understood that, in response, the first sensing device further senses the sensing target based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0244] According to the solution described above, the control device may acquire information indicating a sensing target based on the first sensing data, and the first sensing device may determine second beam information based on the information indicating the sensing target; in other words, the control device and the first sensing device collaboratively determine the second beam information.

[0245] In another embodiment, it should be understood that the control device or the first sensing device may independently determine the second beam information.

[0246] Optionally, steps S305 to S307 may be replaced with the following steps.

[0247] The control device determines second beam information based on first sensing data. The control device transmits the second sensing control information to the first sensing device. In response, the first sensing device receives the second sensing control information from the control device. The second sensing control information includes second beam information.

[0248] According to the solution described above, the control device may acquire information indicating a sensing target based on the first sensing data and determine second beam information based on the information indicating the sensing target; that is, the control device independently determines the second beam information. After determining the second beam information, the control device may include the second beam information in the second sensing control information and transmit the second sensing control information to the first sensing device, thereby enabling the first sensing device to directly acquire the second beam information from the second sensing control information.

[0249] Optionally, steps S304 to S307 may be replaced with the following steps.

[0250] The first sensing device acquires information indicating the sensing target based on the first sensing data. The first sensing device determines second beam information based on the information indicating the sensing target.

[0251] According to the solution described above, the first sensing device may acquire information indicating a sensing target based on the first sensing data and determine second beam information based on the information indicating the sensing target; that is, the first sensing device independently determines the second beam information.

[0252] Figure 4 is an interaction flowchart of another sensing method according to one embodiment of the present application. The sensing method shown in Figure 4 includes the following steps S401 to S404.

[0253] S401. The requesting device sends a sensing request to the control device. In response, the control device receives a sensing request from the requesting device.

[0254] S402. The control device determines the first beam information based on the information indicating the sensing object.

[0255] For a detailed explanation of steps S401 and S402, please refer to the corresponding explanations of steps S201 and S202 in the previously described embodiment. Details will not be repeated here.

[0256] S403. The control device transmits the first sensing control information to the first sensing device. In response, the first sensing device receives the first sensing control information from the control device. The control device transmits the first sensing control information to the second sensing device. In response, the second sensing device receives the first sensing control information from the control device.

[0257] The first sensing control information includes first beam information and further includes a cooperative sensing mode. The first sensing control information instructs the first sensing device and the second sensing device to cooperate in sensing the sensing object based on the first beam information.

[0258] The second sensing device is a device that works in cooperation with the first sensing device to sense a sensing object. It should be understood that the signal from the second sensing device can cover the sensing object. The control device may initially determine the second sensing device before transmitting the first sensing control information to the second sensing device. For a specific explanation of how the control device determines the second sensing device, please refer to the relevant explanation of how the control device determines the second sensing device in the embodiments described above. Details will not be repeated here.

[0259] Optionally, the cooperative sensing mode is either mutual transmission and mutual reception mode or one-transmission-one-reception mode. In mutual transmission and mutual reception mode, both the first and second sensing devices are used as transmitting ends for transmitting radio signals and as receiving ends for receiving radio signals. In one-transmission-one-reception mode, one of the first and second sensing devices is used as a transmitting end for transmitting radio signals, and the other is used as a receiving end for receiving radio signals.

[0260] In one embodiment, the first sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information. Correspondingly, the first sensing control information further instructs the first sensing device and the second sensing device to coordinately sense the sensing object based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0261] S404. The first sensing device and the second sensing device cooperate to sense the sensing object based on the first beam information.

[0262] After receiving the first sensing control information, the first sensing device and the second sensing device acquire first beam information from the first sensing control information and perform sensing on the sensing object in a coordinated manner based on the first beam information.

[0263] When the first sensing control information further includes sensing type, and / or sensing accuracy information, and / or sensing time information, it will be understood that the first sensing device and the second sensing device will, in correspondingly, perform sensing on the sensing object more cooperatively based on the sensing type, and / or sensing accuracy information, and / or sensing time information.

[0264] Optionally, the sensing method shown in Figure 4 further includes steps S405 to S407.

[0265] S405. The first sensing device transmits the first sensing data to the control device. In response, the control device receives the first sensing data from the first sensing device.

[0266] S406. The control device processes the first sensing data to obtain the first sensing result.

[0267] S407. The control device transmits the first sensing result to the requesting device. In response, the requesting device receives the first sensing result from the control device.

[0268] For a detailed explanation of steps S405 to S407, please refer to the corresponding explanations of steps S205 to S207 in the previously described embodiment. Details will not be repeated here.

[0269] Optionally, the sensing method shown in Figure 4 further includes steps S408 to S410 below.

[0270] S408. The control device determines the second beam information based on the first sensing result.

[0271] In one embodiment, the sensing object is a sensing region, the first sensing result indicates that a sensing target has been detected within the sensing region, and the second beam information indicates the beam used to perform sensing on the sensing target. The beam width indicated by the second beam information is smaller than the beam width indicated by the first beam information.

[0272] S409. The control device transmits the second sensing control information to the first sensing device. In response, the first sensing device receives the second sensing control information from the control device. The control device transmits the second sensing control information to the second sensing device. In response, the second sensing device receives the second sensing control information from the control device.

[0273] The second sensing control information includes second beam information and further includes a cooperative sensing mode. The second sensing control information instructs the first and second sensing devices to cooperate in sensing the sensing target based on the second beam information.

[0274] Optionally, the second sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information. Correspondingly, the second sensing control information further instructs the first sensing device and the second sensing device to coordinately sense the sensing target based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0275] In one possible implementation, the cooperative sensing mode in the first sensing control information is a mutual transmission and mutual reception mode, and the cooperative sensing mode in the second sensing control information is a one-transmission, one-reception mode.

