Error map-assisted perception processing method and apparatus, terminal, and network side device

Abstract

The application discloses an error map-assisted perception processing method and apparatus, a terminal, and a network side device, belonging to the technical field of communications. The error map-assisted perception processing method comprises: a first device executes a first operation, the first operation comprising any one of the following: sending target data of each reference target among at least two reference targets to a second device, wherein the target data is used for establishing an error map; obtaining first indication information, and determining the error map according to the first indication information and a first perception measurement value of the at least two reference targets, wherein the first indication information is used for indicating a mode of determining the error map on the basis of the first perception measurement value of the at least two reference targets, and the first perception measurement value is a measurement value obtained by performing perception measurement on the reference targets; wherein the error map is used for determining a target correction number corresponding to a perception target, and the target correction number is used for correcting a second perception measurement value obtained by performing perception measurement on the perception target, and obtaining a third perception measurement value.

Description

Error map-assisted perception processing method, device, terminal and network-side equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202311242598.0 filed in China on September 25, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application belongs to the field of communication technology, and specifically relates to an error map-assisted perception processing method, device, terminal and network-side equipment. Background Art

[0004] With the advancement of communication technology, integrated synaesthesia systems have been introduced into communication systems to achieve sensory measurement. Currently, when using synaesthesia systems to measure distance, speed, and angles of perceived targets, significant errors can occur between the measured results and the true values ​​due to factors such as signal refraction and reflection. Consequently, related technologies suffer from poor sensory measurement accuracy in some sensory application scenarios.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide an error map-assisted perception processing method, apparatus, terminal, and network-side equipment, which can solve the problem of poor accuracy of perception measurements in some perception application scenarios.

[0007] In a first aspect, an error map-assisted perception processing method is provided, comprising:

[0008] The first device performs a first operation, where the first operation includes any one of the following:

[0009] sending target data for each of at least two reference targets to a second device, the target data being used to establish an error map;

[0010] obtaining first indication information, and determining an error map based on the first indication information and first perceptual measurement quantities of at least two reference targets, where the first indication information is used to indicate a manner of determining the error map based on the first perceptual measurement quantities of the at least two reference targets, where the first perceptual measurement quantities are measurement quantities obtained by perceptually measuring the reference targets;

[0011] The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement value obtained by the perception measurement of the perception target to obtain a third perception measurement value.

[0012] In a second aspect, an error map-assisted perception processing method is provided, comprising:

[0013] The second device performs a second operation, where the second operation includes any one of the following:

[0014] receiving target data for each of at least two reference targets from a first device, and establishing an error map based on the target data;

[0015] Sending at least a portion of first indication information to the first device, where the first indication information is used to indicate a method for determining an error map based on first perception measurement quantities of at least two reference targets, where the first perception measurement quantities are measurement quantities obtained by performing perception measurement on the reference targets;

[0016] The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement value obtained by the perception measurement of the perception target to obtain a third perception measurement value.

[0017] In a third aspect, an error map-assisted perception processing method is provided, including:

[0018] The third device obtains a target correction number corresponding to the perception target, where the target correction number is determined according to an error map, where the error map is determined based on first perception measurement quantities of at least two reference targets, where the first perception measurement quantities are measurement quantities obtained by perception measurement of the reference targets;

[0019] The third device corrects a second perception measurement value obtained by the perception measurement of the perception target based on the target correction number to obtain a third perception measurement value.

[0020] In a fourth aspect, an error map-assisted perception processing device is provided, comprising:

[0021] The first execution module is configured to execute a first operation, where the first operation includes any one of the following:

[0022] sending target data for each of at least two reference targets to a second device, the target data being used to establish an error map;

[0023] obtaining first indication information, and determining an error map based on the first indication information and first perceptual measurement quantities of at least two reference targets, where the first indication information is used to indicate a manner of determining the error map based on the first perceptual measurement quantities of the at least two reference targets, where the first perceptual measurement quantities are measurement quantities obtained by perceptually measuring the reference targets;

[0024] The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement value obtained by the perception measurement of the perception target to obtain a third perception measurement value.

[0025] In a fifth aspect, an error map-assisted perception processing device is provided, comprising:

[0026] The second execution module is configured to execute a second operation, where the second operation includes any one of the following:

[0027] receiving target data for each of at least two reference targets from a first device, and establishing an error map based on the target data;

[0028] Sending at least a portion of first indication information to the first device, where the first indication information is used to indicate a method for determining an error map based on first perception measurement quantities of at least two reference targets, where the first perception measurement quantities are measurement quantities obtained by performing perception measurement on the reference targets;

[0029] The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement value obtained by the perception measurement of the perception target to obtain a third perception measurement value.

[0030] In a sixth aspect, an error map-assisted perception processing device is provided, comprising:

[0031] an acquisition module, configured to acquire target correction data corresponding to a perception target, the target correction data being determined according to an error map, the error map being determined based on first perception measurements of at least two reference targets, the first perception measurements being measurements obtained by perception measurements of the reference targets;

[0032] The first adjustment module is configured to correct a second perception measurement value obtained by the perception measurement of the perception target based on the target correction number to obtain a third perception measurement value.

[0033] In the seventh aspect, a terminal is provided, which includes a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the method described in the first aspect are implemented, or the method described in the third aspect is implemented.

[0034] In an eighth aspect, a terminal is provided, comprising a processor and a communication interface, wherein:

[0035] When the terminal is a first device, the communication interface is used to perform a first operation, where the first operation includes any one of the following:

[0036] sending target data for each of at least two reference targets to a second device, the target data being used to establish an error map;

[0037] obtaining first indication information, and determining an error map based on the first indication information and first perceptual measurement quantities of at least two reference targets, where the first indication information is used to indicate a manner of determining the error map based on the first perceptual measurement quantities of the at least two reference targets, where the first perceptual measurement quantities are measurement quantities obtained by perceptually measuring the reference targets;

[0038] The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement value obtained by the perception measurement of the perception target to obtain a third perception measurement value.

[0039] When the terminal is a third device, the communication interface is configured to obtain target correction data corresponding to a perception target, where the target correction data is determined according to an error map, where the error map is determined based on first perception measurement quantities of at least two reference targets, where the first perception measurement quantity is a measurement quantity obtained by performing perception measurement on the reference target;

[0040] The processor is configured to correct a second perception measurement value obtained by the perception measurement of the perception target based on the target correction number to obtain a third perception measurement value.

[0041] In the ninth aspect, a network side device is provided, which includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the method described in the first aspect, or the method described in the second aspect, or the method described in the third aspect are implemented.

[0042] In a tenth aspect, a network side device is provided, including a processor and a communication interface, wherein:

[0043] When the network-side device is a first device, the communication interface is used to perform a first operation, where the first operation includes any one of the following:

[0044] sending target data for each of at least two reference targets to a second device, the target data being used to establish an error map;

[0045] obtaining first indication information, and determining an error map based on the first indication information and first perceptual measurement quantities of at least two reference targets, where the first indication information is used to indicate a manner of determining the error map based on the first perceptual measurement quantities of the at least two reference targets, where the first perceptual measurement quantities are measurement quantities obtained by perceptually measuring the reference targets;

[0046] The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement value obtained by the perception measurement of the perception target to obtain a third perception measurement value.

[0047] When the network-side device is a second device, the communication interface is used to perform a second operation, where the second operation includes any one of the following:

[0048] receiving target data for each of at least two reference targets from a first device, and establishing an error map based on the target data;

[0049] Sending at least a portion of first indication information to the first device, where the first indication information is used to indicate a method for determining an error map based on first perception measurement quantities of at least two reference targets, where the first perception measurement quantities are measurement quantities obtained by performing perception measurement on the reference targets;

[0050] The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement value obtained by the perception measurement of the perception target to obtain a third perception measurement value.

[0051] When the network-side device is a third device, the communication interface is configured to obtain target correction data corresponding to a perception target, where the target correction data is determined according to an error map, where the error map is determined based on first perception measurement quantities of at least two reference targets, where the first perception measurement quantity is a measurement quantity obtained by performing perception measurement on the reference target;

[0052] The processor is configured to correct a second perception measurement value obtained by the perception measurement of the perception target based on the target correction number to obtain a third perception measurement value.

[0053] In the eleventh aspect, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented, or the steps of the method described in the second aspect are implemented, or the steps of the method described in the third aspect are implemented.

[0054] In the twelfth aspect, a wireless communication system is provided, including: a first device, a second device and a third device, wherein the first device can be used to execute the steps of the method described in the first aspect, the second device can be used to execute the steps of the method described in the second aspect, and the third device can be used to execute the steps of the method described in the third aspect.

[0055] In the thirteenth aspect, a chip is provided, which includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the method as described in the first aspect, or the method as described in the second aspect, or the steps of the method as described in the third aspect.

[0056] In the fourteenth aspect, a computer program / program product is provided, which is stored in a storage medium and is executed by at least one processor to implement the method as described in the first aspect, or the method as described in the second aspect, or the steps of the method as described in the second aspect.

[0057] In an embodiment of the present application, a first device performs a first operation, the first operation including any one of the following: sending target data for each of at least two reference targets to a second device, the target data being used to establish an error map; obtaining first indication information, and determining an error map based on the first indication information and first perception measurement quantities of the at least two reference targets, the first indication information being used to indicate a method for determining the error map based on the first perception measurement quantities of the at least two reference targets, the first perception measurement quantities being measurements obtained by perception measurements of the reference targets; wherein the error map is used to determine a target correction corresponding to the perception target, the target correction being used to correct a second perception measurement quantity obtained by perception measurements of the perception target to obtain a third perception measurement quantity. Thus, due to the establishment of the error map, the first perception measurement quantity obtained by perception of the perception target is corrected based on the error map, thereby improving the perception accuracy of the perception target. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] FIG1 is a block diagram of a wireless communication system to which embodiments of the present application may be applied;

[0059] Figure 2 is an example diagram of a perception scene;

[0060] FIG3 is a flow chart of an error map-assisted perception processing method provided in an embodiment of the present application;

[0061] FIG4 is a schematic diagram of distance measurement or angle measurement errors caused by reflection in an embodiment of the present application;

[0062] FIG5 is a schematic diagram of distance measurement or angle measurement errors caused by refraction in an embodiment of the present application;

[0063] FIG6 is a flow chart of another error map-assisted perception processing method provided in an embodiment of the present application;

[0064] FIG7 is a flow chart of another error map-assisted perception processing method provided in an embodiment of the present application;

[0065] FIG8 is a schematic structural diagram of an error map-assisted perception processing device provided in an embodiment of the present application;

[0066] FIG9 is a schematic structural diagram of another error map-assisted perception processing device provided in an embodiment of the present application;

[0067] FIG10 is a schematic structural diagram of another error map-assisted perception processing device provided in an embodiment of the present application;

[0068] FIG11 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0069] FIG12 is a schematic structural diagram of a terminal provided in an embodiment of the present application;

[0070] FIG13 is a schematic structural diagram of a network-side device provided in an embodiment of the present application;

[0071] FIG14 is a schematic structural diagram of another network-side device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0072] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same type, and do not limit the number of objects, for example, the first object can be one or more. In addition, "or" in this application represents at least one of the connected objects. For example, "A or B" covers three options, namely, Option 1: including A but not including B; Option 2: including B but not including A; Option 3: including both A and B. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0073] The term "indication" in this application can be either a direct indication (or explicit indication) or an indirect indication (or implicit indication). A direct indication can be understood as the sender explicitly informing the receiver of specific information, the operation to be performed, or the requested result, etc. in the instruction sent; an indirect indication can be understood as the receiver determining the corresponding information based on the instruction sent by the sender, or making a judgment and determining the operation to be performed or the requested result, etc. based on the judgment result.

[0074] It is worth noting that the technology described in the embodiments of the present application is not limited to the Long Term Evolution (LTE) / LTE-Advanced (LTE-A) system, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA) or other systems. The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the technology described can be used for the systems and radio technologies mentioned above, as well as for other systems and radio technologies. The following description describes a New Radio (NR) system for illustrative purposes, and NR terminology is used in most of the following description, but these technologies can also be applied to systems other than NR systems, such as 6th generation (6G) systems. th Generation, 6G) communication system.

[0075] FIG1 is a block diagram of a wireless communication system applicable to an embodiment of the present application. The wireless communication system includes a terminal 11 and a network-side device 12. The terminal 11 may be a mobile phone, a tablet computer, a laptop computer, a notebook computer, a personal digital assistant (PDA), a handheld computer, a netbook, an ultra-mobile personal computer (UMPC), a mobile internet device (MID), an augmented reality (AR), a virtual reality (VR) device, a robot, a wearable device, an aircraft, a vehicle user equipment (VUE), a shipboard device, a pedestrian user equipment (PUE), a smart home (a household appliance with wireless communication capabilities, such as a refrigerator, television, washing machine, or furniture), a game console, a personal computer (PC), a teller machine, or a self-service machine, or other terminal-side device. Wearable devices include: smart watches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart bracelets, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, smart clothing, etc. Among them, the vehicle-mounted device can also be called a vehicle-mounted terminal, a vehicle-mounted controller, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip or a vehicle-mounted unit, etc. It should be noted that the specific type of the terminal 11 is not limited in the embodiment of the present application. The network side device 12 may include an access network device or a core network device, wherein the access network device may also be called a radio access network (Radio Access Network, RAN) device, a radio access network function or a radio access network unit. The access network device may include a base station, a wireless local area network (Wireless Local Area Network, WLAN) access point (Access Point, AP) or a wireless fidelity (Wireless Fidelity, WiFi) node, etc.Among them, the base station can be referred to as Node B (NB), Evolved Node B (eNB), the next generation Node B (gNB), New Radio Node B (NR Node B), access point, Relay Base Station (RBS), Serving Base Station (SBS), Base Transceiver Station (BTS), radio base station, radio transceiver, Basic Service Set (BSS), Extended Service Set (ESS), Home Node B (HNB), Home evolved Node B (home evolved Node B), Transmission Reception Point (TRP) or other appropriate terms in the relevant field. As long as the same technical effect is achieved, the base station is not limited to specific technical vocabulary. It should be noted that in the embodiment of the present application, only the base station in the NR system is used as an example for introduction, and the specific type of the base station is not limited.

[0076] The core network equipment may include but is not limited to at least one of the following: core network node, core network function, mobility management entity (MME), access mobility management function (AMF), session management function (SMF), user plane function (UPF), policy control function (PCF), policy and charging rules function unit (PCRF), edge application service discovery function (EASDF), unified data management (UDM), unified data repository (UDR), home user server (HSS), centralized network configuration (CNC), network storage function (NRF), network exposure function (NEF), local NEF (L-NEF), binding support function (BSF), application function ( It should be noted that in the embodiments of the present application, only the core network device in the NR system is introduced as an example, and the specific type of the core network device is not limited.

[0077] For ease of understanding, some of the contents involved in the embodiments of this application are described below:

[0078] 1. Communication and perception integration or synaesthesia integration.

[0079] Beyond 5G th5G (B5G) and 6G wireless communication systems are expected to provide a variety of high-precision sensing services, such as indoor positioning for robot navigation, Wi-Fi sensing for smart homes, and radar sensing for autonomous vehicles. Sensing and communication systems are typically designed separately and occupy different frequency bands. Integrated Sensing and Communication (ISAC) enables sensing and communication systems to share the same frequency band and hardware, improving frequency efficiency and reducing hardware costs. ISAC will become a key technology for future wireless communication systems, supporting many important application scenarios. Typical applications of ISAC include navigation and obstacle avoidance for autonomous vehicles, indoor positioning and activity recognition based on Wi-Fi, communication and sensing for unmanned aerial vehicles, extended reality (XR), and radar and communication integration. Each application has different requirements, limitations, and regulatory issues. ISAC has attracted significant research interest and attention from both academia and industry.

[0080] ISAC achieves low-cost, integrated communication and perception capabilities through shared hardware and software-defined functions. Its key features include: a unified and simplified architecture; reconfigurable and scalable functions; and improved efficiency and reduced costs. The advantages of integrated communication and perception are threefold: reduced equipment cost and size; improved spectrum utilization; and enhanced system performance.

[0081] At present, according to the fifth generation mobile communication technology (5 th The following table shows the typical scenarios of communication perception integration that are expected to be achieved through technical upgrades to the 5G (5th Generation Mobile Communication Technology) communication system architecture.

[0082] Table 1:

[0083] There are six basic sensing modes, depending on the difference between the sending and receiving nodes of the sensing signal, as shown in Figure 2:

[0084] (1) Base station self-transmitting and self-receiving sensing: In this sensing mode, base station A sends a sensing signal and performs sensing measurement by receiving the echo of the sensing signal.

[0085] (2) Inter-base station air interface sensing: Base station B receives the sensing signal sent by base station A and performs sensing measurements.

[0086] (3) Uplink air interface perception: Base station A receives the perception signal sent by terminal A and performs perception measurement.

[0087] (4) Downlink air interface perception: Terminal B receives the perception signal sent by base station B and performs perception measurement.

[0088] (5) Terminal self-transmitting and self-receiving perception: Terminal A sends a perception signal and performs perception measurement by receiving the echo of the perception signal.

[0089] (6) Sidelink perception between terminals: Terminal B receives the perception signal sent by terminal A and performs perception measurements.

[0090] When using the integrated synaesthesia system to perform perception measurements such as ranging, speed, and angle measurement on the perception target, there will be a large error between the measurement result and the true value due to reasons such as refraction and reflection of the signal, especially in scenarios such as indoors or in places with dense buildings. In addition, in the A-send B-receive perception mode, the sampling timing deviation and carrier frequency deviation between the receiver and the transmitter will also cause large deviations in the measurement of delay (distance) and Doppler (speed), respectively. In actual tests, the errors in the above two aspects are usually superimposed on each other, causing the perception results to deviate from the true value, reducing the perception performance. For this reason, the error map-assisted perception processing method of the present application is proposed.

[0091] The error map-assisted perception processing method provided in the embodiments of the present application is described in detail below with reference to some embodiments and their application scenarios in conjunction with the accompanying drawings.

[0092] 3 , an embodiment of the present application provides an error map-assisted perception processing method. As shown in FIG3 , the error map-assisted perception processing method includes:

[0093] Step 301: The first device performs a first operation, where the first operation includes any one of the following:

[0094] sending target data for each of at least two reference targets to a second device, the target data being used to establish an error map;

[0095] obtaining first indication information, and determining an error map based on the first indication information and first perceptual measurement quantities of at least two reference targets, where the first indication information is used to indicate a manner of determining the error map based on the first perceptual measurement quantities of the at least two reference targets, where the first perceptual measurement quantities are measurement quantities obtained by perceptually measuring the reference targets;

[0096] The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement value obtained by the perception measurement of the perception target to obtain a third perception measurement value.

[0097] In an embodiment of the present application, the above-mentioned error map can determine the correction number of the reference target or virtual reference target corresponding to different positions within a preset range (i.e., a preset spatial range), and the above-mentioned target correction number is one of the correction numbers, which is used to correct the second perception measurement quantity. Among them, the correction number can be understood or replaced by an error value, or it can be understood or replaced by a common error, or it can be understood or replaced by a measurement error. The above-mentioned reference target can be understood as a device or object whose true value of the perception measurement quantity is known. By perceiving the difference between the measured value and the true value of the measurement quantity, the measurement error of the reference target can be obtained; in many scenarios, the measurement error of the reference target and the perception target within a certain range around the reference target is mainly caused by the common error; therefore, the measurement error obtained by measuring the reference target establishes an error map, which can be used to correct the perception measurement quantity or perception result of the perception target, thereby improving the perception accuracy of the perception target.

[0098] Optionally, several reference targets are deployed within a preset range. After first sensing measurements or corrections corresponding to each reference target are obtained by sensing the reference targets, an error map corresponding to the preset range is obtained by interpolation, fitting, etc. The error map can be understood or replaced by error fingerprint information.

[0099] Optionally, the target correction value can be understood as a correction value corresponding to a target position associated with the perceived target in the error map. The target position can be a position corresponding to the reference target or a position corresponding to a virtual reference target, and can also be understood as a reference target or a virtual reference target.

[0100] It should be understood that in the embodiments of the present application, when the first operation includes sending target data for each of at least two reference targets to the second device, it can be understood that the error map is established by the second device. When the first operation includes obtaining first indication information, it can be understood that the error map is established by the first device.

[0101] The source of the correction number (or common error) includes at least one of the following:

[0102] Ranging or angle measurement errors caused by reflections (e.g., non-line of sight (NLOS) path), as shown in Figure 4;

[0103] Distance or angle measurement errors caused by refraction (for example, outdoor to indoor (O2I)), as shown in Figure 5;

[0104] In dual-station sensing mode, sampling timing deviation and local oscillator frequency offset caused by non-ideal frequency sources between the receiver and transmitter result in the following errors: The sampling timing deviation is superimposed on the signal propagation delay, resulting in errors in the delay measurement of the path reflected by the sensing target; the local oscillator frequency offset is superimposed on the Doppler, resulting in errors in the Doppler measurement of the path reflected by the sensing target.

[0105] Optionally, the above-mentioned reference targets may include at least one of the following: a reconfigurable intelligent surface (RIS), a backscatter communication (BSC) device, and other devices that can modulate the incident signal and then reflect or refract it (which may be a user equipment (UE) designed specifically as a reference target).

[0106] Among them, smart metasurfaces have the following properties:

[0107] The RIS can modulate the incident first sensing signal, load it with specific information, and then reflect or transmit it, thereby identifying the path of reflection or transmission through the RIS. For example, the RIS can perform orthogonal cover code (OCC) modulation on the incident signal. The modulation can be amplitude modulation, phase modulation, or polarization modulation.

[0108] RIS can control the beam direction and beamform, so that the first perception signal can concentrate more signal energy in the direction of the receiving end of the first perception signal after being reflected or transmitted by RIS, thereby improving the coverage range of RIS as a reference target.

[0109] The BSC device has the following properties: it can modulate the incident first sensing signal, load it with specific information, and then reflect it, thereby identifying the path reflected by the BSC device. For example, the BSC device can modulate the incident signal, load it with the BSC device ID, and then reflect it. The modulation can be amplitude modulation, phase modulation, or frequency modulation.

[0110] Optionally, the first device may be a UE or a base station, configured to sense reference targets and obtain first sensing measurement quantities corresponding to respective reference targets. The second device may be a base station or a sensing function network element.

[0111] Optionally, the first device may also be a device that performs perception measurement on the perception target, or a third device may be used to perform perception measurement on the perception target to obtain the second perception measurement value.

[0112] In an embodiment of the present application, a first device performs a first operation, the first operation including any one of the following: sending target data for each of at least two reference targets to a second device, the target data being used to establish an error map; obtaining first indication information, and determining an error map based on the first indication information and first perception measurement quantities of the at least two reference targets, the first indication information being used to indicate a method for determining the error map based on the first perception measurement quantities of the at least two reference targets, the first perception measurement quantities being measurements obtained by perception measurements of the reference targets; wherein the error map is used to determine a target correction corresponding to the perception target, the target correction being used to correct a second perception measurement quantity obtained by perception measurements of the perception target to obtain a third perception measurement quantity. Thus, due to the establishment of the error map, the first perception measurement quantity obtained by perception of the perception target is corrected based on the error map, thereby improving the perception accuracy of the perception target.

[0113] Optionally, in some embodiments, after the first device performs the first operation, the method further includes:

[0114] The first device measures the sensing target to obtain the second sensing measurement value;

[0115] The first device corrects the second perception measurement value based on the target correction number corresponding to the perception target to obtain the third perception measurement value.

[0116] In the embodiment of the present application, the device for performing perceptual measurement on the perceptual target and the device for performing perceptual measurement on the reference target are the same device, namely the first device. After the first device obtains the second perceptual measurement, the second perceptual measurement can be corrected based on the target correction number.

[0117] Optionally, in some embodiments, after the first device corrects the second perception measurement value based on the target correction number corresponding to the perception target to obtain the third perception measurement value, the method further includes:

[0118] The first device sends the third perception measurement quantity to the second device.

[0119] It should be understood that due to the different devices that create the error map, the corresponding first device behaves differently. For example, in some embodiments, if the error map is created by the first device, the target correction associated with the perception target can be directly determined based on the error map, and then the second perception measurement quantity can be corrected based on the target correction. In some embodiments, if the error map is created by the second device, the error map can be first obtained or the target correction can be directly obtained. For example, in some embodiments, after the first device sends the target data of each of the at least two reference targets to the second device, the method further includes any of the following:

[0120] The first device receives the error map from the second device;

[0121] The first device sends the second perception measurement value and second indication information to the second device, and receives the target correction number from the second device, where the second indication information is used to indicate a request to obtain the target correction number.

[0122] The above-mentioned target correction number can be understood as a correction number corresponding to the second perception measurement value. After obtaining the target correction number, the second perception measurement value can be corrected based on the target correction number to obtain the third perception measurement value.

[0123] Optionally, in some embodiments, after obtaining the first indication information and determining the error map according to the first indication information and first perception measurements of at least two reference targets, the method further includes:

[0124] The first device sends the error map to a first target device, where the first target device is the second device or the third device.

[0125] In this embodiment of the present application, when the first device determines the error map and the second device corrects the second perception measurement value, the first device may send the error map to the second device. In this case, the second device also needs to receive the second perception measurement value from the first device or the third device.

[0126] When the first device determines the error map and the third device corrects the second perceptual measurement, the first device may send the error map to the second device or the third device. In this case, when the first device sends the error map to the second device, the third device may obtain the error map or the target error associated with the perceptual target from the second device when correcting the second perceptual measurement.

[0127] Optionally, in some embodiments, after the first device performs the first operation, the method further includes:

[0128] The first device sends the second perception measurement quantity to the second device.

[0129] In the embodiment of the present application, when the second device performs correction of the second perception measurement value, the first device needs to send the second perception measurement value to the second device.

[0130] Optionally, in some embodiments, the method further comprises:

[0131] The first device obtains first target information, or obtains first target information and second target information;

[0132] The first target information includes at least one of the following:

[0133] a first signal configuration, the first signal configuration being used to indicate a signal configuration of a first signal for performing perception on a perception target;

[0134] a first measurement configuration, where the first measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a perception target;

[0135] a first reporting configuration, where the first reporting configuration is used to indicate a reporting behavior of a measurement amount required to perform sensing on a sensing target;

[0136] The second target information includes at least one of the following:

[0137] a second signal configuration, the second signal configuration being used to indicate a signal configuration of a second signal for performing sensing on a reference target;

[0138] a second measurement configuration, where the second measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a reference target;

[0139] The second reporting configuration is used to indicate a reporting behavior of a measurement quantity required for performing sensing on a reference target.

[0140] In an embodiment of the present application, when the device that perceives the reference target and the device that perceives the perception target are different devices, the first device obtains the first target information; when the device that perceives the reference target and the device that perceives the perception target are the same device, the first device obtains the first target information and the second target information.

[0141] The acquisition method of the first target information and the second target information includes at least one of the following: protocol agreement and sending by a second device.

[0142] That is, the first device can receive at least part of the first target information from the second device, and the protocol stipulates at least part of the first target information. At the same time, the first device can receive at least part of the second target information from the second device, and the protocol stipulates at least part of the second target information.

[0143] Optionally, the perception signal configuration included in the first signal configuration and the second signal configuration may include at least one of the following:

[0144] Waveform type, such as OFDM, Orthogonal Time Frequency Space (OTFS), Frequency Modulated Continuous Wave (FMCW), pulse signal, etc.

[0145] Subcarrier spacing: For example, the subcarrier spacing of the OFDM system is 30KHz;

[0146] Guard interval: The time interval between the moment a signal ends sending and the moment the latest echo signal of the signal is received; this parameter is proportional to the maximum sensing distance; for example, it can be measured by 2d max / c calculated, d max is the maximum sensing distance (belongs to the sensing requirement), for example, for the self-transmitted and self-received sensing signal, d max Represents the maximum distance between the perceived signal receiving and transmitting point and the signal transmitting point. In some cases, the OFDM signal cyclic prefix (CP) can serve as the minimum guard interval.

[0147] Bandwidth: This parameter is inversely proportional to the range resolution and can be obtained by c / (2Δd), where Δd is the range resolution (perception requirement) and c is the speed of light.

[0148] Burst duration: This parameter is inversely proportional to the rate resolution (a perception requirement). It is the time span of the perception signal, mainly for calculating the Doppler frequency deviation. This parameter can be calculated by c / (2f c Δv) is calculated; where Δv is the velocity resolution; f c is the carrier frequency of the sensing signal;

[0149] Time domain interval: This parameter can be expressed by c / (2f c v range ) is calculated; where v range It is the maximum rate minus the minimum speed (belonging to the perception requirement); this parameter is the time interval between two adjacent perception signals;

[0150] Transmit signal power, for example, from -20dBm to 23dBm, with a value of 2dBm;

[0151] Time resources, such as the time slot index or symbol index of the time slot where the perception signal is located. There are two types of time resources: one is a one-time time resource, for example, one symbol sends an omnidirectional perception signal; the other is a non-one-time time resource, such as multiple groups of periodic time resources or discontinuous time resources (which may include start time and end time). Each group of periodic time resources sends a perception signal in the same direction, and different groups of periodic time resources have different beam directions.

[0152] Frequency resources, including the center frequency of the perception signal, bandwidth, resource block (RB) or subcarrier, point A, starting bandwidth position, etc.

[0153] Quasi co-location (QCL) relationship, for example, the sensing signal includes multiple resources, each resource is associated with a synchronization signal block (Synchronization Signal / PBCH Block, SSB) QCL, and the QCL includes Type A, B, C or D;

[0154] The antenna configuration information of the sensing node (base station or UE).

[0155] The antenna configuration information may include at least one of the following:

[0156] Antenna element identifier (ID) or antenna port ID used to send and / or receive sensing signals;

[0157] Panel ID + array element ID used to send and / or receive sensing signals;

[0158] The position information of the antenna element used to send and / or receive the sensing signal relative to a local reference point on the antenna array (which can be expressed in Cartesian coordinates (x, y, z) or spherical coordinates) express);

[0159] The position information of the panel used to send and / or receive sensing signals relative to a local reference point on the antenna array (can be expressed in Cartesian coordinates (x, y, z) or spherical coordinates) ), and the position information of the antenna array elements used to send sensing signals within these selected panels relative to a unified reference point of the panel (such as the center point of the panel) (which can be expressed in Cartesian coordinates (x, y, z) or spherical coordinates) express);

[0160] Bitmap information of antenna elements. For example, the bitmap uses "1" to indicate that the element is selected for transmitting and / or receiving sensing signals, and "0" to indicate that the element is not selected (and vice versa).

[0161] The bitmap information of the array panel. For example, the bitmap uses "1" to indicate that the panel is selected for sending and / or receiving sensing signals, and "0" to indicate that the array element is not selected (or vice versa). And the array element bitmap information within these selected panels;

[0162] Optionally, in some embodiments, the first signal configuration and the second signal configuration are exactly the same. It is easy to understand that there is only one between the two, and it is sufficient to indicate that the one can be used for the perception of the perception target and the reference target at the same time.

[0163] Optionally, in some embodiments, the first signal configuration and the second signal configuration are completely different.

[0164] Optionally, in some embodiments, the first signal configuration and the second signal configuration are partially identical. In this case, some of the identical information between the two may not need to be repeated; for example: the time-frequency resource patterns of the first signal and the second signal are exactly the same, but the second signal has an offset relative to the first signal in the time domain. In this case, the time-frequency resource patterns of the two can be given in detail in the first signal configuration, and then in the second signal configuration, the time-frequency resource pattern is associated with the time-frequency resource pattern in the first signal configuration, and the time offset value is given.

[0165] Optionally, in some embodiments, the first reporting configuration or the second reporting configuration may include at least one of the following:

[0166] Periodic reporting: Reports data according to a specified time offset and / or period.

[0167] Semi-persistent reporting: After receiving an activation command, the device reports the corresponding data according to the specified time offset and / or period until receiving a deactivation command.

[0168] Aperiodic reporting: After receiving the activation command, the corresponding data is reported once.

[0169] In some embodiments, the first reporting configuration (for reporting sensing measurements of a sensing target) may generally be configured as periodic reporting or semi-continuous reporting, such as trajectory tracking and vital sign detection of a sensing target.

[0170] In some embodiments, the second reporting configuration (for reporting sensor measurements of a reference target) can be set to any of the three options described above. For example, if the first device is stationary and the reference target (e.g., a RIS or BSC device deployed on a wall) is also stationary, sensing the reference target only needs to be performed once. If the first device is in motion, sensing the reference target needs to be performed periodically to obtain corrections in real time.

[0171] Optionally, in some embodiments, the first measurement configuration includes at least one of the following:

[0172] a type of the second perceptual measurement;

[0173] The type of the third perception measurement quantity.

[0174] In the embodiment of the present application, the first perception measurement quantity and the second perception measurement quantity may include at least one of the following perception measurement quantities:

[0175] First-level measurement quantities (received signal or original channel information), including: the complex result of the received signal or channel response, amplitude or phase, I-channel or Q-channel, and operation results thereof (operations include addition, subtraction, multiplication, and division, matrix addition, subtraction, multiplication, and division, matrix transposition, trigonometric operations, square root operations, and power operations, as well as threshold detection results and maximum or minimum value extraction results of the above operation results; operations also include Fast Fourier Transform (FFT) or Inverse Fast Fourier Transform (IFFT), Discrete Fourier Transform (DFT) or Inverse Discrete Fourier Transform (IDFT), Two-Dimension FFT (2D-FFT), Three-Dimension FFT (3D-FFT), matched filtering, autocorrelation operation, wavelet transform, and digital filtering, as well as threshold detection results and maximum or minimum value extraction results of the above operation results);

[0176] The second-level measurement quantity (basic measurement quantity) includes: time delay, Doppler, angle, intensity, and their multi-dimensional combination representation;

[0177] The third level of measurement (basic attributes or states) includes: distance, speed, direction, spatial position, and acceleration;

[0178] The fourth level of measurement (advanced attributes or states) includes: target presence, trajectory, movement, expression, vital signs, quantity, imaging results, weather, air quality, shape, material, and composition.

[0179] Optionally, the second measurement configuration includes at least one of the following:

[0180] Identification of the reference target;

[0181] a type of the first perceptual measurement;

[0182] a rate of change of the first perceptual measurement;

[0183] the first perceptual measurement quantity after smoothing filtering;

[0184] The type of correction number;

[0185] rate of change of corrections;

[0186] Correction number after smoothing filtering.

[0187] In this embodiment of the present application, the rate of change of the correction number can be used to determine the target correction number used to correct the second sensory measurement. That is, the rate of change of the correction number combined with the correction number can be used to determine the final correction number at other times. For example, if the correction number obtained by measuring the reference target at time t is a, and the rate of change of the correction number is δa, then the correction number at time t+δt should be a+δt×δa.

[0188] Optionally, the rate of change of the first perception measurement quantity can be used to determine the first perception measurement quantity corresponding to the target correction number used to correct the second perception measurement quantity, that is, the rate of change of the first perception measurement quantity combined with the first perception measurement quantity can determine the first perception measurement quantity at other times, and then determine the corresponding target correction number.

[0189] Optionally, the correction number after smoothing filtering can be understood as a correction number after smoothing filtering obtained based on multiple measurements.

[0190] Optionally, the first perceptual measurement quantity after smoothing filtering may be understood as the first perceptual measurement quantity after smoothing filtering obtained based on multiple measurements.

[0191] Optionally, the correction value can be understood as the difference or ratio between the first sensed measurement and a fourth sensed measurement associated with the first sensed measurement determined by the second information. Here, the fourth sensed measurement can be understood as the true value corresponding to the first sensed measurement. For example, the first sensed measurement is the measured distance of a reference target obtained by sensing the reference target via the first device transmitting and receiving the second signal, while the fourth sensed measurement is the true distance of the reference target determined based on the position of the reference target in the second information combined with the position of the first device. The difference between the measured distance and the true distance is the correction value.

[0192] Optionally, in some embodiments, the target data includes at least one of the following:

[0193] Identification of the reference target;

[0194] the first perceptual measurement;

[0195] a rate of change of the first perceptual measurement;

[0196] the first perceptual measurement quantity after smoothing filtering;

[0197] Perceived signal power of a reference target, perceived signal-to-noise ratio (SNR) of a reference target, or perceived signal-to-interference plus noise ratio (SINR) of a reference target;

[0198] number of corrections;

[0199] rate of change of corrections;

[0200] Correction number after smoothing filtering.

[0201] Optionally, in some embodiments, the correction number includes at least one of the following:

[0202] Correction for time delay or distance;

[0203] Doppler or velocity corrections;

[0204] Azimuth correction factor;

[0205] Pitch angle correction;

[0206] Correction value of X coordinate;

[0207] Correction value of Y coordinate;

[0208] Correction value of Z coordinate;

[0209] a first correction number, wherein the first correction number includes a correction number for a joint dimension of at least two dimensions among the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0210] a second correction number, the second correction number comprising a correction number for a joint dimension of at least two of the dimensions corresponding to the X coordinate, the Y coordinate, and the Z coordinate;

[0211] The first dimension includes a time delay dimension or a distance dimension, the second dimension includes a Doppler dimension or a velocity dimension, the third dimension includes an azimuth dimension, and the fourth dimension includes an elevation dimension.

[0212] It should be understood that the dimensions of the correction factor and the dimensions of the first indicator described above can be the same or different. For example, in one embodiment, the first indicator is the Euclidean distance between the reference target and the perceived target in the X-Y coordinate dimension, while the correction factor can include a Doppler correction factor.

[0213] It should be noted that the measurement type of the second perceptual measurement quantity and the first perceptual measurement quantity are generally the same, or the measurement type of the first perceptual measurement quantity and the second perceptual measurement quantity are at least convertible between each other. For example, if the second perceptual measurement quantity is a distance (corresponding to the perceptual target), then the first perceptual measurement quantity is also a distance (corresponding to the reference target); or, for example, if the second perceptual measurement quantity is a distance and an angle (corresponding to the perceptual target), and the first perceptual measurement quantity is an X coordinate and a Y coordinate (corresponding to the reference target), the X coordinate and the Y coordinate of the reference target can also be converted into the distance and angle of the reference target, thereby having the same measurement type as the second perceptual measurement quantity.

[0214] Optionally, in some embodiments, the first indication information includes at least one of the following:

[0215] An interpolation method, wherein the interpolation method is used to indicate that an interpolation method is used to obtain a first perception measurement value of a virtual reference target corresponding to a target position or a correction value of the target position;

[0216] A fitting method, wherein the fitting method is used to indicate that a first perception measurement value of a virtual reference target corresponding to a target position or a correction value of the target position is obtained by a fitting method;

[0217] A weighted method, wherein the weighted method is used to indicate that for a reference target whose first indicator of the reference target and the perceived target is within a preset threshold range, a first perceived measurement value of a virtual reference target corresponding to the target position or a correction value of the target position is obtained in a weighted manner;

[0218] The target position is a position other than the position corresponding to the reference target within a preset range.

[0219] Optionally, in some embodiments, the first indication information satisfies at least one of the following:

[0220] In the case where the first indication information includes the interpolation mode, the first indication information further includes at least one of an interpolation dimension and an interpolation principle;

[0221] In the case where the first indication information includes the fitting method, the first indication information further includes at least one of a fitting dimension, a fitting principle, and a parameter required by the fitting principle;

[0222] In the case where the first indication information includes the weighting method, the first indication information further includes at least one of the preset threshold range and a weighting behavior corresponding to the weighting method;

[0223] The weighting behavior includes at least one of the following: weighting according to a first indicator of a reference target and a perception target; weighting according to a perceived signal-to-noise ratio (SNR) or a perceived signal-to-interference-plus-noise ratio (SINR) of the reference target.

[0224] In an embodiment of the present application, the above-mentioned interpolation dimension is the same as the dimension of the first indicator, and may include one-dimensional interpolation, two-dimensional interpolation, three-dimensional interpolation, or four-dimensional interpolation.

[0225] Optionally, the above interpolation principles may include nearest neighbor interpolation, linear interpolation, cubic spline interpolation, etc.

[0226] Optionally, the above-mentioned fitting dimensions may include one-dimensional fitting, two-dimensional fitting or three-dimensional fitting, etc.

[0227] Optionally, the above fitting principle may include polynomial fitting, specified function fitting or interpolation fitting, etc.

[0228] Optionally, the parameters required by the above fitting principle may include the order of polynomial fitting or the functional form of specified function fitting, etc.

[0229] Optionally, in some embodiments, the first indicator of the reference target and the perceived target includes a first indicator of the reference target and the perceived target on a target spectrum, and the target spectrum includes at least one of the following:

[0230] a first spectrum, wherein the first spectrum includes a power spectrum or an amplitude spectrum in any one of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0231] a second spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0232] A third spectrum, the third spectrum including a power spectrum or an amplitude spectrum of any one of the dimensions corresponding to the X coordinate, the Y coordinate, and the Z coordinate;

[0233] a fourth spectrum, the fourth spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the dimension corresponding to the X coordinate, the dimension corresponding to the Y coordinate, and the dimension corresponding to the Z coordinate;

[0234] The first dimension includes a time delay dimension or a distance dimension, the second dimension includes a Doppler dimension or a velocity dimension, the third dimension includes an azimuth dimension, and the fourth dimension includes an elevation dimension.

[0235] Optionally, in some embodiments, the first indicator includes at least one of Euclidean distance and Mahalanobis distance.

[0236] For Euclidean distance, for example, in the two-dimensional spectrum of X coordinate-Y coordinate, the coordinate of the perceived target is (x T ,y T ), the coordinates of each reference target are (x R,k ,y R,k ), where k is the number of the reference target, the first indicator can be:

[0237] For Mahalanobis distance, for example, in the delay-Doppler-azimuth spectrum, the reference number of the perceived target (τ T ,θ T ,f T ), the coordinates of each reference target are (τ R,k ,θ R,k ,f R,k ), then the first indicator can be: in and are the eigenvalues ​​of time delay, azimuth and Doppler respectively.

[0238] Optionally, in some embodiments, the method for obtaining the first indication information includes at least one of the following: protocol agreement and sending by the second device.

[0239] That is, the first device may receive at least part of the content in the first indication information from the second device, and the protocol stipulates at least part of the content in the first indication information.

[0240] Optionally, in some embodiments, before the first device performs the first operation, the method further includes:

[0241] The first device sends first information to the second device, where the first information is used to determine a target reference target set, where the target reference target set includes the at least two reference targets, and the first information includes at least one of the following: an identifier of the first device, perception capability information of the first device, location information of the first device, posture information of the first device, and speed information of the first device;

[0242] The first device receives second information of the reference target in the reference target set from the second device, where the second information includes at least one of the following: identification information, type information, location information, attitude information, perception contract information, antenna array configuration, capability information, modulation capability, signal amplification capability, reflection coefficient, transmission coefficient, supported frequency band, supported frequency band, crystal oscillator stability and radar characteristics.

[0243] In the embodiment of the present application, the location information of the first device can be understood as the coordinates of the first device in a global coordinate system, or the coordinates relative to a reference position, and the coordinates can be rectangular coordinates or polar coordinates. Optionally, the method for obtaining the location of the first device includes at least one of the following:

[0244] Acquiring location information through Global Navigation Satellite System (GNSS) positioning (e.g., Global Positioning System (GPS) positioning, Beidou positioning);

[0245] Obtain location information through 5G positioning (and future 5.5G or 6G positioning);

[0246] The position information is obtained through an inertial measurement unit (IMU) equipped on the first device.

[0247] Optionally, the posture information of the first device may be understood as the orientation of the antenna panel of the first device or the rotation angle of the orientation of the local coordinate system relative to the global coordinate system, or the rotation angle relative to a reference coordinate system, where the rotation angle includes azimuth, pitch, and roll angles;

[0248] Optionally, the manner of acquiring the posture information of the first device includes at least one of the following:

[0249] Acquiring posture information by measuring using a sensor (e.g., a gyroscope) equipped on the first device itself;

[0250] The attitude information is determined by measuring the arrival angle of the downlink signal sent by one or more base stations.

[0251] Optionally, the speed information can be understood as the speed of the first device in the global coordinate system, or relative to a reference coordinate system, where the speed includes both the magnitude and direction of the speed. For a first device at a fixed location, this item can be omitted or simplified.

[0252] Optionally, a method for acquiring the speed information of the first device includes at least one of the following:

[0253] Obtaining speed information by differentiating the location information of the first device;

[0254] The velocity information is obtained by using an inertial measurement unit (IMU) equipped with the first device.

[0255] Optionally, the above type information may include RIS, BSC equipment and UE.

[0256] Optionally, the position information of the reference target may be the coordinates of the reference target in a global coordinate system, or the coordinates relative to a certain reference position, and the coordinates may be rectangular coordinates or polar coordinates.

[0257] Optionally, the attitude information of the reference target can be the orientation of the antenna panel of the reference target or the rotation angle of the local coordinate system relative to the global coordinate system, or the rotation angle relative to a certain reference coordinate system, where the rotation angle includes azimuth, pitch and roll angle.

[0258] Optionally, the contract information may include whether the user agrees to be a reference target, the time or space range of the user agreeing to be a reference target, etc.;

[0259] Optionally, the antenna array configuration of the reference target may include at least one of the following:

[0260] Antenna parameters, including: number of azimuth antennas, number of elevation antennas, etc.;

[0261] Beam parameters, including: beam width, beam gain, beam pattern, etc.

[0262] Optionally, the modulation capability may include at least one of a supported modulation format, a supported modulation rate range, and a supported modulation sequence, wherein the modulation format may include at least one of the following:

[0263] Amplitude modulation: whether the system has amplitude modulation capability, and if so, the parameters of the amplitude modulation (e.g., the number of amplitude modulation bits);

[0264] Phase modulation: whether phase modulation capability is available, and if so, the phase modulation parameters (e.g., the number of phase modulation bits);

[0265] Polarization modulation: Whether it has the capability of polarization modulation.

[0266] The modulation sequence may include at least one of the following: supported modulation sequence types (eg, Zadoff-Chu sequence, complementary Golay sequence, m-sequence, etc.); supported modulation sequence lengths (eg, 0 to 128 bits, etc.).

[0267] The signal amplification capability may include whether it supports the ability to reflect or transmit the incident signal after power amplification, and the supported signal power gain in the case of power amplification capability.

[0268] The above reflection coefficient and transmission coefficient can be understood as the ratio of the reflected or transmitted signal power to the incident signal power when the reference target reflects or transmits the incident signal.

[0269] Optionally, the above-mentioned radar characteristics may include a typical radar cross section (RCS) and a micro-Doppler spectrum.

[0270] It should be noted that the second device may determine the target reference target set based on at least one of the first information of the first device, the sensing requirement information, and the second information of the reference targets in the candidate reference target set. For example, the second device may determine the target reference target set based on: the location of the first device, prior information about the spatial range of the sensing target, and the location and reflectivity of the reference targets in the candidate reference target set.

[0271] Optionally, the above-mentioned perception demand information may include at least one of the following:

[0272] Perception service type: classified by type or specific to a certain service, such as imaging, positioning or trajectory tracking, motion recognition, and ranging or speed measurement.

[0273] Perception target area: refers to the location area where the perception target may exist, or the location area where imaging or environmental reconstruction is required.

[0274] Target type: Targets are classified based on their possible motion characteristics. Each target type includes information such as the velocity, acceleration, and radar cross section (RCS) of a typical target.

[0275] Perception Quality of Service (QoS): Performance indicators for perceiving a target area or target.

[0276] Perceive prior information.

[0277] Among them, the perceived QoS includes at least one of the following:

[0278] Perception resolution, including at least one of the following: ranging (or delay) resolution, velocity (or Doppler) resolution, angle (azimuth, pitch) resolution, imaging resolution, acceleration (X / Y / Z directions) resolution, and angular velocity (around X / Y / Z axes) resolution;

[0279] Perception accuracy (error), including at least one of the following: ranging (or delay) accuracy, velocity (or Doppler) accuracy, angle (azimuth, pitch) accuracy, acceleration (X / Y / Z directions) accuracy, and angular velocity (around the X / Y / Z axes) accuracy;

[0280] Sensing range, including at least one of the following: distance (or delay) measurement range, velocity (or Doppler) measurement range, acceleration (X / Y / Z directions) measurement range, angular velocity (around X / Y / Z axes) measurement range, and imaging range;

[0281] Perception latency (the time interval from the sending of the perception signal to the acquisition of the perception result, or the time interval from the initiation of the perception request to the acquisition of the perception result);

[0282] Perception update rate (the time interval between two consecutive perception operations and the acquisition of perception results);

[0283] Detection probability (the probability of correctly detecting the target when it is present);

[0284] False alarm probability (the probability of incorrectly detecting a perceived target when it does not exist);

[0285] Number of targets;

[0286] Coverage: The spatial extent of the perceived target / imaged area that meets at least one of the performance requirements.

[0287] Optionally, the perceptual prior information may include at least one of the following:

[0288] Prior information about the possible spatial location of the perceived target;

[0289] Perceive prior information such as the spatial structure and surface material of the target area;

[0290] Prior information about the radar characteristics of the perceived target, such as the RCS size or pattern and micro-Doppler characteristics of the perceived target.

[0291] Optionally, before the second device determines the target reference target set, the second device obtains a candidate reference target set and second information of reference targets in the candidate reference target set.

[0292] The method for the second device to obtain the second information of the reference target in the candidate reference target set may include at least one of the following:

[0293] Acquire from a network node storing at least part of the second information, where the network node may be a perception function network element or a network node accessible to the perception function network element;

[0294] Query reporting: The second device sends a first query message to the reference target, and the reference target reports at least part of the second information after receiving the first query message; the first query message is used to instruct the reference target to report at least part of the second information.

[0295] Optionally, the error map may include at least one of the following:

[0296] The fourth perception measurement value of each reference target within the preset range, and the corresponding first perception measurement value obtained by performing perception (as shown in Table 2 below);

[0297] The fourth sensory measurement value of each reference target within the preset range, and the correction value corresponding to each reference target (as shown in Table 3 below);

[0298] The fourth perceptual measurement of the target position (excluding the positions of each reference target) within the preset range, and the first perceptual measurement corresponding to the target position obtained by interpolation, fitting, or other methods based on the first perceptual measurement and the fourth perceptual measurement of each reference target (as shown in Table 4 below);

[0299] Within the preset range, based on the first perception measurement quantity and the fourth perception measurement quantity of each reference target, the correction value corresponding to the target position (except the position of each reference target) is obtained by interpolation, fitting, etc. (as shown in Table 5 below).

[0300] Table 2:

[0301] Table 3:

[0302] Table 4:

[0303] Table 5:

[0304] Optionally, in some embodiments, the error map further includes first information of the first device when establishing the error map.

[0305] In order to better understand the present application, some examples are given below for detailed description.

[0306] In some embodiments, the signaling process involved in establishing or updating the error map is as follows:

[0307] (1) The first device sends first information to the second device.

[0308] (2) The second device obtains the perception demand information.

[0309] (3) The second device determines a target reference target set and sends second information of the reference targets in the target reference target set to the first device.

[0310] (4) The first device obtains the second target information.

[0311] (5) The first device sends a second signal according to the second signal configuration, senses each reference target in the target reference target set, and obtains a first sensed measurement quantity (a value) corresponding to each reference target.

[0312] (6) The first device processes the first perception measurement of each reference target in the following two cases:

[0313] Case 1: The second device establishes the error map, which specifically includes the following actions: the first device sends target data to the second device; and the second device establishes the error map according to the target data.

[0314] Optionally, the second device sends the error map to the first device.

[0315] Case 2: The first device creates an error map, which specifically includes the following actions:

[0316] Before the first device establishes the error map, the first device needs to obtain a method for determining the error map (error fingerprint information) from the first perception measurement quantity, that is, first indication information.

[0317] An error map is established according to the first indication information and a first perceptual measurement of a reference target.

[0318] In some embodiments, the perception results may be corrected using an error map.

[0319] The error map obtained by the first device sensing the reference target is applicable not only to the first device but also to other devices that are at a similar position and posture as the first device when sensing the reference target, including:

[0320] devices near the first device;

[0321] After the first device completes the perception of the reference target and moves, it returns to the position where it was when it performed the perception of the reference target. At this time, the position and posture of the first device are similar to before.

[0322] In the embodiment of the present application, the signaling process involved in correcting the perception result using the error map is as follows:

[0323] (1) Depending on whether the error map is created by the first device or the second device, and whether the first device and the third device are the same device, the following situations may occur:

[0324] Case 1: The error map is established by the first device, and the first device and the third device are the same device. In this case, this step includes the process of establishing the error map by the first device.

[0325] Case 2: The error map (error fingerprint information) is created by the first device, and the first device and the third device are different devices. In this case, the third device needs to obtain the error map from the first device, including one of the following:

[0326] The third device receives the error map from the first device;

[0327] The third device receives the error map from the second device, and before that, the first device sends the error map to the second device.

[0328] Case 3: The error map is created by the second device, and the third device receives the error map from the second device.

[0329] (2) The third device obtains the first target information.

[0330] (3) The third device performs perception on the perception target and obtains a second perception measurement quantity.

[0331] (4) Correct the perceptual measurement quantity according to the error map, including the following situations:

[0332] Case 1: The second device corrects the perception measurement value, which includes the following steps:

[0333] The third device sends a second perception measurement amount to the second device;

[0334] The second device determines a target correction number based on the error map and the second perceptual measurement quantity, and further determines a third perceptual measurement quantity based on the target correction number and the second perceptual measurement quantity.

[0335] Case 2: After receiving the target correction number from the second device, the third device corrects the perception measurement quantity. This includes the following steps:

[0336] The third device sends the second perception measurement value and the second indication information to the second device;

[0337] The third device receives from the second device: a target correction number corresponding to the second perception measurement quantity.

[0338] The third device determines a third perception measurement quantity according to the target correction number and the second perception measurement quantity.

[0339] Case 3: After the third device determines the target correction value based on the error map, it corrects the perception measurement. This includes the following steps:

[0340] The third device obtains the error map as described in (1).

[0341] The third device determines a target correction number according to the error map and the second perceptual measurement quantity, and further determines a third perceptual measurement quantity according to the target correction number and the second perceptual measurement quantity.

[0342] The first device sends a third sensing measurement quantity to the second device.

[0343] 6 , an embodiment of the present application further provides an error map-assisted perception processing method. As shown in FIG6 , the error map-assisted perception processing method includes:

[0344] Step 601: The second device performs a second operation, where the second operation includes any one of the following:

[0345] receiving target data for each of at least two reference targets from a first device, and establishing an error map based on the target data;

[0346] Sending at least a portion of first indication information to the first device, where the first indication information is used to indicate a method for determining an error map based on first perception measurement quantities of at least two reference targets, where the first perception measurement quantities are measurement quantities obtained by performing perception measurement on the reference targets;

[0347] The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement value obtained by the perception measurement of the perception target to obtain a third perception measurement value.

[0348] Optionally, after the second device performs the second operation, the method includes:

[0349] The second device receives the third perception measurement quantity from a second target device, where the second target device is the first device or the third device.

[0350] Optionally, before the second device receives the third perception measurement value from the second target device, the method further includes at least one of the following:

[0351] In a case where the second operation includes establishing an error map based on the target data, the second device sends the error map to the second target device;

[0352] In a case where the second operation includes sending at least part of the first indication information to the first device, and the second target device is a third device, the second device sends the error map to the second target device;

[0353] The second device receives the second perception measurement value and second indication information from the second target device, and sends the target correction number to the second target device, where the second indication information is used to indicate a request to obtain the target correction number.

[0354] Optionally, when the second operation includes sending at least part of the first indication information to the first device, the method further includes:

[0355] The second device receives the error map from the first device.

[0356] Optionally, after the second device performs the second operation, the method includes:

[0357] The second device receives the second perception measurement from the first device;

[0358] The second device corrects the second perception measurement value according to the target correction number to obtain the third perception measurement value.

[0359] Optionally, the method further includes any of the following:

[0360] The second device sends first target information and second target information to the first device;

[0361] The second device sends second target information to the first device, and sends first target information to the third device;

[0362] The first target information includes at least one of the following:

[0363] a first signal configuration, the first signal configuration being used to indicate a signal configuration of a first signal for performing perception on a perception target;

[0364] a first measurement configuration, where the first measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a perception target;

[0365] a first reporting configuration, where the first reporting configuration is used to indicate a reporting behavior of a measurement amount required to perform sensing on a sensing target;

[0366] The second target information includes at least one of the following:

[0367] a second signal configuration, the second signal configuration being used to indicate a signal configuration of a second signal for performing sensing on a reference target;

[0368] a second measurement configuration, where the second measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a reference target;

[0369] The second reporting configuration is used to indicate a reporting behavior of a measurement quantity required for performing sensing on a reference target.

[0370] Optionally, the first measurement configuration includes at least one of the following:

[0371] a type of the second perceptual measurement;

[0372] The type of the third perception measurement quantity.

[0373] Optionally, the second measurement configuration includes at least one of the following:

[0374] Identification of the reference target;

[0375] a type of the first perceptual measurement;

[0376] a rate of change of the first perceptual measurement;

[0377] the first perceptual measurement quantity after smoothing filtering;

[0378] The type of correction number;

[0379] rate of change of corrections;

[0380] Correction number after smoothing filtering.

[0381] Optionally, the target data includes at least one of the following:

[0382] Identification of the reference target;

[0383] the first perceptual measurement;

[0384] a rate of change of the first perceptual measurement;

[0385] the first perceptual measurement quantity after smoothing filtering;

[0386] the perceived signal power of the reference target, the perceived signal-to-noise ratio (SNR) of the reference target, or the perceived signal-to-interference-plus-noise ratio (SINR) of the reference target;

[0387] number of corrections;

[0388] rate of change of corrections;

[0389] Correction number after smoothing filtering.

[0390] Optionally, the first indication information includes at least one of the following:

[0391] An interpolation method, wherein the interpolation method is used to indicate that an interpolation method is used to obtain a first perception measurement value of a virtual reference target corresponding to a target position or a correction value of the target position;

[0392] A fitting method, wherein the fitting method is used to indicate that a first perception measurement value of a virtual reference target corresponding to a target position or a correction value of the target position is obtained by a fitting method;

[0393] A weighted method, wherein the weighted method is used to indicate that for a reference target whose first indicator of the reference target and the perceived target is within a preset threshold range, a first perceived measurement value of a virtual reference target corresponding to the target position or a correction value of the target position is obtained in a weighted manner;

[0394] The target position is a position other than the position corresponding to the reference target within a preset range.

[0395] Optionally, the first indication information satisfies at least one of the following:

[0396] In the case where the first indication information includes the interpolation mode, the first indication information further includes at least one of an interpolation dimension and an interpolation principle;

[0397] In the case where the first indication information includes the fitting method, the first indication information further includes at least one of a fitting dimension, a fitting principle, and a parameter required by the fitting principle;

[0398] In the case where the first indication information includes the weighting method, the first indication information further includes at least one of the preset threshold range and a weighting behavior corresponding to the weighting method;

[0399] The weighting behavior includes at least one of the following: weighting according to a first indicator of a reference target and a perception target; weighting according to a perceived signal-to-noise ratio (SNR) or a perceived signal-to-interference-plus-noise ratio (SINR) of the reference target.

[0400] Optionally, the first indicator of the reference target and the perceived target includes a first indicator of the reference target and the perceived target on a target spectrum, and the target spectrum includes at least one of the following:

[0401] a first spectrum, wherein the first spectrum includes a power spectrum or an amplitude spectrum in any one of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0402] a second spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0403] A third spectrum, the third spectrum including a power spectrum or an amplitude spectrum of any one of the dimensions corresponding to the X coordinate, the Y coordinate, and the Z coordinate;

[0404] a fourth spectrum, the fourth spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the dimension corresponding to the X coordinate, the dimension corresponding to the Y coordinate, and the dimension corresponding to the Z coordinate;

[0405] The first dimension includes a time delay dimension or a distance dimension, the second dimension includes a Doppler dimension or a velocity dimension, the third dimension includes an azimuth dimension, and the fourth dimension includes an elevation dimension.

[0406] Optionally, the first indicator includes at least one of Euclidean distance and Mahalanobis distance.

[0407] Optionally, before the second device performs the second operation, the method includes:

[0408] The second device determines a target reference target set, where the target reference target set includes the at least two reference targets;

[0409] The second device sends second information of the reference target in the target reference target set to the first device, where the second information includes at least one of the following: identification information, type information, location information, posture information, perception contract information, antenna array configuration, capability information, modulation capability, signal amplification capability, reflection coefficient, transmission coefficient, reflection delay, transmission delay, supported frequency band, supported frequency band, crystal oscillator stability and radar characteristics.

[0410] Optionally, before the second device determines the target reference target set, the method further includes:

[0411] The second device receives first information of the first device from the first device, where the first information is used to determine the target reference target set, the first information including at least one of the following: an identifier of the first device, sensing capability information of the first device, location information of the first device, posture information of the first device, and speed information of the first device;

[0412] The second device acquires perception requirement information, where the perception requirement information is used to determine the target reference target set;

[0413] The second device obtains second information of a reference target set in a candidate reference target set, where the second information of the reference target set in the candidate reference target set is used to determine the target reference target set.

[0414] 7 , an embodiment of the present application further provides an error map-assisted perception processing method. As shown in FIG7 , the error map-assisted perception processing method includes:

[0415] Step 701: A third device obtains a target correction corresponding to a perception target, where the target correction is determined according to an error map, where the error map is determined based on first perception measurements of at least two reference targets, where the first perception measurements are measurements obtained by perception measurements of the reference targets.

[0416] Step 702: The third device corrects a second perception measurement value obtained by perception measurement of the perception target based on the target correction number to obtain a third perception measurement value.

[0417] Optionally, the third device acquiring target correction data corresponding to the perceived target includes:

[0418] The third device receives the error map from the first device or the second device;

[0419] The third device determines the target correction data corresponding to the perceived target according to the error map.

[0420] Optionally, the third device acquiring target correction data corresponding to the perceived target includes:

[0421] The third device sends a second perception measurement value and second indication information to the second device, where the second indication information is used to indicate a request to obtain the target correction number;

[0422] The third device receives the target correction number from the second device.

[0423] Optionally, after the third device corrects the second perception measurement value obtained by the perception measurement of the perception target based on the target correction number to obtain a third perception measurement value, the method further includes:

[0424] The third device sends the third perception measurement value to the second device.

[0425] Optionally, the method further includes:

[0426] The third device obtains the first target information;

[0427] The first target information includes at least one of the following:

[0428] a first signal configuration, the first signal configuration being used to indicate a signal configuration of a first signal for performing perception on a perception target;

[0429] a first measurement configuration, where the first measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a perception target;

[0430] A first reporting configuration is used to indicate a reporting behavior of a measurement quantity required for performing perception on a perception target.

[0431] Optionally, the first measurement configuration includes at least one of the following:

[0432] a type of the second perceptual measurement;

[0433] The type of the third perception measurement quantity.

[0434] The error map-assisted perception processing method provided in the embodiments of the present application can be executed by an error map-assisted perception processing device. In the embodiments of the present application, the error map-assisted perception processing device performing the error map-assisted perception processing method is used as an example to illustrate the error map-assisted perception processing device provided in the embodiments of the present application.

[0435] 8 , an embodiment of the present application further provides an error map-assisted perception processing device. As shown in FIG8 , the error map-assisted perception processing device 800 includes:

[0436] The first execution module 801 is configured to execute a first operation, where the first operation includes any one of the following:

[0437] sending target data for each of at least two reference targets to a second device, the target data being used to establish an error map;

[0438] obtaining first indication information, and determining an error map based on the first indication information and first perceptual measurement quantities of at least two reference targets, where the first indication information is used to indicate a manner of determining the error map based on the first perceptual measurement quantities of the at least two reference targets, where the first perceptual measurement quantities are measurement quantities obtained by perceptually measuring the reference targets;

[0439] The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement value obtained by the perception measurement of the perception target to obtain a third perception measurement value.

[0440] Optionally, the error map-assisted perception processing device 800 further includes:

[0441] A first measurement module, configured to measure the perception target to obtain the second perception measurement value;

[0442] The second adjustment module is configured to correct the second perception measurement value based on a target correction number corresponding to the perception target to obtain the third perception measurement value.

[0443] Optionally, the first execution module 801 is further configured to: send the third sensing measurement value to the second device.

[0444] Optionally, the first execution module 801 is further configured to execute any one of the following:

[0445] receiving the error map from the second device;

[0446] The second perception measurement value and second indication information are sent to the second device, and the target correction number is received from the second device, where the second indication information is used to indicate a request to obtain the target correction number.

[0447] Optionally, the first execution module 801 is further configured to: send the error map to a first target device, where the first target device is the second device or the third device.

[0448] Optionally, the first execution module 801 is further configured to: send the second perception measurement value to the second device.

[0449] Optionally, the first execution module 801 is further configured to: obtain first target information, or obtain first target information and second target information;

[0450] The first target information includes at least one of the following:

[0451] a first signal configuration, the first signal configuration being used to indicate a signal configuration of a first signal for performing perception on a perception target;

[0452] a first measurement configuration, where the first measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a perception target;

[0453] a first reporting configuration, where the first reporting configuration is used to indicate a reporting behavior of a measurement amount required to perform sensing on a sensing target;

[0454] The second target information includes at least one of the following:

[0455] a second signal configuration, the second signal configuration being used to indicate a signal configuration of a second signal for performing sensing on a reference target;

[0456] a second measurement configuration, where the second measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a reference target;

[0457] The second reporting configuration is used to indicate a reporting behavior of a measurement quantity required for performing sensing on a reference target.

[0458] Optionally, the first measurement configuration includes at least one of the following:

[0459] a type of the second perceptual measurement;

[0460] The type of the third perception measurement quantity.

[0461] Optionally, the second measurement configuration includes at least one of the following:

[0462] a type of the first perceptual measurement;

[0463] a rate of change of the first perceptual measurement;

[0464] the first perceptual measurement quantity after smoothing filtering;

[0465] Identification of the reference target;

[0466] The type of correction number;

[0467] rate of change of corrections;

[0468] Correction number after smoothing filtering.

[0469] Optionally, a method for acquiring the first target information and the second target information includes at least one of the following: protocol agreement and sending by a second device.

[0470] Optionally, the target data includes at least one of the following:

[0471] Identification of the reference target;

[0472] the first perceptual measurement;

[0473] a rate of change of the first perceptual measurement;

[0474] the first perceptual measurement quantity after smoothing filtering;

[0475] the perceived signal power of the reference target, the perceived signal-to-noise ratio (SNR) of the reference target, or the perceived signal-to-interference-plus-noise ratio (SINR) of the reference target;

[0476] number of corrections;

[0477] rate of change of corrections;

[0478] Correction number after smoothing filtering.

[0479] Optionally, the first indication information includes at least one of the following:

[0480] An interpolation method, wherein the interpolation method is used to indicate that an interpolation method is used to obtain a first perception measurement value of a virtual reference target corresponding to a target position or a correction value of the target position;

[0481] A fitting method, wherein the fitting method is used to indicate that a first perception measurement value of a virtual reference target corresponding to a target position or a correction value of the target position is obtained by a fitting method;

[0482] A weighted method, wherein the weighted method is used to indicate that for a reference target whose first indicator of the reference target and the perceived target is within a preset threshold range, a first perceived measurement value of a virtual reference target corresponding to the target position or a correction value of the target position is obtained in a weighted manner;

[0483] The target position is a position other than the position corresponding to the reference target within a preset range.

[0484] Optionally, the first indication information satisfies at least one of the following:

[0485] In the case where the first indication information includes the interpolation mode, the first indication information further includes at least one of an interpolation dimension and an interpolation principle;

[0486] In the case where the first indication information includes the fitting method, the first indication information further includes at least one of a fitting dimension, a fitting principle, and a parameter required by the fitting principle;

[0487] In the case where the first indication information includes the weighting method, the first indication information further includes at least one of the preset threshold range and a weighting behavior corresponding to the weighting method;

[0488] The weighting behavior includes at least one of the following: weighting according to a first indicator of a reference target and a perception target; weighting according to a perceived signal-to-noise ratio (SNR) or a perceived signal-to-interference-plus-noise ratio (SINR) of the reference target.

[0489] Optionally, the first indicator of the reference target and the perceived target includes a first indicator of the reference target and the perceived target on a target spectrum, and the target spectrum includes at least one of the following:

[0490] a first spectrum, wherein the first spectrum includes a power spectrum or an amplitude spectrum in any one of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0491] a second spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0492] A third spectrum, the third spectrum including a power spectrum or an amplitude spectrum of any one of the dimensions corresponding to the X coordinate, the Y coordinate, and the Z coordinate;

[0493] a fourth spectrum, the fourth spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the dimension corresponding to the X coordinate, the dimension corresponding to the Y coordinate, and the dimension corresponding to the Z coordinate;

[0494] The first dimension includes a time delay dimension or a distance dimension, the second dimension includes a Doppler dimension or a velocity dimension, the third dimension includes an azimuth dimension, and the fourth dimension includes an elevation dimension.

[0495] Optionally, the first indicator includes at least one of Euclidean distance and Mahalanobis distance.

[0496] Optionally, the first execution module 801 is further configured to:

[0497] Sending first information to the second device, where the first information is used to determine a target reference target set, where the target reference target set includes the at least two reference targets, and the first information includes at least one of the following: an identifier of the first device, sensing capability information of the first device, location information of the first device, posture information of the first device, and speed information of the first device;

[0498] Second information of the reference target in the reference target set is received from the second device, the second information including at least one of the following: identification information, type information, location information, attitude information, perception contract information, antenna array configuration, capability information, modulation capability, signal amplification capability, reflection coefficient, transmission coefficient, supported frequency band, supported frequency band, crystal oscillator stability and radar characteristics.

[0499] 9 , an embodiment of the present application further provides an error map-assisted perception processing device. As shown in FIG9 , the error map-assisted perception processing device 900 includes:

[0500] The second execution module 901 is configured to execute a second operation, where the second operation includes any one of the following:

[0501] receiving target data for each of at least two reference targets from a first device, and establishing an error map based on the target data;

[0502] Sending at least a portion of first indication information to the first device, where the first indication information is used to indicate a method for determining an error map based on first perception measurement quantities of at least two reference targets, where the first perception measurement quantities are measurement quantities obtained by performing perception measurement on the reference targets;

[0503] The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement value obtained by the perception measurement of the perception target to obtain a third perception measurement value.

[0504] Optionally, the second execution module 901 is further configured to:

[0505] The third perception measurement is received from a second target device, where the second target device is the first device or the third device.

[0506] Optionally, the second execution module 901 is further configured to execute at least one of the following:

[0507] In a case where the second operation includes establishing an error map based on the target data, sending the error map to the second target device;

[0508] In a case where the second operation includes sending at least part of the first indication information to the first device, and the second target device is a third device, sending the error map to the second target device;

[0509] The second perception measurement value and second indication information are received from the second target device, and the target correction number is sent to the second target device, where the second indication information is used to indicate a request to obtain the target correction number.

[0510] Optionally, the second execution module 901 is further configured to receive the error map from the first device when the second operation includes sending at least part of the first indication information to the first device.

[0511] Optionally, the error map-assisted perception processing device includes: a third adjustment module;

[0512] The second execution module 901 is further configured to receive the second perception measurement value from the first device;

[0513] The third adjustment module is configured to correct the second perception measurement value according to the target correction number to obtain the third perception measurement value.

[0514] Optionally, the second execution module 901 is further configured to execute any one of the following:

[0515] sending first target information and second target information to the first device;

[0516] sending the second target information to the first device, and sending the first target information to the third device;

[0517] The first target information includes at least one of the following:

[0518] a first signal configuration, the first signal configuration being used to indicate a signal configuration of a first signal for performing perception on a perception target;

[0519] a first measurement configuration, where the first measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a perception target;

[0520] a first reporting configuration, where the first reporting configuration is used to indicate a reporting behavior of a measurement amount required to perform sensing on a sensing target;

[0521] The second target information includes at least one of the following:

[0522] a second signal configuration, the second signal configuration being used to indicate a signal configuration of a second signal for performing sensing on a reference target;

[0523] a second measurement configuration, where the second measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a reference target;

[0524] The second reporting configuration is used to indicate a reporting behavior of a measurement quantity required for performing sensing on a reference target.

[0525] Optionally, the first measurement configuration includes at least one of the following:

[0526] a type of the second perceptual measurement;

[0527] The type of the third perception measurement quantity.

[0528] Optionally, the second measurement configuration includes at least one of the following:

[0529] a type of the first perceptual measurement;

[0530] a rate of change of the first perceptual measurement;

[0531] the first perceptual measurement quantity after smoothing filtering;

[0532] Identification of the reference target;

[0533] The type of correction number;

[0534] rate of change of corrections;

[0535] