Object perception method and apparatus, and server and base station

Abstract

Provided in the present disclosure are an object perception method and apparatus, and a server and a base station. The method is applied to a server, and comprises: in response to a perception service request, which is sent by a first device, according to a perception indicator, which is carried in the perception service request, determining at least one first base station for sending a sounding signal and at least one second base station for receiving the sounding signal; sending to the first base station a first message for requesting the first base station to send the sounding signal, wherein the first message carries the perception indicator; receiving a second message, which is sent by the first base station, wherein the second message carries configuration information of the sounding signal; sending a third message to the second base station according to the second message, wherein the third message is used for requesting the second base station to measure the sounding signal and obtain a measurement result, and the third message carries measurement quantity information and the configuration information of the sounding signal; and receiving the measurement result, which is sent by the second base station.

Description

Object perception method, device, server and base station

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 2023111338720, filed with the Patent Office of China on September 4, 2023, entitled “A Method, Device, Server and Base Station for Object Perception,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the field of communication technologies, and in particular to an object perception method, device, server, and base station. Background Art

[0004] The current positioning architecture supports positioning methods based on received signal strength indicator (RSSI), time of arrival (TOA), time difference of arrival (TDOA), angle of arrival (AOA), and frequency difference of arrival (FDOA). Specifically, after receiving a positioning request, the positioning server determines the positioning method, sends a measurement request to the terminal, requesting the terminal to measure the positioning value under the corresponding positioning method, and submit the positioning result.

[0005] As can be seen above, related perception systems obtain sensory information through terminal sensors. However, with the improvement of mobile communication network coverage and the demand for service-oriented networks, how to meet perception service needs without the need for terminals within the coverage of mobile communication cellular networks has become a pressing technical challenge.

[0006] Summary of the Invention

[0007] The purpose of the present disclosure is to provide an object perception method, device, server and base station to solve the technical problem of how to complete perception business needs without the help of terminals and realize the integration of communication networks and perception networks, which is an urgent technical problem to be solved.

[0008] In a first aspect, to solve the above technical problems, the present disclosure provides an object perception method, which is applied to a server. The method includes:

[0009] In response to a sensing service request sent by a first device, determining at least one first base station and at least one second base station according to a sensing indicator carried in the sensing service request; wherein the first base station is used to send a detection signal and the second base station is used to receive the detection signal;

[0010] Sending a first message to the first base station, where the first message is used to request the first base station to send the detection signal, and the first message carries the perception indicator;

[0011] receiving a second message sent by the first base station, where the second message carries configuration information of the detection signal;

[0012] Sending a third message to the second base station according to the second message, where the third message is used to request the second base station to measure the probe signal and obtain a measurement result, and the third message carries measurement quantity information and configuration information of the probe signal;

[0013] receiving a measurement result sent by the at least one second base station.

[0014] In some embodiments, after receiving the measurement result sent by the at least one second base station, the method further includes:

[0015] Performing fusion processing on the measurement result sent by the at least one second base station to obtain a perception result;

[0016] Sending the sensing result to the first device;

[0017] The perception result includes at least one of the following:

[0018] The object's horizontal and vertical position and timestamp;

[0019] The object's horizontal and vertical speed and timestamp;

[0020] Resolution of object volume;

[0021] The cross-sectional size of the object;

[0022] Resolution of the object's cross section;

[0023] Range resolution;

[0024] Velocity resolution;

[0025] The shape of an object.

[0026] In some embodiments, the perception indicator includes at least one of the following:

[0027] confidence intervals;

[0028] Perception-based location accuracy;

[0029] Speed ​​accuracy based on perception;

[0030] Resolution of object volume;

[0031] Resolution of the object's cross section;

[0032] Range resolution;

[0033] Velocity resolution;

[0034] Angular resolution;

[0035] Perceived refresh rate;

[0036] Probability of missed detection;

[0037] Probability of false alarm;

[0038] Probability of missed alarm;

[0039] The start and end time of this sensing service;

[0040] The triggering conditions of this sensing service;

[0041] The service area information is used to indicate the coverage of the sensing business service.

[0042] In some embodiments, the service area information includes at least one of the following:

[0043] Base station ID;

[0044] Cell ID;

[0045] Region ID;

[0046] Access network notification area (Ran Notification Area, RNA);

[0047] Paging area;

[0048] Transmission and Receiving Point (TRP) ID;

[0049] Base station ID list;

[0050] Cell ID list;

[0051] Region ID list;

[0052] RNA list;

[0053] Paging area list;

[0054] TRP ID list;

[0055] Geographic coordinate range.

[0056] In some embodiments, determining at least one first base station and at least one second base station according to the perception indicator carried in the perception service request includes:

[0057] Determining a list of candidate base stations based on the service area information in the perception indicator;

[0058] The at least one first base station and the at least one second base station are determined from the candidate base station list according to the perception indicator, the perception capability of the base station and the configuration information of the base station.

[0059] In some embodiments, the configuration information of the detection signal includes at least one of the following:

[0060] The time domain resource of the detection signal;

[0061] frequency domain resources of the detection signal;

[0062] The spatial resources of the detection signal;

[0063] a silent mode of the detection signal;

[0064] a pulse interval of the detection signal;

[0065] a pulse period of the detection signal;

[0066] a pulse offset of the detection signal;

[0067] The pulse transmission power of the detection signal.

[0068] In some embodiments, the measurement quantity information includes at least one of the following:

[0069] signal-to-noise ratio;

[0070] Receive power;

[0071] Indication of direct line of sight / non-direct line of sight;

[0072] The time interval between echo signals;

[0073] The cross-sectional area of ​​the object;

[0074] The time interval for reporting measurement results;

[0075] Time for reporting measurement results;

[0076] Threshold for reporting measurement results;

[0077] Trigger events for reporting measurement results;

[0078] Judgment threshold;

[0079] Probability of missed detection;

[0080] Probability of false alarm;

[0081] Probability of missed alarm.

[0082] In some embodiments, the measurement result includes at least one of the following:

[0083] The horizontal and vertical position of the object;

[0084] The distance of the object in the horizontal and vertical directions;

[0085] The azimuth of the object relative to the reference direction;

[0086] Azimuth resolution;

[0087] The object's speed in the horizontal and vertical directions;

[0088] Resolution of object volume;

[0089] The size of the object's cross section;

[0090] Resolution of the object's cross section;

[0091] Range resolution;

[0092] Velocity resolution.

[0093] In a second aspect, to solve the above technical problems, an embodiment of the present disclosure provides an object perception method, applied to a first base station, the method comprising:

[0094] receiving a first message sent by a server, where the first message is used to request the first base station to send a detection signal, and the first message carries a perception indicator;

[0095] Determining configuration information of the detection signal according to the perception indicator;

[0096] Sending configuration information of the detection signal to the server.

[0097] In some embodiments, the perception indicator includes at least one of the following:

[0098] confidence intervals;

[0099] Perception-based location accuracy;

[0100] Speed ​​accuracy based on perception;

[0101] Resolution of object volume;

[0102] Resolution of the object's cross section;

[0103] Range resolution;

[0104] Velocity resolution;

[0105] Angular resolution;

[0106] Perceived refresh rate;

[0107] Probability of missed detection;

[0108] Probability of false alarm;

[0109] Probability of missed alarm;

[0110] The start and end time of this sensing service;

[0111] The triggering conditions of this sensing service;

[0112] The service area information is used to indicate the coverage of the sensing business service.

[0113] In some embodiments, the service area information includes at least one of the following:

[0114] Base station ID;

[0115] Cell ID;

[0116] Region ID;

[0117] Access network notification area RNA;

[0118] Paging area;

[0119] TRP ID;

[0120] Base station ID list;

[0121] Cell ID list;

[0122] Region ID list;

[0123] RNA list;

[0124] Paging area list;

[0125] TRP ID list;

[0126] Geographic coordinate range.

[0127] In some embodiments, the configuration information of the detection signal includes at least one of the following:

[0128] The time domain resource of the detection signal;

[0129] frequency domain resources of the detection signal;

[0130] The spatial resources of the detection signal;

[0131] a silent mode of the detection signal;

[0132] a pulse interval of the detection signal;

[0133] a pulse period of the detection signal;

[0134] a pulse offset of the detection signal;

[0135] The pulse transmission power of the detection signal.

[0136] In a third aspect, to solve the above technical problems, an embodiment of the present disclosure provides an object perception method, applied to a second base station, the method comprising:

[0137] receiving a third message sent by the server, where the third message is used to request the second base station to measure the detection signal and obtain a measurement result, and the third message carries measurement quantity information and configuration information of the detection signal;

[0138] Measuring the detection signal according to the configuration information of the detection signal and the measurement quantity information to obtain the measurement result;

[0139] The measurement result is sent to the server.

[0140] In some embodiments, the configuration information of the detection signal includes at least one of the following:

[0141] The time domain resource of the detection signal;

[0142] frequency domain resources of the detection signal;

[0143] The spatial resources of the detection signal;

[0144] a silent mode of the detection signal;

[0145] a pulse interval of the detection signal;

[0146] a pulse period of the detection signal;

[0147] a pulse offset of the detection signal;

[0148] The pulse transmission power of the detection signal.

[0149] In some embodiments, the measurement quantity information includes at least one of the following:

[0150] signal-to-noise ratio;

[0151] Receive power;

[0152] Indication of direct line of sight / non-direct line of sight;

[0153] The time interval between echo signals;

[0154] cross-sectional area of ​​the object;

[0155] The time interval for reporting measurement results;

[0156] Time for reporting measurement results;

[0157] Threshold for reporting measurement results;

[0158] Trigger events for reporting measurement results;

[0159] Judgment threshold;

[0160] Probability of missed detection;

[0161] Probability of false alarm;

[0162] Probability of missed alarm.

[0163] In some embodiments, the measurement result includes at least one of the following:

[0164] The horizontal and vertical position of the object;

[0165] The distance of the object in the horizontal and vertical directions;

[0166] The azimuth of the object relative to the reference direction;

[0167] Azimuth resolution;

[0168] The object's speed in the horizontal and vertical directions;

[0169] Resolution of object volume;

[0170] The size of the object's cross section;

[0171] Resolution of the object's cross section;

[0172] Range resolution;

[0173] Velocity resolution.

[0174] In a fourth aspect, to solve the above technical problems, an embodiment of the present disclosure provides a server, comprising: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; the processor is configured to read the program in the memory and execute the following process:

[0175] In response to a sensing service request sent by a first device, determining at least one first base station and at least one second base station according to a sensing indicator carried in the sensing service request; wherein the first base station is used to send a detection signal and the second base station is used to receive the detection signal;

[0176] Sending a first message to the first base station, where the first message is used to request the first base station to send the detection signal, and the first message carries the perception indicator;

[0177] receiving a second message sent by the first base station, where the second message carries configuration information of the detection signal;

[0178] Sending a third message to the second base station according to the second message, where the third message is used to request the second base station to measure the probe signal and obtain a measurement result, and the third message carries measurement quantity information and configuration information of the probe signal;

[0179] receiving a measurement result sent by the at least one second base station.

[0180] In some embodiments, the processor is further configured to read a program in a memory and execute the following process:

[0181] Performing fusion processing on the measurement result sent by the at least one second base station to obtain a perception result;

[0182] Sending the sensing result to the first device;

[0183] The perception result includes at least one of the following:

[0184] The object's horizontal and vertical position and timestamp;

[0185] The object's horizontal and vertical speed and timestamp;

[0186] Resolution of object volume;

[0187] The cross-sectional size of the object;

[0188] Resolution of the object's cross section;

[0189] Range resolution;

[0190] Velocity resolution;

[0191] The shape of an object.

[0192] In some embodiments, the perception indicator includes at least one of the following:

[0193] confidence intervals;

[0194] Perception-based location accuracy;

[0195] Speed ​​accuracy based on perception;

[0196] Resolution of object volume;

[0197] Resolution of the object's cross section;

[0198] Range resolution;

[0199] Velocity resolution;

[0200] Angular resolution;

[0201] Perceived refresh rate;

[0202] Probability of missed detection;

[0203] Probability of false alarm;

[0204] Probability of missed alarm;

[0205] The start and end time of this sensing service;

[0206] The triggering conditions of this sensing service;

[0207] The service area information is used to indicate the coverage of the sensing business service.

[0208] In some embodiments, the service area information includes at least one of the following:

[0209] Base station ID;

[0210] Cell ID;

[0211] Region ID;

[0212] Access network notification area RNA;

[0213] Paging area;

[0214] TRP ID;

[0215] Base station ID list;

[0216] Cell ID list;

[0217] Region ID list;

[0218] RNA list;

[0219] Paging area list;

[0220] TRP ID list;

[0221] Geographic coordinate range.

[0222] In some embodiments, the processor is further configured to read a program in a memory and execute the following process:

[0223] Determining a list of candidate base stations based on the service area information in the perception indicator;

[0224] The at least one first base station and the at least one second base station are determined from the candidate base station list according to the perception indicator, the perception capability of the base station and the configuration information of the base station.

[0225] In some embodiments, the configuration information of the detection signal includes at least one of the following:

[0226] The time domain resource of the detection signal;

[0227] frequency domain resources of the detection signal;

[0228] The spatial resources of the detection signal;

[0229] a silent mode of the detection signal;

[0230] a pulse interval of the detection signal;

[0231] a pulse period of the detection signal;

[0232] a pulse offset of the detection signal;

[0233] The pulse transmission power of the detection signal.

[0234] In some embodiments, the measurement quantity information includes at least one of the following:

[0235] signal-to-noise ratio;

[0236] Receive power;

[0237] Indication of direct line of sight / non-direct line of sight;

[0238] The time interval between echo signals;

[0239] The cross-sectional area of ​​the object;

[0240] The time interval for reporting measurement results;

[0241] Time for reporting measurement results;

[0242] Threshold for reporting measurement results;

[0243] Trigger events for reporting measurement results;

[0244] Judgment threshold;

[0245] Probability of missed detection;

[0246] Probability of false alarm;

[0247] Probability of missed alarm.

[0248] In some embodiments, the measurement result includes at least one of the following:

[0249] The horizontal and vertical position of the object;

[0250] The distance of the object in the horizontal and vertical directions;

[0251] The azimuth of the object relative to the reference direction;

[0252] Azimuth resolution;

[0253] The object's speed in the horizontal and vertical directions;

[0254] Resolution of object volume;

[0255] The size of the object's cross section;

[0256] Resolution of the object's cross section;

[0257] Range resolution;

[0258] Velocity resolution.

[0259] In a fifth aspect, to solve the above technical problems, an embodiment of the present disclosure provides a first base station, comprising: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; the processor is configured to read the program in the memory and execute the following process:

[0260] receiving a first message sent by a server, where the first message is used to request the first base station to send a detection signal, and the first message carries a perception indicator;

[0261] Determining configuration information of the detection signal according to the perception indicator;

[0262] Sending configuration information of the detection signal to the server.

[0263] In some embodiments, the perception indicator includes at least one of the following:

[0264] confidence intervals;

[0265] Perception-based location accuracy;

[0266] Speed ​​accuracy based on perception;

[0267] Resolution of object volume;

[0268] Resolution of the object's cross section;

[0269] Range resolution;

[0270] Velocity resolution;

[0271] Angular resolution;

[0272] Perceived refresh rate;

[0273] Probability of missed detection;

[0274] Probability of false alarm;

[0275] Probability of missed alarm;

[0276] The start and end time of this sensing service;

[0277] The triggering conditions of this sensing service;

[0278] The service area information is used to indicate the coverage of the sensing business service.

[0279] In some embodiments, the service area information includes at least one of the following:

[0280] Base station ID;

[0281] Cell ID;

[0282] Region ID;

[0283] Access network notification area RNA;

[0284] Paging area;

[0285] TRP ID;

[0286] Base station ID list;

[0287] Cell ID list;

[0288] Region ID list;

[0289] RNA list;

[0290] Paging area list;

[0291] TRP ID list;

[0292] Geographic coordinate range.

[0293] In some embodiments, the configuration information of the detection signal includes at least one of the following:

[0294] The time domain resource of the detection signal;

[0295] frequency domain resources of the detection signal;

[0296] The spatial resources of the detection signal;

[0297] a silent mode of the detection signal;

[0298] a pulse interval of the detection signal;

[0299] a pulse period of the detection signal;

[0300] a pulse offset of the detection signal;

[0301] The pulse transmission power of the detection signal.

[0302] In a sixth aspect, to solve the above technical problems, an embodiment of the present disclosure provides a second base station, comprising: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; the processor is configured to read the program in the memory and execute the following process:

[0303] receiving a third message sent by the server, where the third message is used to request the second base station to measure the detection signal and obtain a measurement result, and the third message carries measurement quantity information and configuration information of the detection signal;

[0304] Measuring the detection signal according to the configuration information of the detection signal and the measurement quantity information to obtain the measurement result;

[0305] The measurement result is sent to the server.

[0306] In some embodiments, the configuration information of the detection signal includes at least one of the following:

[0307] The time domain resource of the detection signal;

[0308] frequency domain resources of the detection signal;

[0309] The spatial resources of the detection signal;

[0310] a silent mode of the detection signal;

[0311] a pulse interval of the detection signal;

[0312] a pulse period of the detection signal;

[0313] a pulse offset of the detection signal;

[0314] The pulse transmission power of the detection signal.

[0315] In some embodiments, the measurement quantity information includes at least one of the following:

[0316] signal-to-noise ratio;

[0317] Receive power;

[0318] Indication of direct line of sight / non-direct line of sight;

[0319] The time interval between echo signals;

[0320] The cross-sectional area of ​​the object;

[0321] The time interval for reporting measurement results;

[0322] Time for reporting measurement results;

[0323] Threshold for reporting measurement results;

[0324] Trigger events for reporting measurement results;

[0325] Judgment threshold;

[0326] Probability of missed detection;

[0327] Probability of false alarm;

[0328] Probability of missed alarm.

[0329] In some embodiments, the measurement result includes at least one of the following:

[0330] The horizontal and vertical position of the object;

[0331] The distance of the object in the horizontal and vertical directions;

[0332] The azimuth of the object relative to the reference direction;

[0333] Azimuth resolution;

[0334] The object's speed in the horizontal and vertical directions;

[0335] Resolution of object volume;

[0336] The size of the object's cross section;

[0337] Resolution of the object's cross section;

[0338] Range resolution;

[0339] Velocity resolution.

[0340] In a seventh aspect, in order to solve the above technical problems, the present disclosure provides an object sensing device, which is applied to a server. The device includes:

[0341] A first determination module is configured to determine, in response to a perception service request sent by a first device, at least one first base station and at least one second base station according to a perception indicator carried in the perception service request; wherein the first base station is configured to send a detection signal and the second base station is configured to receive the detection signal;

[0342] A first sending module, configured to send a first message to the first base station, where the first message is used to request the first base station to send the detection signal, and the first message carries the perception indicator;

[0343] A first receiving module, configured to receive a second message sent by the first base station, where the second message carries configuration information of the detection signal;

[0344] a second sending module, configured to send a third message to the second base station according to the second message, where the third message is used to request the second base station to measure the detection signal and obtain a measurement result, and the third message carries measurement quantity information and configuration information of the detection signal;

[0345] The second receiving module is configured to receive the measurement result sent by the at least one second base station.

[0346] In an eighth aspect, to solve the above technical problems, an embodiment of the present disclosure provides an object sensing device, applied to a first base station, comprising:

[0347] A third receiving module is configured to receive a first message sent by the server, where the first message is used to request the first base station to send a detection signal, and the first message carries a perception indicator;

[0348] A second determining module is used to determine the configuration information of the detection signal according to the perception indicator;

[0349] The third sending module is used to send the configuration information of the detection signal to the server.

[0350] In a ninth aspect, to solve the above technical problems, an embodiment of the present disclosure provides an object sensing device, applied to a second base station, comprising:

[0351] a fourth receiving module, configured to receive a third message sent by the server, where the third message is used to request the second base station to measure the detection signal and obtain a measurement result, and the third message carries measurement amount information and configuration information of the detection signal;

[0352] a measurement module, configured to measure the detection signal according to the configuration information of the detection signal and the measurement quantity information, and obtain the measurement result;

[0353] A fourth sending module is configured to send the measurement result to the server.

[0354] In the tenth aspect, in order to solve the above-mentioned technical problems, an embodiment of the present disclosure provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the object perception method described in the first aspect, or execute the object perception method described in the second aspect, or execute the object perception method described in the third aspect.

[0355] The beneficial effects of the above technical solution disclosed in the present invention are as follows:

[0356] In the above scheme, the server responds to a perception service request sent by a first device and, based on the perception indicator carried in the perception service request, determines at least one first base station for sending a detection signal and at least one second base station for receiving the detection signal. Furthermore, the server sends a first message to the first base station, the first message being used to request the first base station to send the detection signal and carrying the perception indicator. The server receives a second message from the first base station, the second message carrying configuration information for the detection signal. Based on the second message, the server sends a third message to the second base station, the third message being used to request the second base station to measure the detection signal and obtain a measurement result, the third message carrying measurement quantity information and detection signal configuration information. The server then receives the measurement result sent by the at least one second base station. In this way, object perception can be achieved through the communication network, realizing the integration of the communication network and the perception network. BRIEF DESCRIPTION OF THE DRAWINGS

[0357] Figure 1 shows the positioning architecture applicable to NG-RAN;

[0358] Figure 2 shows the positioning process in the NR network;

[0359] FIG3 is a flow chart of a method for object perception according to an embodiment of the present disclosure;

[0360] FIG4 is a second flowchart of the object perception method according to an embodiment of the present disclosure;

[0361] FIG5 is a third flowchart of the object perception method according to an embodiment of the present disclosure;

[0362] FIG6 is a fourth flowchart of the object perception method according to an embodiment of the present disclosure;

[0363] FIG7 is a structural block diagram of an object sensing device according to an embodiment of the present disclosure;

[0364] FIG8 is a second structural block diagram of the object sensing device according to an embodiment of the present disclosure;

[0365] FIG9 is a third structural block diagram of the object sensing device according to an embodiment of the present disclosure;

[0366] FIG10 is a schematic diagram of the hardware structure of a server according to an embodiment of the present disclosure;

[0367] FIG11 is a schematic diagram of the hardware structure of a first base station according to an embodiment of the present disclosure;

[0368] FIG12 is a schematic diagram of the hardware structure of the second base station in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0369] The following will be combined with the accompanying drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure and not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0370] In the embodiments of the present disclosure, the term "and / or" describes the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0371] In the embodiments of the present disclosure, the term "plurality" refers to two or more than two, and other quantifiers are similar thereto.

[0372] The terminal device involved in the embodiments of the present disclosure may be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connection function, or other processing device connected to a wireless modem. In different systems, the name of the terminal device may also be different. For example, in a 5G system, the terminal device may be called User Equipment (UE). A wireless terminal device can communicate with one or more core networks (CN) via a radio access network (RAN). The wireless terminal device may be a mobile terminal device, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal device. For example, it may be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device that exchanges voice and / or data with a radio access network. For example, personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), and other devices. The wireless terminal device may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, an access point, a remote terminal device, an access terminal device, a user terminal device, a user agent, or a user device, but is not limited in the embodiments of the present disclosure.

[0373] The network device involved in the embodiments of the present disclosure may be a base station, which may include multiple cells providing services to terminals. Depending on the specific application scenario, the base station may also be called an access point, or may be a device in an access network that communicates with a wireless terminal device through one or more sectors on an air interface, or may be called another name. The network device may be used to interchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, wherein the rest of the access network may include an Internet Protocol (IP) communication network. The network device may also coordinate the attribute management of the air interface. For example, the network device involved in the embodiments of the present disclosure may be a base transceiver station (BTS) in the Global System for Mobile communications (GSM) or code division multiple access (CDMA), a network device (NodeB) in wide-band code division multiple access (WCDMA), an evolutionary Node B (eNB or e-NodeB) in the long term evolution (LTE) system, a 5G base station (gNB) in the 5G network architecture (next generation system), a home evolved Node B (HeNB), a relay node, a femto, a pico, etc., and is not limited in the embodiments of the present disclosure. In some network structures, the network device may include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit may also be geographically separated.

[0374] Network devices and terminal devices can each use one or more antennas for Multiple Input Multiple Output (MIMO) transmission. MIMO transmission can be single-user MIMO (SU-MIMO) or multi-user MIMO (MU-MIMO). Depending on the form and number of antenna combinations, MIMO transmission can be two-dimensional MIMO (2D-MIMO), three-dimensional MIMO (3D-MIMO), full-dimensional MIMO (FD-MIMO), or massive MIMO. It can also use diversity transmission, precoding transmission, or beamforming transmission.

[0375] The following first introduces the contents involved in the solution provided by the embodiment of the present disclosure.

[0376] 1. Positioning Architecture for NG Radio Access Network (NG-RAN)

[0377] As shown in Figure 1, it shows a schematic diagram of a positioning architecture applicable to NG-RAN.

[0378] In the positioning architecture shown in Figure 1, the Location Management Function (LMF) entity is responsible for selecting the positioning method and triggering the corresponding positioning measurements, and can also calculate the final positioning result and accuracy. The NG Radio Access Network (NG-RAN) is used to send positioning reference signals or perform positioning measurements based on auxiliary information. The User Equipment (UE) is used to send positioning reference signals or perform positioning measurements based on auxiliary information, and can also calculate the final positioning result and accuracy based on the measurement results. The LMF includes: the control plane called the Enhanced Serving Mobile Location Centre (E-SMLC) and the user plane called the Service Location Protocol (SLP).

[0379] 2. Positioning Process in NR Network

[0380] Referring to FIG2 , the uplink positioning process may include the following steps:

[0381] Step 0: The LMF sends the NRPPa DL PRS CONFIGURATION INFORMATION EXCHANGE message to the serving base station.

[0382] Step 1: LMF sends LPP capability transfer to UE to obtain the UE's positioning capability.

[0383] Step 2: The LMF sends an NRPPa POSITIONING INFORMATION REQUEST signaling to the serving gNB, requesting the UE's uplink sounding reference signal (SRS) configuration information.

[0384] Step 3: The serving gNB determines the available uplink SRS resources (gNB determines UL SRS Resources) and configures an uplink SRS resource set for the UE via step 3a. UE SRS Configuration.

[0385] Step 4: The serving gNB reports the uplink SRS configuration information to the LMF through NRPPa POSITIONING INFORMATION RESPONSE signaling.

[0386] Step 5: The serving base station gNB activates the terminal's SRS transmission (Activate UE SRS transmission).

[0387] Step 6: The LMF sends the uplink SRS configuration information to the selected gNBs through NRPPa measurement request (NRPPa MEASUREMENT REQUEST) signaling.

[0388] The SRS configuration information includes all information required by the gNB / TRP to perform uplink measurements.

[0389] Step 7: The LMF entity sends an LPP Provide Assistance Data message to the UE.

[0390] Step 8: The LMF entity sends LPP Request Location Information to the UE.

[0391] Step 9a: The UE performs downlink positioning reference signal measurements (DL-PRS Measurements).

[0392] Step 9b: The serving base station and the neighboring base station perform uplink positioning reference signal measurements (UL-PRS Measurements).

[0393] Step 10: The UE sends LPP Provide Location Information to the LMF entity.

[0394] Step 11: The base station sends an NRPPa measurement response (NRPPa MEASUREMENT RESPONSE) to the LMF entity.

[0395] It should be noted that LPP refers to the positioning protocol, and its full name is: LTE Positioning Protocol, LPP. NRPPa refers to the NR positioning protocol copy, and its full name is: NR Positioning Protocol annex.

[0396] 3. Relative positioning technology of related technologies

[0397] Currently, positioning is mainly performed using received signal strength indicator (RSSI), time of arrival (TOA), time difference of arrival (TDOA), angle of arrival (AOA) and frequency difference of arrival (FDOA).

[0398] In the positioning architecture of related technologies, after receiving a positioning request, the positioning server determines the positioning method and sends a measurement request to the terminal, requesting the terminal to perform positioning measurements using the corresponding method and submit the positioning results. Traditional perception systems obtain perception information through the terminal's sensors. However, within the coverage of mobile communication cellular networks, there are still no systems or networks that combine both communication and perception functions. With the improvement of mobile communication network coverage and the development of service-oriented networks, there is a need to integrate communication and perception networks so that the communication network can also perform perception functions.

[0399] Based on the above, the embodiments of the present disclosure provide an object perception method, device, server and base station to solve the technical problem of how to complete perception service needs without the help of terminals and realize the integration of communication networks and perception networks, which is an urgent problem to be solved.

[0400] 3 , an embodiment of the present disclosure provides an object perception method, which is applied to a server and includes the following steps:

[0401] Step 101: In response to a perception service request sent by a first device, determine at least one first base station and at least one second base station based on the perception indicators carried in the perception service request; wherein the first base station is used to send a detection signal, and the second base station is used to receive the detection signal.

[0402] In some embodiments, the first device is a terminal or a perception service client, and the first device sends a perception service request to the server based on business needs.

[0403] It should be noted that at least one first base station and at least one second base station may at least partially overlap, that is, some base stations may be used to send and receive detection signals at the same time.

[0404] In this step, after receiving the sensing service request sent by the first device, the server determines that the sensing service is performed by the base station based on the current sensing capabilities of the base station. Further, based on the sensing indicators carried in the sensing service request, at least one first base station and at least one second base station are determined.

[0405] Step 102: Send a first message to the first base station, where the first message is used to request the first base station to send the detection signal, and the first message carries the perception indicator.

[0406] Correspondingly, after receiving the first message, the first base station determines the configuration information of the detection signal according to the perception indicator, the perception capability of the base station and the configuration information of the base station, and sends the configuration information of the detection signal to the server.

[0407] The configuration information of the detection signal includes: resource information and / or waveform information of the detection signal;

[0408] Specifically, the configuration information of the detection signal includes at least one of the following:

[0409] The time domain resource of the detection signal;

[0410] frequency domain resources of the detection signal;

[0411] The spatial resources of the detection signal;

[0412] a silent mode of the detection signal;

[0413] a pulse interval of the detection signal;

[0414] a pulse period of the detection signal;

[0415] a pulse offset of the detection signal;

[0416] The pulse transmission power of the detection signal.

[0417] In this step, the server requests the first base station to send a detection signal through a first message, and sends the indicator requirements (perception indicators) of this sensing service to the first base station.

[0418] Step 103: Receive a second message sent by the first base station, where the second message carries configuration information of the detection signal.

[0419] Step 104: According to the second message, a third message is sent to the second base station, where the third message is used to request the second base station to measure the detection signal and obtain a measurement result. The third message carries measurement quantity information and configuration information of the detection signal.

[0420] The measurement information includes at least one of the following:

[0421] signal-to-noise ratio;

[0422] Receive power;

[0423] Line-of-sight (LOS) / non-line-of-sight (NLOS) indication information;

[0424] The time interval between echo signals;

[0425] The cross-sectional area of ​​the object;

[0426] The time interval for reporting measurement results;

[0427] Time for reporting measurement results;

[0428] Threshold for reporting measurement results;

[0429] Trigger events for reporting measurement results;

[0430] Judgment threshold;

[0431] Probability of missed detection;

[0432] Probability of false alarm;

[0433] Probability of missed alarm.

[0434] Step 105: Receive the measurement result sent by the at least one second base station.

[0435] The measurement results include at least one of the following:

[0436] The horizontal and vertical position of the object;

[0437] The distance of the object in the horizontal and vertical directions;

[0438] The azimuth of the object relative to the reference direction;

[0439] Azimuth resolution;

[0440] The object's speed in the horizontal and vertical directions;

[0441] Resolution of object volume;

[0442] The size of the object's cross section;

[0443] Resolution of the object's cross section;

[0444] Range resolution;

[0445] Velocity resolution.

[0446] In the above embodiment, after receiving the perception service request sent by the first device, the server determines the base stations participating in the perception (i.e., at least one first base station for sending a detection signal and at least one second base station for receiving the detection signal) based on the perception indicator carried in the perception service request; further, a first message is sent to the first base station for requesting the first base station to send a detection signal, and the perception indicator is carried in the first message; a second message carrying the configuration information of the detection signal is received from the first base station; based on the second message, a third message is sent to the second base station for requesting the second base station to measure the detection signal and obtain the measurement result; and the measurement result is received from at least one second base station. In this way, object perception can be completed with the help of the communication network, and the integration of the communication network and the perception network can be realized. This embodiment can meet the requirements of the perception service, and can provide perception services through the network itself without the help of the terminal by using the mobile communication network, thereby reducing the dependence of the perception service on the terminal.

[0447] In some embodiments, in step 105 above, after receiving the measurement result sent by the at least one second base station, the method further includes:

[0448] Performing fusion processing on the measurement result sent by the at least one second base station to obtain a perception result;

[0449] Sending the sensing result to the first device;

[0450] The perception result includes at least one of the following:

[0451] The object's horizontal and vertical position and timestamp;

[0452] The object's horizontal and vertical speed and timestamp;

[0453] Resolution of object volume;

[0454] The cross-sectional size of the object;

[0455] Resolution of the object's cross section;

[0456] Range resolution;

[0457] Velocity resolution;

[0458] The shape of an object.

[0459] In the above embodiment, after receiving the measurement results sent by at least one second base station, the server performs data fusion to clearly perceive the position, speed, size, distance and resolution, shape, and movement trajectory of the object.

[0460] In some embodiments, in step 101, determining at least one first base station and at least one second base station according to the perception indicator carried in the perception service request includes:

[0461] Determining a list of candidate base stations based on the service area information in the perception indicator;

[0462] The at least one first base station and the at least one second base station are determined from the candidate base station list according to the perception indicator, the perception capability of the base station and the configuration information of the base station.

[0463] In some embodiments, the configuration information of the base station refers to the base station's own attributes, such as the base station's antenna configuration, the base station's address, the base station's type, port number, working mode, etc.

[0464] In some embodiments, the sensing capability of the base station includes: the ability to measure sensing signals, the frequency band capability supporting the sensing signals, the measurement cycle capability supported, and the like.

[0465] In this embodiment, the server determines a candidate base station from the service area indicated by the service area information based on the service area information in the perception indicator, and then determines a list of base stations for sending detection signals (including at least one first base station) and a list of base stations for receiving detection signals (including at least one second base station) based on the perception capability of the candidate base station and the configuration information of the base station, as well as the indicator requirements of the perception service.

[0466] In some embodiments, the perception indicator includes at least one of the following:

[0467] Confidence interval (Confidence level [%]);

[0468] Perception-based location accuracy;

[0469] Speed ​​accuracy based on perception;

[0470] Resolution of object volume;

[0471] Resolution of the object's cross section;

[0472] Range resolution;

[0473] Angular resolution;

[0474] Velocity resolution;

[0475] Perceived refresh rate;

[0476] Probability of missed detection;

[0477] Probability of false alarm;

[0478] Probability of missed alarm;

[0479] The start and end time of this sensing service;

[0480] The triggering conditions of this sensing service;

[0481] The service area information is used to indicate the coverage of the sensing business service.

[0482] It should be pointed out that the confidence interval is the confidence interval corresponding to the indicator requirements of this perception service, that is, the confidence interval where the accuracy lies.

[0483] It should be pointed out that resolution refers to the ability to distinguish two targets, that is, resolution represents the smallest "unit" of object data that can be output when distinguishing two objects.

[0484] For example, range resolution refers to the minimum distance between two targets that can be distinguished under the same angle and velocity conditions. Similarly, velocity resolution represents the ability to distinguish between targets at different speeds. It's understandable that if two targets are at different distances, even if they're close together, range resolution determines whether the gap between them can be discerned. The same applies to angle resolution and velocity resolution.

[0485] For example, the resolution of object volume refers to the minimum volume that can distinguish two different targets, and the resolution of object cross section refers to the minimum cross section that can distinguish two different targets.

[0486] It should be pointed out that the missed detection probability refers to the probability of not detecting a target that exists; the false alarm probability refers to the probability of misjudging a target that does not exist; and the missed alarm probability refers to the probability of misjudging a detection signal as no detection signal due to noise within the detection range.

[0487] Among them, the missed detection probability, false alarm probability and missed alarm probability affect the decision threshold of the measurement quantity. For example, the higher the missed detection rate, the lower the decision threshold.

[0488] It should be noted that the triggering conditions for this sensing service include:

[0489] Event type, i.e., a description of the specific triggering event conditions; and / or,

[0490] Periodic type, that is, including period, start time and end time.

[0491] In some embodiments, the service area information includes at least one of the following:

[0492] Base station ID;

[0493] Cell ID;

[0494] Region ID;

[0495] Access network notification area (RAN-based Notification Area, RNA);

[0496] Paging area;

[0497] Transmission and Receiving Point (TRP) ID;

[0498] Base station ID list;

[0499] Cell ID list;

[0500] Region ID list;

[0501] RNA list;

[0502] Paging area list;

[0503] TRP ID list;

[0504] Geographic coordinate range.

[0505] In some embodiments, the geographic coordinate range may be represented by latitude and longitude coordinates or other types of coordinates.

[0506] It should be pointed out that the cell ID refers to the unique identifier of a cell, which is used to distinguish different cells; the base station ID refers to the identifier that distinguishes different base stations; the area ID refers to the division of the base station's coverage into different areas, and the identifier that distinguishes these areas is the area ID; the paging area refers to the area where the terminal is paged, and the paging area list is used to list different paging areas; the access network notification area RNA is used to search for UEs on the access network and is composed of several cells; the TRP ID refers to the identifier of the TRP, which is used to distinguish different TRPs.

[0507] In the above embodiment, the service area of ​​the current sensing service is clarified through the service area information, thereby determining at least one first base station and at least one second base station in the area indicated by the service area information.

[0508] 4 , an embodiment of the present disclosure provides an object perception method, which is applied to a first base station. The method includes the following steps:

[0509] Step 201: Receive a first message sent by a server, where the first message is used to request the first base station to send a detection signal, and the first message carries a perception indicator.

[0510] The perception indicator includes at least one of the following:

[0511] confidence intervals;

[0512] Perception-based location accuracy;

[0513] Speed ​​accuracy based on perception;

[0514] Resolution of object volume;

[0515] Resolution of the object's cross section;

[0516] Range resolution;

[0517] Velocity resolution;

[0518] Angular resolution;

[0519] Perceived refresh rate;

[0520] Probability of missed detection;

[0521] Probability of false alarm;

[0522] Probability of missed alarm;

[0523] The start and end time of this sensing service;

[0524] The triggering conditions of this sensing service;

[0525] The service area information is used to indicate the coverage of the sensing business service.

[0526] Step 202: Determine configuration information of the detection signal according to the perception indicator.

[0527] The configuration information of the detection signal includes: resource information and / or waveform information of the detection signal;

[0528] Specifically, the configuration information of the detection signal includes at least one of the following:

[0529] The time domain resource of the detection signal;

[0530] frequency domain resources of the detection signal;

[0531] The spatial resources of the detection signal;

[0532] a silent mode of the detection signal;

[0533] a pulse interval of the detection signal;

[0534] a pulse period of the detection signal;

[0535] a pulse offset of the detection signal;

[0536] The pulse transmission power of the detection signal.

[0537] Step 203: Send the configuration information of the detection signal to the server.

[0538] In the above embodiment, based on the request information sent by the server, the configuration information of the detection signal is determined and sent to the server; based on the configuration information of the detection signal, the detection signal is sent to perceive the object through the detection signal.

[0539] In some embodiments, the service area information includes at least one of the following:

[0540] Base station ID;

[0541] Cell ID;

[0542] Region ID;

[0543] Access network notification area RNA;

[0544] Paging area;

[0545] TRP ID;

[0546] Base station ID list;

[0547] Cell ID list;

[0548] Region ID list;

[0549] RNA list;

[0550] Paging area list;

[0551] TRP ID list;

[0552] Geographic coordinate range.

[0553] In some embodiments, the geographic coordinate range may be represented by latitude and longitude coordinates or other types of coordinates.

[0554] In the above embodiment, the service area of ​​this sensing service is clarified through the service area information, and the server determines at least one first base station and at least one second base station in the area indicated by the service area information.

[0555] 5 , an embodiment of the present disclosure provides an object sensing method, which is applied to a second base station. The method includes the following steps:

[0556] Step 301: Receive a third message sent by a server, where the third message is used to request the second base station to measure a detection signal and obtain a measurement result. The third message carries measurement quantity information and configuration information of the detection signal.

[0557] The configuration information of the detection signal includes: resource information and / or waveform information of the detection signal;

[0558] Specifically, the configuration information of the detection signal includes at least one of the following:

[0559] The time domain resource of the detection signal;

[0560] frequency domain resources of the detection signal;

[0561] The spatial resources of the detection signal;

[0562] a silent mode of the detection signal;

[0563] a pulse interval of the detection signal;

[0564] a pulse period of the detection signal;

[0565] a pulse offset of the detection signal;

[0566] The pulse transmission power of the detection signal.

[0567] Step 302: Measure the detection signal according to the configuration information of the detection signal and the measurement quantity information to obtain the measurement result.

[0568] The measurement information includes at least one of the following:

[0569] signal-to-noise ratio;

[0570] Receive power;

[0571] Line-of-sight (LOS) / non-line-of-sight (NLOS) indication information;

[0572] The time interval between echo signals;

[0573] The cross-sectional area of ​​the object;

[0574] The time interval for reporting measurement results;

[0575] Time for reporting measurement results;

[0576] Threshold for reporting measurement results;

[0577] Trigger events for reporting measurement results;

[0578] Judgment threshold;

[0579] Probability of missed detection;

[0580] Probability of false alarm;

[0581] Probability of missed alarm.

[0582] Step 303: Send the measurement result to the server.

[0583] The measurement results include at least one of the following:

[0584] The horizontal and vertical position of the object;

[0585] The distance of the object in the horizontal and vertical directions;

[0586] The azimuth of the object relative to the reference direction;

[0587] Azimuth resolution;

[0588] The object's speed in the horizontal and vertical directions;

[0589] Resolution of object volume;

[0590] The size of the object's cross section;

[0591] Resolution of the object's cross section;

[0592] Range resolution;

[0593] Velocity resolution.

[0594] In the above embodiment, the detection signal sent by the first base station is received, the detection signal is measured, the measurement result is obtained and the measurement result is fed back to the server, so that the server can integrate the measurement results sent by each second base station to perceive the position, speed, size, distance and resolution of the object, and the movement trajectory of the object.

[0595] The object perception method provided by the embodiment of the present disclosure is introduced below with reference to FIG6 .

[0596] As shown in Figure 6, the object perception method includes the following steps:

[0597] Step 1: The first device sends a sensing service request to the server;

[0598] In some embodiments, the first device is a terminal or a perception service client, and the first device sends a perception service request to the server based on business needs.

[0599] Step 2: The server selects a suitable base station to participate in this sensing service;

[0600] Specifically, the base stations participating in this sensing service include: a suitable sending base station (ie, the first base station) for sending the detection signal, and a suitable receiving base station (ie, the second base station) for receiving the detection signal.

[0601] Step 3: The server provides the sensing indicators in the sensing service request to each sending base station (gNB1 / TRP1).

[0602] Step 4: The sending base station (gNB1 / TRP1) determines the configuration information of the sounding signal.

[0603] Step 5: The sending base station (gNB1 / TRP1) provides the server with the configuration information of the sounding signal.

[0604] Step 6: The server requests sensing measurements from each receiving base station (gNB1 / TRP1, gNB2 / TRP2, gNB3 / TRP3, gNB4 / TRP4) and provides each receiving base station with the configuration information for the sounding signal.

[0605] Step 7: Each receiving base station sends a response message to the server;

[0606] Specifically, after receiving the measurement request, each receiving base station feeds back a response message to the server and turns on the sensing mode.

[0607] Step 8: The transmitting base station (gNB1 / TRP1) sends a sounding signal.

[0608] Step 9: Each receiving base station (gNB1 / TRP1, gNB2 / TRP2, gNB3 / TRP3, gNB4 / TRP4) measures the echo signal of the probe signal.

[0609] Specifically, the receiving base station receives the echo signal of the detection signal reflected by the object, and obtains the measurement quantity of the perceived object by measuring the echo signal, including one or more of the following information combinations: the receiving power of the echo signal, los or nlos indication, the cross-section of the reflecting object, the receiving signal-to-noise ratio, pulse delay, Doppler frequency shift, measurement resolution and other information.

[0610] Step 10: Each receiving base station (gNB1 / TRP1, gNB2 / TRP2, gNB3 / TRP3, gNB4 / TRP4) sends the measurement results to the server.

[0611] Step 11: The server integrates the measurement results sent by each receiving base station to obtain the perception result;

[0612] Among them, the perception results include: the size, shape, position, direction, speed, distance, and trajectory of the object.

[0613] Step 12: The server sends the sensing result to the first device.

[0614] In the above embodiment, the server determines a network-based sensing solution based on the sensing service request, with the base station responsible for sending the probe signal and receiving the probe signal's echo signal. The server notifies the base stations participating in the probe signal transmission and echo signal reception to participate in this sensing service. After each base station completes the probe signal transmission and measurement, the server integrates the measurement results to obtain a fused result, and finally feeds back the sensing result to the requester, completing the sensing service request. This embodiment can meet the requirements of the sensing service, without the need for terminals. The mobile communication network can provide the sensing service through the network itself, reducing the sensing service's dependence on terminals.

[0615] 7 , an embodiment of the present disclosure provides an object sensing device 700, which is applied to a server. The device 700 includes:

[0616] A first determining module 701 is configured to determine, in response to a sensing service request sent by a first device, at least one first base station and at least one second base station according to a sensing indicator carried in the sensing service request; wherein the first base station is configured to send a detection signal and the second base station is configured to receive the detection signal;

[0617] A first sending module 702 is configured to send a first message to the first base station, where the first message is used to request the first base station to send the detection signal, and the first message carries the perception indicator;

[0618] A first receiving module 703 is configured to receive a second message sent by the first base station, where the second message carries configuration information of the detection signal;

[0619] A second sending module 704 is configured to send a third message to the second base station according to the second message, where the third message is used to request the second base station to measure the detection signal and obtain a measurement result, and the third message carries measurement quantity information and configuration information of the detection signal;

[0620] The second receiving module 705 is configured to receive the measurement result sent by the at least one second base station.

[0621] In some embodiments, the apparatus further comprises:

[0622] a perception result fusion module, configured to perform fusion processing on the measurement result sent by the at least one second base station to obtain a perception result;

[0623] A perception result reporting module, configured to send the perception result to the first device;

[0624] The perception result includes at least one of the following:

[0625] The object's horizontal and vertical position and timestamp;

[0626] The object's horizontal and vertical speed and timestamp;

[0627] Resolution of object volume;

[0628] The cross-sectional size of the object;

[0629] Resolution of the object's cross section;

[0630] Range resolution;

[0631] Velocity resolution;

[0632] The shape of an object.

[0633] In some embodiments, the perception indicator includes at least one of the following:

[0634] confidence intervals;

[0635] Perception-based location accuracy;

[0636] Speed ​​accuracy based on perception;

[0637] Resolution of object volume;

[0638] Resolution of the object's cross section;

[0639] Range resolution;

[0640] Velocity resolution;

[0641] Angular resolution;

[0642] Perceived refresh rate;

[0643] Probability of missed detection;

[0644] Probability of false alarm;

[0645] Probability of missed alarm;

[0646] The start and end time of this sensing service;

[0647] The triggering conditions of this sensing service;

[0648] The service area information is used to indicate the coverage of the sensing business service.

[0649] In some embodiments, the service area information includes at least one of the following:

[0650] Base station ID;

[0651] Cell ID;

[0652] Region ID;

[0653] Access network notification area RNA;

[0654] Paging area;

[0655] TRP ID;

[0656] Base station ID list;

[0657] Cell ID list;

[0658] Region ID list;

[0659] RNA list;

[0660] Paging area list;

[0661] TRP ID list;

[0662] Geographic coordinate range.

[0663] In some embodiments, the first determining module includes:

[0664] A first determination submodule is configured to determine a list of candidate base stations based on the service area information in the perception indicator;

[0665] The second determination submodule is configured to determine the at least one first base station and the at least one second base station from the candidate base station list according to the perception indicator, the perception capability of the base station and the configuration information of the base station.

[0666] In some embodiments, the configuration information of the detection signal includes at least one of the following:

[0667] The time domain resource of the detection signal;

[0668] frequency domain resources of the detection signal;

[0669] The spatial resources of the detection signal;

[0670] a silent mode of the detection signal;

[0671] a pulse interval of the detection signal;

[0672] a pulse period of the detection signal;

[0673] a pulse offset of the detection signal;

[0674] The pulse transmission power of the detection signal.

[0675] In some embodiments, the measurement quantity information includes at least one of the following:

[0676] signal-to-noise ratio;

[0677] Receive power;

[0678] Indication of direct line of sight / non-direct line of sight;

[0679] The time interval between echo signals;

[0680] The cross-sectional area of ​​the object;

[0681] The time interval for reporting measurement results;

[0682] Time for reporting measurement results;

[0683] Threshold for reporting measurement results;

[0684] Trigger events for reporting measurement results;

[0685] Judgment threshold;

[0686] Probability of missed detection;

[0687] Probability of false alarm;

[0688] Probability of missed alarm.

[0689] In some embodiments, the measurement result includes at least one of the following:

[0690] The horizontal and vertical position of the object;

[0691] The distance of the object in the horizontal and vertical directions;

[0692] The azimuth of the object relative to the reference direction;

[0693] Azimuth resolution;

[0694] The object's speed in the horizontal and vertical directions;

[0695] Resolution of object volume;

[0696] The size of the object's cross section;

[0697] Resolution of the object's cross section;

[0698] Range resolution;

[0699] Velocity resolution.

[0700] It should be noted here that the above-mentioned device 700 provided in the embodiment of the present disclosure can implement all the method steps implemented by the above-mentioned server-side method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0701] 8 , an embodiment of the present disclosure provides an object sensing device 800, which is applied to a first base station. The device 800 includes:

[0702] The third receiving module 801 is configured to receive a first message sent by a server, where the first message is used to request the first base station to send a detection signal, and the first message carries a perception indicator;

[0703] A second determining module 802 is configured to determine configuration information of a detection signal according to the perception indicator;

[0704] The third sending module 803 is configured to send the configuration information of the detection signal to the server.

[0705] In some embodiments, the perception indicator includes at least one of the following:

[0706] confidence intervals;

[0707] Perception-based location accuracy;

[0708] Speed ​​accuracy based on perception;

[0709] Resolution of object volume;

[0710] Resolution of the object's cross section;

[0711] Range resolution;

[0712] Velocity resolution;

[0713] Angular resolution;

[0714] Perceived refresh rate;

[0715] Probability of missed detection;

[0716] Probability of false alarm;

[0717] Probability of missed alarm;

[0718] The start and end time of this sensing service;

[0719] The triggering conditions of this sensing service;

[0720] The service area information is used to indicate the coverage of the sensing business service.

[0721] In some embodiments, the service area information includes at least one of the following:

[0722] Base station ID;

[0723] Cell ID;

[0724] Region ID;

[0725] Access network notification area RNA;

[0726] Paging area;

[0727] TRP ID;

[0728] Base station ID list;

[0729] Cell ID list;

[0730] Region ID list;

[0731] RNA list;

[0732] Paging area list;

[0733] TRP ID list;

[0734] Geographic coordinate range.

[0735] In some embodiments, the configuration information of the detection signal includes at least one of the following:

[0736] The time domain resource of the detection signal;

[0737] frequency domain resources of the detection signal;

[0738] The spatial resources of the detection signal;

[0739] a silent mode of the detection signal;

[0740] a pulse interval of the detection signal;

[0741] a pulse period of the detection signal;

[0742] a pulse offset of the detection signal;

[0743] The pulse transmission power of the detection signal.

[0744] It should be noted here that the above-mentioned device 800 provided in the embodiment of the present disclosure can implement all the method steps implemented by the method embodiment on the above-mentioned first base station side, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0745] 9 , an embodiment of the present disclosure provides an object sensing device 900, which is applied to a second base station. The device 900 includes:

[0746] A fourth receiving module 901 is configured to receive a third message sent by the server, where the third message is used to request the second base station to measure the detection signal and obtain a measurement result, and the third message carries measurement amount information and configuration information of the detection signal;

[0747] The measurement module 902 is configured to measure the detection signal according to the configuration information of the detection signal and the measurement quantity information to obtain the measurement result;

[0748] The fourth sending module 903 is configured to send the measurement result to the server.

[0749] In some embodiments, the configuration information of the detection signal includes at least one of the following:

[0750] The time domain resource of the detection signal;

[0751] frequency domain resources of the detection signal;

[0752] The spatial resources of the detection signal;

[0753] a silent mode of the detection signal;

[0754] a pulse interval of the detection signal;

[0755] a pulse period of the detection signal;

[0756] a pulse offset of the detection signal;

[0757] The pulse transmission power of the detection signal.

[0758] In some embodiments, the measurement quantity information includes at least one of the following:

[0759] signal-to-noise ratio;

[0760] Receive power;

[0761] Indication of direct line of sight / non-direct line of sight;

[0762] The time interval between echo signals;

[0763] The cross-sectional area of ​​the object;

[0764] The time interval for reporting measurement results;

[0765] Time for reporting measurement results;

[0766] Threshold for reporting measurement results;

[0767] Trigger events for reporting measurement results;

[0768] Judgment threshold;

[0769] Probability of missed detection;

[0770] Probability of false alarm;

[0771] Probability of missed alarm.

[0772] In some embodiments, the measurement result includes at least one of the following:

[0773] The horizontal and vertical position of the object;

[0774] The distance of the object in the horizontal and vertical directions;

[0775] The azimuth of the object relative to the reference direction;

[0776] Azimuth resolution;

[0777] The object's speed in the horizontal and vertical directions;

[0778] Resolution of object volume;

[0779] The size of the object's cross section;

[0780] Resolution of the object's cross section;

[0781] Range resolution;

[0782] Velocity resolution.

[0783] It should be noted here that the above-mentioned device provided in the embodiment of the present disclosure can implement all the method steps implemented in the method embodiment on the above-mentioned second base station side, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0784] Referring to Figure 10 , an embodiment of the present disclosure provides a server, comprising: a processor 1010; and a memory 1020 connected to the processor 1010 via a bus interface. The memory 1020 is used to store programs and data used by the processor 1010 when performing operations, and the processor 1010 calls and executes the programs and data stored in the memory 1020. A transceiver 1000 is connected to the bus interface and is used to receive and send data under the control of the processor 1010. The processor 1010 is used to read the program in the memory 1020 and perform the following processes:

[0785] In response to a sensing service request sent by a first device, determining at least one first base station and at least one second base station according to a sensing indicator carried in the sensing service request; wherein the first base station is used to send a detection signal and the second base station is used to receive the detection signal;

[0786] Sending a first message to the first base station, where the first message is used to request the first base station to send the detection signal, and the first message carries the perception indicator;

[0787] receiving a second message sent by the first base station, where the second message carries configuration information of the detection signal;

[0788] Sending a third message to the second base station according to the second message, where the third message is used to request the second base station to measure the probe signal and obtain a measurement result, and the third message carries measurement quantity information and configuration information of the probe signal;

[0789] receiving a measurement result sent by the at least one second base station.

[0790] Optionally, the processor 1010 is further configured to read a program in the memory 1020 and execute the following process:

[0791] Performing fusion processing on the measurement result sent by the at least one second base station to obtain a perception result;

[0792] Sending the sensing result to the first device;

[0793] The perception result includes at least one of the following:

[0794] The object's horizontal and vertical position and timestamp;

[0795] The object's horizontal and vertical speed and timestamp;

[0796] Resolution of object volume;

[0797] The cross-sectional size of the object;

[0798] Resolution of the object's cross section;

[0799] Range resolution;

[0800] Velocity resolution;

[0801] The shape of an object.

[0802] In some embodiments, the perception indicator includes at least one of the following:

[0803] confidence intervals;

[0804] Perception-based location accuracy;

[0805] Speed ​​accuracy based on perception;

[0806] Resolution of object volume;

[0807] Resolution of the object's cross section;

[0808] Range resolution;

[0809] Velocity resolution;

[0810] Angular resolution;

[0811] Perceived refresh rate;

[0812] Probability of missed detection;

[0813] Probability of false alarm;

[0814] Probability of missed alarm;

[0815] The start and end time of this sensing service;

[0816] The triggering conditions of this sensing service;

[0817] The service area information is used to indicate the coverage of the sensing business service.

[0818] In some embodiments, the service area information includes at least one of the following:

[0819] Base station ID;

[0820] Cell ID;

[0821] Region ID;

[0822] Access network notification area RNA;

[0823] Paging area;

[0824] TRP ID;

[0825] Base station ID list;

[0826] Cell ID list;

[0827] Region ID list;

[0828] RNA list;

[0829] Paging area list;

[0830] TRP ID list;

[0831] Geographic coordinate range.

[0832] Optionally, the processor 1010 is further configured to read a program in the memory 1020 and execute the following process:

[0833] Determining a list of candidate base stations based on the service area information in the perception indicator;

[0834] The at least one first base station and the at least one second base station are determined from the candidate base station list according to the perception indicator, the perception capability of the base station and the configuration information of the base station.

[0835] In some embodiments, the configuration information of the detection signal includes at least one of the following:

[0836] The time domain resource of the detection signal;

[0837] frequency domain resources of the detection signal;

[0838] The spatial resources of the detection signal;

[0839] a silent mode of the detection signal;

[0840] a pulse interval of the detection signal;

[0841] a pulse period of the detection signal;

[0842] a pulse offset of the detection signal;

[0843] The pulse transmission power of the detection signal.

[0844] In some embodiments, the measurement quantity information includes at least one of the following:

[0845] signal-to-noise ratio;

[0846] Receive power;

[0847] Indication of direct line of sight / non-direct line of sight;

[0848] The time interval between echo signals;

[0849] The cross-sectional area of ​​the object;

[0850] The time interval for reporting measurement results;

[0851] Time for reporting measurement results;

[0852] Threshold for reporting measurement results;

[0853] Trigger events for reporting measurement results;

[0854] Judgment threshold;

[0855] Probability of missed detection;

[0856] Probability of false alarm;

[0857] Probability of missed alarm.

[0858] In some embodiments, the measurement result includes at least one of the following:

[0859] The horizontal and vertical position of the object;

[0860] The distance of the object in the horizontal and vertical directions;

[0861] The azimuth of the object relative to the reference direction;

[0862] Azimuth resolution;

[0863] The object's speed in the horizontal and vertical directions;

[0864] Resolution of object volume;

[0865] The size of the object's cross section;

[0866] Resolution of the object's cross section;

[0867] Range resolution;

[0868] Velocity resolution.

[0869] In FIG10 , the bus architecture may include any number of interconnected buses and bridges, specifically various circuits linked together by one or more processors represented by processor 1010 and memory represented by memory 1020. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1000 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium, such as a wireless channel, a wired channel, an optical cable, and the like. The processor 1010 is responsible for managing the bus architecture and general processing, and the memory 1020 may store data used by the processor 510 when performing operations.

[0870] Optionally, the processor 1010 may be a CPU (central processing unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or a CPLD (Complex Programmable Logic Device), and the processor may also adopt a multi-core architecture.

[0871] The processor calls the computer program stored in the memory to execute any of the methods provided by the embodiments of the present disclosure according to the obtained executable instructions. The processor and the memory can also be arranged physically separately.

[0872] Referring to Figure 11, an embodiment of the present disclosure provides a first base station, including: a processor 1110; and a memory 1120 connected to the processor 1110 through a bus interface, the memory 1120 being used to store programs and data used by the processor 1110 when performing operations, and the processor 1110 calls and executes the programs and data stored in the memory 1120.

[0873] The transceiver 1100 is connected to the bus interface and is used to receive and send data under the control of the processor 1110. The processor 1110 is used to read the program in the memory 1120 and execute the following process:

[0874] receiving a first message sent by a server, where the first message is used to request the first base station to send a detection signal, and the first message carries a perception indicator;

[0875] Determining configuration information of the detection signal according to the perception indicator;

[0876] Sending configuration information of the detection signal to the server.

[0877] Optionally, the perception indicator includes at least one of the following:

[0878] confidence intervals;

[0879] Perception-based location accuracy;

[0880] Speed ​​accuracy based on perception;

[0881] Resolution of object volume;

[0882] Resolution of the object's cross section;

[0883] Range resolution;

[0884] Velocity resolution;

[0885] Angular resolution;

[0886] Perceived refresh rate;

[0887] Probability of missed detection;

[0888] Probability of false alarm;

[0889] Probability of missed alarm;

[0890] The start and end time of this sensing service;

[0891] The triggering conditions of this sensing service;

[0892] The service area information is used to indicate the coverage of the sensing business service.

[0893] Optionally, the service area information includes at least one of the following:

[0894] Base station ID;

[0895] Cell ID;

[0896] Region ID;

[0897] Access network notification area RNA;

[0898] Paging area;

[0899] TRP ID;

[0900] Base station ID list;

[0901] Cell ID list;

[0902] Region ID list;

[0903] RNA list;

[0904] Paging area list;

[0905] TRP ID list;

[0906] Geographic coordinate range.

[0907] Optionally, the configuration information of the detection signal includes at least one of the following:

[0908] The time domain resource of the detection signal;

[0909] frequency domain resources of the detection signal;

[0910] The spatial resources of the detection signal;

[0911] a silent mode of the detection signal;

[0912] a pulse interval of the detection signal;

[0913] a pulse period of the detection signal;

[0914] a pulse offset of the detection signal;

[0915] The pulse transmission power of the detection signal.

[0916] In FIG11 , the bus architecture may include any number of interconnected buses and bridges, specifically various circuits linked together by one or more processors represented by processor 1110 and memory represented by memory 1120. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1100 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium, such as a wireless channel, a wired channel, an optical cable, and the like. The processor 1110 is responsible for managing the bus architecture and general processing, and the memory 1120 may store data used by the processor 1110 when performing operations.

[0917] The processor 1110 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0918] Referring to Figure 12, an embodiment of the present disclosure provides a second base station, including: a processor 1210; and a memory 1220 connected to the processor 1210 through a bus interface, the memory 1220 being used to store programs and data used by the processor 1210 when performing operations, and the processor 1210 calls and executes the programs and data stored in the memory 1220.

[0919] The transceiver 1200 is connected to the bus interface and is used to receive and send data under the control of the processor 1210; the processor 1210 is used to read the program in the memory 1220 and execute the following process:

[0920] receiving a third message sent by the server, where the third message is used to request the second base station to measure the detection signal and obtain a measurement result, and the third message carries measurement quantity information and configuration information of the detection signal;

[0921] Measuring the detection signal according to the configuration information of the detection signal and the measurement quantity information to obtain the measurement result;

[0922] The measurement result is sent to the server.

[0923] Optionally, the configuration information of the detection signal includes at least one of the following:

[0924] The time domain resource of the detection signal;

[0925] frequency domain resources of the detection signal;

[0926] The spatial resources of the detection signal;

[0927] a silent mode of the detection signal;

[0928] a pulse interval of the detection signal;

[0929] a pulse period of the detection signal;

[0930] a pulse offset of the detection signal;

[0931] The pulse transmission power of the detection signal.

[0932] Optionally, the measurement information includes at least one of the following:

[0933] signal-to-noise ratio;

[0934] Receive power;

[0935] Indication of direct line of sight / non-direct line of sight;

[0936] The time interval between echo signals;

[0937] The cross-sectional area of ​​the object;

[0938] The time interval for reporting measurement results;

[0939] Time for reporting measurement results;

[0940] Threshold for reporting measurement results;

[0941] Trigger events for reporting measurement results;

[0942] Judgment threshold;

[0943] Probability of missed detection;

[0944] Probability of false alarm;

[0945] Probability of missed alarm.

[0946] Optionally, the measurement result includes at least one of the following:

[0947] The horizontal and vertical position of the object;

[0948] The distance of the object in the horizontal and vertical directions;

[0949] The azimuth of the object relative to the reference direction;

[0950] Azimuth resolution;

[0951] The object's speed in the horizontal and vertical directions;

[0952] Resolution of object volume;

[0953] The size of the object's cross section;

[0954] Resolution of the object's cross section;

[0955] Range resolution;

[0956] Velocity resolution.

[0957] In FIG12 , the bus architecture may include any number of interconnected buses and bridges, specifically various circuits linked together by one or more processors represented by processor 1210 and memory represented by memory 1220. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1200 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, such as a wireless channel, a wired channel, an optical cable, and the like. The processor 1210 is responsible for managing the bus architecture and general processing, and the memory 1220 may store data used by the processor 1210 when performing operations.

[0958] The processor 1210 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0959] The present disclosure also provides a processor-readable storage medium, characterized in that the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the object perception method on the server side or the first base station side or the second base station side as described above.

[0960] The processor-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO)), optical storage (such as compact disks (CD), digital versatile discs (DVD), Blu-ray discs (BD), high-definition versatile discs (HVD), etc.), and semiconductor memory (such as read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), non-volatile memory (NAND FLASH), solid-state disk (SSD)), etc.

[0961] It should be noted that the division of units in the embodiments of the present disclosure is schematic and is merely a logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of the present disclosure may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0962] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the relevant technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0963] Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as methods, systems, or computer program products. Thus, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage) containing computer-usable program code.

[0964] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the processor-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0965] These processor-executable instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0966] It should be noted that it should be understood that the division of the above modules is merely a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. Moreover, these modules can all be implemented in the form of software called by a processing element; or they can all be implemented in the form of hardware; or some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. For example, the determination module can be a separately established processing element, or it can be integrated into a chip of the above-mentioned device. In addition, it can also be stored in the memory of the above-mentioned device in the form of program code, and called by a processing element of the above-mentioned device to perform the functions of the above-mentioned determination module. The implementation of other modules is similar. In addition, these modules can all or partly be integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by the hardware integrated logic circuit in the processor element or by instructions in the form of software.

[0967] For example, each module, unit, sub-unit or sub-module may be one or more integrated circuits configured to implement the above method, such as one or more application-specific integrated circuits (ASICs), one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs). For another example, when a module is implemented by scheduling program code through a processing element, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0968] The terms "first," "second," and the like in the specification and claims of the present disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present disclosure described herein may be implemented in a sequence other than that illustrated or described herein. In addition, the terms "including" and "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 need not be limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or devices. In addition, the use of "and / or" in the specification and claims to indicate at least one of the connected objects, for example, A and / or B and / or C, means that seven situations are included: A alone, B alone, C alone, both A and B present, both B and C present, both A and C present, and all A, B, and C present. Similarly, the use of "at least one of A and B" in the specification and claims should be understood to mean "A alone, B alone, or both A and B present."

[0969] Obviously, those skilled in the art may make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is intended to include these modifications and variations.

Claims

1. A method for object perception, wherein: Applied to a server, the method comprises: In response to a perception service request sent by a first device, determining at least one first base station and at least one second base station according to a perception indicator carried in the perception service request; wherein the first base station is used to send a detection signal, and the second base station is used to receive the detection signal; Sending a first message to the first base station, where the first message is used to request the first base station to send the detection signal, and the first message carries the perception indicator; receiving a second message sent by the first base station, where the second message carries configuration information of the detection signal; Sending a third message to the second base station according to the second message, where the third message is used to request the second base station to measure the detection signal and obtain a measurement result, and the third message carries measurement amount information and configuration information of the detection signal; receiving a measurement result sent by the at least one second base station.

2. The object perception method according to claim 1, wherein: After receiving the measurement result sent by the at least one second base station, the method further includes: Performing fusion processing on the measurement result sent by the at least one second base station to obtain a perception result; Sending the sensing result to the first device; The perception result includes at least one of the following: The object's horizontal and vertical position and timestamp; The object's horizontal and vertical speed and timestamp; Resolution of the object volume; The cross-sectional size of the object; Resolution of the cross section of the object; Range resolution; Velocity resolution; The shape of an object.

3. The object perception method according to claim 1, wherein: The perception indicator includes at least one of the following: Confidence interval; Perception-based location accuracy; Speed ​​accuracy based on perception; Resolution of the object volume; Resolution of the cross section of the object; Range resolution; Velocity resolution; Angular resolution; Perceived refresh rate; Probability of missed detection; Probability of false alarm; Probability of missed alarm; The start and end time of this sensing service; The triggering condition of this sensing service; The service area information is used to indicate the coverage of the sensing business service.

4. The object perception method according to claim 3, wherein: The service area information includes at least one of the following: Base station ID; Cell ID; Region ID; The access network notifies the regional RNA; Paging area; TRP ID; Base station ID list; Cell ID list; List of region IDs; RNA list; Paging area list; TRP ID list; The geographic coordinate range.

5. The object perception method according to claim 4, wherein: The determining, according to the perception indicator carried in the perception service request, at least one first base station and at least one second base station comprises: Determine a list of candidate base stations according to the service area information in the perception indicator; The at least one first base station and the at least one second base station are determined from the candidate base station list according to the perception indicator, the perception capability of the base station and the configuration information of the base station.

6. The object perception method according to claim 1, wherein: The configuration information of the detection signal includes at least one of the following: The time domain resource of the detection signal; The frequency domain resource of the detection signal; The spatial resources of the detection signal; a silent mode of the detection signal; The pulse interval of the detection signal; The pulse period of the detection signal; A pulse offset of the detection signal; The pulse transmission power of the detection signal.

7. The object perception method according to claim 1, wherein: The measurement information includes at least one of the following: Signal-to-noise ratio; Receive power; Direct sight path / non-direct sight path indication information; The time interval between echo signals; The cross-sectional area of ​​the object; The time interval for reporting measurement results; Time for reporting measurement results; Threshold for reporting measurement results; Trigger events for reporting measurement results; Judgment threshold; Probability of missed detection; Probability of false alarm; Probability of missed alarm.

8. The object perception method according to claim 1, wherein: The measurement result includes at least one of the following: The horizontal and vertical position of the object; The distance of the object in the horizontal and vertical directions; The azimuth of the object relative to the reference direction; Azimuth resolution; The object's speed in the horizontal and vertical directions; Resolution of the object volume; The size of the object's cross section; Resolution of the cross section of the object; Range resolution; Speed ​​resolution.

9. A method for object perception, wherein: Applied to a first base station, the method includes: receiving a first message sent by a server, where the first message is used to request the first base station to send a detection signal, and the first message carries a perception indicator; Determining configuration information of the detection signal according to the perception indicator; Sending configuration information of the detection signal to the server.

10. The object perception method according to claim 9, wherein: The perception indicator includes at least one of the following: Confidence interval; Perception-based location accuracy; Speed ​​accuracy based on perception; Resolution of the object volume; Resolution of the cross section of the object; Range resolution; Velocity resolution; Angular resolution; Perceived refresh rate; Probability of missed detection; Probability of false alarm; Probability of missed alarm; The start and end time of this sensing service; The triggering condition of this sensing service; The service area information is used to indicate the coverage of the sensing business service.

11. The object perception method according to claim 10, wherein: The service area information includes at least one of the following: Base station ID; Cell ID; Region ID; The access network notifies the regional RNA; Paging area; TRP ID; Base station ID list; Cell ID list; List of region IDs; RNA list; Paging area list; TRP ID list; The geographic coordinate range.

12. The object perception method according to claim 9, wherein: The configuration information of the detection signal includes at least one of the following: The time domain resource of the detection signal; The frequency domain resource of the detection signal; The spatial resources of the detection signal; a silent mode of the detection signal; The pulse interval of the detection signal; The pulse period of the detection signal; A pulse offset of the detection signal; The pulse transmission power of the detection signal.

13. A method for object perception, wherein: Applied to a second base station, the method includes: receiving a third message sent by the server, where the third message is used to request the second base station to measure the detection signal and obtain a measurement result, and the third message carries measurement amount information and configuration information of the detection signal; Measuring the detection signal according to the configuration information of the detection signal and the measurement quantity information to obtain the measurement result; The measurement result is sent to the server.

14. The object perception method according to claim 13, wherein: The configuration information of the detection signal includes at least one of the following: The time domain resource of the detection signal; The frequency domain resource of the detection signal; The spatial resources of the detection signal; a silent mode of the detection signal; The pulse interval of the detection signal; The pulse period of the detection signal; A pulse offset of the detection signal; The pulse transmission power of the detection signal.

15. The object perception method according to claim 13, wherein: The measurement information includes at least one of the following: Signal-to-noise ratio; Receive power; Direct sight path / non-direct sight path indication information; The time interval between echo signals; The cross-sectional area of ​​the object; The time interval for reporting measurement results; Time for reporting measurement results; Threshold for reporting measurement results; Trigger events for reporting measurement results; Judgment threshold; Probability of missed detection; Probability of false alarm; Probability of missed alarm.

16. The object perception method according to claim 13, wherein: The measurement result includes at least one of the following: The horizontal and vertical position of the object; The distance of the object in the horizontal and vertical directions; The azimuth of the object relative to the reference direction; Azimuth resolution; The object's speed in the horizontal and vertical directions; Resolution of the object volume; The size of the object's cross section; Resolution of the cross section of the object; Range resolution; Speed ​​resolution.

17. A server, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the processor is configured to read the program in the memory and execute the following process: In response to a perception service request sent by a first device, determining at least one first base station and at least one second base station according to a perception indicator carried in the perception service request; wherein the first base station is used to send a detection signal, and the second base station is used to receive the detection signal; Sending a first message to the first base station, where the first message is used to request the first base station to send the detection signal, and the first message carries the perception indicator; receiving a second message sent by the first base station, wherein the second message carries the detection signal Configuration information; Sending a third message to the second base station according to the second message, where the third message is used to request the second base station to measure the detection signal and obtain a measurement result, and the third message carries measurement amount information and configuration information of the detection signal; receiving a measurement result sent by the at least one second base station.

18. The server according to claim 17, wherein: The processor is also used to read the program in the memory and execute the following process: Performing fusion processing on the measurement result sent by the at least one second base station to obtain a perception result; Sending the sensing result to the first device; The perception result includes at least one of the following: The object's horizontal and vertical position and timestamp; The object's horizontal and vertical speed and timestamp; Resolution of the object volume; The cross-sectional size of the object; Resolution of the cross section of the object; Range resolution; Velocity resolution; The shape of an object.

19. The server according to claim 17, wherein: The perception indicator includes at least one of the following: Confidence interval; Perception-based location accuracy; Speed ​​accuracy based on perception; Resolution of the object volume; Resolution of the cross section of the object; Range resolution; Velocity resolution; Angular resolution; Perceived refresh rate; Probability of missed detection; Probability of false alarm; Probability of missed alarm; The start and end time of this sensing service; The triggering condition of this sensing service; The service area information is used to indicate the coverage of the sensing business service.

20. The server according to claim 19, wherein: The service area information includes at least one of the following: Base station ID; Cell ID; Region ID; The access network notifies the regional RNA; Paging area; TRP ID; Base station ID list; Cell ID list; List of region IDs; RNA list; Paging area list; TRP ID list; The geographic coordinate range.

21. The server according to claim 20, wherein: The processor is also used to read the program in the memory and execute the following process: Determine a list of candidate base stations according to the service area information in the perception indicator; The at least one first base station and the at least one second base station are determined from the candidate base station list according to the perception indicator, the perception capability of the base station and the configuration information of the base station.

22. The server according to claim 17, wherein: The configuration information of the detection signal includes at least one of the following: The time domain resource of the detection signal; The frequency domain resource of the detection signal; The spatial resources of the detection signal; a silent mode of the detection signal; The pulse interval of the detection signal; The pulse period of the detection signal; A pulse offset of the detection signal; The pulse transmission power of the detection signal.

23. The server according to claim 17, wherein: The measurement information includes at least one of the following: Signal-to-noise ratio; Receive power; Direct sight path / non-direct sight path indication information; The time interval between echo signals; The cross-sectional area of ​​the object; The time interval for reporting measurement results; Time for reporting measurement results; Threshold for reporting measurement results; Trigger events for reporting measurement results; Judgment threshold; Probability of missed detection; Probability of false alarm; Probability of missed alarm.

24. The server according to claim 17, wherein: The measurement result includes at least one of the following: The horizontal and vertical position of the object; The distance of the object in the horizontal and vertical directions; The azimuth of the object relative to the reference direction; Azimuth resolution; The object's speed in the horizontal and vertical directions; Resolution of the object volume; The size of the object's cross section; Resolution of the cross section of the object; Range resolution; Speed ​​resolution.

25. A first base station, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the processor is configured to read the program in the memory and execute the following process: receiving a first message sent by a server, where the first message is used to request the first base station to send a detection signal, and the first message carries a perception indicator; Determining configuration information of the detection signal according to the perception indicator; Sending configuration information of the detection signal to the server.

26. The first base station according to claim 25, wherein: The perception indicator includes at least one of the following: Confidence interval; Perception-based location accuracy; Speed ​​accuracy based on perception; Resolution of the object volume; Resolution of the cross section of the object; Range resolution; Velocity resolution; Angular resolution; Perceived refresh rate; Probability of missed detection; Probability of false alarm; Probability of missed alarm; The start and end time of this sensing service; The triggering condition of this sensing service; The service area information is used to indicate the coverage of the sensing business service.

27. The first base station according to claim 26, wherein: The service area information includes at least one of the following: Base station ID; Cell ID; Region ID; The access network notifies the regional RNA; Paging area; TRP ID; Base station ID list; Cell ID list; List of region IDs; RNA list; Paging area list; TRP ID list; The geographic coordinate range.

28. The first base station according to claim 25, wherein: The configuration information of the detection signal includes at least one of the following: The time domain resource of the detection signal; The frequency domain resource of the detection signal; The spatial resources of the detection signal; a silent mode of the detection signal; The pulse interval of the detection signal; The pulse period of the detection signal; A pulse offset of the detection signal; The pulse transmission power of the detection signal.

29. A second base station, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the processor is configured to read the program in the memory and execute the following process: receiving a third message sent by the server, where the third message is used to request the second base station to measure the detection signal and obtain a measurement result, and the third message carries measurement amount information and configuration information of the detection signal; Measuring the detection signal according to the configuration information of the detection signal and the measurement quantity information to obtain the measurement result; The measurement result is sent to the server.

30. The second base station according to claim 29, wherein: The configuration information of the detection signal includes at least one of the following: The time domain resource of the detection signal; The frequency domain resource of the detection signal; The spatial resources of the detection signal; a silent mode of the detection signal; The pulse interval of the detection signal; The pulse period of the detection signal; A pulse offset of the detection signal; The pulse transmission power of the detection signal.

31. The second base station according to claim 29, wherein: The measurement information includes at least one of the following: Signal-to-noise ratio; Receive power; Direct sight path / non-direct sight path indication information; The time interval between echo signals; The cross-sectional area of ​​the object; The time interval for reporting measurement results; Time for reporting measurement results; Threshold for reporting measurement results; Trigger events for reporting measurement results; Judgment threshold; Probability of missed detection; Probability of false alarm; Probability of missed alarm.

32. The second base station according to claim 29, wherein: The measurement result includes at least one of the following: The horizontal and vertical position of the object; The distance of the object in the horizontal and vertical directions; The azimuth of the object relative to the reference direction; Azimuth resolution; The object's speed in the horizontal and vertical directions; Resolution of the object volume; The size of the object's cross section; Resolution of the cross section of the object; Range resolution; Speed ​​resolution.

33. An object sensing device, wherein: Applied to a server, the device comprises: A first determination module is configured to determine, in response to a perception service request sent by a first device, at least one first base station and at least one second base station according to a perception indicator carried in the perception service request; wherein the first base station is configured to send a detection signal, and the second base station is configured to receive the detection signal; A first sending module, configured to send a first message to the first base station, where the first message is used to request the first base station to send the detection signal, and the first message carries the perception indicator; A first receiving module, configured to receive a second message sent by the first base station, where the second message carries configuration information of the detection signal; a second sending module, configured to send a third message to the second base station according to the second message, wherein the third message is used to request the second base station to measure the detection signal and obtain a measurement result, and the third message carries measurement amount information and configuration information of the detection signal; The second receiving module is used to receive the measurement result sent by the at least one second base station.

34. The device according to claim 33, wherein The device also includes: a sensing result fusion module, configured to perform fusion on the measurement result sent by the at least one second base station; Fusion processing to obtain perception results; A perception result reporting module, used to send the perception result to the first device; The perception result includes at least one of the following: The object's horizontal and vertical position and timestamp; The object's horizontal and vertical speed and timestamp; Resolution of the object volume; The cross-sectional size of the object; Resolution of the cross section of the object; Range resolution; Velocity resolution; The shape of an object.

35. The device according to claim 33, wherein The perception indicator includes at least one of the following: Confidence interval; Perception-based location accuracy; Speed ​​accuracy based on perception; Resolution of the object volume; Resolution of the cross section of the object; Range resolution; Velocity resolution; Angular resolution; Perceived refresh rate; Probability of missed detection; Probability of false alarm; Probability of missed alarm; The start and end time of this sensing service; The triggering condition of this sensing service; The service area information is used to indicate the coverage of the sensing business service.

36. The device according to claim 35, wherein The service area information includes at least one of the following: Base station ID; Cell ID; Region ID; The access network notifies the regional RNA; Paging area; TRP ID; Base station ID list; Cell ID list; List of region IDs; RNA list; Paging area list; TRP ID list; The geographic coordinate range.

37. The device according to claim 36, wherein The first determination module includes: A first determination submodule, configured to determine a list of candidate base stations according to the service area information in the perception indicator; The second determination submodule is used to determine the at least one first base station and the at least one second base station from the candidate base station list according to the perception indicator, the perception capability of the base station and the configuration information of the base station.

38. The apparatus of claim 33, wherein: The configuration information of the detection signal includes at least one of the following: The time domain resource of the detection signal; The frequency domain resource of the detection signal; The spatial resources of the detection signal; a silent mode of the detection signal; The pulse interval of the detection signal; The pulse period of the detection signal; A pulse offset of the detection signal; The pulse transmission power of the detection signal.

39. The apparatus of claim 33, wherein: The measurement information includes at least one of the following: Signal-to-noise ratio; Receive power; Direct sight path / non-direct sight path indication information; The time interval between echo signals; The cross-sectional area of ​​the object; The time interval for reporting measurement results; Time for reporting measurement results; Threshold for reporting measurement results; Trigger events for reporting measurement results; Judgment threshold; Probability of missed detection; Probability of false alarm; Probability of missed alarm.

40. The apparatus of claim 33, wherein: The measurement result includes at least one of the following: The horizontal and vertical position of the object; The distance of the object in the horizontal and vertical directions; The azimuth of the object relative to the reference direction; Azimuth resolution; The object's speed in the horizontal and vertical directions; Resolution of the object volume; The size of the object's cross section; Resolution of the cross section of the object; Range resolution; Speed ​​resolution.

41. An object sensing device, wherein: Applied to a first base station, the device includes: A third receiving module is used to receive a first message sent by the server, where the first message is used to request the first base station to send a detection signal, and the first message carries a perception indicator; A second determination module is used to determine the configuration information of the detection signal according to the perception indicator; The third sending module is used to send the configuration information of the detection signal to the server.

42. The device according to claim 41, wherein The perception indicator includes at least one of the following: Confidence interval; Perception-based location accuracy; Speed ​​accuracy based on perception; Resolution of the object volume; Resolution of the cross section of the object; Range resolution; Velocity resolution; Angular resolution; Perceived refresh rate; Probability of missed detection; Probability of false alarm; Probability of missed alarm; The start and end time of this sensing service; The triggering condition of this sensing service; The service area information is used to indicate the coverage of the sensing business service.

43. The device according to claim 42, wherein: The service area information includes at least one of the following: Base station ID; Cell ID; Region ID; The access network notifies the regional RNA; Paging area; TRP ID; Base station ID list; Cell ID list; List of region IDs; RNA list; Paging area list; TRP ID list; The geographic coordinate range.

44. The device according to claim 41, wherein The configuration information of the detection signal includes at least one of the following: The time domain resource of the detection signal; The frequency domain resource of the detection signal; The spatial resources of the detection signal; a silent mode of the detection signal; The pulse interval of the detection signal; The pulse period of the detection signal; A pulse offset of the detection signal; The pulse transmission power of the detection signal.

45. An object sensing device, wherein: Applied to a second base station, the device includes: a fourth receiving module, configured to receive a third message sent by the server, wherein the third message is used to request the second base station to measure the detection signal and obtain a measurement result, and the third message carries measurement amount information and configuration information of the detection signal; A measuring module, configured to measure the detection signal according to the configuration information of the detection signal and the measurement quantity information to obtain the measurement result; A fourth sending module is used to send the measurement result to the server.

46. ​​The device according to claim 45, wherein The configuration information of the detection signal includes at least one of the following: The time domain resource of the detection signal; The frequency domain resource of the detection signal; The spatial resources of the detection signal; a silent mode of the detection signal; The pulse interval of the detection signal; The pulse period of the detection signal; A pulse offset of the detection signal; The pulse transmission power of the detection signal.

47. The device according to claim 45, wherein The measurement information includes at least one of the following: Signal-to-noise ratio; Receive power; Direct sight path / non-direct sight path indication information; The time interval between echo signals; The cross-sectional area of ​​the object; The time interval for reporting measurement results; Time for reporting measurement results; Threshold for reporting measurement results; Trigger events for reporting measurement results; Judgment threshold; Probability of missed detection; Probability of false alarm; Probability of missed alarm.

48. The apparatus of claim 45, wherein: The measurement result includes at least one of the following: The horizontal and vertical position of the object; The distance of the object in the horizontal and vertical directions; The azimuth of the object relative to the reference direction; Azimuth resolution; The object's speed in the horizontal and vertical directions; Resolution of the object volume; The size of the object's cross section; Resolution of the cross section of the object; Range resolution; Speed ​​resolution.

49. A processor-readable storage medium, wherein: The processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the object perception method described in any one of claims 1 to 8, or the object perception method described in any one of claims 9 to 12, or the object perception method described in any one of claims 13 to 16.

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