[0276] In this way, when a sensing target is detected in the sensing area, the control device further assists in adjusting the cooperative sensing mode. By adjusting the cooperative sensing mode from a mutual transmit and receive mode to a single transmit and receive mode, the utilization of sensing resources can be improved.

[0277] S410. The first sensing device and the second sensing device cooperate to sense the sensing target based on the second beam information.

[0278] After receiving the second sensing control information, the first and second sensing devices acquire the second beam information from the second sensing control information and perform sensing on the sensing target in a coordinated manner based on the second beam information.

[0279] In one embodiment, a first sensing device is used as a receiving end, and a second sensing device is used as a transmitting end. The second sensing device transmits radio signal data to a sensing target based on second beam information, and the first sensing device receives the reflected radio signal data. The beam width of the transmitting end is adjusted accordingly based on instructions from a control device. The beam width of the receiving end may or may not be adjusted accordingly based on instructions from a control device.

[0280] When the second sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information, it will be understood that the first and second sensing devices will, in correspondingly, perform sensing on the sensing target more cooperatively based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0281] Optionally, the sensing method shown in Figure 4 further includes steps S411 to S413 below.

[0282] S411. The first sensing device transmits the second sensing data to the control device. In response, the control device receives the second sensing data from the first sensing device.

[0283] S412. The control device processes the second sensing data to obtain the second sensing result.

[0284] S413. The control device transmits the second sensing result to the requesting device. In response, the requesting device receives the second sensing result from the control device.

[0285] For a detailed explanation of steps S411 to S413, please refer to the corresponding explanations of steps S211 to S213 in the previously described embodiment. Details will not be repeated here.

[0286] According to the foregoing solution, the control device first instructs the first sensing device and the second sensing device to perform scanning sensing of mutual transmission and reception within a specific area range using a wider beam, and target identification may be performed on the scanning sensing data acquired by the first sensing device. When the sensing target is identified, the control device adjusts the beam width, sensing type, and sensing mode, and then may instruct the first sensing device and the second sensing device to perform one-transmission-one-reception tracking sensing on the sensing target using a narrower beam. In this way, efficient scanning sensing and high-precision tracking sensing can be implemented, the sensing requirements in two different stages, namely target detection and target tracking, can be met, and the utilization of sensing resources can be improved.

[0287] Optionally, both the first sensing device and the second sensing device are base stations, and the foregoing solution is applicable to sensing services, such as target intrusion detection and tracking, in a sensing mode based on the transmission of one base station and the reception of another base station.

[0288] FIG. 5 is an interaction flowchart of another sensing method according to an embodiment of the present application. The sensing method shown in FIG. 5 includes the following steps S501 to S504.

[0289] S501. The control device transmits first sensing control information to the first sensing device. Correspondingly, the first sensing device receives the first sensing control information from the control device.

[0290] The first sensing control information includes information indicating a sensing object and further includes a cooperative sensing mode. The first sensing control information instructs the first sensing device and the second sensing device to perform sensing on the sensing object cooperatively.

[0291] Optionally, the first sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information. Correspondingly, the first sensing control information further instructs the first sensing device and the second sensing device to coordinately sense the sensing object based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0292] S502. The first sensing device determines first beam information based on information indicating the sensing object.

[0293] For a detailed explanation of step S502, please refer to the relevant explanation of step S302 in the embodiment described above. Details will not be repeated here.

[0294] S503. The first sensing device transmits the first instruction information to the second sensing device. In response, the second sensing device receives the first instruction information from the first sensing device.

[0295] The first instruction information includes first beam information and a co-sensing mode. The first instruction information instructs the second sensing device to work with the first sensing device to sense the sensing object based on the first beam information.

[0296] Optionally, the first instruction information further includes sensing type and / or sensing accuracy information and / or sensing time information. Correspondingly, the first instruction information further instructs the second sensing device to work with the first sensing device to sense the sensing object based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0297] S504. The first sensing device and the second sensing device cooperate to sense the sensing object based on the first beam information.

[0298] If the first sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information, or if the first instruction information further includes sensing type and / or sensing accuracy information and / or sensing time information, it will be understood that the first sensing device and the second sensing device will, in correspondingly, perform sensing on the sensing object more cooperatively based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0299] Optionally, the sensing method shown in Figure 5 further includes steps S505 to S510 below.

[0300] S505. The first sensing device transmits the first sensing data to the control device. In response, the control device receives the first sensing data from the first sensing device.

[0301] S506. The control device acquires information indicating the sensing target based on the first sensing data.

[0302] S507. The control device transmits the second sensing control information to the first sensing device. In response, the first sensing device receives the second sensing control information from the control device.

[0303] The second sensing control information includes information indicating a sensing target and further includes a cooperative sensing mode. The second sensing control information instructs the first and second sensing devices to cooperate in sensing the sensing target.

[0304] Optionally, the second sensing control information further includes sensing type, and / or sensing accuracy information, and / or sensing time information. Correspondingly, the second sensing control information further instructs the first sensing device and the second sensing device to cooperate in sensing the sensing target based on the sensing type, and / or sensing accuracy information, and / or sensing time information.

[0305] S508. The first sensing device determines second beam information based on the information indicating the sensing target.

[0306] S509. The first sensing device transmits the second instruction information to the second sensing device. Correspondingly, the second sensing device receives the second instruction information from the first sensing device.

[0307] The second instruction information includes the second beam information and the cooperative sensing mode. The second instruction information instructs the second sensing device to cooperate with the first sensing device to perform sensing on the sensing target based on the second beam information.

[0308] Optionally, the second instruction information further includes sensing type, and / or sensing accuracy information, and / or sensing time information. Correspondingly, the second instruction information further instructs the second sensing device to cooperate with the first sensing device to perform sensing on the sensing target based on the sensing type, and / or sensing accuracy information, and / or sensing time information.

