Collaborative perception method, electronic device and storage medium

Abstract

Provided in the present application are a collaborative perception method, an electronic device and a storage medium. The collaborative perception method comprises: user terminals receiving a fused SLAM result sent by a network-side node, wherein the fused SLAM result is obtained by means of the network-side node fusing first local SLAM results corresponding to a plurality of user terminals; then, the user terminals receiving a first downlink signal sent by the network-side node and determining second local SLAM results on the basis of the first downlink signal; and finally, the user terminals using the fused SLAM result as prior knowledge and using the prior knowledge to update the second local SLAM results.

Description

Collaborative sensing method, electronic device, and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on the Chinese patent application with application number 2023111843363 and application date September 12, 2023, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this application as a reference. Technical Field

[0003] The present application relates to the field of communication technology, and in particular to a collaborative sensing method, electronic device and storage medium. Background Art

[0004] In the next generation of mobile communications, technologies such as millimeter wave technology, ultra-large-scale multiple-input and multiple-output antenna arrays, wide bandwidth, and intelligent metasurfaces will provide better capabilities for communication and perception. Using communication signals to achieve simultaneous positioning and environmental mapping (SLAM) will be a very promising function.

[0005] However, the related art only discloses the use of LOS path (Line of Sight) and NLOS path (Non Line of Sight) measurements to achieve simultaneous positioning and environmental mapping. How to achieve high-precision simultaneous positioning and environmental mapping remains a technical problem that needs to be solved urgently in this field.

[0006] Summary of the Invention

[0007] The embodiments of the present application provide a collaborative perception method, electronic device, and storage medium, which can achieve high-precision simultaneous positioning and environmental mapping.

[0008] In the first aspect, an embodiment of the present application provides a collaborative perception method, which is applied to a user terminal, and the method includes: receiving a fused simultaneous localization and environment mapping SLAM result sent by a network side node, wherein the fused SLAM result is obtained by the network side node fusing the first local SLAM results corresponding to multiple user terminals; receiving a first downlink signal sent by the network side node; determining a second local SLAM result based on the first downlink signal; using the fused SLAM result as prior knowledge, and using the prior knowledge to update the second local SLAM result.

[0009] In the second aspect, an embodiment of the present application provides a collaborative perception method, which is applied to a network side node, and the method includes: obtaining a first local simultaneous positioning and environment mapping SLAM result corresponding to multiple user terminals; fusing the first local SLAM results corresponding to the multiple user terminals to obtain a fused SLAM result; sending the fused SLAM result and a first downlink signal to at least one of the user terminals, so that the user terminal determines a second local SLAM result based on the first downlink signal, uses the fused SLAM result as prior knowledge, and uses the prior knowledge to update the second local SLAM result.

[0010] In a third aspect, an embodiment of the present application provides an electronic device comprising: one or more processors; a memory on which one or more programs are stored, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the collaborative perception method as described in the first aspect above; or, implement the collaborative perception method as described in the second aspect above.

[0011] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the collaborative perception method as described in the first aspect above; or, implements the collaborative perception method as described in the second aspect above.

[0012] In an embodiment of the present application, a user terminal receives a fused SLAM result sent by a network side node, wherein the fused SLAM result is obtained by the network side node fusing the first local SLAM results corresponding to multiple user terminals. Then, the user terminal receives a first downlink signal sent by the network side node and determines a second local SLAM result based on the first downlink signal. Finally, the user terminal uses the fused SLAM result as prior knowledge and uses the prior knowledge to update the second local SLAM result. The local SLAM result of a single user terminal is limited by the user terminal's own observation field of view. The fused SLAM result can provide the user terminal with more extensive and accurate perception information. The user terminal uses the fused SLAM result as prior knowledge to assist it in updating the subsequently obtained local SLAM results, thereby achieving high-precision simultaneous positioning and environmental mapping. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings are used to provide a further understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0014] FIG1 is a schematic diagram of a network architecture provided in an embodiment of the present application;

[0015] FIG2 is a flow chart of a collaborative sensing method provided by one embodiment of the present application;

[0016] FIG3 is a flow chart of a collaborative sensing method provided in another embodiment of the present application;

[0017] FIG3A is a flow chart of an embodiment of the collaborative sensing method in FIG3 ;

[0018] FIG3B is a flowchart of another implementation method of the collaborative sensing method in FIG3 ;

[0019] FIG4 is a flow chart of sub-steps of step S220 in FIG3 ;

[0020] FIG5 is a flowchart of the sub-steps of step S220 in FIG3 ;

[0021] FIG6 is a flowchart of the sub-steps of step S430 in FIG5 ;

[0022] FIG7 is a flowchart of a collaborative sensing method provided in another embodiment of the present application;

[0023] FIG8 is a schematic flow chart of a collaborative sensing method according to another embodiment of the present application;

[0024] FIG9 is a flowchart of a collaborative sensing method provided in another embodiment of the present application;

[0025] FIG10 is a flow chart of a collaborative sensing method according to another embodiment of the present application;

[0026] FIG10A is a flow chart of an embodiment of the collaborative sensing method in FIG10 ;

[0027] FIG10B is a flowchart of another implementation method of the collaborative sensing method in FIG10 ;

[0028] FIG11 is a flow chart of a collaborative sensing method according to another embodiment of the present application;

[0029] FIG11A is a flow chart of an embodiment of the collaborative sensing method in FIG11 ;

[0030] FIG11B is a flowchart of another implementation method of the collaborative sensing method in FIG11 ;

[0031] FIG12 is a flow chart of a collaborative sensing method according to another embodiment of the present application;

[0032] FIG12A is a flow chart of an embodiment of the collaborative sensing method in FIG12 ;

[0033] FIG12B is a flowchart of another implementation method of the collaborative sensing method in FIG12;

[0034] FIG13 is a flow chart of a collaborative sensing method according to another embodiment of the present application;

[0035] FIG13A is a flow chart of an embodiment of the collaborative sensing method in FIG13 ;

[0036] FIG13B is a flowchart of another implementation method of the collaborative sensing method in FIG13;

[0037] FIG14 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the technical solution of the present application, the collaborative sensing method, collaborative sensing device, electronic device, and computer-readable storage medium provided in the present application are described in detail below with reference to the accompanying drawings.

[0039] Example embodiments will be described more fully hereinafter with reference to the accompanying drawings, but the described example embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the scope of this application to those skilled in the art.

[0040] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0041] The terms used herein are used only to describe specific embodiments and are not intended to limit this application. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, they specify the presence of features, wholes, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or groups thereof.

[0042] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0043] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present application, and will not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the examples of the present application.

[0044] In the next generation of mobile communications, technologies such as millimeter wave technology, ultra-large-scale multiple-input and multiple-output antenna arrays, wide bandwidth, and intelligent metasurfaces will provide better capabilities for communication and perception. Using communication signals to achieve simultaneous positioning and environmental mapping (SLAM) will be a very promising function.

[0045] The communication environment of a base station (BS) includes not only communicating users but also static scatterers such as streetlights, buildings, and mountains. Due to the presence of these scatterers, radio waves propagate through the environment, forming multipath paths. In cellular mobile communication systems, some radio waves travel directly from the BS to the user equipment (UE), forming a Line of Sight (LOS) path. Other radio waves travel from the BS to the UE after being scattered by scatterers, forming Non-Line of Sight (NLOS) paths. The NLOS paths, scattered by scatterers, carry information about the surrounding scatterers, enabling the UE to perceive the surrounding environment. The LOS and NLOS paths formed by radio waves propagating through the environment can then be used to invert information about the UE's status and surroundings.

[0046] However, the related art only discloses the use of LOS path and NLOS path measurements to achieve simultaneous positioning and environmental mapping. How to achieve high-precision simultaneous positioning and environmental mapping is still a technical problem that needs to be solved urgently in this field.

[0047] Based on this, the embodiments of the present application provide a collaborative perception method, electronic device and storage medium, which can achieve high-precision simultaneous positioning and environmental mapping.

[0048] Before introducing the technical solution of the embodiment of the present application, the network architecture of the embodiment of the present application is first described. The network architecture of the embodiment of the present application includes at least one network-side node and at least one user terminal, the user terminal is communicatively connected to the network-side node, and the user terminal and the network-side node are designed with integrated sensing and communication (ISAC), and its sensing mechanism is downlink sensing. The user terminal receives the integrated downlink signal sent by the network-side node and extracts relevant sensing information from the integrated downlink signal to complete downlink sensing.

[0049] Please refer to Figure 1, which is a schematic diagram of a network architecture provided by an embodiment of the present application. As shown in Figure 1, the network architecture includes a network side node 100, a user terminal 201, a user terminal 202, and a user terminal 203. The user terminal is communicatively connected to the network side node. The network side node is used to send an integrated downlink signal to the user terminal, and the user terminal is used to receive the integrated downlink signal sent by the network side node and extract relevant perception information from the integrated downlink signal to complete downlink perception.

[0050] The user terminal involved in the embodiments of the present application, which may also be referred to as user equipment (UE), mobile station (MS), mobile terminal (MT), terminal, etc., is a device that provides voice and / or data connectivity to users. For example, the terminal device includes a handheld device with wireless connection function, a vehicle-mounted device, etc. At present, the terminal device can be: a mobile phone, a tablet computer, a laptop computer, a PDA, a mobile Internet device (MID), a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control (Industrial Control), a wireless terminal in self-driving (Self-Driving), a wireless terminal in remote medical surgery (Remote Medical Surgery), a wireless terminal in smart grid (Smart Grid), a wireless terminal in transportation safety (Transportation Safety), a wireless terminal in smart city (Smart City), a wireless terminal in smart home (Smart Home), or a wireless terminal with vehicle-to-vehicle (V2V) common communication, etc.

[0051] The network side nodes involved in the embodiments of the present application include access network nodes, or include access network nodes and core network nodes.

[0052] An access network node may be a base station (BS), a node B (Node B), an evolved node B (eNodeB or eNB), a transmission reception point (TRP), a next generation node B (gNB) in a fifth generation (5G) mobile communication system, an access network device in an open radio access network (O-RAN or open RAN), a next generation base station in a sixth generation (6G) mobile communication system, a base station in a future mobile communication system, or an access node in a wireless fidelity (WiFi) system. Alternatively, an access network node may be a module or unit that performs part of the functions of a base station, for example, a centralized unit (CU), a distributed unit (DU), a centralized unit control plane (CU-CP) module, or a centralized unit user plane (CU-UP) module. The access network node can be a macro base station, a micro base station, an indoor base station, a reconfigurable intelligent surface (RISs), a relay node, or a donor node. The present disclosure does not limit the specific technology and device form used by the access network node.

[0053] A core network node refers to a network element of the core network, which may be a core network element such as an Access and Mobility Management Function (AMF) network element or a User Plane Function (UPF) network element.

[0054] User terminals can be connected to base stations wirelessly and can access core network nodes through base stations.

[0055] The embodiment of the present application first proposes a collaborative perception method, which is applied to a user terminal. Please refer to Figure 2 , which shows a collaborative perception method provided by an embodiment of the present application. As shown in Figure 2 , the method includes but is not limited to steps S110 to S140.

[0056] Step S110: receiving a fused simultaneous localization and environment mapping SLAM result sent by a network-side node, wherein the fused SLAM result is obtained by the network-side node fusing first local SLAM results corresponding to multiple user terminals.

[0057] It can be understood that the current user terminal receives the fused SLAM result sent by the network side node. Prior to this, the network side node fuses the first local SLAM results of multiple user terminals to obtain a fused SLAM result, wherein the first local SLAM results corresponding to multiple user terminals may include the first local SLAM result corresponding to the current user terminal. In the case that the current user terminal is a new user terminal entering the service range, the first local SLAM results of multiple user terminals are the first local SLAM results corresponding to other user terminals within the service range of the network side node.

[0058] It should be noted that, for the first local SLAM result corresponding to the user terminal, specifically, the user terminal can extract the original measurement data from the downlink perception signal received from the network side node, and the user terminal obtains the first local SLAM result based on the original measurement data. It can also be that the user terminal extracts the original measurement data from the downlink perception information received from the network side node, and then the user terminal uploads the original measurement data to the network side node, and the network side node obtains the first local SLAM result corresponding to the user terminal based on the original measurement data uploaded by the user.

[0059] Step S120: Receive a first downlink signal sent by a network-side node.

[0060] It should be understood that the first downlink signal is a downlink perception signal integrating communication and perception, and the user terminal can extract corresponding perception information from the downlink perception signal and complete downlink perception based on the perception information.

[0061] Step S130: Determine a second local SLAM result according to the first downlink signal.

[0062] It can be understood that after the user terminal receives the first downlink signal sent by the network side node, it performs SLAM construction based on the first downlink signal to obtain a second local SLAM result. Specifically, the user terminal extracts the original measurement data from the first downlink signal and obtains the second local SLAM result based on the original measurement data.

[0063] Part of the radio waves of the downlink signal reaches the user terminal directly, forming a LOS path, and part of the radio waves reaches the user terminal after being scattered by scatterers, forming an NLOS path. Since the NLOS path is scattered by the scatterers, it carries the information of the scatterers in the environment. Therefore, by calculating the original measurement data such as the angle of arrival (AOA), time difference of arrival (TDOA), and frequency difference of arrival (FDOA) of the downlink signal, the local SLAM result can be obtained based on the above original measurement data and inverted through the preset SLAM algorithm to realize SLAM construction, where the SLAM algorithm includes but is not limited to BP-SLAM and PHD-SLAM algorithms.

[0064] Step S140: taking the fused SLAM result as prior knowledge and using the prior knowledge to update the second local SLAM result.

[0065] It should be understood that the fused SLAM result integrates the local SLAM results of multiple user terminals within the base station service range. The user terminal uses the fused SLAM result as prior knowledge to update the second local SLAM result, which can overcome the shortcoming of low accuracy of the SLAM result obtained due to the limited observation field of the terminal itself, so that users can obtain more accurate SLAM results.

[0066] After using the fused SLAM result to update the second local SLAM result, the user terminal can choose to send the updated second local SLAM result to the network side node. The network side node re-fuse the updated second local SLAM results of multiple user terminals and send the fused SLAM result to the user terminal again. The perception results between the user terminal and the network side node are continuously fused and iteratively updated, which can achieve high-precision SLAM. The updated and more accurate SLAM can be used to assist the communication between the user terminal and the network side node, thereby improving communication performance.

[0067] It can be understood that the user terminal receives the fused SLAM result sent by the network side node, wherein the fused SLAM result is obtained by the network side node fusing the first local SLAM results corresponding to multiple user terminals. Then, the user terminal receives the first downlink signal sent by the network side node and determines the second local SLAM result based on the first downlink signal. Finally, the user terminal uses the fused SLAM result as prior knowledge and uses the prior knowledge to update the second local SLAM result. The local SLAM result of a single user terminal is limited by the user terminal's own observation field of view. The fused SLAM result can provide the user terminal with more extensive and accurate perception information. The user terminal uses the fused SLAM result as prior knowledge to assist it in updating the subsequently obtained local SLAM results, and can achieve high-precision simultaneous positioning and environmental mapping.

[0068] In actual application environments, the number of user terminals often changes. When the network side node detects that a new user terminal has entered the service range, it sends a first downlink signal and a fused SLAM result obtained by fusing the first local SLAM results corresponding to multiple user terminals to the new user terminal. The new user terminal determines the second local SLAM result based on the first downlink signal, and uses the fused SLAM result as prior knowledge to assist in updating the second local SLAM result, so that the user terminal that has newly entered the service range of the base station can also quickly obtain more accurate and complete SLAM results.

[0069] In some embodiments, please refer to FIG3 , which shows a collaborative sensing method provided by another embodiment of the present application. The collaborative sensing method further includes step S210 and step S220 .

[0070] Step S210: Receive a second downlink signal sent by a network-side node.

[0071] Step S220: Determine the SLAM construction information according to the second downlink signal, and send the SLAM construction information to the network side node, so that the network side node determines the first local SLAM result corresponding to the user terminal according to the SLAM construction information, and fuses the first local SLAM result corresponding to the user terminal with the first local SLAM result corresponding to at least one other user terminal to obtain a fused SLAM result.

[0072] In a specific embodiment, please refer to Figure 3A, which shows a flow chart of an implementation method of the collaborative perception method in Figure 3. As shown in Figure 3A, before receiving the fused SLAM result sent by the network side node, the network side node sends a second downlink signal, and the user terminal receives the second downlink signal sent by the network side node. Thereafter, the user terminal determines the SLAM construction information based on the second downlink signal, and sends the SLAM construction information to the network side node. The network side node determines the first local SLAM result corresponding to the user terminal based on the received SLAM construction information, and then the network side node fuses the first local SLAM result corresponding to the user terminal with the first local SLAM result corresponding to at least one other user terminal to obtain a fused SLAM result, so that the user terminal can use the fused SLAM result as prior knowledge to update subsequent local SLAM results and obtain more accurate SLAM results.

[0073] In a specific embodiment, please refer to Figure 3B, which shows a flow chart of another implementation of the collaborative perception method in Figure 3. As shown in Figure 3B, after the user terminal uses the fused SLAM result as prior knowledge and uses the prior knowledge to update the second local SLAM result, the network side node again sends a second downlink signal to the user terminal. The user terminal receives the second downlink signal sent by the network side node. Thereafter, the user terminal determines SLAM construction information based on the second downlink signal and sends the SLAM construction information to the network side node. The network side node determines the first local SLAM result corresponding to the user terminal based on the received SLAM construction information. Then, the network side node fuses the first local SLAM result corresponding to the user terminal with the first local SLAM result corresponding to at least one other user terminal to obtain a fused SLAM result. On the one hand, the user terminal can use the previous fused SLAM result as prior knowledge to update the SLAM construction information, so that the network side node can obtain a fused SLAM result based on multiple more accurate local SLAM results. On the other hand, the network side node can send the fused SLAM result obtained based on the second downlink signal to the user terminal, so that the user terminal can obtain a new fused SLAM result and use the new fused SLAM result as prior knowledge to iteratively update subsequent local SLAM results.

[0074] In some embodiments, the SLAM construction information includes raw measurement data. Please refer to Figure 4, which shows a sub-step flowchart of step S220 in Figure 3. As shown in Figure 4, step S220 includes but is not limited to step S310 and step S320.

[0075] Step S310: Determine original measurement data according to the second downlink signal.

[0076] Step S310: sending the original measurement data to the network-side node, so that the network-side node determines a first local SLAM result corresponding to the user terminal according to the original measurement data received from the user terminal.

[0077] It should be understood that the user terminal receives the second downlink signal and extracts the original measurement data within the observation field of view from the second downlink signal. The user terminal then sends the original measurement data to the network side node, and the network side node determines the first local SLAM result corresponding to the user terminal based on the original measurement data uploaded by the user terminal. That is, the network side node constructs the corresponding SLAM result for the user terminal, which can provide SLAM construction services for user terminals with poor computing capabilities.

[0078] In some embodiments, the SLAM construction information includes the first local SLAM result of the user terminal. Please refer to Figure 5, which shows a sub-step flowchart of step S220 in Figure 3. As shown in Figure 5, step S220 includes but is not limited to steps S410 to S430.

[0079] Step S410: Determine original measurement data according to the second downlink signal.

[0080] Step S420: Determine a first local SLAM result according to the original measurement data.

[0081] Step S430: Send the first local SLAM result to the network-side node.

[0082] It should be understood that the user terminal receives the second downlink signal and extracts the original measurement data within the observation field of view from the second downlink signal. The user terminal then determines the first local SLAM result based on the original measurement data. Finally, the user terminal sends the first local SLAM result to the network side node, that is, the user terminal receives the second downlink signal sent by the network side node and obtains the corresponding first local SLAM result based on the second downlink signal. The network side node only needs to perform fusion processing on the first local SLAM results uploaded by multiple user terminals, which can reduce the computing pressure of the network side node.

[0083] It should be noted that the manner in which SLAM is constructed for different user terminals within the service range of the base station can be determined based on the computing capability of the user terminal or the load level of the network-side node, and this embodiment of the present application does not impose any restrictions on this.

[0084] In some embodiments, please refer to FIG. 6 , which shows a sub-step flowchart of step S430 in FIG. 5 . As shown in FIG. 6 , step S430 includes but is not limited to step S510 and step S520 .

[0085] Step S510, performing reliability analysis on the first local SLAM result to obtain a corresponding reliability value;

[0086] Step S520: When the reliability value is greater than or equal to a preset reliability threshold, the first local SLAM result is sent to the network-side node.

[0087] It should be understood that before the user terminal sends the first local SLAM result to the network-side node, it first performs a reliability analysis on the first local SLAM result to obtain a reliability value for the first local SLAM result constructed this time. If the reliability value is greater than or equal to a preset reliability threshold, the user terminal sends the first local SLAM result to the network-side node, and if the reliability value is less than the preset reliability threshold, the user terminal does not send the first local SLAM result. By performing a reliability analysis on the first local SLAM result, the user terminal only sends the first local SLAM result with a higher reliability value to the network-side node, that is, the network-side node will only receive the first local SLAM result with a reliability value higher than the reliability threshold, making the fused SLAM result obtained by the network-side node more accurate.

[0088] It should be noted that the reliability threshold can be sent to the user terminal through the network side node. For example, the network side node carries the reliability threshold information in the downlink signal, and sends the reliability threshold to each user terminal through the network side node, which facilitates the construction and management of SLAM results of each user terminal within the service range of the same base station.

[0089] In some embodiments, the SLAM construction information further includes a reliability value corresponding to the first local SLAM result.

[0090] In the collaborative sensing method, the fusion processing process includes:

[0091] The network-side node performs weighted fusion processing on the first local SLAM results corresponding to multiple user terminals according to the reliability value of the first local SLAM result corresponding to each user terminal to obtain a fused SLAM result.

[0092] It should be understood that the SLAM construction information uploaded by the user includes the reliability value corresponding to the first local SLAM result, and when the SLAM construction information also includes the reliability value corresponding to the first local SLAM result, in the process of the network-side node fusing the SLAM results, the network-side node performs weighted fusion processing on the first local SLAM results corresponding to multiple user terminals based on the reliability values ​​of the first local SLAM results corresponding to each user terminal to obtain a fused SLAM result. For example, a larger weight is assigned to the first local SLAM result with a high reliability value, and a smaller weight is assigned to the local SLAM result with a low reliability value, that is, the proportion of local SLAM results with high reliability in the fused SLAM result is increased, and the proportion of local SLAM results with low reliability in the fused SLAM result is reduced, thereby improving the accuracy of the fused SLAM result.

[0093] In some embodiments, the first local SLAM result includes at least one of user terminal state information and environment information.

[0094] It should be understood that the first local SLAM result includes user terminal status information, or includes environmental information, or includes both user terminal status information and environmental information. For example, when the actual application requires the user terminal to observe the environmental information in the field of view, and the local SLAM result is constructed by the user terminal, after the user terminal obtains the original measurement data, the user terminal determines the first local SLAM result based on the original measurement data, thereby sending the environmental information in the first local SLAM result to the network side node; or, when the actual application requires the user terminal status information, and the local SLAM result is constructed by the user terminal, after the user terminal obtains the original measurement data, the user terminal determines the first local SLAM result based on the original measurement data, thereby sending the user terminal status information in the first local SLAM result to the network side node.

[0095] It should be noted that the demand for SLAM results can be sent to the user terminal through the network side node. For example, the network side node carries the demand information of SLAM results in the downlink signal, and sends the SLAM result demand to each user terminal through the network side node, so that the user terminal uploads local SLAM results that meet specific requirements.

[0096] In some embodiments, the user terminal status information includes at least one of the following: speed information of the user terminal, location information of the user terminal, orientation information of the user terminal, or clock bias information of the user terminal.

[0097] It should be understood that the user terminal receives the downlink signal sent by the network side node, and estimates the delay information, Doppler information and angle spectrum information from the LOS path and NLOS path of the downlink signal, calculates the distance between the user terminal and the network side node, as well as the speed information and azimuth information of the user terminal, and thereby calculates the position information and clock bias information of the user terminal.

[0098] It should be noted that the specific content of the user terminal status information included in the local SLAM result depends on the actual SLAM result requirements. For example, in order to locate the user terminal in real time, the user terminal status information in the local SLAM result should include the user terminal's speed information, position information, orientation information, and clock bias information.

[0099] In some embodiments, the environmental information includes at least one of the following: scattering surface information in the environment, scattering point position information in the environment, or a scattering coefficient of the environment.

[0100] It should be noted that in the scattering phenomenon, the incident wave is scattered by a surface with scattering characteristics to form a scattering point in the environment, wherein the scattering surface information in the environment refers to the characteristic information of the surface with scattering characteristics in the environment, such as surface shape, roughness, material and other characteristics, or the position of the scattering surface, or characteristic information characterizing the position of the scattering surface. The scattering point position information in the environment refers to the position information of the point where the scattering phenomenon occurs in the environment, and the scattering coefficient is a physical quantity that describes the scattering phenomenon in the environment, and is used to quantify the interaction between the incident wave and the scattering surface. The size of the scattering coefficient is related to the characteristics of the scattering surface and the parameters of the incident wave.

[0101] It should be understood that since there is an NLOS path in the downlink signal that carries information about scatterers in the environment, by calculating the original measurement data such as AOA, TDOA, FDOA of the downlink signal, it is possible to further invert the scattering surface information, scattering point location information, and scattering coefficient of the environment in which the user terminal is located, and other scattering-related parameters.

[0102] It should be noted that the specific content of the environmental information included in the local SLAM result depends on the actual SLAM result requirements. For example, in order to achieve map construction, the environmental information of the local SLAM result should include scattering surface information in the environment, scattering point location information in the environment, or the scattering coefficient of the environment.

[0103] In some embodiments, the network side node is an access network node.

[0104] Please refer to Figure 8, which shows a flow chart of a collaborative perception method provided by an embodiment of the present application. As shown in Figure 8, the network side node is an access network node, and the access network node is in communication with the user equipment. In the collaborative perception method provided by an embodiment of the present application, the access network node sends a downlink signal to the user terminal, the user terminal determines the SLAM construction information based on the downlink signal received from the access network node and sends the SLAM construction information to the access network node, the access network node determines the local SLAM result corresponding to the user terminal based on the SLAM construction information received from the user terminal, the access network node fuses the local SLAM result corresponding to the user terminal with the local SLAM result corresponding to at least one other user terminal to obtain a fused SLAM result, the access network node sends the fused SLAM result to the user terminal, and then the user terminal uses the fused SLAM result as prior knowledge to perform SLAM update iteration.

[0105] In a specific embodiment, the SLAM construction information includes original measurement data. The user terminal determines the original measurement data based on the downlink signal and sends the original measurement data to the access network node. The access network node determines the local SLAM result corresponding to the user terminal based on the original measurement data received from the user terminal. The access network node fuses the local SLAM result corresponding to the user terminal with the local SLAM result corresponding to at least one other user terminal to obtain a fused SLAM result. The access network node sends the fused SLAM result to the user terminal.

[0106] In another specific embodiment, the SLAM construction information includes the local SLAM result of the user terminal. The user terminal determines the original measurement data based on the downlink signal and determines the local SLAM result based on the original measurement data. The user terminal then sends the local SLAM result to the access network node. The access network node fuses the local SLAM result corresponding to the user terminal with the local SLAM result corresponding to at least one other user terminal to obtain a fused SLAM result. The access network node sends the fused SLAM result to the user terminal.

[0107] In some embodiments, the network side node includes an access network node and a core network node; the access network node is used to send a first downlink signal; the core network node is used to perform fusion processing and send the fused SLAM result to the user terminal.

[0108] Please refer to Figure 9, which shows a flow chart of a collaborative perception method provided in an embodiment of the present application. As shown in Figure 9, the network-side nodes include an access network node and a core network node. The access network node is in communication with the user equipment, and the core network node is in communication with the access network node. In an embodiment of the present application, the access network node is used to send a first downlink signal, the core network node is used to perform fusion processing, and is used to send the fused SLAM result to the user terminal. The core network node replaces the access network node to perform SLAM result fusion, which can reduce the computing pressure of the access network node.

[0109] In some embodiments, the fused SLAM result is sent from the core network node to the access network node, and then transmitted to the user terminal via the access network node.

[0110] In an embodiment of the present application, the access network node acts as a relay node between the user terminal and the core network node, and is used to transmit the fused SLAM result sent by the core network node to the user terminal, so that the user terminal uses the fused SLAM result as prior knowledge to perform SLAM update iterations. Specifically, the core network node fuses the local SLAM result corresponding to the user terminal with the local SLAM result corresponding to at least one other user terminal to obtain a fused SLAM result. The core network node sends the fused SLAM result to the access network node, and the access network node sends the fused SLAM result to the user terminal. The user terminal then uses the fused SLAM result as prior knowledge to perform SLAM update iterations.

[0111] In some embodiments, the user terminal sends the SLAM construction information to the access network node, and transmits it to the core network node via the access network node.

[0112] In an embodiment of the present application, an access network node acts as a relay node between a user terminal and a core network node, and is configured to transmit SLAM construction information sent by the user terminal to the core network node, so that the core network node performs SLAM result fusion. Specifically, the access network node sends a downlink signal to the user terminal, the user terminal determines the SLAM construction information based on the downlink signal received from the access network node and sends the SLAM construction information to the access network node, the access network node sends the SLAM construction information of the user terminal to the core network node, the core network node determines the local SLAM result corresponding to the user terminal based on the SLAM construction information received from the access network node, and the core network node fuses the local SLAM result corresponding to the user terminal with the local SLAM result corresponding to at least one other user terminal to obtain a fused SLAM result.

[0113] In a specific embodiment, the SLAM construction information includes original measurement data. The user terminal determines the original measurement data based on the downlink signal and sends the original measurement data to the access network node. The access network node sends the original measurement data to the core network node. The core network node determines the local SLAM result corresponding to the user terminal based on the original measurement data received from the access network node. The core network node fuses the local SLAM result corresponding to the user terminal with the local SLAM result corresponding to at least one other user terminal to obtain a fused SLAM result. The core network node sends the fused SLAM result to the access network node, and the access network node sends the fused SLAM result to the user terminal.

[0114] In the above embodiment, the collaborative perception method also includes the access network node determining the local SLAM result corresponding to the user terminal based on the original measurement data received from the user terminal, the access network node sending the local SLAM result to the core network node, the core network node fusing the local SLAM result corresponding to the user terminal with the local SLAM result corresponding to at least one other user terminal to obtain a fused SLAM result, the core network node sending the fused SLAM result to the access network node, and the access network node sending the fused SLAM result to the user terminal.

[0115] In another specific embodiment, the SLAM construction information includes the local SLAM result of the user terminal. The user terminal determines the original measurement data based on the downlink signal and determines the local SLAM result based on the original measurement data. The user terminal then sends the local SLAM result to the access network node. The access network node sends the local SLAM result to the core network node. The core network node fuses the local SLAM result corresponding to the user terminal with the local SLAM result corresponding to at least one other user terminal to obtain a fused SLAM result. The core network node sends the fused SLAM result to the access network node, and the access network node sends the fused SLAM result to the user terminal.

[0116] An embodiment of the present application also proposes a collaborative perception method, which is applied to network side nodes. Please refer to Figure 7. Figure 7 shows a collaborative perception method provided by an embodiment of the present application. As shown in Figure 7, the collaborative perception method includes but is not limited to steps S610 to S630.

[0117] Step S610: Obtain first local simultaneous localization and environment mapping SLAM results corresponding to multiple user terminals.

[0118] Step S620: fusing the first local SLAM results corresponding to the multiple user terminals to obtain a fused SLAM result.

[0119] Step S630: Send the fused SLAM result and the first downlink signal to at least one user terminal, so that the user terminal determines a second local SLAM result according to the first downlink signal, uses the fused SLAM result as prior knowledge, and updates the second local SLAM result using the prior knowledge.

[0120] It should be noted that when the network side node sends the fused SLAM results, it can choose to send all the fused SLAM results to each user terminal within the service range for SLAM iterative update; or, based on the user terminal that needs SLAM iterative update, it can choose to send the corresponding part of the fused SLAM results to the user terminal for SLAM iterative update.

[0121] It can be understood that the network side node obtains the first local SLAM results corresponding to multiple user terminals, and then the network side node fuses the first local SLAM results corresponding to multiple user terminals to obtain a fused SLAM result. Finally, the network side node sends the fused SLAM result and the first downlink signal to at least one user terminal. The user terminal determines the second local SLAM result based on the first downlink signal. The user terminal uses the fused SLAM result as prior knowledge and uses the prior knowledge to update the second local SLAM result. The local SLAM result of a single user terminal is limited by the user terminal's own observation field of view. The fused SLAM result can provide the user terminal with more extensive and accurate perception information. The user terminal uses the fused SLAM result as prior knowledge to assist it in updating the subsequently obtained local SLAM results, which can achieve high-precision positioning and environmental mapping.

[0122] In some embodiments, obtaining first local simultaneous localization and environment mapping SLAM results corresponding to multiple user terminals includes:

[0123] Sending a second downlink signal to a plurality of user terminals, so that each of the user terminals determines SLAM construction information according to the second downlink signal;

[0124] Receive SLAM construction information sent by multiple user terminals;

[0125] According to the SLAM construction information sent by each user terminal, a first local SLAM result corresponding to each user terminal is obtained.

[0126] In some embodiments, the SLAM construction information includes raw measurement data corresponding to the user terminal, and obtaining a first local SLAM result corresponding to each user terminal according to the SLAM construction information sent by each user terminal includes:

[0127] Determine the first local SLAM result corresponding to each of the user terminals according to the original measurement data sent by each of the user terminals.

[0128] In some embodiments, the SLAM construction information includes the first local SLAM result corresponding to the user terminal.

[0129] In some embodiments, the SLAM construction information further includes a reliability value corresponding to the first local SLAM result, and fusing the first local SLAM results corresponding to the plurality of user terminals to obtain a fused SLAM result includes:

[0130] According to the reliability value of the first local SLAM result corresponding to each of the user terminals, weighted fusion processing is performed on the first local SLAM results corresponding to the multiple user terminals to obtain the fused SLAM result.

[0131] In some embodiments, the sending the fused SLAM result and the first downlink signal to at least one of the user terminals includes:

[0132] In response to monitoring that a new user terminal enters a service range, the fused SLAM result and the first downlink signal are sent to the new user terminal.

[0133] In some embodiments, the first local SLAM result includes at least one of user terminal state information and environment information.

[0134] In some embodiments, the user terminal status information includes at least one of the following: speed information of the user terminal, location information of the user terminal, orientation information of the user terminal, or clock bias information of the user terminal.

[0135] In some embodiments, the environmental information includes at least one of the following: scattering surface information in the environment, scattering point position information in the environment, or a scattering coefficient of the environment.

[0136] In some embodiments, the network side node is an access network node.

[0137] In some embodiments, the network side node includes an access network node and a core network node; the access network node is used to send the first downlink signal and the second downlink signal; the core network node is used to perform the fusion processing and send the fusion SLAM result to the user terminal.

[0138] In some embodiments, the fused SLAM result is sent by the core network node to the access network node, and is transmitted to the user terminal via the access network node.

[0139] In some embodiments, the SLAM construction information sent by the at least one user terminal is received by the access network node and transmitted to the core network node via the access network node.

[0140] It should be noted that the above embodiment describes a collaborative sensing method applied to a network-side node. For its specific implementation and beneficial effects, please refer to the relevant description of the collaborative sensing method applied to a user terminal, which will not be repeated here.

[0141] The collaborative perception method provided in the embodiments of the present application is described below through specific examples.

[0142] Example 1

[0143] Please refer to Figure 10, which shows a collaborative perception method provided by an embodiment of the present application. As shown in Figure 10, the user terminal receives an integrated downlink perception signal from the base station and determines the original measurement data based on the downlink perception signal and uploads the original measurement data to the network side node. The network side node completes the SLAM construction based on the original measurement data uploaded by the user terminal. Thereafter, the network side node fuses the local SLAM results of multiple user terminals to obtain a fused SLAM result. The network side node sends the fused SLAM result to the user terminal. After the user terminal receives the fused SLAM result sent by the network side node, it uses the fused SLAM result and subsequent original measurement data together to iteratively update the SLAM result.

[0144] In a specific example of embodiment one, please refer to Figure 10A, which shows a flow chart of an implementation method of the collaborative perception method in Figure 10. As shown in Figure 10A, the network side node is an access network node, and the user terminal receives an integrated downlink perception signal from the base station and determines the original measurement data based on the downlink perception signal and uploads the original measurement data to the access network node. The access network node completes the SLAM construction based on the original measurement data uploaded by the user terminal, and then the access network node fuses the local SLAM results of multiple user terminals to obtain a fused SLAM result. The access network node sends the fused SLAM result to the user terminal. After the user terminal receives the fused SLAM result sent by the access network node, it iteratively updates the SLAM result together with the fused SLAM result and the subsequent original measurement data.

[0145] In another specific example of Example 1, please refer to Figure 10B, which shows a flow chart of another implementation method of the collaborative perception method in Figure 10. As shown in Figure 10B, the network side node includes an access network node and a core network node. The user terminal receives an integrated downlink perception signal from the base station and determines the original measurement data based on the downlink perception signal and uploads the original measurement data to the access network node. The access network node sends the original measurement data received from the user terminal to the core network node. The core network node completes SLAM construction based on the original measurement data uploaded by the user terminal. Thereafter, the core network node fuses the local SLAM results of multiple user terminals to obtain a fused SLAM result. The core network node sends the fused SLAM result to the access network node. The access network node sends the fused SLAM result received from the core network node to the user terminal. After receiving the fused SLAM result sent by the access network node, the user terminal iteratively updates the SLAM result together with the fused SLAM result and the subsequent original measurement data.

[0146] Example 2

[0147] Please refer to Figure 11, which shows a collaborative perception method provided by an embodiment of the present application. As shown in Figure 11, the user terminal receives an integrated downlink perception signal from the base station and determines the original measurement data based on the downlink perception signal. The user terminal completes SLAM construction locally and obtains the reliability of the local SLAM result. The network side node sends a reliability threshold. The user terminal receives the reliability threshold sent by the network side node and determines whether to upload the local SLAM result based on the reliability of the local SLAM result constructed by itself. If the reliability of the local SLAM result is greater than the reliability threshold sent by the network side node, the user terminal uploads the local SLAM result. If the reliability of the local SLAM result is less than the reliability threshold sent by the network side node, the user terminal does not upload the local SLAM result. The network side node fuses the local SLAM results uploaded by the user terminal to obtain a fused SLAM result. The network side node sends the fused SLAM result to the user terminal. The user terminal receives the fused SLAM result sent by the network side node and uses the fused SLAM result and subsequent original measurement data together to iteratively update the SLAM result.

[0148] In a specific example of the second embodiment, please refer to FIG11A , which shows a flow chart of an implementation of the collaborative sensing method in FIG11 . As shown in FIG11A , the network-side node is an access network node. The user terminal receives an integrated downlink sensing signal from the base station and determines raw measurement data based on the downlink sensing signal. The user terminal locally completes SLAM construction and obtains the reliability of the local SLAM result. The access network node issues a reliability threshold. The user terminal receives the reliability threshold issued by the access network node and determines whether to upload the local SLAM result based on the reliability of the local SLAM result it has constructed. If the reliability of the local SLAM result is greater than the reliability threshold issued by the access network node, the user terminal uploads the local SLAM result. If the reliability of the local SLAM result is less than the reliability threshold issued by the access network node, the user terminal does not upload the local SLAM result. The access network node fuses the local SLAM results uploaded by the user terminal to obtain a fused SLAM result. The access network node sends the fused SLAM result to the user terminal. The user terminal receives the fused SLAM result issued by the access network node and uses the fused SLAM result and subsequent raw measurement data together to iteratively update the SLAM result.

[0149] In another specific example of Example 2, please refer to Figure 11B, which shows a flow chart of another implementation method of the collaborative perception method in Figure 11. As shown in Figure 11B, the network side node includes an access network node and a core network node. The user terminal receives an integrated downlink perception signal from the base station and determines the original measurement data based on the downlink perception signal. The user terminal completes SLAM construction locally and obtains the reliability of the local SLAM result. The access network node sends a reliability threshold. The user terminal receives the reliability threshold sent by the access network node and determines whether to upload the local SLAM result based on the reliability of the local SLAM result constructed by itself. If the reliability of the local SLAM result is greater than the reliability threshold sent by the access network node, the user terminal uploads the local SLAM result. If the reliability of the local SLAM result is less than the reliability threshold sent by the access network node, the user terminal does not upload the local SLAM result. The access network node sends the local SLAM results uploaded by the user terminal to the core network node. The core network node fuses the local SLAM results corresponding to multiple user terminals to obtain a fused SLAM result. The core network node sends the fused SLAM result to the access network node. The access network node sends the fused SLAM result to the user terminal. The user terminal receives the fused SLAM result sent by the access network node and uses the fused SLAM result and subsequent original measurement data together to iteratively update the SLAM result.

[0150] Example 3

[0151] Please refer to Figure 12, which shows a collaborative perception method provided by an embodiment of the present application. As shown in Figure 12, the network side node sends the fused SLAM results to the user terminal, and the user terminal assists the communication between the user terminal and the base station based on the fused SLAM results, avoids the obstruction of obstacles, and improves communication performance, including beamforming, channel estimation and reconstruction, etc.

[0152] For example, the network-side node sends the fused SLAM results to the user terminal, which then performs adaptive beamforming based on the fused SLAM results, reducing the impact of obstacles on the user terminal's communication performance and improving the communication performance between the user terminal and the network-side node. Another example is when the network-side node sends the fused SLAM results to the user terminal, the user terminal uses the fused SLAM results and the corresponding algorithm to obtain channel state information between the user terminal and the network-side node, thereby reducing the system overhead of channel measurement and estimated feedback, and improving system performance.

[0153] In a specific example of Example 3, please refer to Figure 12A, which shows a flow chart of an implementation method of the collaborative perception method in Figure 12. As shown in Figure 12A, the network side node is an access network node, and the access network node sends the fused SLAM results to the user terminal. The user terminal assists the communication between the user terminal and the access network node based on the fused SLAM results.

[0154] In another specific example of Example 3, please refer to Figure 12B, which shows a flow chart of another implementation method of the collaborative perception method in Figure 12. The network side nodes include an access network node and a core network node. The core network node fuses the local SLAM results of multiple user terminals to obtain a fused SLAM result. Thereafter, the core network node sends the fused SLAM result to the access network node, and the access network node sends the fused SLAM result to the user terminal. The user terminal assists the communication between the user terminal and the access network node based on the fused SLAM result.

[0155] Example 4

[0156] Please refer to Figure 13, which shows a collaborative perception method provided by an embodiment of the present application. As shown in Figure 13, when a new user terminal enters the service range of the base station, the network side node will send the constructed fused SLAM result to the newly entered user terminal. The newly entered user terminal receives the fused SLAM result sent by the network side node and uses the fused SLAM result to assist it in updating the SLAM result within the observation field of view, so that the newly entered user terminal can quickly obtain more accurate and complete SLAM results.

[0157] In a specific example of Example 4, please refer to Figure 13A, which shows a flow chart of an implementation method of the collaborative perception method in Figure 13. As shown in Figure 13A, the network side node is an access network node. When a new user terminal enters the service range of the base station, the access network node sends the constructed fused SLAM result to the newly entered user terminal. The newly entered user terminal receives the fused SLAM result sent by the access network node and uses the fused SLAM result to assist it in updating the SLAM result within the observation field of view.

[0158] In another specific example of Example 4, please refer to Figure 13B, which shows a flow chart of another implementation of the collaborative perception method in Figure 13. As shown in Figure 13B, the network side nodes include access network nodes and core network nodes. When a new user terminal enters the service range of the base station, the access network node sends the fused SLAM result constructed by the core network node to the newly entered user terminal. The newly entered user terminal receives the fused SLAM result sent by the access network node and uses the fused SLAM result to assist it in updating the SLAM result within the observation field of view.

[0159] Referring to FIG. 14 , an embodiment of the present application further provides an electronic device, the electronic device 2000 including but not limited to:

[0160] at least one processor 2001;

[0161] At least one memory 2002, configured to store at least one program;

[0162] When at least one program is executed by at least one processor 2001, the collaborative sensing method applied to the user terminal as described in any of the above embodiments is executed; or, the collaborative sensing method applied to the network side node as described in any of the above embodiments is executed.

[0163] It should be understood that the processor 2001 and the memory 2002 may be connected via a bus or other means.

[0164] It should be understood that the processor 2001 can be a central processing unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. Alternatively, the processor 2001 can be one or more integrated circuits for executing relevant programs to implement the technical solutions provided in the embodiments of the present application.

[0165] Memory 2002, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer executable programs, such as the collaborative sensing method performed on the electronic device side as described in any embodiment of this application. Processor 2001 implements the collaborative sensing method applied to the user terminal as described in any of the above embodiments by running the non-transitory software program and instructions stored in memory 2002; or implements the collaborative sensing method applied to the network node as described in any of the above embodiments.

[0166] Memory 2002 may include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store and execute the collaborative perception method described above. Furthermore, memory 2002 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device.

[0167] In some embodiments, the memory 2002 may optionally include a memory remote from the processor 2001, and the remote memory may be connected to the processor 2001 via a network. Examples of the aforementioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0168] The non-transient software programs and instructions required to implement the above-mentioned collaborative sensing method are stored in the memory 2002. When executed by one or more processors 2001, the collaborative sensing method provided by any embodiment of the present application is executed.

[0169] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the collaborative perception method applied to the user terminal as described in any of the above embodiments; or, it implements the collaborative perception method applied to the network side node as described in any of the above embodiments.

[0170] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media.Computer-readable media can be computer-readable signal media or computer-readable storage media.Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof.More specific examples (non-exhaustive) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination thereof.In this document, computer-readable storage media can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0171] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0172] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0173] The computer program code for performing the operations of the present application can be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (such as through the Internet using an Internet service provider).

[0174] An embodiment of the present application also provides a computer program product, which stores program instructions. When the program instructions are executed on a computer device, the computer device implements the collaborative perception method applied to a user terminal as described in any of the above embodiments; or implements the collaborative perception method applied to a network-side node as described in any of the above embodiments.

[0175] The above is a specific description of several implementations of the present application, but the present application is not limited to the above-mentioned implementation methods. Technical personnel familiar with the art can also make various equivalent modifications or substitutions without violating the shared conditions of the scope of the present application. These equivalent modifications or substitutions are all included in the scope defined by the present application.

Claims

1. A collaborative sensing method, the method being applied to a user terminal, the method comprising: Receiving a fused simultaneous localization and environment mapping SLAM result sent by a network side node, wherein the fused SLAM result is obtained by the network side node fusing first local SLAM results corresponding to multiple user terminals; Receiving a first downlink signal sent by a network side node; Determine a second local SLAM result according to the first downlink signal; The fused SLAM result is used as prior knowledge, and the second local SLAM result is updated using the prior knowledge.

2. The method according to claim 1, further comprising: Receiving a second downlink signal sent by the network side node; Determine SLAM construction information according to the second downlink signal, and send the SLAM construction information to the network side node, so that the network side node determines the first local SLAM result corresponding to the user terminal according to the SLAM construction information, and fuses the first local SLAM result corresponding to the user terminal with the first local SLAM result corresponding to at least one other user terminal to obtain the fused SLAM result.

3. The method according to claim 2, wherein: The SLAM construction information includes original measurement data; and determining the SLAM construction information according to the second downlink signal, and sending the SLAM construction information to the network side node, includes: determining original measurement data according to the second downlink signal; The original measurement data is sent to the network side node, so that the network side node determines a first local SLAM result corresponding to the user terminal according to the original measurement data received from the user terminal.

4. The method according to claim 2, wherein: The SLAM construction information includes a first local SLAM result of the user terminal; and determining the SLAM construction information according to the second downlink signal and sending the SLAM construction information to the network side node includes: determining original measurement data according to the second downlink signal; Determine the first local SLAM result according to the original measurement data; The first local SLAM result is sent to the network side node.

5. The method according to claim 4, wherein: The sending the first local SLAM result to the network side node includes: Performing reliability analysis on the first local SLAM result to obtain a corresponding reliability value; When the reliability value is greater than or equal to a preset reliability threshold, the first local SLAM result is sent to the network side node.

6. The method according to claim 5, wherein: The SLAM construction information also includes a reliability value corresponding to the first local SLAM result; The fusion process includes: The network-side node performs weighted fusion processing on the first local SLAM results corresponding to the multiple user terminals according to the reliability value of the first local SLAM result corresponding to each of the user terminals to obtain the fused SLAM result.

7. The method according to any one of claims 2 to 6, wherein: The first local SLAM result includes at least one of user terminal state information and environment information.

8. The method according to claim 7, wherein: The user terminal status information includes at least one of the following: speed information of the user terminal, location information of the user terminal, orientation information of the user terminal, or clock bias information of the user terminal.

9. The method according to claim 7, wherein: The environmental information includes at least one of the following: scattering surface information in the environment, scattering point position information in the environment, or a scattering coefficient of the environment.

10. The method according to any one of claims 2 to 6, wherein: The network side node is an access network node.

11. The method according to any one of claims 2 to 6, wherein: The network side node includes an access network node and a core network node; the access network node is used to send the first downlink signal; the core network node is used to perform the fusion processing and send the fusion SLAM result to the user terminal.

12. The method according to claim 11, wherein: The fused SLAM result is sent from the core network node to the access network node, and is transmitted to the user terminal via the access network node.

13. The method according to claim 11, wherein: The user terminal sends the SLAM construction information to the access network node, and transmits it to the core network node via the access network node.

14. A collaborative sensing method, the method being applied to a network side node, the method comprising: Obtaining first local simultaneous positioning and environment mapping SLAM results corresponding to multiple user terminals; Fusing the first local SLAM results corresponding to the plurality of user terminals to obtain a fused SLAM result; The fused SLAM result and the first downlink signal are sent to at least one of the user terminals, so that the user terminal determines a second local SLAM result according to the first downlink signal, uses the fused SLAM result as prior knowledge, and updates the second local SLAM result using the prior knowledge.

15. The method according to claim 14, wherein: The obtaining of first local simultaneous positioning and environment mapping SLAM results corresponding to the plurality of user terminals comprises: Sending a second downlink signal to the plurality of user terminals, so that each of the user terminals determines the SLAM construction information according to the second downlink signal; Receiving the SLAM construction information sent by a plurality of the user terminals; According to the SLAM construction information sent by each of the user terminals, a first local SLAM result corresponding to each of the user terminals is obtained.

16. The method according to claim 15, wherein: The SLAM construction information includes original measurement data corresponding to the user terminal, and obtaining the first local SLAM result corresponding to each of the user terminals according to the SLAM construction information sent by each of the user terminals includes: The first local SLAM result corresponding to each of the user terminals is determined according to the original measurement data sent by each of the user terminals.

17. The method according to claim 15, wherein: The SLAM construction information includes the first local SLAM result corresponding to the user terminal.

18. The method according to claim 17, wherein: The SLAM construction information also includes a reliability value corresponding to the first local SLAM result, and fusing the first local SLAM results corresponding to the plurality of user terminals to obtain a fused SLAM result, including: According to the reliability value of the first local SLAM result corresponding to each of the user terminals, weighted fusion processing is performed on the first local SLAM results corresponding to the multiple user terminals to obtain the fused SLAM result.

19. The method according to claim 14, wherein: The sending the fused SLAM result and the first downlink signal to at least one of the user terminals includes: In response to monitoring that a new user terminal enters a service range, the fused SLAM result and the first downlink signal are sent to the new user terminal.

20. The method according to any one of claims 14 to 19, wherein: The first local SLAM result includes at least one of user terminal state information and environment information.

21. The method according to claim 20, wherein: The user terminal status information includes at least one of the following: speed information of the user terminal, location information of the user terminal, orientation information of the user terminal, or clock bias information of the user terminal.

22. The method according to claim 20, wherein: The environmental information includes at least one of the following: scattering surface information in the environment, scattering point position information in the environment, or a scattering coefficient of the environment.

23. The method according to any one of claims 15 to 19, wherein: The network side node is an access network node.

24. The method according to any one of claims 15 to 19, wherein: The network side nodes include access network nodes and core network nodes; The access network node is used to send the first downlink signal and the second downlink signal; the core network node is used to perform the fusion processing and send the fusion SLAM result to the user terminal.

25. The method according to claim 24, wherein: The fused SLAM result is sent from the core network node to the access network node, and is transmitted to the user terminal via the access network node.

26. The method according to claim 24, wherein: The SLAM construction information sent by the at least one user terminal is received by the access network node and transmitted to the core network node via the access network node.

27. An electronic device comprising: one or more processors; A memory having one or more programs stored thereon, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the collaborative perception method as described in any one of claims 1-13; or, implement the collaborative perception method as described in any one of claims 14-26.

28. A computer-readable storage medium having a computer program stored thereon, wherein: When the program is executed by a processor, it implements the collaborative perception method as described in any one of claims 1-13; or, it implements the collaborative perception method as described in any one of claims 14-26.

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