Sensing method and related apparatus

Abstract

The present application provides a sensing method and a related apparatus. The method comprises: a control device receives a sensing request from a requesting device, the sensing request comprising information for indicating a sensing object; the control device determines first beam information on the basis of said information, the first beam information being used for indicating a beam used for executing sensing for the sensing object; and the control device sends first sensing control information to a first sensing device, the first sensing control information comprising the first beam information, and the first sensing device being used for executing sensing for the sensing object. By means of the technical solution provided in the present application, the sensing resource utilization rate can be improved, and diversified sensing precision requirements are satisfied.

Description

A sensing method and related device

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on July 20, 2023, with application number 202310897955.0 and application name “A Perception Method and Related Devices”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of perception technology, and in particular to a perception method and related devices. Background Art

[0003] Communication and perception fusion refers to the unification of communication and perception functions through joint signal design and hardware sharing. Perception refers to wireless sensing technology based on communication systems. Wireless sensing technology transmits wireless signals to specific areas or objects and then processes the received signals to obtain information about the area or object. The basic principle is to utilize the characteristics of wireless channels to obtain rich environmental information and realize basic perception applications.

[0004] Wireless communication networks naturally possess wireless sensing capabilities. For example, base stations and terminals possess both communication and sensing capabilities, which can provide sensing services for sensing applications and play a role in many fields, including intelligent transportation, drone monitoring, railway perimeter security inspection, smart homes, public safety, health monitoring, and environmental monitoring.

[0005] Current perception methods generally use network-controlled base stations to execute general perception operation processes for specific locations or ranges, which makes it difficult to meet the different needs of different perception objects, resulting in limited perception accuracy and low resource utilization.

[0006] Summary of the Invention

[0007] The embodiments of the present application provide a perception method and related devices, which can improve the utilization rate of perception resources and meet diverse perception accuracy requirements.

[0008] In a first aspect, an embodiment of the present application provides a perception method, the method comprising:

[0009] The control device receives a sensing request from the requesting device, where the sensing request includes information indicating a sensing object;

[0010] The control device determines first beam information according to the information indicating the perception object, where the first beam information is used to indicate a beam used to perform perception on the perception object;

[0011] The control device sends first perception control information to a first perception device, where the first perception control information includes the first beam information, and the first perception device is configured to perform perception on the perception object.

[0012] Through the above embodiment, the control device determines, based on information indicating a sensing object, first beam information indicating a beam to be used for sensing the sensing object. The control device then sends first sensing control information containing the first beam information to the first sensing device, causing the first sensing device to perform sensing of the sensing object based on the first beam information. Because the first beam information is dynamically determined for the sensing object and is adapted to the sensing object, it can be assumed that when the first sensing device performs sensing of the sensing object based on the first beam information, the sensing resources used are adapted to the sensing resources actually required by the sensing object. This helps avoid unnecessary waste of sensing resources and improves sensing resource utilization.

[0013] In addition, the first beam information can also reflect perception accuracy. For example, if the beam width indicated by the first beam information is narrower, that is, the beam is more focused and the signal generated is stronger, then the achievable perception accuracy can be considered to be higher. For another example, if the beam width indicated by the first beam information is wider, that is, the beam is more divergent and the signal generated is weaker, then the achievable perception accuracy can be considered to be higher. Therefore, when the first perception device performs perception of the perception object based on the first beam information, the perception accuracy achieved is also consistent with the perception accuracy actually required by the perception object. This helps to resolve the problem of limited perception accuracy and meet diverse perception accuracy requirements.

[0014] In combination with the first aspect, in some implementations of the first aspect, the first beam information includes beam width, or the first beam information includes beam width and beam direction.

[0015] Through the above implementation method, the first beam information can indicate the beam width, so that the first perception device can perform perception of the perception object according to the beam width indicated by the control device; the first beam information can also indicate the beam direction, so that the first perception device can also perform perception of the perception object according to the beam direction indicated by the control device.

[0016] In combination with the first aspect, in some implementations of the first aspect, the first perception control information further includes a perception type.

[0017] Through the above implementation, the first perception control information may further indicate a perception type, so that the first perception device may perform perception on the perception object according to the perception type indicated by the control device.

[0018] In combination with the first aspect, in some implementations of the first aspect, the information used to indicate the perceived object includes one or more of the following information: an identifier of the perceived object, perception area information, and perception location information.

[0019] Through the above implementation, the perception object can be indicated more accurately by using one or more of the identification of the perception object, the perception area information, and the perception position information.

[0020] In combination with the first aspect, in some implementations of the first aspect, the first perception control information further includes perception accuracy information and / or perception time information.

[0021] Through the above implementation method, the first perception control information can also indicate perception accuracy information and / or perception time information, so that the first perception device can perform perception of the perception object according to the perception accuracy information and / or perception time information indicated by the control device.

[0022] In combination with the first aspect, in some implementations of the first aspect, the first perception control information also includes a collaborative perception mode.

[0023] Through the above implementation, the first perception control information may also indicate a collaborative perception mode, which is used to instruct the first perception device and other perception devices to collaboratively perform perception on the perception object.

[0024] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes:

[0025] The control device sends the first perception control information to the second perception device, and the second perception device is used to perform perception on the perception object.

[0026] Through the above implementation, the control device sends the first perception control information to the second perception device, so that the second perception device and the first perception device cooperate to perform perception on the perception object.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes:

[0028] The control device receives first perception data from the first perception device, where the first perception data is perception data obtained after the first perception device performs perception on the perception object according to the first beam information;

[0029] The control device processes the first perception data to obtain a first perception result;

[0030] The control device sends the first perception result to the requesting device.

[0031] Through the above implementation method, the control device receives the first perception data from the first perception device, processes the first perception data to obtain a first perception result, and sends the first perception result to the requesting device so that the requesting party can promptly know the perception result about the perception object.

[0032] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes:

[0033] The control device determines second beam information according to the first sensing result, where the second beam information is different from the first beam information;

[0034] The control device sends second perception control information to the first perception device, where the second perception control information includes the second beam information.

[0035] Through the above implementation method, the control device can adjust the first beam information according to the first perception result, obtain the second beam information, and send the second perception control information containing the second beam information to the first perception device, so that the first perception device can subsequently perform perception operations according to the second beam information.

[0036] In combination with the first aspect, in certain implementations of the first aspect, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0037] Through the above implementation method, the control device supports the adjustment of the beam width. By reducing the beam width, the beam can be made more focused and a stronger perception signal can be generated, thereby instructing the perception device to subsequently perform higher-precision perception operations, which can meet different accuracy requirements from regional perception to specific target perception.

[0038] In combination with the first aspect, in some implementations of the first aspect, the first sensing device is a base station, and the second sensing device is a base station or a terminal device.

[0039] In a second aspect, an embodiment of the present application provides a perception method, the method comprising:

[0040] The first sensing device receives first sensing control information from the control device, where the first sensing control information includes first beam information, where the first beam information is used to indicate a beam used to perform sensing of a sensing object;

[0041] The first sensing device performs sensing on the sensing object according to the first beam information.

[0042] In a third aspect, an embodiment of the present application provides a perception method, the method comprising:

[0043] The first sensing device receives first sensing control information from the control device, where the first sensing control information includes information indicating a sensing object;

[0044] The first sensing device determines first beam information according to the information indicating the sensing object, where the first beam information is used to indicate a beam used to perform sensing of the sensing object;

[0045] The first sensing device performs sensing on the sensing object according to the first beam information.

[0046] Through the above embodiment, the control device / first sensing device determines first beam information indicating a beam to be used for sensing the sensing object based on information indicating a sensing object. The control device then sends first sensing control information to the first sensing device, causing the first sensing device to perform sensing of the sensing object based on the first beam information. Because the first beam information is dynamically determined for the sensing object and is adapted to the sensing object, it can be assumed that the sensing resources used by the first sensing device when performing sensing of the sensing object based on the first beam information are adapted to the sensing resources actually required by the sensing object. This helps avoid unnecessary waste of sensing resources and improves sensing resource utilization.

[0047] In addition, the first beam information can also reflect perception accuracy. For example, if the beam width indicated by the first beam information is narrower, that is, the beam is more focused and the signal generated is stronger, then the achievable perception accuracy can be considered to be higher. For another example, if the beam width indicated by the first beam information is wider, that is, the beam is more divergent and the signal generated is weaker, then the achievable perception accuracy can be considered to be higher. Therefore, when the first perception device performs perception of the perception object based on the first beam information, the perception accuracy achieved is also consistent with the perception accuracy actually required by the perception object. This helps to resolve the problem of limited perception accuracy and meet diverse perception accuracy requirements.

[0048] In combination with the second / third aspect, in some implementations of the second / third aspect, the first beam information includes beam width, or the first beam information includes beam width and beam direction.

[0049] In combination with the second / third aspect, in some implementations of the second / third aspect, the first perception control information further includes a perception type.

[0050] In combination with the second / third aspect, in some implementations of the second / third aspect, the information used to indicate the perceived object includes one or more of the following information: an identifier of the perceived object, perception area information, and perception location information.

[0051] In combination with the second / third aspect, in some implementations of the second / third aspect, the first perception control information further includes perception accuracy information and / or perception time information.

[0052] In combination with the second / third aspect, in some implementations of the second / third aspect, the first perception control information also includes a collaborative perception mode.

[0053] In conjunction with the second / third aspect, in some implementations of the second / third aspect, the method further includes:

[0054] The first sensing device sends indication information to the second sensing device, where the indication information includes the first beam information and the collaborative sensing mode, and the second sensing device is configured to perform sensing for the sensing object.

[0055] Through the above implementation, the first perception device sends the instruction information including the first beam information and the cooperative perception mode to the second perception device, so that the second perception device and the first perception device cooperate to perform perception on the perception object.

[0056] In conjunction with the second / third aspect, in some implementations of the second / third aspect, the method further includes:

[0057] The first sensing device receives second sensing control information from the control device, where the second sensing control information includes second beam information, where the second beam information is used to indicate a beam used to perform sensing of a sensing target, and the second beam information is different from the first beam information;

[0058] The first sensing device performs sensing for the sensing target according to the second beam information.

[0059] Through the above implementation method, the control device can determine the second beam information based on the information used to indicate the perception target, that is, the control device can independently complete the determination of the second beam information, and carry the second beam information in the second perception control information to the first perception device, so that the first perception device can directly obtain the second beam information from the second perception control information, and then perform perception of the perception target based on the second beam information.

[0060] In conjunction with the second / third aspect, in some implementations of the second / third aspect, the method further includes:

[0061] The first sensing device receives second sensing control information from the control device, where the second sensing control information includes information indicating a sensing target;

[0062] The first sensing device determines second beam information according to the information used to indicate the sensing target, where the second beam information is used to indicate a beam used to perform sensing for the sensing target, and the second beam information is different from the first beam information;

[0063] The first sensing device performs sensing for the sensing target according to the second beam information.

[0064] Through the above implementation method, the control device sends information used to indicate the perception target to the first perception device, and the first perception device determines the second beam information based on the information used to indicate the perception target, that is, the control device and the first perception device can collaborate to complete the determination of the second beam information, and then the first perception device can perform perception of the perception target based on the second beam information.

[0065] In conjunction with the second / third aspect, in some implementations of the second / third aspect, the method further includes:

[0066] The first sensing device obtains information indicating a sensing target according to first sensing data, where the first sensing data is sensing data obtained after the first sensing device performs sensing on the sensing object according to the first beam information;

[0067] The first sensing device determines second beam information according to the information used to indicate the sensing target, where the second beam information is used to indicate a beam used to perform sensing for the sensing target, and the second beam information is different from the first beam information;

[0068] The first sensing device performs sensing for the sensing target according to the second beam information.

[0069] Through the above implementation method, the first perception device obtains information used to indicate the perception target based on the first perception data, and determines the second beam information based on the information used to indicate the perception target, that is, the first perception device can independently complete the determination of the second beam information, and then can perform perception of the perception target based on the second beam information.

[0070] In combination with the second / third aspect, in some implementations of the second / third aspect, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0071] In combination with the second / third aspect, in some implementations of the second / third aspect, the first perception device is a base station, and the second perception device is a base station or a terminal device.

[0072] For the beneficial effects of the implementation methods not described in the above second / third aspects, please refer to the description of the beneficial effects in the corresponding implementation methods of the first aspect, and no further details will be given here.

[0073] In a fourth aspect, an embodiment of the present application provides a sensing device, the device comprising a module or unit for executing the method described in the first aspect or any possible implementation of the first aspect. The device comprises:

[0074] a transceiver unit, configured to receive a sensing request from a requesting device, wherein the sensing request includes information indicating a sensing object;

[0075] a processing unit, configured to determine first beam information according to the information indicating the perception object, where the first beam information is used to indicate a beam used for performing perception of the perception object;

[0076] The transceiver unit is further configured to send first perception control information to a first perception device, where the first perception control information includes the first beam information, and the first perception device is configured to perform perception on the perception object.

[0077] In combination with the fourth aspect, in certain implementations of the fourth aspect, the first beam information includes beam width, or the first beam information includes beam width and beam direction.

[0078] In combination with the fourth aspect, in certain implementations of the fourth aspect, the first perception control information also includes a perception type.

[0079] In combination with the fourth aspect, in certain implementations of the fourth aspect, the information used to indicate the perceived object includes one or more of the following information: an identifier of the perceived object, perception area information, and perception location information.

[0080] In combination with the fourth aspect, in certain implementations of the fourth aspect, the first perception control information further includes perception accuracy information and / or perception time information.

[0081] In combination with the fourth aspect, in certain implementations of the fourth aspect, the first perception control information also includes a collaborative perception mode.

[0082] In combination with the fourth aspect, in some implementations of the fourth aspect, the transceiver unit is further used to: send the first perception control information to the second perception device, and the second perception device is used to perform perception of the perception object.

[0083] In combination with the fourth aspect, in certain implementations of the fourth aspect, the transceiver unit is further used to: receive first perception data from the first perception device, where the first perception data is perception data obtained by the first perception device after performing perception on the perception object according to the first beam information; the processing unit is further used to: process the first perception data to obtain a first perception result; the transceiver unit is further used to: send the first perception result to the requesting device.

[0084] In combination with the fourth aspect, in certain implementations of the fourth aspect, the processing unit is further used to: determine second beam information based on the first perception result, and the second beam information is different from the first beam information; the transceiver unit is further used to: send second perception control information to the first perception device, and the second perception control information includes the second beam information.

[0085] In combination with the fourth aspect, in certain implementations of the fourth aspect, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0086] In a fifth aspect, an embodiment of the present application provides a sensing device, the device comprising a module or unit for executing the method described in the second aspect or any possible implementation of the second aspect. The device comprises:

[0087] a transceiver unit, configured to receive first perception control information from a control device, where the first perception control information includes first beam information, where the first beam information is used to indicate a beam used for performing perception of a perception object;

[0088] A processing unit is configured to perform perception of the perception object according to the first beam information.

[0089] In a sixth aspect, an embodiment of the present application provides a sensing device, the device comprising a module or unit for executing the method described in the third aspect or any possible implementation of the third aspect. The device comprises:

[0090] a transceiver unit, configured to receive first perception control information from a control device, where the first perception control information includes information indicating a perception object;

[0091] A processing unit is configured to determine first beam information based on the information indicating the perception object, where the first beam information is used to indicate a beam used to perform perception of the perception object; and perform perception of the perception object based on the first beam information.

[0092] In combination with the fifth / sixth aspect, in some implementations of the fifth / sixth aspect, the first beam information includes beam width, or the first beam information includes beam width and beam direction.

[0093] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the first perception control information also includes a perception type.

[0094] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the information used to indicate the perceived object includes one or more of the following information: an identifier of the perceived object, perception area information, and perception location information.

[0095] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the first perception control information also includes perception accuracy information and / or perception time information.

[0096] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the first perception control information also includes a collaborative perception mode.

[0097] In combination with the fifth / sixth aspect, in some implementations of the fifth / sixth aspect, the transceiver unit is also used to: send indication information to a second perception device, the indication information including the first beam information and the collaborative perception mode, and the second perception device is used to perform perception of the perception object.

[0098] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the transceiver unit is further used to: receive second perception control information from the control device, the second perception control information including second beam information, the second beam information being used to indicate the beam used to perform perception of the perception target, the second beam information being different from the first beam information; the processing unit is further used to: perform perception of the perception target according to the second beam information.

[0099] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the transceiver unit is further used to: receive second perception control information from the control device, the second perception control information including information for indicating a perception target; the processing unit is further used to: determine second beam information based on the information for indicating the perception target, the second beam information being used to indicate the beam used for performing perception of the perception target, the second beam information being different from the first beam information; and perform perception of the perception target based on the second beam information.

[0100] In combination with the fifth / sixth aspect, in some implementations of the fifth / sixth aspect, the processing unit is further used to: obtain information for indicating a perception target based on first perception data, the first perception data being perception data obtained by the processing unit after performing perception of the perception object based on the first beam information; determine second beam information based on the information for indicating the perception target, the second beam information being used to indicate a beam used for performing perception of the perception target, the second beam information being different from the first beam information; and perform perception of the perception target based on the second beam information.

[0101] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0102] In a seventh aspect, an embodiment of the present application provides an electronic device, comprising a processor coupled to a memory and configured to execute a computer program or instruction in the memory to implement the method described in any one of the first to third aspects or any possible implementation thereof. Optionally, the electronic device further comprises a memory. Optionally, the electronic device further comprises a communication interface, the processor coupled to the communication interface.

[0103] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is executed, the method described in any one of the first to third aspects or any possible implementation method is implemented.

[0104] In a ninth aspect, an embodiment of the present application provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed, the method described in any one of the first to third aspects or any possible implementation method is implemented.

[0105] In a tenth aspect, an embodiment of the present application provides a chip, comprising a processor configured to execute a computer program or instruction. When the processor executes the computer program or instruction, the chip performs the method described in any one of the first to third aspects or any possible implementation thereof. Optionally, the chip further comprises a communication interface configured to receive or send signals.

[0106] In the eleventh aspect, an embodiment of the present application provides a system, comprising an apparatus as described in the fourth aspect or any possible implementation of the fourth aspect, and an apparatus as described in the fifth / sixth aspect or any possible implementation of the fifth / sixth aspect.

[0107] In the twelfth aspect, an embodiment of the present application provides a system, comprising a control device and a first perception device, wherein the control device is used to execute the method described in the above-mentioned first aspect or any possible implementation method of the first aspect, and the first perception device is used to execute the method described in the above-mentioned second / third aspect or any possible implementation method of the second / third aspect.

[0108] The beneficial effects brought about by the above-mentioned fourth to twelfth aspects can be referred to the description of the beneficial effects in the first to third aspects, and will not be repeated here.

[0109] In addition, in the process of executing the method described in any one of the first to third aspects and any possible implementation methods, the process of sending information and / or receiving information in the above method can be understood as the process of the processor outputting information and / or the process of the processor receiving input information. When outputting information, the processor can output the information to the transceiver (or communication interface, or sending module) so that it can be transmitted by the transceiver. After the information is output by the processor, it may also need to undergo other processing before it reaches the transceiver. Similarly, when the processor receives input information, the transceiver (or communication interface, or sending module) receives the information and inputs it into the processor. Furthermore, after the transceiver receives the information, the information may need to undergo other processing before it is input into the processor.

[0110] Based on the above principles, for example, the sending of information mentioned in the above method can be understood as the processor outputting information. For another example, the receiving of information can be understood as the processor receiving input information.

[0111] Optionally, for the operations such as emission, sending and receiving involved in the processor, if there is no special explanation, or if they do not conflict with their actual functions or internal logic in the relevant description, they can be more generally understood as processor output, reception, input and other operations.

[0112] Optionally, in the process of executing the method described in any one of the first to third aspects and any possible implementation methods, the processor may be a processor specifically used to execute these methods, or a processor that executes these methods by executing computer instructions in a memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as a read-only memory (ROM), which may be integrated with the processor on the same chip or may be separately provided on different chips. The embodiment of the present application does not limit the type of memory and the configuration of the memory and the processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0113] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0114] FIG1 is a schematic diagram of a network architecture provided in an embodiment of the present application;

[0115] FIG2 is a flow chart of an interaction method of a perception method provided in an embodiment of the present application;

[0116] FIG3 is a flow chart of another sensing method provided in an embodiment of the present application;

[0117] FIG4 is a flow chart of another sensing method provided in an embodiment of the present application;

[0118] FIG5 is a flow chart of another sensing method provided in an embodiment of the present application;

[0119] FIG6 is a flow chart of an interaction method of a perception method provided in an embodiment of the present application;

[0120] FIG7 is a flow chart of another sensing method provided in an embodiment of the present application;

[0121] FIG8 is a schematic structural diagram of a sensing device provided in an embodiment of the present application;

[0122] FIG9 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;

[0123] FIG10 is a schematic diagram of the structure of a chip provided in an embodiment of the present application. DETAILED DESCRIPTION

[0124] In order to make the purpose, technical solutions and advantages of this application clearer, the embodiments of this application will be described below in conjunction with the drawings in the embodiments of this application.

[0125] In this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0126] The terms "first," "second," and the like mentioned in the embodiments of the present application are used to distinguish between different objects, rather than to describe a specific order or quantity, and "first," "second," and the like do not necessarily define differences. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0127] The “embodiment” mentioned herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It can be understood explicitly and implicitly by those skilled in the art that in the various embodiments of the present application, unless otherwise specified and there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment according to their inherent logical relationship.

[0128] It should be understood that in this application, "at least one (item)" refers to one or more, "more than one" refers to two or more, "at least two (items)" refers to two or three and more than three, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0129] In the description of this application, "indication" may include direct indication and indirect indication, and may also include explicit indication and implicit indication. The information indicated by a certain information is called information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated. For example, the information to be indicated can be directly indicated, such as indicating the information to be indicated itself or the index of the information to be indicated. For another example, the information to be indicated can also be indirectly indicated by indicating other information, and there is an association between the other indicated information and the information to be indicated. For another example, only a part of the information to be indicated can be indicated, while the other parts of the information to be indicated are known or agreed in advance. In addition, the indication of specific information can be achieved by means of the pre-agreed (such as specified in the protocol) order of arrangement of each information, thereby reducing the indication overhead to a certain extent.

[0130] Please refer to Figure 1, which is a schematic diagram of a network architecture provided in an embodiment of the present application, which involves a control device 101 and a perception device 102, and the number of the perception device 102 can be one or more. Optionally, the network architecture also involves a requesting device 103. The control device 101 can communicate with the perception device 102 to control the perception device 102 to perform perception of the perception object 104. The requesting device 103 can communicate with the control device 101 to initiate a perception request for the perception object 104 to the control device 101.

[0131] The control device 101 may be a functional network element in the network, such as a sensing control network element (SF), a chip or circuit in an access network device or a core network device, or a logic module or software that can implement all or part of the functions of the access network device or the core network device, and this application does not limit this. The control device 101 may include one or more of the following capabilities: sensing data processing, sensing result analysis, sensing type / mode determination, sensing device determination, and sensing physical resource configuration.

[0132] 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 in an access network device or terminal device, or a logic module or software capable of implementing all or part of the functions of a terminal device or network device, which is not limited in this application. The sensing device 102 may include one or more of the following capabilities: sensing measurement, sensing data processing, sensing result analysis, and sensing type / mode determination.

[0133] The requesting device 103 may be a functional network element in the network, such as an access and mobility management function (AMF) or an application function (AF), or may be a terminal device.

[0134] In the above description, access network equipment includes but is not limited to: base station, the next generation Node B (gNB), evolved Node B (eNB), radio network controller (RNC), Node B (NB), base station controller (BSC), base transceiver station (BTS), home evolved NodeB (HeNB, or home Node B, HNB), baseband unit (BBU), server, wearable device, vehicle-mounted equipment, access point (AP) in wireless fidelity (WIFI) system, wireless relay node, wireless backhaul node, transmission point (TP) or transmission and reception point (TRP), etc., and can also be 5G, such as new wireless (new A base station can be a gNB, Transmission Resource Planner (TRP), or Transmission Transmission Point (TP) in a New Radio (NR) system, or one or a group of antenna panels in a base station in a 5G system. Alternatively, it can be a network node that constitutes a gNB or transmission point, such as a baseband unit (BBU) or distributed unit (DU). A base station can be a macro base station, micro base station, pico base station, small cell, relay station, or balloon base station.

[0135] In some deployments, a gNB may include a centralized unit (CU) and a DU. The gNB may also include an active antenna unit (AAU). The CU implements some gNB functions, while the DU implements some gNB functions. For example, the CU is responsible for processing non-real-time protocols and services, implementing the functions of the radio resource control (RRC) and packet data convergence protocol (PDCP) layers. The DU is responsible for processing physical layer protocols and real-time services, implementing the functions of the radio link control (RLC), media access control (MAC), and physical (PHY) layers. The AAU implements some physical layer processing functions, RF processing, and active antenna-related functions. RRC layer information is generated by the CU and ultimately encapsulated by the DU's PHY layer into PHY layer information, or is converted from PHY layer information. Therefore, in this architecture, higher-layer signaling, such as RRC layer signaling, can also be considered to be sent by the DU, or by a combination of the DU and the AAU. It is understood that the network device may include one or more of a CU node, a DU node, and an AAU node. In addition, the CU may be classified as a network device in an access network (RAN) or a network device in a core network (CN), which is not limited in this application.

[0136] A terminal device may also be referred to as a terminal, access terminal, subscriber unit, user equipment (UE), subscriber station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, wireless communication device, user agent, or user device. A terminal device is a device that includes wireless communication capabilities (providing voice / data connectivity to the user). Examples include handheld devices with wireless connectivity or in-vehicle devices. The terminal device in the embodiments of the present application can be a mobile phone, a tablet computer, a computer with wireless transceiver function, a train, an airplane, a mobile internet device (MID), a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control (such as a robot, etc.), a wireless terminal in the Internet of Vehicles (such as an on-board device, a whole vehicle device, an on-board module, a vehicle, etc.), a wireless terminal in self-driving, a wireless terminal in remote medical, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), or a similar device. assistant, PDA), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to a wireless modem, vehicle-mounted devices, wearable devices, terminals in the fifth generation (5G) network or terminals in future evolution networks, etc.

[0137] It should be understood that the network architecture shown in Figure 1 is only an example, and the network architecture applicable to the embodiments of the present application is not limited to this. Any network architecture that can implement the functions of some or all of the above-mentioned devices is applicable to the embodiments of the present application. The perception method provided in the embodiments of the present application may only involve some of the devices shown in Figure 1, and may also involve devices not shown in Figure 1, and this application does not limit this.

[0138] Taking the base station as an example, the following three sensing modes are introduced: base station self-transmitting and self-receiving sensing, inter-base station transmission and reception sensing, and UE transmission and base station reception sensing.

[0139] (1) Base station self-transmitting and self-receiving sensing: The base station remote radio unit (RRU) or base station (BS) uses the reflected / diffracted signals of its own transmitted communication signals for sensing. This sensing mode is applicable to systems where the sensing receiver and transmitter are co-located, such as single-station radar, and requires the base station to have full-duplex capability or equivalent. Base station self-transmitting and self-receiving sensing enables the BS to perceive information about its surrounding environment. Since the transmitter and receiver are on the same platform, they can be easily synchronized at the clock level, and the sensing results can be clearly interpreted by the single base station node without the assistance of external equipment.

[0140] (2) Inter-base station transceiver sensing: An RRU uses the downlink communication signals received from other RRUs for sensing. This sensing mode can be applied to dual-station or multi-station radars, where the transmitter and receiver are spatially separated and the clocks are required to be synchronized.

[0141] (3) UE-to-BS sensing: The BS uses the uplink communication signal sent from the UE transmitter for sensing. This sensing mode is similar to inter-BS sensing, where the transmitter and receiver are spatially separated but asynchronous. Since the receiver fully understands the system protocol, signal structure, and the time when the sensing signal is sent in the UE-to-BS sensing, uplink sensing can be implemented directly without changing the hardware and network settings, and without requiring full-duplex operation. The relative rather than absolute time delay and Doppler frequency are estimated during the sensing process. Since the clock / oscillator is spatially separated, there is usually a deviation between the UE transmitter and the BS receiver. The ambiguity of the sensing quantity caused by the clock deviation between the transceivers can be resolved through relevant algorithms and techniques.

[0142] Optionally, the sensing device may also be a UE. Taking the sensing device as an example, the sensing mode may be base station transmits and UE receives sensing: the UE uses the downlink communication signal sent from the base station transmitter for sensing.

[0143] The following is an introduction to the perception method provided in the embodiments of the present application.

[0144] Please refer to Figure 2, which is a flow chart of a perception method provided by an embodiment of the present application. The perception method shown in Figure 2 includes the following steps S201 to S204.

[0145] S201: The requesting device sends a perception request to the controlling device. Correspondingly, the controlling device receives the perception request from the requesting device.

[0146] The sensing request is used to request a sensing operation to be performed on a sensing object. The sensing request includes information indicating the sensing object, which is the object targeted by the sensing operation. For example, the sensing object can be an area or a specific object.

[0147] In one embodiment, the information indicating the perceived object includes an identifier of the perceived object. The identifier refers to information that can characterize the identity of the perceived object, and the identifier can be used to determine which perceived object to perceive. Exemplarily, the identifier of the perceived object can be the name or geographic location of the perceived object, or other information that can locate the perceived object, such as an identity identifier (ID) configured for the perceived object.

[0148] In another embodiment, the information indicating the perception object includes perception area information. This perception area information is used to indicate the perception area. In this case, the perception object is the perception area. The perception area here can be understood as an area with a certain range, such as a residential area, a park area, a high-speed rail area, etc. The perception area information can be used to determine which perception area to perceive. For example, the perception area information may include the name or geographic location of the perception area, and may also include the range of the perception area itself or the requested perception range.

[0149] In another embodiment, the information indicating the perceived object includes perceived location information. This perceived location information indicates the perceived target, in this case the perceived object being the perceived target. The perceived target here can be understood as a specific object, which can be a static object such as a traffic light or a dynamic object such as a drone. The perceived location information can be used to determine which perceived target to perceive. For example, the perceived location information can include the geographic location of the perceived target, the size of the perceived target itself, or the requested perception range.

[0150] S202: The control device determines first beam information according to information indicating the perception object.

[0151] After receiving the perception request, the control device obtains information indicating the perception object therefrom, and determines the first beam information according to the information indicating the perception object.

[0152] The first beam information is used to indicate the beam used to perform perception of the perception object. The first beam information determined by the control device based on the information indicating the perception object can be understood as being adapted to the perception object. The first beam information corresponding to different perception objects can be the same or different.

[0153] In one embodiment, the first beam information includes beam width. The beam width refers to the angle between two directions where the radiation power drops by 3 dB on both sides of the maximum radiation direction.

[0154] In one possible implementation, the control device determines the object type of the perceived object based on the information indicating the perceived object, and then obtains the beamwidth used for sensing the perceived object based on the object type and a mapping relationship between the object type and the beamwidth. The mapping relationship between the object type and the beamwidth may be predefined or preconfigured.

[0155] In one possible implementation, the control device may obtain the size of the perceived object based on the information indicating the perceived object, and then determine the object type of the perceived object based on the size of the perceived object. It should be understood that if the perceived object is a perception area, the size of the perceived object may refer to the size of the perception area; if the perceived object is a perception target, the size of the perceived object may refer to the size of the perception target.

[0156] In one example, a segmentation threshold can be set to divide perceived objects into two object types: a first perceived object and a second perceived object. The size of the first perceived object is greater than or equal to the segmentation threshold, while the size of the second perceived object is less than the segmentation threshold. Different object types correspond to different beam widths. For example, the first perceived object corresponds to a wide beam, where the width of the wide beam can be a specific width or a range of widths; the second perceived object corresponds to a narrow beam, where the width of the narrow beam can be a specific width or a range of widths. The width of the wide beam is greater than the width of the narrow beam.

[0157] Accordingly, after the control device obtains the size of the perceived object, it can compare the size of the perceived object with the above-mentioned segmentation threshold. If the size of the perceived object is greater than or equal to the segmentation threshold, the control device determines that the object type to which the perceived object belongs is a first perceived object, and then determines that the beam used for perception of the perceived object is a wide beam; if the size of the perceived object is less than the segmentation threshold, the control device determines that the object type to which the perceived object belongs is a second perceived object, and then determines that the beam used for perception of the perceived object is a narrow beam.

[0158] It should be understood that the above two object types are just an example. In other examples, the perceptual objects can be divided into more object types. For example, the perceptual objects can be divided into three object types: first perceptual objects, second perceptual objects, and third perceptual objects. Among them, the size of the first perceptual object is within the first preset range, the size of the second perceptual object is within the second preset range, and the size of the third perceptual object is within the third preset range. This application does not limit this.

[0159] In a possible implementation, the information indicating the perceived object may further include object type indication information, which is used to indicate the object type to which the perceived object belongs. The control device may determine the object type to which the perceived object belongs according to the object type indication information.

[0160] In one example, the object type indication information can indicate two object types: a sensing area and a sensing target. Different object types correspond to different beam widths. For example, a sensing area corresponds to a wide beam, and the width of the wide beam can be a specific width or a range of widths; a sensing target corresponds to a narrow beam, and the width of the narrow beam can be a specific width or a range of widths. The width of a wide beam is greater than that of a narrow beam.

[0161] Accordingly, after the control device obtains the information used to indicate the perceived object, it can identify the object type indication information therein. If the object type indication information indicates the perception area, the control device determines that the object type to which the perceived object belongs is the perception area, and then determines that the beam used for perception of the perceived object is a wide beam; if the size of the perceived object is smaller than the segmentation threshold, the control device determines that the object type to which the perceived object belongs is a second perception object, and then determines that the beam used for perception of the perceived object is a narrow beam.

[0162] It should be understood that the above two object types are just an example. In other examples, the object type indication information can also indicate more object types. For example, the object type indication information can indicate four object types: the first perception area, the second perception area, the first perception target, and the second perception target. This application does not limit this.

[0163] In one embodiment, the first beam information further includes a beam direction. The control device may obtain the position of the sensing object based on the information indicating the sensing object, and then determine the beam direction based on the position of the sensing object so that the range of the beam can cover the sensing object.

[0164] S203: The control device sends first perception control information to the first perception device. Correspondingly, the first perception device receives the first perception control information from the control device.

[0165] 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 for a sensing object according to the first beam information. The first sensing device refers to a device capable of performing sensing for a sensing object. It should be understood that the signal of the first sensing device can cover the sensing object.

[0166] Before sending the first perception control information to the first perception device, the control device may first determine the first perception device. Specifically, each perception device in the network may serve as a candidate perception device, and the control device may select a device capable of performing perception of the perception object from all candidate perception devices as the first perception device.

[0167] In one possible implementation, each candidate sensing device may report sensing capability information to the control device. This sensing capability information includes information indicating the area that the candidate sensing device can sense. The area that the candidate sensing device can sense can also be understood as the signal coverage area of ​​the candidate sensing device. The control device may obtain the location of the sensing object based on the information indicating the sensing object, and then determine which candidate sensing devices have signal coverage areas where the sensing object's location is located, and then select one of these candidate sensing devices as the first sensing device.

[0168] Optionally, the perception capability information may also include information for indicating the beams supported by the candidate perception devices. After determining which candidate perception devices are located within their signal coverage areas, the control device may further determine which of these candidate perception devices support beams that can meet the requirements of the first beam information, and then select one from the candidate perception devices that meet the requirements as the first perception device.

[0169] In one embodiment, the first sensing control information also includes a sensing type, which is used to indicate the sensing type used to perform sensing of the sensing object. Accordingly, the first sensing control information is also used to instruct the first sensing device to perform sensing of the sensing object according to the sensing type. Exemplarily, the sensing type can be scanning sensing or tracking sensing. Scanning sensing refers to the process of continuously sending sensing signals to a certain area to obtain physical characteristic parameters of the area. Tracking sensing refers to the process of performing sensing measurements on a specific target object.

[0170] In one possible implementation, the perception type is related to the size of the perceived object. After obtaining the size of the perceived object, the control device can determine the perception type used for perceiving the perceived object based on the size of the perceived object and the mapping relationship between the object size and the perception type. The mapping relationship between the object size and the perception type can be predefined or preconfigured.

[0171] For example, a size threshold may be set. If the object size is greater than or equal to the size threshold, the perception type corresponding to the object size is scanning perception; if the object size is less than the size threshold, the perception type corresponding to the object size is tracking perception.

[0172] Accordingly, after the control device obtains the size of the perceived object, it can compare the size of the perceived object with the above-mentioned size threshold. If the size of the perceived object is greater than or equal to the size threshold, the control device determines that the perception type used for perception of the perceived object is scanning perception; if the size of the perceived object is less than the size threshold, the control device determines that the perception type used for perception of the perceived object is tracking perception.

[0173] In one possible implementation, the perception type is related to the object type of the perception object. After determining the object type of the perception object, the control device can determine the perception type used for perception of the perception object based on the object type of the perception object and the mapping relationship between the object type and the perception type. The mapping relationship between the object type and the perception type can be predefined or preconfigured.

[0174] For example, the perception type corresponding to the perception area is scanning perception, and the perception type corresponding to the perception target is tracking perception. Accordingly, if the object type of the perception object is a perception area, the control device determines that the perception type used for the perception of the perception object is scanning perception; if the object type of the perception object is a perception target, the control device determines that the perception type used for the perception of the perception object is tracking perception.

[0175] In one possible implementation, the perception type is associated with the first beam information. After determining the first beam information, the control device may obtain the perception type used for perception of the perception object based on the first beam information and a mapping relationship between the beam information and the perception type. The mapping relationship between the beam information and the perception type may be predefined or preconfigured.

[0176] For example, a width threshold can be set. If the beam width indicated by the beam information is greater than or equal to the width threshold, the perception type corresponding to the beam information is scanning perception; if the beam width indicated by the beam information is less than the width threshold, the perception type corresponding to the beam information is tracking perception.

[0177] Accordingly, after the control device determines the first beam information, it can compare the beam width indicated by the first beam information with the above-mentioned 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 perception type used for the perception of the perception object is scanning perception; if the beam width indicated by the first beam information is less than the width threshold, the control device determines that the perception type used for the perception of the perception object is tracking perception.

[0178] In one embodiment, the first perception control information further includes perception accuracy information. The perception accuracy information indicates the accuracy required for performing perception of the perception object, such as resolution, refresh rate, probability of not detecting an object, false alarm rate, etc. Accordingly, the first perception control information is further used to instruct the first perception device to perform perception of the perception object based on the perception accuracy information.

[0179] In a possible implementation, the perception accuracy information may be determined by a control device. Specifically, the control device may determine the accuracy required for performing perception on the perception object based on information indicating the perception object.

[0180] In one possible implementation, the perception accuracy information is related to the size of the perceived object. The control device may obtain the size of the perceived object based on the information indicating the perceived object, and then determine the required accuracy for performing perception of the perceived object based on the size of the perceived object and the mapping relationship between the object size and the perception accuracy information. The mapping relationship between the object size and the perception accuracy information may be predefined or preconfigured.

[0181] For example, if the size of the perceived object is larger, the accuracy indicated by the corresponding perception accuracy information may be lower; if the size of the perceived object is smaller, the accuracy indicated by the corresponding perception accuracy information may be higher.

[0182] In one possible implementation, the perception accuracy information is related to the object type of the perceived object. The control device may obtain the object type of the perceived object based on the information indicating the perceived object, and then determine the required accuracy for performing perception of the perceived object based on the object type and the mapping between the object type and the perception accuracy information. The mapping between the object type and the perception accuracy information may be predefined or preconfigured.

[0183] Exemplarily, if the object type to which the perception object belongs is a perception area, the accuracy indicated by the corresponding perception accuracy information may be lower; if the object type to which the perception object belongs is a perception target, the required perception accuracy may be higher.

[0184] In one possible implementation, the perception accuracy information may be determined by the requester. Specifically, the requester may determine the perception accuracy information based on business requirements and send the perception accuracy information in a perception request to the control device, so that the control device can directly obtain the perception accuracy information from the perception request.

[0185] In one embodiment, the first sensing control information further includes sensing time information. The sensing time information is used to indicate the time when sensing of the sensing object is performed, for example, at what point in time or time period sensing of the sensing object is performed. Accordingly, the first sensing control information is further used to instruct the first sensing device to perform sensing of the sensing object according to the sensing time information.

[0186] In a possible implementation, the sensing time information may be determined by the control device. For example, the control device may instruct the first sensing device to perform sensing of the sensing object within a preset time period after the control device sends the first sensing control information.

[0187] In one possible implementation, the perception time information may be determined by the requester. Specifically, the requester may determine the perception time information based on service requirements and send the perception time information in a perception request to the control device, so that the control device can directly obtain the perception time information from the perception request.

[0188] It can be understood that the information contained in the first perception control information is not limited to the information described in the above embodiments. In other embodiments, the first perception control information may also contain more information. For example, the first perception control information also includes perception signal configuration information, such as signal frequency, signal strength, etc. This application does not limit this.

[0189] S204: The first sensing device performs sensing on the sensing object according to the first beam information.

[0190] After receiving the first perception control information, the first perception device obtains first beam information therefrom and performs perception on the perception object according to the first beam information.

[0191] It can be understood that when the first perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, the first perception device also performs perception on the perception object based on the perception type, and / or the perception accuracy information, and / or the perception time information.

[0192] Through the above embodiment, the control device determines, based on information indicating a sensing object, first beam information indicating a beam to be used for sensing the sensing object. The control device then sends first sensing control information containing the first beam information to the first sensing device, causing the first sensing device to perform sensing of the sensing object based on the first beam information. Because the first beam information is dynamically determined for the sensing object and is adapted to the sensing object, it can be assumed that when the first sensing device performs sensing of the sensing object based on the first beam information, the sensing resources used are adapted to the sensing resources actually required by the sensing object. This helps avoid unnecessary waste of sensing resources and improves sensing resource utilization.

[0193] In addition, the first beam information can also reflect perception accuracy. For example, if the beam width indicated by the first beam information is narrower, that is, the beam is more focused and the signal generated is stronger, then the achievable perception accuracy can be considered to be higher. For another example, if the beam width indicated by the first beam information is wider, that is, the beam is more divergent and the signal generated is weaker, then the achievable perception accuracy can be considered to be higher. Therefore, when the first perception device performs perception of the perception object based on the first beam information, the perception accuracy achieved is also consistent with the perception accuracy actually required by the perception object. This helps to resolve the problem of limited perception accuracy and meet diverse perception accuracy requirements.

[0194] Optionally, the perception method shown in FIG2 further includes the following steps S205 to S207.

[0195] S205: The first perception device sends first perception data to the control device. Correspondingly, the control device receives the first perception data from the first perception device.

[0196] The first perception data is perception data obtained by the first perception device after performing perception on the perception object according to the first beam information. Specifically, the first perception device transmits wireless signal data to the perception object according to the first beam information and receives reflected wireless signal data, thereby obtaining the first perception data.

[0197] S206: The control device processes the first perception data to obtain a first perception result.

[0198] The first perception data includes physical characteristic parameters of the wireless signal. The control device may process the first perception data by specifically identifying these physical characteristic parameters to obtain a first perception result.

[0199] In one example, the perception object is a perception area, and the control device can identify whether these physical characteristic parameters represent a specific object (ie, a perception target), and the first perception result obtained thereby can reflect the perception target situation in the perception area.

[0200] For example, if these physical characteristic parameters are identified as representing a perceived target, it can be considered that the perceived target exists within the perception area, and the corresponding first perception result indicates that the perceived target has been detected. The first perception result includes information indicating the perceived target, which may include information indicating that the perceived target has been detected, and may also include information such as the target type, attributes, location, and size of the perceived target.

[0201] For another example, if it is identified that these physical characteristic parameters cannot represent the perception target, it can be considered that there is no perception target in the perception area, and the corresponding first perception result indicates that the perception target is not detected.

[0202] In another example, the sensing object is a sensing target. The control device can identify the state information of the sensing target based on these physical characteristic parameters. The first sensing result obtained thereby can reflect the state change of the sensing target. For example, if the sensing target is a drone, the corresponding first sensing result can indicate the flight trajectory of the drone.

[0203] S207: The control device sends the first perception result to the requesting device. Correspondingly, the requesting device receives the first perception result from the control device.

[0204] After obtaining the first perception result, the control device sends the first perception result to the requesting device so that the requesting party can promptly obtain the perception result about the perception object.

[0205] Optionally, the perception method shown in FIG2 further includes the following steps S208 to S210.

[0206] S208: The control device determines second beam information according to the first perception result.

[0207] In one embodiment, the sensing object is a sensing area (denoted as X). The first sensing device performs sensing for sensing area X based on the first beam information, obtaining first sensing data. The control device processes the first sensing data to obtain a first sensing result. If the first sensing result indicates that a sensing target (denoted as Z) is detected within sensing area X, the control device determines second beam information based on the first sensing result.

[0208] The second beam information is used to indicate a beam used to perform perception of the perception target Z. The second beam information is different from the first beam information.

[0209] In one embodiment, the first beam information includes a first beam width (denoted as W1), which refers to the beam width used for performing perception for the perception area X. The second beam information includes a second beam width (denoted as W2), which refers to the beam width used for performing perception for the perception target Z. The second beam width W2 is smaller than the first beam width W1.

[0210] Accordingly, when the control device detects a perception target within the perception area, it supports adjustment of the beam width. By reducing the beam width, the beam can be made more focused and a stronger perception signal can be generated, thereby indicating subsequent higher-precision perception of the perception target, and being able to meet different accuracy requirements from regional perception to specific target perception.

[0211] The first perception result includes information indicating the perception target. The control device determines the second beam information based on the first perception result. Specifically, the second beam information may be determined based on the information indicating the perception target. The second beam information determined by the control device based on the information indicating the perception target can be understood as being adapted to the perception target. The second beam information corresponding to different perception targets may be the same or different.

[0212] In one possible implementation, the control device may obtain the target type of the perception target based on the information indicating the perception target, and then obtain the beamwidth used for perception of the perception target based on the target type of the perception target and the mapping relationship between the target type and the beamwidth. The mapping relationship between the target type and the beamwidth may be predefined or preconfigured.

[0213] In one example, the target type can be used to characterize a specific object. For example, if the perceived target is a drone, the target type of the perceived target is drone. The beamwidths corresponding to different target types can be the same or different.

[0214] It should be understood that the target type can also be determined by other methods, which are not limited in this application. For example, the target type can also be determined based on the size of the perceived target. For example, if the size of the perceived target is within a preset first size range, the target type to which the perceived target belongs is the first target type; if the size of the perceived target is within a preset second size range, the target type to which the perceived target belongs is the second target type.

[0215] In one embodiment, the second beam information further includes a beam direction. The control device may obtain the position of the sensing target based on the information indicating the sensing target, and then determine the beam direction based on the position of the sensing target so that the range of the beam can cover the sensing target.

[0216] S209: The control device sends second perception control information to the first perception device. Correspondingly, the first perception device receives the second perception control information from the control device.

[0217] The second sensing control information includes second beam information. The second sensing control information is used to instruct the first sensing device to perform sensing on a sensing target according to the second beam information.

[0218] In one embodiment, the second sensing control information further includes a sensing type, where the sensing type is used to indicate a sensing type used to perform sensing for a sensing target. Accordingly, the second sensing control information is further used to instruct the first sensing device to perform sensing for the sensing target according to the sensing type.

[0219] In a 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.

[0220] Accordingly, when the control device detects a perception target within the perception area, it also supports adjustment of the perception type. By adjusting the perception type from scanning perception to tracking perception, it can instruct the target to be tracked after the target is detected, which can meet the business needs of target intrusion detection and tracking within a certain area.

[0221] In one embodiment, the second perception control information further includes perception accuracy information. The perception accuracy information indicates the accuracy required for performing perception of the perception target, such as resolution, refresh rate, probability of not detecting an object, false alarm rate, etc. Accordingly, the second perception control information is further used to instruct the first perception device to perform perception of the perception target based on the perception accuracy information.

[0222] In one embodiment, the second sensing control information further includes sensing time information. The sensing time information is used to indicate the time when sensing of the sensing target is performed, for example, at what point in time or time period sensing of the sensing target is performed. Accordingly, the second sensing control information is also used to instruct the first sensing device to perform sensing of the sensing target according to the sensing time information.

[0223] It should be understood that for the above-mentioned perception time information and the specific description of the perception time information, reference can be made to the relevant description in the previous embodiments, which will not be repeated here.

[0224] S210: The first sensing device performs sensing for a sensing target according to the second beam information.

[0225] After receiving the second perception control information, the first perception device obtains second beam information therefrom and performs perception on the perception target according to the second beam information.

[0226] It can be understood that when the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, the first perception device also performs perception for the perception target based on the perception type, and / or the perception accuracy information, and / or the perception time information.

[0227] Optionally, the perception method shown in FIG2 further includes the following steps S211 to S213.

[0228] S211: The first sensing device sends second sensing data to the control device. Correspondingly, the control device receives the second sensing data from the first sensing device.

[0229] The second sensing data is sensing data obtained by the first sensing device after sensing the sensing target according to the second beam information. Specifically, the first sensing device transmits wireless signal data to the sensing target according to the second beam information and receives reflected wireless signal data, thereby obtaining the second sensing data.

[0230] S212: The control device processes the second perception data to obtain a second perception result.

[0231] The control device can identify the state information of the perceived target based on the second perception data. The second perception result obtained thereby can reflect the state change of the perceived target. For example, if the perceived target is a drone, the corresponding second perception result can indicate the flight trajectory of the drone. For another example, if the perceived target is a traffic light, the corresponding second perception result can indicate the color change of the traffic light.

[0232] S213: The control device sends the second perception result to the requesting device. Correspondingly, the requesting device receives the second perception result from the control device.

[0233] After obtaining the second perception result, the control device sends the second perception result to the requesting device so that the requesting party can promptly obtain the perception result about the perception target.

[0234] Based on the above scheme, the control device can first instruct the first perception device to use a wider beam to perform scanning perception within a certain area, and perform target identification on the scanning perception data obtained by the first perception device. When the perception target is identified, the control device can adjust the beam width and perception type, and then instruct the first perception device to use a narrower beam to track and perceive the perception target. This can achieve efficient scanning perception and high-precision tracking perception, thereby meeting the perception requirements of two different stages of target detection and target tracking, and can improve the utilization rate of perception resources.

[0235] Optionally, the first sensing device is a base station, and the above solution is applicable to sensing services in a base station self-transmitting and self-receiving sensing mode, such as target intrusion detection and tracking.

[0236] Please refer to Figure 3, which is a flow chart of another sensing method provided by an embodiment of the present application. The sensing method shown in Figure 3 includes the following steps S301 to S303.

[0237] S301: The control device sends first perception control information to the first perception device. Correspondingly, the first perception device receives the first perception control information from the control device.

[0238] The first perception control information includes information for indicating a perception object. Optionally, the first perception control information also includes perception type, and / or perception accuracy information, and / or perception time information.

[0239] It should be understood that for the specific description of the information used to indicate the perception object, the perception type, the perception accuracy information, and the perception time information, reference can be made to the relevant description in the previous embodiments, and no further details will be given here.

[0240] It should be noted that the entity used to determine the perception type, perception accuracy information, or perception time information is not limited to the control device or requester described in the previous embodiments, but may also be a first perception device. That is, the perception type, perception accuracy information, or perception time information may not be included in the first perception control information, but may be determined independently by the first perception device after receiving the first perception control information. For example, the first perception device may determine the perception type based on information indicating the perception object, and may also determine the perception accuracy information or perception time information based on its own configuration or capabilities.

[0241] S302: The first sensing device determines first beam information according to information indicating the sensing object.

[0242] After receiving the first perception control information, the first perception device obtains information indicating a perception object therefrom, and determines first beam information according to the information indicating the perception object.

[0243] The first beam information is used to indicate a beam used to perform perception of the perception object. In this embodiment, the first beam information is determined by the first perception device.

[0244] It should be understood that the specific description of the first beam information can refer to the relevant description of the first beam information in the previous embodiment, and the specific description of the first sensing device determining the first beam information can refer to the relevant description of the control device determining the first beam information in the previous embodiment, which will not be repeated here.

[0245] S303: The first sensing device performs sensing on the sensing object according to the first beam information.

[0246] It can be understood that when the first perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, or when the first perception device also determines the perception type, and / or perception accuracy information, and / or perception time information by itself, accordingly, the first perception device also performs perception on the perception object based on the perception type, and / or the perception accuracy information, and / or the perception time information.

[0247] Optionally, the perception method shown in FIG3 further includes the following steps S304 to S308.

[0248] S304: The first perception device sends first perception data to the control device. Correspondingly, the control device receives the first perception data from the first perception device.

[0249] S305: The control device obtains information indicating a perception target according to the first perception data.

[0250] In one embodiment, the sensing object is a sensing area. The first sensing device performs sensing of the sensing area based on the first beam information to obtain first sensing data. The control device processes the first sensing data to identify whether the first sensing data contains data representing the sensing target, that is, to detect whether the sensing area includes the sensing target. If the control device detects the sensing target within the sensing area, information indicating the sensing target may be obtained.

[0251] S306: The control device sends second perception control information to the first perception device. Correspondingly, the first perception device receives the second perception control information from the control device.

[0252] The second sensing control information includes information for indicating a sensing target. Optionally, the second sensing control information also includes sensing type, and / or sensing accuracy information, and / or sensing time information.

[0253] It should be understood that for the specific description of the information used to indicate the perception target, the perception type, the perception accuracy information, and the perception time information, reference can be made to the relevant description in the previous embodiments, and no further details will be given here.

[0254] S307: The first sensing device determines second beam information according to the information indicating the sensing target.

[0255] After receiving the second sensing control information, the first sensing device obtains information indicating a sensing target therefrom, and determines second beam information according to the information indicating the sensing target.

[0256] The second beam information is used to indicate a beam used to perform sensing of 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.

[0257] In this embodiment, the second beam information is determined by the first sensing device. It should be understood that the specific description of the first sensing device determining the second beam information can refer to the relevant description of the control device determining the second beam information in the previous embodiment, and will not be repeated here.

[0258] S308: The first sensing device performs sensing for the sensing target according to the second beam information.

[0259] It can be understood that when the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, or when the first perception device also determines the perception type, and / or perception accuracy information, and / or perception time information by itself, accordingly, the first perception device also performs perception for the perception target based on the perception type, and / or the perception accuracy information, and / or the perception time information.

[0260] Based on the above scheme, the control device can obtain information used to indicate the perception target based on the first perception data, and the first perception device can determine the second beam information based on the information used to indicate the perception target, that is, the control device and the first perception device collaborate to complete the determination of the second beam information.

[0261] It should be understood that in other embodiments, the second beam information may also be determined independently by the control device or the first sensing device.

[0262] Optionally, the above steps S305 to S307 may be replaced by the following steps:

[0263] The control device determines second beam information based on the first perception data; the control device sends the second perception control information to the first perception device, and accordingly, the first perception device receives the second perception control information from the control device, where the second perception control information includes the second beam information.

[0264] Based on the above solution, the control device can obtain information indicating the sensing target based on the first sensing data and determine the 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 carries the second beam information in the second sensing control information and sends it to the first sensing device. The first sensing device can then directly obtain the second beam information from the second sensing control information.

[0265] Optionally, the above steps S304 to S307 may be replaced by the following steps:

[0266] The first sensing device obtains information indicating a sensing target based on the first sensing data; the first sensing device determines second beam information based on the information indicating the sensing target.

[0267] Based on the above scheme, the first perception device can obtain information used to indicate the perception target according to the first perception data, and determine the second beam information according to the information used to indicate the perception target, that is, the first perception device alone completes the determination of the second beam information.

[0268] Please refer to Figure 4, which is a flow chart of another sensing method provided by an embodiment of the present application. The sensing method shown in Figure 4 includes the following steps S401 to S404.

[0269] S401: The requesting device sends a perception request to the controlling device. Correspondingly, the controlling device receives the perception request from the requesting device.

[0270] S402: The control device determines first beam information according to information indicating the perception object.

[0271] It should be understood that the specific description of steps S401 to S402 can refer to the relevant description of steps S201 to S202 in the previous embodiment, and will not be repeated here.

[0272] S403: The control device sends first sensing control information to the first sensing device, and accordingly, the first sensing device receives the first sensing control information from the control device. The control device sends the first sensing control information to the second sensing device, and accordingly, the second sensing device receives the first sensing control information from the control device.

[0273] The first sensing control information includes first beam information and a collaborative sensing mode. The first sensing control information is used to instruct the first sensing device and the second sensing device to collaboratively perform sensing on a sensing object according to the first beam information.

[0274] The second sensing device refers to a device that collaborates with the first sensing device to perform perception of a sensing object. It should be understood that the signal of the second sensing device can cover the sensing object. Before sending the first sensing control information to the second sensing device, the control device may first determine the second sensing device. It should be understood that the specific description of the control device determining the second sensing device can be referred to the relevant description of the control device determining the second sensing device in the previous embodiment, and will not be repeated here.

[0275] Optionally, the collaborative sensing mode adopts a mutual transmission and reception mode or a single transmission and reception mode. In the mutual transmission and reception mode, the first sensing device and the second sensing device both transmit wireless signals as transmitters and receive wireless signals as receivers. In the single transmission and reception mode, one of the first sensing device and the second sensing device transmits wireless signals as a transmitter and the other receives wireless signals as a receiver.

[0276] In one embodiment, the first perception control information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the first perception control information is also used to instruct the first perception device and the second perception device to collaboratively perform perception of the perception object based on the perception type, and / or perception accuracy information, and / or perception time information.

[0277] S404: The first sensing device and the second sensing device collaboratively perform sensing of the sensing object according to the first beam information.

[0278] After receiving the first perception control information, the first perception device and the second perception device obtain first beam information therefrom and collaboratively perform perception of the perception object based on the first beam information.

[0279] It can be understood that when the first perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, accordingly, the first perception device and the second perception device also collaboratively perform perception of the perception object based on the perception type, and / or the perception accuracy information, and / or the perception time information.

[0280] Optionally, the perception method shown in FIG4 further includes the following steps S405 to S407.

[0281] S405: The first sensing device sends first sensing data to the control device. Correspondingly, the control device receives the first sensing data from the first sensing device.

[0282] S406: The control device processes the first perception data to obtain a first perception result.

[0283] S407: The control device sends the first perception result to the requesting device. Correspondingly, the requesting device receives the first perception result from the control device.

[0284] It should be understood that the specific description of steps S405 to S407 can refer to the relevant description of steps S205 to S207 in the previous embodiment, and will not be repeated here.

[0285] Optionally, the perception method shown in FIG4 further includes the following steps S408 to S410.

[0286] S408: The control device determines second beam information according to the first perception result.

[0287] In one embodiment, the sensing object is a sensing area, the first sensing result indicates that a sensing target is detected within the sensing area, and the second beam information indicates a beam used to sense the sensing target. The beam width indicated by the second beam information is smaller than the beam width indicated by the first beam information.

[0288] S409: The control device sends second sensing control information to the first sensing device, and accordingly, the first sensing device receives the second sensing control information from the control device. The control device sends the second sensing control information to the second sensing device, and accordingly, the second sensing device receives the second sensing control information from the control device.

[0289] The second sensing control information includes second beam information and a collaborative sensing mode. The second sensing control information is used to instruct the first sensing device and the second sensing device to collaboratively perform sensing on a sensing target according to the second beam information.

[0290] Optionally, the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the second perception control information is also used to instruct the first perception device and the second perception device to collaboratively perform perception of the perception target based on the perception type, and / or perception accuracy information, and / or perception time information.

[0291] In a possible implementation, the cooperative sensing mode in the first sensing control information adopts a mutual transmission and reception mode, and the cooperative sensing mode in the second sensing control information adopts a one-transmission and one-reception mode.

[0292] Accordingly, when the control device detects a perception target within the perception area, it also supports adjustment of the collaborative perception mode. By adjusting the collaborative perception mode from a mutual transmission and reception mode to a one-transmission and one-reception mode, the perception resource utilization rate can be improved.

[0293] S410: The first sensing device and the second sensing device collaboratively perform sensing for a sensing target according to the second beam information.

[0294] After receiving the second perception control information, the first perception device and the second perception device obtain second beam information therefrom and collaboratively perform perception on the perception target based on the second beam information.

[0295] In one embodiment, a first sensing device acts as a receiver, and a second sensing device acts as a transmitter. The second sensing device transmits wireless signal data to a sensing target based on the second beam information, and the first sensing device receives the reflected wireless signal data. The beam width of the transmitter is adjusted based on instructions from the control device; the beam width of the receiver may or may not be adjusted based on instructions from the control device.

[0296] It can be understood that when the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, accordingly, the first perception device and the second perception device also collaboratively perform perception of the perception target based on the perception type, and / or the perception accuracy information, and / or the perception time information.

[0297] Optionally, the perception method shown in FIG4 further includes the following steps S411 to S413.

[0298] S411: The first sensing device sends second sensing data to the control device. Correspondingly, the control device receives the second sensing data from the first sensing device.

[0299] S412: The control device processes the second perception data to obtain a second perception result.

[0300] S413: The control device sends the second perception result to the requesting device. Correspondingly, the requesting device receives the second perception result from the control device.

[0301] It should be understood that the specific description of steps S411 to S413 can refer to the relevant description of steps S211 to S213 in the previous embodiment, and will not be repeated here.

[0302] Based on the above scheme, the control device can first instruct the first perception device and the second perception device to use a wider beam to perform mutual transmission and reception scanning perception within a certain area, and perform target identification on the scanning perception data obtained by the first perception device. When the perception target is identified, the control device can adjust the beam width, perception type and perception mode, and then instruct the first perception device and the second perception device to use a narrower beam to perform one-to-one transmission and one-to-receive tracking perception on the perception target. This can achieve efficient scanning perception and high-precision tracking perception, thereby meeting the perception requirements of two different stages of target detection and target tracking, and can improve the utilization rate of perception resources.

[0303] Optionally, the first sensing device and the second sensing device are both base stations, and the above solution is applicable to sensing services in an inter-base station transceiver sensing mode, such as target intrusion detection and tracking.

[0304] Please refer to Figure 5, which is a flow chart of another sensing method provided by an embodiment of the present application. The sensing method shown in Figure 5 includes the following steps S501 to S504.

[0305] S501: The control device sends first perception control information to the first perception device. Correspondingly, the first perception device receives the first perception control information from the control device.

[0306] The first sensing control information includes information for indicating a sensing object and a collaborative sensing mode. The first sensing control information is used to instruct the first sensing device and the second sensing device to collaboratively perform sensing on the sensing object.

[0307] Optionally, the first perception control information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the first perception control information is also used to instruct the first perception device and the second perception device to collaboratively perform perception of the perception object based on the perception type, and / or perception accuracy information, and / or perception time information.

[0308] S502: The first sensing device determines first beam information according to information indicating the sensing object.

[0309] It should be understood that for the specific description of step S502, reference can be made to the relevant description of step S302 in the previous embodiment, and no further details will be given here.

[0310] S503: The first perception device sends first indication information to the second perception device. Correspondingly, the second perception device receives the first indication information from the first perception device.

[0311] The first indication information includes first beam information and a cooperative sensing mode. The first indication information is used to instruct the second sensing device to cooperate with the first sensing device to perform sensing on the sensing object according to the first beam information.

[0312] Optionally, the first indication information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the first indication information is also used to instruct the second perception device to cooperate with the first perception device to perform perception of the perception object based on the perception type, and / or perception accuracy information, and / or perception time information.

[0313] S504: The first sensing device and the second sensing device collaboratively perform sensing of the sensing object according to the first beam information.

[0314] It can be understood that when the first perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, or the first indication information also includes perception type, and / or perception accuracy information, and / or perception time information, accordingly, the first perception device and the second perception device also collaboratively perform perception of the perception object based on the perception type, and / or the perception accuracy information, and / or the perception time information.

[0315] Optionally, the perception method shown in FIG5 further includes the following steps S505 to S510.

[0316] S505: The first perception device sends first perception data to the control device. Correspondingly, the control device receives the first perception data from the first perception device.

[0317] S506: The control device obtains information indicating the perception target according to the first perception data.

[0318] S507: The control device sends second perception control information to the first perception device. Correspondingly, the first perception device receives the second perception control information from the control device.

[0319] The second sensing control information includes information for indicating a sensing target and a collaborative sensing mode. The second sensing control information is used to instruct the first sensing device and the second sensing device to collaboratively perform sensing on the sensing target.

[0320] Optionally, the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the second perception control information is also used to instruct the first perception device and the second perception device to collaboratively perform perception of the perception object based on the perception type, and / or perception accuracy information, and / or perception time information.

[0321] S508: The first sensing device determines second beam information according to the information indicating the sensing target.

[0322] S509: The first sensing device sends second indication information to the second sensing device. Correspondingly, the second sensing device receives the second indication information from the first sensing device.

[0323] The second indication information includes second beam information and a cooperative sensing mode. The second indication information is used to instruct the second sensing device to cooperate with the first sensing device to perform sensing for a sensing target according to the second beam information.

[0324] Optionally, the second indication information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the second indication information is also used to instruct the second perception device to cooperate with the first perception device to perform perception of the perception target based on the perception type, and / or perception accuracy information, and / or perception time information.

[0325] S510: The first sensing device and the second sensing device collaboratively perform sensing for a sensing target according to the second beam information.

[0326] It can be understood that when the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, or the second indication information also includes perception type, and / or perception accuracy information, and / or perception time information, accordingly, the first perception device and the second perception device also collaboratively perform perception for the perception target based on the perception type, and / or the perception accuracy information, and / or the perception time information.

[0327] It should be understood that the specific description of the above steps S505 to S506 and step S508 can refer to the relevant description of steps S304 to S305 and step S307 in the previous embodiment, and will not be repeated here.

[0328] Optionally, the above steps S506 to S508 may be replaced by the following steps:

[0329] The control device determines second beam information based on the first perception data; the control device sends the second perception control information to the first perception device, and accordingly, the first perception device receives the second perception control information from the control device, where the second perception control information includes the second beam information.

[0330] Based on the above solution, the control device can obtain information indicating the sensing target based on the first sensing data and determine the 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 carries the second beam information in the second sensing control information and sends it to the first sensing device. The first sensing device can then directly obtain the second beam information from the second sensing control information.

[0331] Optionally, the above steps S505 to S508 may be replaced by the following steps:

[0332] The first sensing device obtains information indicating a sensing target based on the first sensing data; the first sensing device determines second beam information based on the information indicating the sensing target.

[0333] Based on the above scheme, the first perception device can obtain information used to indicate the perception target according to the first perception data, and determine the second beam information according to the information used to indicate the perception target, that is, the first perception device alone completes the determination of the second beam information.

[0334] Please refer to Figure 6, which is a flow chart of a perception method provided by an embodiment of the present application. The perception method shown in Figure 6 includes the following steps S601 to S613.

[0335] S601: The requesting device sends a perception request to the controlling device. Correspondingly, the controlling device receives the perception request from the requesting device.

[0336] S602: The control device determines first beam information according to information indicating the perception object.

[0337] S603: The control device sends first perception control information to the first perception device. Correspondingly, the first perception device receives the first perception control information from the control device.

[0338] S604: The first sensing device performs sensing on the sensing object according to the first beam information.

[0339] S605: The first perception device sends first perception data to the control device. Correspondingly, the control device receives the first perception data from the first perception device.

[0340] S606: The control device processes the first perception data to obtain a first perception result.

[0341] S607: The control device sends the first perception result to the requesting device. Correspondingly, the requesting device receives the first perception result from the control device.

[0342] S608: The control device determines second beam information according to the first perception result.

[0343] S609: The control device sends second perception control information to the first perception device, and accordingly, the first perception device receives the second perception control information from the control device. The control device sends the second perception control information to the user equipment, and accordingly, the user equipment receives the second perception control information from the control device.

[0344] The second perception control information includes second beam information and a user equipment (UE) assisted perception mode. The UE assisted perception mode can also be understood as a collaborative perception mode. The second perception device in this perception mode is the UE. The second perception control information is used to instruct the first perception device and the user equipment to collaboratively perform perception of the perception target according to the second beam information.

[0345] Optionally, the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the second perception control information is also used to instruct the first perception device and the user device to collaboratively perform perception for the perception target based on the perception type, and / or perception accuracy information, and / or perception time information.

[0346] S610: The first sensing device and the user equipment collaboratively perform sensing for a sensing target according to the second beam information.

[0347] After receiving the second perception control information, the first perception device and the user equipment obtain second beam information therefrom, and collaboratively perform perception on the perception target based on the second beam information.

[0348] Specifically, the first sensing device acts as a receiver, and the user device acts as a transmitter. The user device transmits wireless signal data to the sensing target based on the second beam information, and the first sensing device receives the reflected wireless signal data. The beam width of the transmitter is adjusted based on instructions from the control device; the beam width of the receiver may or may not be adjusted based on instructions from the control device.

[0349] It can be understood that when the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, accordingly, the first perception device and the user device also collaboratively perform perception for the perception target based on the perception type, and / or the perception accuracy information, and / or the perception time information.

[0350] S611: The first sensing device sends second sensing data to the control device. Correspondingly, the control device receives the second sensing data from the first sensing device.

[0351] S612: The control device processes the second perception data to obtain a second perception result.

[0352] S613: The control device sends the second perception result to the requesting device. Correspondingly, the requesting device receives the second perception result from the control device.

[0353] It should be understood that the specific descriptions of the above steps S601 to S608 and steps S611 to S613 can refer to the relevant descriptions of steps S201 to S208 and steps S211 to S213 in the previous embodiments, and will not be repeated here.

[0354] Based on the above scheme, the control device can first instruct the first perception device to use a wider beam to perform scanning perception within a certain area, and perform target identification on the scanning perception data obtained by the first perception device. When the perception target is identified, the control device can adjust the beam width, perception type and perception mode, and then instruct the user device to assist the first perception device to use a narrower beam to track and perceive the perception target. This can achieve efficient scanning perception and high-precision tracking perception, thereby meeting the perception requirements of two different stages of target detection and target tracking, and can improve the utilization rate of perception resources.

[0355] Optionally, the first sensing device is a base station, and the above solution is applicable to sensing services in a UE-sending base station-receiving sensing mode, such as target intrusion detection and tracking.

[0356] Please refer to Figure 7, which is a flowchart of another sensing method provided by an embodiment of the present application. The sensing method shown in Figure 7 includes the following steps S701 to S709.

[0357] S701: The control device sends first perception control information to the first perception device. Correspondingly, the first perception device receives the first perception control information from the control device.

[0358] S702: The first sensing device determines first beam information according to information indicating the sensing object.

[0359] S703: The first sensing device performs sensing on the sensing object according to the first beam information.

[0360] S704: The first perception device sends first perception data to the control device. Correspondingly, the control device receives the first perception data from the first perception device.

[0361] S705: The control device obtains information indicating a perception target according to the first perception data.

[0362] S706: The control device sends second perception control information to the first perception device. Correspondingly, the first perception device receives the second perception control information from the control device.

[0363] The second sensing control information includes information for indicating a sensing target and a UE-assisted sensing mode. The second sensing control information is used to instruct the first sensing device and the user equipment to collaboratively perform sensing for the sensing target.

[0364] Optionally, the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the second perception control information is also used to instruct the first perception device and the user device to collaboratively perform perception for the perception target based on the perception type, and / or perception accuracy information, and / or perception time information.

[0365] S707: The first sensing device determines second beam information according to the information indicating the sensing target.

[0366] S708: The first sensing device sends third indication information to the user equipment. Correspondingly, the user equipment receives the third indication information from the first sensing device.

[0367] The third indication information includes the second beam information and the UE-assisted sensing mode. The third indication information is used to instruct the user equipment to assist the first sensing device in performing sensing for the sensing target according to the second beam information.

[0368] Optionally, the third indication information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the third indication information is also used to instruct the user device to assist the first perception device in performing perception of the perception object based on the perception type, and / or perception accuracy information, and / or perception time information.

[0369] In one embodiment, the third indication information may be information sent by the first sensing device to the user equipment based on a radio resource control (RRC) protocol.

[0370] S709: The first sensing device and the user equipment collaboratively perform sensing for the sensing target according to the second beam information.

[0371] It can be understood that when the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, or when the third indication information also includes perception type, and / or perception accuracy information, and / or perception time information, accordingly, the first perception device and the user device also collaboratively perform perception of the perception object based on the perception type, and / or the perception accuracy information, and / or the perception time information.

[0372] It should be understood that the specific description of the above steps S701 to S705 and step S707 can refer to the relevant description of steps S301 to S305 and step S307 in the previous embodiment, and will not be repeated here.

[0373] Optionally, the above steps S705 to S707 may be replaced by the following steps:

[0374] The control device determines second beam information based on the first perception data; the control device sends the second perception control information to the first perception device, and accordingly, the first perception device receives the second perception control information from the control device, where the second perception control information includes the second beam information.

[0375] Based on the above solution, the control device can obtain information indicating the sensing target based on the first sensing data and determine the 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 carries the second beam information in the second sensing control information and sends it to the first sensing device. The first sensing device can then directly obtain the second beam information from the second sensing control information.

[0376] Optionally, the above steps S704 to S707 may be replaced by the following steps:

[0377] The first sensing device obtains information indicating a sensing target based on the first sensing data; the first sensing device determines second beam information based on the information indicating the sensing target.

[0378] Based on the above scheme, the first perception device can obtain information used to indicate the perception target according to the first perception data, and determine the second beam information according to the information used to indicate the perception target, that is, the first perception device alone completes the determination of the second beam information.

[0379] Optionally, in the embodiment shown in Figure 6 or Figure 7 above, the user equipment can be replaced by a base station. Accordingly, the first perception device is the user equipment, so that the user equipment serves as the receiving end and the base station serves as the transmitting end, so as to be suitable for the perception service in the base station sending and receiving UE perception mode.

[0380] The above describes in detail the methods of the embodiments of the present application. The following provides an apparatus for implementing any of the methods in the embodiments of the present application. For example, an apparatus is provided that includes units (or means) for implementing each step performed by the network element / device in any of the above methods.

[0381] Please refer to FIG8 , which is a schematic structural diagram of a sensing device provided in an embodiment of the present application.

[0382] 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.

[0383] The transceiver unit 801 can implement a sending function and / or a receiving function, and can also be described as a communication unit. The transceiver unit 801 can also be a unit that integrates an acquisition unit and a transmission unit, wherein the acquisition unit is used to implement the receiving function and the transmission unit is used to implement the transmission function. Optionally, the transceiver unit 801 can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0384] In one possible design, the sensing device 800 may correspond to the control device in the above method embodiment. For example, the sensing device 800 may be the control device in the above method embodiment, or it may be a chip in the control device. The sensing device 800 may include a unit for executing the operations performed by the control device in the above method embodiment, and each unit in the sensing device 800 is respectively for implementing the operations performed by the control device in the above method embodiment. The description of each unit is as follows:

[0385] The transceiver unit 801 is configured to receive a sensing request from a requesting device, where the sensing request includes information indicating a sensing object.

[0386] The processing unit 802 is configured to determine first beam information according to the information indicating the perception object, where the first beam information is used to indicate a beam used for performing perception of the perception object.

[0387] The transceiver unit 801 is further configured to send first perception control information to a first perception device, where the first perception control information includes first beam information, and the first perception device is configured to perform perception of a perception object.

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

[0389] In a possible implementation manner, the first perception control information further includes a perception type.

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

[0391] In a possible implementation manner, the first perception control information further includes perception accuracy information and / or perception time information.

[0392] In a possible implementation, the first perception control information further includes a collaborative perception mode.

[0393] In a possible implementation, the transceiver unit 801 is further configured to: send the first perception control information to the second perception device, and the second perception device is configured to perform perception on the perception object.

[0394] In one possible implementation, the transceiver unit 801 is also used to: receive first perception data from a first perception device, where the first perception data is perception data obtained by the first perception device after performing perception on the perception object according to the first beam information; the processing unit 802 is also used to: process the first perception data to obtain a first perception result; the transceiver unit 801 is also used to: send the first perception result to the requesting device.

[0395] In one possible implementation, the processing unit 802 is also used to: determine second beam information based on the first perception result, where the second beam information is different from the first beam information; the transceiver unit 801 is also used to: send second perception control information to the first perception device, where the second perception control information includes second beam information.

[0396] In a possible implementation, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0397] In another possible design, the sensing device 800 may correspond to the first sensing device in the above method embodiment. For example, the sensing device 800 may be the first sensing device in the above method embodiment, or may be a chip in the first sensing device. The sensing device 800 may include units for executing the operations performed by the first sensing device in the above method embodiment, and each unit in the sensing device 800 is respectively for implementing the operations performed by the first sensing device in the above method embodiment.

[0398] In a possible embodiment, the description of each unit is as follows:

[0399] The transceiver unit 801 is configured to receive first sensing control information from a control device, where the first sensing control information includes first beam information, where the first beam information is used to indicate a beam used for sensing an object.

[0400] The processing unit 802 is configured to perform perception of the perception object according to the first beam information.

[0401] In another possible embodiment, the description of each unit is as follows:

[0402] The transceiver unit 801 is configured to receive first perception control information from a control device, where the first perception control information includes information indicating a perception object.

[0403] The processing unit 802 is configured to determine first beam information based on information indicating a perception object, where the first beam information indicates a beam used for performing perception of the perception object; and perform perception of the perception object based on the first beam information.

[0404] In a possible implementation manner, the first beam information includes a beam width, or the first beam information includes a beam width and a beam direction.

[0405] In a possible implementation manner, the first perception control information further includes a perception type.

[0406] In a possible implementation, the information indicating the perception object includes one or more of the following information: an identifier of the perception object, perception area information, and perception location information.

[0407] In a possible implementation manner, the first perception control information further includes perception accuracy information and / or perception time information.

[0408] In a possible implementation, the first perception control information further includes a collaborative perception mode.

[0409] In a possible implementation, the transceiver unit 801 is further configured to: send indication information to the second sensing device, where the indication information includes the first beam information and the cooperative sensing mode, and the second sensing device is configured to perform sensing for the sensing object.

[0410] In one possible implementation, the transceiver unit 801 is further used to: receive second perception control information from the control device, the second perception control information includes second beam information, the second beam information is used to indicate the beam used to perform perception of the perception target, and the second beam information is different from the first beam information; the processing unit 802 is further used to: perform perception of the perception target according to the second beam information.

[0411] In one possible implementation, the transceiver unit 801 is further used to: receive second perception control information from the control device, the second perception control information including information for indicating a perception target; the processing unit 802 is further used to: determine second beam information based on the information for indicating the perception target, the second beam information is used to indicate the beam used for performing perception for the perception target, the second beam information is different from the first beam information; and perform perception for the perception target based on the second beam information.

[0412] In one possible implementation, the processing unit 802 is further used to: obtain information for indicating a perception target based on first perception data, where the first perception data is perception data obtained by the processing unit 802 after performing perception of the perception object based on the first beam information; determine second beam information based on the information for indicating the perception target, where the second beam information is used to indicate the beam used to perform perception of the perception target, and the second beam information is different from the first beam information; and perform perception of the perception target based on the second beam information.

[0413] In a possible implementation, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0414] According to an embodiment of the present application, the various units in the device shown in Figure 8 can be separately or all merged into one or several other units to constitute, or a certain (some) unit therein can also be split into multiple smaller units to constitute, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above-mentioned units are divided based on logical functions. In practical applications, the functions of a unit can also be implemented by multiple units, or the functions of multiple units can be implemented by one unit. In other embodiments of the present application, other units can also be included based on electronic equipment. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented by collaboration of multiple units.

[0415] It should be noted that the implementation of each unit may also refer to the corresponding description of the method embodiments shown in Figures 2 to 7 above.

[0416] Please refer to Figure 9, which is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 900 may include a memory 901 and a processor 902. Further optionally, the electronic device 900 may also include a communication interface 903 and a bus 904. The memory 901, processor 902, and communication interface 903 are connected to each other via bus 904. The communication interface 903 is used to exchange data with other devices.

[0417] Memory 901 is used to provide storage space for storing data such as an operating system 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).

[0418] The processor 902 is a module that performs arithmetic and logical operations, and can be one or more combinations of processing modules such as a central processing unit (CPU), a graphics processing unit (GPU), or a microprocessor unit (MPU). The processor 902 can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0419] In one possible design, the electronic device 900 may correspond to the control device in the above method embodiment. For example, the electronic device 900 may be the control device in the above method embodiment, or a chip in the control device. The electronic device 900 may include components for executing the operations performed by the control device in the above method embodiment, and each component in the electronic device 900 is respectively configured to implement the operations performed by the control device in the above method embodiment. The processor 902 calls the computer program stored in the memory 901 to execute the above perception method, which may be specifically as follows:

[0420] The control device receives a sensing request from the requesting device, where the sensing request includes information indicating a sensing object;

[0421] The control device determines first beam information according to the information indicating the perception object, where the first beam information is used to indicate a beam used to perform perception on the perception object;

[0422] The control device sends first perception control information to the first perception device, where the first perception control information includes first beam information. The first perception device is used to perform perception on a perception object.

[0423] In a possible implementation manner, the first beam information includes a beam width, or the first beam information includes a beam width and a beam direction.

[0424] In a possible implementation manner, the first perception control information further includes a perception type.

[0425] In a possible implementation, the information indicating the perception object includes one or more of the following information: an identifier of the perception object, perception area information, and perception location information.

[0426] In a possible implementation manner, the first perception control information further includes perception accuracy information and / or perception time information.

[0427] In a possible implementation, the first perception control information further includes a collaborative perception mode.

[0428] In a possible implementation, the method further includes: the control device sending first perception control information to the second perception device, and the second perception device is configured to perform perception on the perception object.

[0429] In a possible implementation, the method also includes: the control device receives first perception data from the first perception device, the first perception data being perception data obtained after the first perception device performs perception on the perception object according to the first beam information; the control device processes the first perception data to obtain a first perception result; and the control device sends the first perception result to the requesting device.

[0430] In one possible implementation, the method also includes: the control device determines second beam information based on the first perception result, where the second beam information is different from the first beam information; the control device sends second perception control information to the first perception device, where the second perception control information includes the second beam information.

[0431] In a possible implementation, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0432] In another possible design, the electronic device 900 may correspond to the first sensing device in the above method embodiment. For example, the electronic device 900 may be the first sensing device in the above method embodiment, or may be a chip in the first sensing device. The electronic device 900 may include components for executing the operations performed by the first sensing device in the above method embodiment, and each component in the electronic device 900 is respectively configured to implement the operations performed by the first sensing device in the above method embodiment.

[0433] In a possible embodiment, the processor 902 calls the computer program stored in the memory 901 to execute the above-mentioned perception method, which may be specifically as follows:

[0434] The first sensing device receives first sensing control information from the control device, where the first sensing control information includes first beam information, where the first beam information is used to indicate a beam used to perform sensing of a sensing object;

[0435] The first sensing device performs sensing on the sensing object according to the first beam information.

[0436] In another possible embodiment, the processor 902 calls the computer program stored in the memory 901 to execute the above-mentioned perception method, which may be specifically as follows:

[0437] The first sensing device receives first sensing control information from the control device, where the first sensing control information includes information indicating a sensing object;

[0438] The first sensing device determines first beam information according to information indicating a sensing object, where the first beam information is used to indicate a beam used to perform sensing of the sensing object;

[0439] The first sensing device performs sensing on the sensing object according to the first beam information.

[0440] In a possible implementation manner, the first beam information includes a beam width, or the first beam information includes a beam width and a beam direction.

[0441] In a possible implementation manner, the first perception control information further includes a perception type.

[0442] In a possible implementation, the information indicating the perception object includes one or more of the following information: an identifier of the perception object, perception area information, and perception location information.

[0443] In a possible implementation manner, the first perception control information further includes perception accuracy information and / or perception time information.

[0444] In a possible implementation, the first perception control information further includes a collaborative perception mode.

[0445] In a possible implementation, the method further includes: the first sensing device sending indication information to the second sensing device, where the indication information includes the first beam information and the collaborative sensing mode, and the second sensing device is configured to perform sensing for the sensing object.

[0446] In one possible implementation, the method also includes: the first perception device receives second perception control information from the control device, the second perception control information includes second beam information, the second beam information is used to indicate the beam used to perform perception of the perception target, and the second beam information is different from the first beam information; the first perception device performs perception of the perception target according to the second beam information.

[0447] In one possible implementation, the method also includes: the first perception device receives second perception control information from the control device, the second perception control information includes information used to indicate the perception target; the first perception device determines second beam information based on the information used to indicate the perception target, the second beam information is used to indicate the beam used to perform perception of the perception target, and the second beam information is different from the first beam information; the first perception device performs perception of the perception target based on the second beam information.

[0448] In a possible implementation, the method also includes: the first perception device obtains information for indicating a perception target based on first perception data, the first perception data being perception data obtained by the first perception device after performing perception of the perception object based on the first beam information; the first perception device determines second beam information based on the information for indicating the perception target, the second beam information is used to indicate a beam used to perform perception of the perception target, and the second beam information is different from the first beam information; the first perception device performs perception of the perception target based on the second beam information.

[0449] In a possible implementation, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0450] For the case where the electronic device may be a chip or a chip system, please refer to FIG10 , which is a schematic structural diagram of a chip provided in an embodiment of the present application.

[0451] As shown in Figure 10 , chip 1000 includes a processor 1001 and an interface 1002. There may be one or more processors 1001, and there may be multiple interfaces 1002. It should be noted that the functions of processor 1001 and interface 1002 may be implemented through hardware design, software design, or a combination of hardware and software, without limitation.

[0452] Optionally, the chip 1000 may further include a memory 1003 , which is used to store necessary program instructions and data.

[0453] In this application, processor 1001 may be configured to call a program for implementing the sensing method provided in one or more embodiments of this application in an electronic device from memory 1003 and execute the instructions contained in the program. Interface 1002 may be configured to output the execution results of processor 1001. In this application, interface 1002 may be specifically configured to output various messages or information from processor 1001.

[0454] For the perception methods provided in one or more embodiments of the present application, please refer to the above-mentioned method embodiments, which will not be repeated here.

[0455] According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program runs on one or more processors, it can implement the method shown in the above method embodiment.

[0456] According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program runs on a processor, it can implement the method shown in the above method embodiment.

[0457] According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a perception system, which includes at least one of the above-mentioned perception devices 800 or electronic devices 900 or chips 1000.

[0458] According to the method provided in an embodiment of the present application, an embodiment of the present application also provides a perception system, which includes a control device and a first perception device, wherein the control device is used to execute the steps performed by the control device in the above method embodiment, and the first perception device is used to execute the steps performed by the first perception device in the above method embodiment.

[0459] It should be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a hard disk drive (HDD), a solid-state drive (SSD), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM). It should be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0460] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are performed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0461] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments provided herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0462] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0463] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0464] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0465] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0466] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the technology or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0467] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A sensing method, characterized in that: include: The control device receives a sensing request from the requesting device, wherein the sensing request includes information indicating a sensing object; The control device determines first beam information according to the information used to indicate the perception object, where the first beam information is used to indicate a beam used to perform perception on the perception object; The control device sends first perception control information to a first perception device, where the first perception control information includes the first beam information, and the first perception device is used to perform perception on the perception object.

2. The method according to claim 1, characterized in that The first beam information includes a beam width, or the first beam information includes a beam width and a beam direction.

3. The method according to claim 1 or 2, characterized in that: The first perception control information also includes a perception type.

4. The method according to any one of claims 1 to 3, characterized in that The information used to indicate the perceived object includes one or more of the following information: The identification of the perceived object, the perceived area information, and the perceived location information.

5. The method according to any one of claims 1 to 4, characterized in that The first perception control information also includes perception accuracy information and / or perception time information.

6. The method according to any one of claims 1 to 5, characterized in that The first perception control information also includes a collaborative perception mode.

7. The method according to claim 6, characterized in that The method further comprises: The control device sends the first perception control information to the second perception device, and the second perception device is used to perform perception on the perception object.

8. The method according to any one of claims 1 to 7, characterized in that The method further comprises: The control device receives first perception data from the first perception device, where the first perception data is perception data obtained after the first perception device performs perception on the perception object according to the first beam information; The control device processes the first perception data to obtain a first perception result; The control device sends the first perception result to the requesting device.

9. The method according to claim 8, characterized in that The method further comprises: The control device determines second beam information according to the first sensing result, where the second beam information is different from the first beam information; The control device sends second perception control information to the first perception device, where the second perception control information includes the second beam information.

10. The method according to claim 9, characterized in that The first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

11. A sensing method, characterized in that: include: The first sensing device receives first sensing control information from the control device, where the first sensing control information includes first beam information, where the first beam information is used to indicate a beam used to perform sensing of a sensing object; The first sensing device performs sensing on the sensing object according to the first beam information.

12. A sensing method, characterized in that: include: The first sensing device receives first sensing control information from the control device, and the first sensing control information includes a information; The first sensing device determines first beam information according to the information used to indicate the sensing object, where the first beam information is used to indicate a beam used to perform sensing of the sensing object; The first sensing device performs sensing on the sensing object according to the first beam information.

13. The method according to claim 11 or 12, characterized in that: The first beam information includes a beam width, or the first beam information includes a beam width and a beam direction.

14. The method according to any one of claims 11 to 13, characterized in that The first perception control information also includes a perception type.

15. The method according to any one of claims 11 to 14, characterized in that The information used to indicate the perceived object includes one or more of the following information: The identification of the perceived object, the perceived area information, and the perceived location information.

16. The method according to any one of claims 11 to 15, characterized in that The first perception control information also includes perception accuracy information and / or perception time information.

17. The method according to any one of claims 11 to 16, characterized in that The first perception control information also includes a collaborative perception mode.

18. The method according to claim 17, characterized in that The method further comprises: The first sensing device sends indication information to the second sensing device, where the indication information includes the first beam information and the collaborative sensing mode, and the second sensing device is used to perform sensing for the sensing object.

19. The method according to any one of claims 11 to 18, characterized in that The method further comprises: The first sensing device receives second sensing control information from the control device, where the second sensing control information includes second beam information, where the second beam information is used to indicate a beam used to perform sensing for a sensing target, and the second beam information is different from the first beam information; The first sensing device performs sensing for the sensing target according to the second beam information.

20. The method according to any one of claims 11 to 18, characterized in that The method further comprises: The first sensing device receives second sensing control information from the control device, where the second sensing control information includes information for indicating a sensing target; The first sensing device determines second beam information according to the information used to indicate the sensing target, where the second beam information is used to indicate a beam used to perform sensing for the sensing target, and the second beam information is different from the first beam information; The first sensing device performs sensing for the sensing target according to the second beam information.

21. The method according to any one of claims 11 to 18, characterized in that The method further comprises: The first sensing device obtains information indicating a sensing target according to first sensing data, where the first sensing data is sensing data obtained after the first sensing device performs sensing on the sensing object according to the first beam information; The first sensing device determines second beam information according to the information used to indicate the sensing target, where the second beam information is used to indicate a beam used to perform sensing for the sensing target, and the second beam information is different from the first beam information; The first sensing device performs sensing for the sensing target according to the second beam information.

22. The method according to any one of claims 17 to 19, characterized in that The first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

23. A sensing device, characterized in that: include: Comprising means for performing the steps of the method according to any one of claims 1 to 10, or means for performing the steps of the method according to any one of claims 11 to 22.

24. A sensing device, characterized in that: include: processor; When the processor calls the computer program or instruction in the memory, the method according to any one of claims 1 to 10 is executed, or the method according to any one of claims 11 to 22 is executed.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program or instructions, and when the computer program or instructions are executed, the method according to any one of claims 1 to 10 is implemented, or the method according to any one of claims 11 to 22 is implemented.

26. A computer program product, characterized in that The method comprises a computer program or an instruction, which, when executed, enables the method according to any one of claims 1 to 10 to be implemented, or the method according to any one of claims 11 to 22 to be implemented.

27. A perception system, characterized in that: include: A control device and a first sensing device, wherein the control device is used to execute the method according to any one of claims 1 to 10, and the first sensing device is used to execute the method according to any one of claims 11 to 22.

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