[0309] S510. The first sensing device and the second sensing device cooperate in sensing the sensing target based on the second beam information.

[0310] If the second sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information, or if the second instruction information further includes sensing type and / or sensing accuracy information and / or sensing time information, it will be understood that the first sensing device and the second sensing device will, in correspondingly, perform sensing on the sensing target in a more coordinated manner based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0311] For a detailed explanation of steps S505, S506, and S508, please refer to the relevant explanations of steps S304, S305, and S307 in the above embodiment. Details will not be repeated here.

[0312] Optionally, steps S506 to S508 may be replaced with the following steps.

[0313] The control device determines second beam information based on first sensing data. The control device transmits the second sensing control information to the first sensing device. In response, the first sensing device receives the second sensing control information from the control device. The second sensing control information includes second beam information.

[0314] According to the solution described above, the control device may acquire information indicating a sensing target based on the first sensing data and determine second beam information based on the information indicating the sensing target; that is, the control device independently determines the second beam information. After determining the second beam information, the control device may include the second beam information in the second sensing control information and transmit the second sensing control information to the first sensing device, thereby enabling the first sensing device to directly acquire the second beam information from the second sensing control information.

[0315] Optionally, steps S505 to S508 may be replaced with the following steps.

[0316] The first sensing device acquires information indicating the sensing target based on the first sensing data. The first sensing device determines second beam information based on the information indicating the sensing target.

[0317] According to the solution described above, the first sensing device may acquire information indicating a sensing target based on the first sensing data and determine second beam information based on the information indicating the sensing target; that is, the first sensing device independently determines the second beam information.

[0318] Figure 6 is an interaction flowchart of a sensing method according to one embodiment of the present application. The sensing method shown in Figure 6 includes the following steps S601 to S613.

[0319] S601. The requesting device sends a sensing request to the control device. In response, the control device receives a sensing request from the requesting device.

[0320] S602. The control device determines the first beam information based on the information indicating the sensing object.

[0321] S603. The control device transmits the first sensing control information to the first sensing device. In response, the first sensing device receives the first sensing control information from the control device.

[0322] S604. The first sensing device performs sensing on the sensing object based on the first beam information.

[0323] S605. The first sensing device transmits the first sensing data to the control device. In response, the control device receives the first sensing data from the first sensing device.

[0324] S606. The control device processes the first sensing data to obtain the first sensing result.

[0325] S607. The control device transmits the first sensing result to the requesting device. In response, the requesting device receives the first sensing result from the control device.

[0326] S608. The control device determines the second beam information based on the first sensing result.

[0327] S609. The control device transmits the second sensing control information to the first sensing device. In response, the first sensing device receives the second sensing control information from the control device. The control device transmits the second sensing control information to the user equipment. In response, the user equipment receives the second sensing control information from the control device.

[0328] The second sensing control information includes second beam information and further includes a User Equipment (UE) assisted sensing mode. The UE assisted sensing mode may also be understood as a cooperative sensing mode, where the second sensing device in the sensing mode is the UE. The second sensing control information instructs the first sensing device and the user equipment to cooperate in sensing the sensing target based on the second beam information.

[0329] Optionally, the second sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information. Correspondingly, the second sensing control information further instructs the first sensing device and user equipment to coordinate sensing of the sensing target based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0330] S610. The first sensing device and user equipment cooperate to sense the sensing target based on the second beam information.

[0331] After receiving the second sensing control information, the first sensing device and user equipment acquire the second beam information from the second sensing control information and perform sensing on the sensing target in a coordinated manner based on the second beam information.

[0332] Specifically, the first sensing device is used as the receiving end, and the user equipment is used as the transmitting end. The user equipment transmits radio signal data to the sensing target based on the second beam information, and the first sensing device receives the reflected radio signal data. The beam width at the transmitting end is adjusted accordingly based on instructions from the control device. The beam width at the receiving end may or may not be adjusted accordingly based on instructions from the control device.

[0333] When the second sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information, it will be understood that the first sensing device and user equipment will, in correspondingly, perform sensing on the sensing target more cooperatively based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0334] S611. The first sensing device transmits the second sensing data to the control device. In response, the control device receives the second sensing data from the first sensing device.

[0335] S612. The control device processes the second sensing data to obtain the second sensing result.

[0336] S613. The control device transmits the second sensing result to the requesting device. In response, the requesting device receives the second sensing result from the control device.

[0337] For a detailed explanation of steps S601 to S608 and steps S611 to S613, please refer to the relevant explanations of steps S201 to S208 and steps S211 to S213 in the previously described embodiment. Details will not be repeated here.

[0338] According to the solution described above, the control device may first instruct the first sensing device to perform scanning sensing within a specific area using a wider beam, and then perform target identification on the scanning sensing data acquired by the first sensing device. Once the sensing target is identified, the control device may adjust the beam width, sensing type, and sensing mode, and then instruct the user device to assist the first sensing device in performing tracking sensing on the sensing target using a narrower beam. In this way, efficient scanning sensing and high-precision tracking sensing can be performed, satisfying the sensing requirements in two different stages, namely target detection and target tracking, and improving the utilization of sensing resources.

[0339] Optionally, the first sensing device is a base station, and the aforementioned solution is applicable to sensing services, such as target intrusion detection and tracking, in a mode of sensing based on transmission by the UE and reception by the base station.

[0340] Figure 7 is an interaction flowchart of another sensing method according to one embodiment of the present application. The sensing method shown in Figure 7 includes the following steps S701 to S709.

[0341] S701. The control device transmits the first sensing control information to the first sensing device. In response, the first sensing device receives the first sensing control information from the control device.

[0342] S702. The first sensing device determines first beam information based on information indicating the sensing object.

[0343] S703. The first sensing device performs sensing on the sensing object based on the first beam information.

[0344] S704. The first sensing device transmits the first sensing data to the control device. In response, the control device receives the first sensing data from the first sensing device.

[0345] S705. The control device acquires information indicating the sensing target based on the first sensing data.

[0346] S706. The control device transmits the second sensing control information to the first sensing device. In response, the first sensing device receives the second sensing control information from the control device.

[0347] The second sensing control information includes information indicating the sensing target and further includes a UE-assisted sensing mode. The second sensing control information instructs the first sensing device and user equipment to coordinate sensing of the sensing target.

[0348] Optionally, the second sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information. Correspondingly, the second sensing control information further instructs the first sensing device and user equipment to coordinate sensing of the sensing target based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0349] S707. The first sensing device determines the second beam information based on the information indicating the sensing target.

[0350] S708. The first sensing device transmits the third instruction information to the user device. In response, the user device receives the third instruction information from the first sensing device.

[0351] The third instruction information includes the second beam information and the UE-assisted sensing mode. Based on the second beam information, the third instruction information instructs the user equipment to assist the first sensing device in sensing the sensing target.

[0352] Optionally, the third instruction information further includes sensing type and / or sensing accuracy information and / or sensing time information. Correspondingly, the third instruction information instructs the user device to assist the first sensing device when sensing a sensing object based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0353] In one embodiment, the third instruction information may be information transmitted to the user device by the first sensing device based on a Radio Resource Control (RRC) protocol.

[0354] S709. The first sensing device and user equipment cooperate to sense the sensing target based on the second beam information.

[0355] If the second sensing control information further includes sensing type and / or sensing accuracy information and / or sensing time information, or if the third instruction information further includes sensing type and / or sensing accuracy information and / or sensing time information, it will be understood that the first sensing device and user equipment will, in correspondingly, perform sensing on the sensing object more cooperatively based on the sensing type and / or sensing accuracy information and / or sensing time information.

[0356] For a detailed explanation of steps S701 to S705 and step S707, please refer to the relevant explanations of steps S301 to S305 and step S307 in the previously described embodiment. Details will not be repeated here.

[0357] Optionally, steps S705 to S707 may be replaced with the following steps.

[0358] The control device determines second beam information based on first sensing data. The control device transmits the second sensing control information to the first sensing device. In response, the first sensing device receives the second sensing control information from the control device. The second sensing control information includes second beam information.

[0359] According to the solution described above, the control device may acquire information indicating a sensing target based on the first sensing data and determine second beam information based on the information indicating the sensing target; that is, the control device independently determines the second beam information. After determining the second beam information, the control device may include the second beam information in the second sensing control information and transmit the second sensing control information to the first sensing device, thereby enabling the first sensing device to directly acquire the second beam information from the second sensing control information.

[0360] Optionally, steps S704 to S707 may be replaced with the following steps.

[0361] The first sensing device acquires information indicating the sensing target based on the first sensing data. The first sensing device determines second beam information based on the information indicating the sensing target.

[0362] According to the solution described above, the first sensing device may acquire information indicating a sensing target based on the first sensing data and determine second beam information based on the information indicating the sensing target; that is, the first sensing device independently determines the second beam information.

[0363] Optionally, in the embodiments shown in Figure 6 or Figure 7, the user equipment may be replaced with a base station, and correspondingly, the first sensing device is the user equipment, and as a result, the user equipment is used as the receiving end and the base station is used as the transmitting end. This is applicable to sensing services in a mode that senses based on transmission from the base station and reception from the UE.

[0364] The above describes in detail the methods in the embodiments of this application. Below, we provide an apparatus for carrying out any of the methods in the embodiments of this application. For example, we provide an apparatus that includes a unit (or means) configured to carry out steps performed by a network element / device in any one of the methods described above.

[0365] Figure 8 is a diagram showing the structure of a sensing device according to one embodiment of this application.

[0366] As shown in Figure 8, the sensing device 800 may include a transceiver unit 801 and a processing unit 802. The transceiver unit 801 and the processing unit 802 may be software, hardware, or a combination of software and hardware.

[0367] The transceiver unit 801 may implement a transmit function and / or a receive function, and the transceiver unit 801 may also be described as a communication unit. Alternatively, the transceiver unit 801 may be a unit that integrates an acquisition unit and a transmit unit. The acquisition unit is configured to implement a receive function, and the transmit unit is configured to implement a transmit function. Optionally, the transceiver unit 801 may be configured to receive information transmitted by another device, and may be further configured to transmit information to another device.

[0368] In one possible design, the sensing device 800 may correspond to the control device in the embodiment of the method described above. For example, the sensing device 800 may be the control device in the embodiment of the method described above, or it may be a chip within the control device. The sensing device 800 may include units configured to perform operations performed by the control device in the embodiment of the method described above. In addition, each unit within the sensing device 800 is configured to perform operations performed by the control device in the embodiment of the method described above. The units are described below.

[0369] The transceiver unit 801 is configured to receive sensing requests from the requesting device. The sensing request includes information indicating the sensing object.

[0370] The processing unit 802 is configured to determine first beam information based on information indicating the sensing object. The first beam information indicates the beam used to perform sensing on the sensing object.

[0371] The transceiver unit 801 is further configured to transmit first sensing control information to a first sensing device. The first sensing control information includes first beam information, and the first sensing device is configured to perform sensing on a sensing object.

[0372] In one possible implementation, the first beam information includes the beam width, or the first beam information includes both the beam width and the beam direction.

[0373] In one possible implementation, the first sensing control information further includes the sensing type.

[0374] In one possible implementation, the information indicating a sensing object includes one or more of the following: the sensing object identifier, sensing area information, and sensing location information.

[0375] In one possible implementation, the first sensing control information further includes sensing accuracy information and / or sensing time information.

[0376] In one possible implementation, the first sensing control information further includes a cooperative sensing mode.

[0377] In one possible implementation, the transceiver unit 801 is further configured to transmit first sensing control information to a second sensing device. The second sensing device is configured to perform sensing on a sensing object.

[0378] In one possible implementation, the transceiver unit 801 is further configured to receive first sensing data from a first sensing device. The first sensing data is sensing data acquired by the first sensing device by sensing a sensing object based on first beam information. The processing unit 802 is further configured to process the first sensing data to obtain a first sensing result. The transceiver unit 801 is further configured to transmit the first sensing result to the requesting device.

[0379] In one possible implementation, the processing unit 802 is further configured to determine second beam information based on the first sensing result. The second beam information is different from the first beam information. The transceiver unit 801 is further configured to transmit second sensing control information to the first sensing device. The second sensing control information includes the second beam information.

[0380] In one possible implementation, the first beam information includes the first beam width, the second beam information includes the second beam width, and the difference between the second beam information and the first beam information includes the second beam width being smaller than the first beam width.

[0381] In another possible design, the sensing device 800 may correspond to the first sensing device in the embodiment of the method described above. For example, the sensing device 800 may be the first sensing device in the embodiment of the method described above, or it may be a chip within the first sensing device. The sensing device 800 may include units configured to perform the operations performed by the first sensing device in the embodiment of the method described above. In addition, each unit within the sensing device 800 is configured to perform the operations performed by the first sensing device in the embodiment of the method described above.

[0382] In one possible embodiment, the unit is described as follows:

[0383] The transceiver unit 801 is configured to receive first sensing control information from a control device. The first sensing control information includes first beam information, which indicates the beam used to perform sensing on the sensing object.

[0384] The processing unit 802 is configured to perform sensing on the sensing object based on the first beam information.

[0385] In another possible embodiment, the unit is described as follows:

[0386] The transceiver unit 801 is configured to receive first sensing control information from a control device. The first sensing control information includes information indicating a sensing object.

[0387] The processing unit 802 determines first beam information based on information indicating a sensing object, the first beam information indicates the beam used to perform sensing on the sensing object, and is configured to perform sensing on the sensing object based on the first beam information.

[0388] In one possible implementation, the first beam information includes the beam width, or the first beam information includes both the beam width and the beam direction.

[0389] In one possible implementation, the first sensing control information further includes the sensing type.

[0390] In one possible implementation, the information indicating a sensing object includes one or more of the following: the sensing object identifier, sensing area information, and sensing location information.

[0391] In one possible implementation, the first sensing control information further includes sensing accuracy information and / or sensing time information.

[0392] In one possible implementation, the first sensing control information further includes a cooperative sensing mode.

[0393] In one possible implementation, the transceiver unit 801 is further configured to transmit instruction information to a second sensing device. The instruction information includes first beam information and a co-sensing mode, and the second sensing device is configured to perform sensing on a sensing object.

[0394] In one possible implementation, the transceiver unit 801 is further configured to receive second sensing control information from a control device. The second sensing control information includes second beam information, which indicates the beam used to perform sensing on a sensing target and is different from the first beam information. The processing unit 802 is further configured to perform sensing on a sensing target based on the second beam information.

[0395] In one possible implementation, the transceiver unit 801 is further configured to receive second sensing control information from a control device. The second sensing control information includes information indicating a sensing target. The processing unit 802 determines second beam information based on the information indicating the sensing target, the second beam information indicating the beam used to perform sensing on the sensing target, and the second beam information is further configured to perform sensing on the sensing target based on the second beam information, unlike the first beam information.

[0396] In one possible implementation, the processing unit 802 acquires information indicating a sensing target based on first sensing data, the first sensing data being sensing data acquired by the processing unit 802 by performing sensing on a sensing object based on first beam information, the processing unit 802 determines second beam information based on information indicating a sensing target, the second beam information indicates the beam used to perform sensing on the sensing target, and the second beam information differs from the first beam information, and is further configured to perform sensing on the sensing target based on the second beam information.

[0397] In one possible implementation, the first beam information includes the first beam width, the second beam information includes the second beam width, and the difference between the second beam information and the first beam information includes the second beam width being smaller than the first beam width.

[0398] According to this embodiment of the present application, some or all of the units of the apparatus shown in Figure 8 may be combined with one or more other units, or one (or more) of the units may be divided into several smaller functional units. In this way, the same operation can be performed without affecting the achievement of the technical effects of the embodiment of the present application. The aforementioned units are obtained by division based on logical functions. In actual application, the function of one unit may be performed by several units, or the function of several units may be performed by one unit. In another embodiment of the present application, the electronic device may further include other units. In actual application, the function may be performed alternatively with the help of another unit, or cooperatively by several units.

[0399] Please note that for the implementation details of each unit, refer to the corresponding descriptions of the embodiments of the methods shown in Figures 2 to 7.

[0400] Figure 9 shows the structure of an electronic device according to one embodiment of the present application. The electronic device 900 may include a memory 901 and a processor 902. Optionally, the electronic device 900 may further include a communication interface 903 and a bus 904. The memory 901, processor 902, and communication interface 903 communicate with each other using the bus 904. The communication interface 903 is configured to exchange data with other devices.

[0401] Memory 901 is configured to provide a storage space, which can store data such as operating systems and computer programs. Memory 901 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0402] The processor 902 is a module that performs arithmetic and logical operations, and may be one or a combination of processing modules such as a central processing unit (CPU), a graphics processing unit (GPU), or a microprocessor unit (MPU). Alternatively, the processor 902 may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), another programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor.

[0403] In one possible design, the electronic device 900 may correspond to the control device in the embodiment of the method described above. For example, the electronic device 900 may be the control device in the embodiment of the method described above, or it may be a chip within the control device. The electronic device 900 may include components configured to perform operations performed by the control device in the embodiment of the method. In addition, each component within the electronic device 900 is configured to perform operations performed by the control device in the embodiment of the method. The processor 902 calls a computer program stored in memory 901 to perform the sensing method described above. Further details may be as follows.

[0404] The control device receives a sensing request from the requesting device. The sensing request includes information indicating the sensing object.

[0405] The control device determines first beam information based on information indicating the sensing object. The first beam information indicates the beam used to perform sensing on the sensing object.

[0406] The control device transmits first sensing control information to the first sensing device. The first sensing control information includes first beam information, and the first sensing device is configured to perform sensing on a sensing object.

[0407] In one possible implementation, the first beam information includes the beam width, or the first beam information includes both the beam width and the beam direction.

[0408] In one possible implementation, the first sensing control information further includes the sensing type.

[0409] In one possible implementation, the information indicating a sensing object includes one or more of the following: the sensing object identifier, sensing area information, and sensing location information.

[0410] In one possible implementation, the first sensing control information further includes sensing accuracy information and / or sensing time information.

[0411] In one possible implementation, the first sensing control information further includes a cooperative sensing mode.

[0412] In one possible implementation, the method further includes the step of a control device transmitting first sensing control information to a second sensing device. The second sensing device is configured to perform sensing on a sensing object.

[0413] In one possible implementation, the method further includes the step of a control device receiving first sensing data from a first sensing device. The first sensing data is sensing data acquired by the first sensing device by sensing a sensing object based on first beam information. The control device processes the first sensing data to obtain a first sensing result. The control device transmits the first sensing result to the requesting device.

[0414] In one possible implementation, the method further includes the step in which a control device determines second beam information based on a first sensing result, the second beam information being different from the first beam information. The control device transmits second sensing control information to the first sensing device, the second sensing control information including the second beam information.

[0415] In one possible implementation, the first beam information includes the first beam width, the second beam information includes the second beam width, and the difference between the second beam information and the first beam information includes the second beam width being smaller than the first beam width.

[0416] In another possible design, the electronic device 900 may correspond to the first sensing device in the embodiment of the method described above. For example, the electronic device 900 may be the first sensing device in the embodiment of the method described above, or it may be a chip within the first sensing device. The electronic device 900 may include components configured to perform the operations performed by the first sensing device in the embodiment of the method described above. In addition, the components within the electronic device 900 are each configured to perform the operations performed by the first sensing device in the embodiment of the method described above.

[0417] In one possible embodiment, the processor 902 invokes a computer program stored in memory 901 to perform the sensing method described above. Details may be as follows.

[0418] The first sensing device receives first sensing control information from the control device. The first sensing control information includes first beam information, which indicates the beam used to perform sensing on the sensing object.

[0419] The first sensing device performs sensing on the sensing object based on the first beam information.

[0420] In another possible embodiment, the processor 902 invokes a computer program stored in memory 901 to perform the sensing method described above. Details may be as follows:

[0421] The first sensing device receives first sensing control information from the control device. The first sensing control information includes information indicating a sensing object.

[0422] The first sensing device determines first beam information based on information indicating the sensing object. The first beam information indicates the beam used to perform sensing on the sensing object.

[0423] The first sensing device performs sensing on the sensing object based on the first beam information.

[0424] In one possible implementation, the first beam information includes the beam width, or the first beam information includes both the beam width and the beam direction.

[0425] In one possible implementation, the first sensing control information further includes the sensing type.

[0426] In one possible implementation, the information indicating a sensing object includes one or more of the following: the sensing object identifier, sensing area information, and sensing location information.

[0427] In one possible implementation, the first sensing control information further includes sensing accuracy information and / or sensing time information.

[0428] In one possible implementation, the first sensing control information further includes a cooperative sensing mode.

[0429] In one possible implementation, the method further includes the step of a first sensing device transmitting instruction information to a second sensing device, the instruction information including first beam information and a co-sensing mode, and the second sensing device is configured to perform sensing on a sensing object.

[0430] In one possible implementation, the method further includes the step of a first sensing device receiving second sensing control information from a control device. The second sensing control information includes second beam information, which indicates a beam used to perform sensing on a sensing target and is different from the first beam information. The first sensing device performs sensing on the sensing target based on the second beam information.

[0431] In one possible implementation, the method further includes the step of a first sensing device receiving second sensing control information from a control device. The second sensing control information includes information indicating a sensing target. The first sensing device determines second beam information based on the information indicating the sensing target. The second beam information indicates a beam used to perform sensing on the sensing target and is different from the first beam information. The first sensing device performs sensing on the sensing target based on the second beam information.

[0432] In one possible implementation, the method further includes the step of a first sensing device acquiring information indicating a sensing target based on first sensing data. The first sensing data is sensing data acquired by the first sensing device by sensing a sensing object based on first beam information. The first sensing device determines second beam information based on information indicating a sensing target. The second beam information indicates the beam used to sense the sensing target and is different from the first beam information. The first sensing device senses the sensing target based on the second beam information.

[0433] In one possible implementation, the first beam information includes the first beam width, the second beam information includes the second beam width, and the difference between the second beam information and the first beam information includes the second beam width being smaller than the first beam width.

[0434] If the electronic device may be a chip or a chip system, please refer to Figure 10, which shows the structure of a chip according to one embodiment of this application.

[0435] As shown in Figure 10, the chip 1000 includes a processor 1001 and an interface 1002. There may be one or more processors 1001 and multiple interfaces 1002. Note that the functions corresponding to each of the processors 1001 and interface 1002 may be implemented using hardware design, software design, or a combination of software and hardware. This is not limited to the present.

[0436] Optionally, the chip 1000 further includes a memory 1003, which is configured to store necessary program instructions and data.

[0437] In this application, the processor 1001 may be configured to call a program from memory 1003 for performing a sensing method provided in one or more embodiments of this application on an electronic device, and to execute instructions contained in the program. The interface 1002 may be configured to output the execution results of the processor 1001. In this application, the interface 1002 may be particularly configured to output messages or information of the processor 1001.

[0438] For sensing methods provided in one or more embodiments of this application, please refer to the embodiments of the method described above. Details will not be repeated here.

[0439] According to the methods provided in the embodiments of this application, one embodiment of this application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed on one or more processors, the methods shown in the embodiments of the above-described methods can be carried out.

[0440] According to the methods provided in the embodiments of this application, one embodiment of this application further provides a computer program product. The computer program product includes a computer program. When the computer program is executed on a processor, the methods shown in the embodiments of the above-described methods can be carried out.

[0441] According to the method provided in the embodiments of this application, one embodiment of this application further provides a sensing system. The system includes at least one sensing device 800, electronic device 900, or chip 1000 as described above.

[0442] According to the method provided in the embodiments of this application, one embodiment of this application further provides a sensing system. The system includes a control device and a first sensing device. The control device is configured to perform steps performed by the control device in the embodiments of the method described above, and the first sensing device is configured to perform steps performed by the first sensing device in the embodiments of the method described above.

[0443] It should be understood that the memory in the embodiments of this application may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory may be hard disk drive (HDD), solid-state drive (SSD), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may be random access memory (RAM) used as an external cache. Rather than being a restrictive description, many forms of RAM may be used, such as static random access memory (static RAM, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchlink DRAM, SLDRAM), and direct rambus dynamic random access memory (direct rambus RAM, DR RAM). It should be noted that the memories described herein aim to include, but are not limited to, these and other appropriate types of memory.

[0444] The embodiments described above may be implemented in whole or in part by using software, hardware, firmware, or any combination thereof. Where software is used for implementation, the embodiments may be implemented in whole or in part in the form of a computer program product. A computer program product includes one or more computer programs or instructions. When a computer program or instruction is loaded into a computer and executed, all or part of the procedures or functions in the embodiments of this application are performed. The computer may be a general-purpose computer, a dedicated computer, a computer network, a network device, user equipment, or another programmable device. The computer program or instruction may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, a computer program or instruction may be transmitted wired or wirelessly from one website, computer, server, or data center to another website, computer, server, or data center. The computer-readable storage medium may be any available medium accessible by a computer, or a data storage device that integrates one or more available media, such as a server or data center. The usable media may be magnetic media, such as floppy disks, hard disk drives, or magnetic tapes; optical media, such as digital video discs; or semiconductor media, such as solid-state drives. The computer-readable storage medium may be volatile or non-volatile storage media, or may include both types.

[0445] Those skilled in the art will notice, by referring to the units and algorithmic steps in the examples described in the embodiments provided herein, that the present application may be implemented by electronic hardware or by a combination of computer software and electronic hardware. Whether the functions are performed by hardware or by software depends on the specific application and design constraints of the technical solution. Those skilled in the art may implement the functions described using various methods for specific applications, but such implementations should not be considered to exceed the scope of the present application.

[0446] For the sake of brevity, it will be readily apparent to those skilled in the art that the detailed working processes of the aforementioned systems, apparatus, and units should be referred to the corresponding processes in the embodiments of the methods described above. Details will not be repeated here.

[0447] It should be understood that in some embodiments provided in this application, the disclosed systems, apparatus, and methods may be implemented in other ways. For example, the embodiments of the apparatus described are merely examples. For example, the division into units is merely a logical functional division. Other division methods may be possible in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not performed. Furthermore, the mutual coupling, direct coupling, or communication connection shown or discussed may be implemented by using some interfaces. Indirect coupling or communication connection between apparatus or units may be implemented electronically, mechanically, or in other forms.

[0448] Units described as separate parts may or may not be physically separate, and parts shown as units may or may not be physical units, may be located in one place, or may be distributed across multiple network units. Some or all of the units may be selected based on the actual requirements to achieve the objectives of the solution of the embodiment.

[0449] In addition, the functional units in the embodiments of this application may be integrated into a single processing unit, or each unit may exist physically independently, or two or more units may be integrated into a single unit.

[0450] When a function is implemented in the form of a software function unit and sold or used as an independent product, the function may be stored on a computer-readable storage medium. Based on such understanding, the technical solution of this application, or a part of the technical solution that contributes to the technology, may be implemented in the form of a software product. The computer software product is stored on a storage medium and includes several instructions for instructing a computer device (which may be a personal computer, server, network device, etc.) to perform all or part of the steps of the method described in the embodiments of this application. The storage medium includes any medium capable of storing program code, such as a USB flash drive, removable hard disk drive, ROM, RAM, magnetic disk, or optical disk.

[0451] The above description merely outlines specific implementations of this application and is not intended to limit the scope of protection. Any modifications or substitutions readily conceivable by a person skilled in the art within the scope of the technical realities disclosed herein shall fall within the scope of protection. [Explanation of Symbols]

[0452] 101 Control Devices 102 Sensing devices 103 Requesting device 104 Sensing Objects 800 Sensing Device 801 Transceiver Unit 802 Processing Unit 900 Electronic Devices 901 memory 902 Processor 903 Communication Interface 904 Bus 1000 chips 1001 Processor 1002 Interface 1003 memory

Claims

1. A control device receives a sensing request from a requesting device, wherein the sensing request includes information indicating a sensing object. A step of determining first beam information based on the information indicating the sensing object using the control device, wherein the first beam information indicates a beam used to perform sensing on the sensing object; A step of transmitting first sensing control information to a first sensing device by the control device, wherein the first sensing control information includes first beam information, and the first sensing device is configured to perform sensing on the sensing object. A sensing method, including

2. The method according to claim 1, wherein the first beam information includes the beam width, or the first beam information includes the beam width and the beam direction.

3. The method according to claim 1 or 2, wherein the first sensing control information further includes a sensing type.

4. The information indicating the sensing object is the following information, namely, The identifier of the sensing object, sensing area information, and sensing location information. The method according to any one of claims 1 to 3, comprising one or more of the above.

5. The method according to any one of claims 1 to 4, wherein the first sensing control information further includes sensing accuracy information and / or sensing time information.

6. The method according to any one of claims 1 to 5, wherein the first sensing control information further includes a cooperative sensing mode.

7. The method described above is The control device transmits the first sensing control information to the second sensing device, wherein the second sensing device is configured to perform sensing on the sensing object. The method according to claim 6, further comprising:

8. The method described above is The steps include: receiving first sensing data from the first sensing device by the control device, wherein the first sensing data is sensing data acquired by the first sensing device by performing sensing on the sensing object based on the first beam information; The control device performs the steps of processing the first sensing data in order to obtain a first sensing result, The control device transmits the first sensing result to the requesting device. The method according to any one of claims 1 to 7, further comprising:

9. The method described above is The control device determines second beam information based on the first sensing result, wherein the second beam information is different from the first beam information. A step of transmitting second sensing control information to the first sensing device by the control device, wherein the second sensing control information includes second beam information. The method according to claim 8, further comprising:

10. The method according to claim 9, wherein the first beam information includes a first beam width, the second beam information includes a second beam width, and the difference between the second beam information and the first beam information includes the second beam width being smaller than the first beam width.

11. A first sensing device receives first sensing control information from a control device, wherein the first sensing control information includes first beam information, and the first beam information indicates a beam used to perform sensing on a sensing object. The first sensing device performs sensing on the sensing object based on the first beam information. A sensing method, including

12. A first sensing device receives first sensing control information from a control device, wherein the first sensing control information includes information indicating a sensing object. A step of determining first beam information based on the information indicating the sensing object using the first sensing device, wherein the first beam information indicates a beam used to perform sensing on the sensing object; The first sensing device performs sensing on the sensing object based on the first beam information. A sensing method, including

13. The method according to claim 11 or 12, wherein the first beam information includes the beam width, or the first beam information includes the beam width and the beam direction.

14. The method according to any one of claims 11 to 13, wherein the first sensing control information further includes a sensing type.

15. The information indicating the sensing object is the following information, namely, The identifier of the sensing object, sensing area information, and sensing location information. The method according to any one of claims 11 to 14, comprising one or more of the above.

16. The method according to any one of claims 11 to 15, wherein the first sensing control information further includes sensing accuracy information and / or sensing time information.

17. The method according to any one of claims 11 to 16, wherein the first sensing control information further includes a cooperative sensing mode.

18. The method described above is A step of transmitting instruction information from the first sensing device to a second sensing device, wherein the instruction information includes the first beam information and the co-sensing mode, and the second sensing device is configured to perform sensing on the sensing object. The method according to claim 17, further comprising:

19. The method described above is The first sensing device receives second sensing control information from the control device, wherein the second sensing control information includes second beam information, the second beam information indicates a beam used to perform sensing on a sensing target, and the second beam information is different from the first beam information. The first sensing device performs sensing on the sensing target based on the second beam information. The method according to any one of claims 11 to 18, further comprising:

20. The method described above is The first sensing device receives second sensing control information from the control device, the second sensing control information includes information indicating a sensing target, and A step of determining second beam information based on the information indicating the sensing target using the first sensing device, wherein the second beam information indicates a beam used to perform sensing on the sensing target, and the second beam information is different from the first beam information. The first sensing device performs sensing on the sensing target based on the second beam information. The method according to any one of claims 11 to 18, further comprising:

21. The method described above is A step of acquiring information indicating a sensing target by a first sensing device based on first sensing data, wherein the first sensing data is sensing data acquired by the first sensing device by performing sensing on the sensing object based on first beam information, A step of determining second beam information based on the information indicating the sensing target using the first sensing device, wherein the second beam information indicates a beam used to perform sensing on the sensing target, and the second beam information is different from the first beam information. The first sensing device performs sensing on the sensing target based on the second beam information. The method according to any one of claims 11 to 18, further comprising:

22. The method according to any one of claims 17 to 19, wherein the first beam information includes a first beam width, the second beam information includes a second beam width, and the difference between the second beam information and the first beam information includes the second beam width being smaller than the first beam width.

23. A sensing device comprising a unit configured to perform a step according to any one of claims 1 to 10, or a unit configured to perform a step according to any one of claims 11 to 22.

24. A sensing device equipped with a processor, When the processor invokes a computer program or instruction in memory, the method according to any one of claims 1 to 10 is performed, or the method according to any one of claims 11 to 22 is performed. Sensing device.

25. A computer-readable storage medium, the computer-readable storage medium storing a computer program or instruction, wherein when the computer program or instruction is executed, the method according to any one of claims 1 to 10 or the method according to any one of claims 11 to 22 is performed.

26. A computer program product comprising a computer program or instruction, wherein when the computer program or instruction is executed, the method described in any one of claims 1 to 10 or the method described in any one of claims 11 to 22 is performed.

27. A sensing system comprising a control device and a first sensing device, wherein the control device is configured to perform the method described in any one of claims 1 to 10, and the first sensing device is configured to perform the method described in any one of claims 11 to 22.

Images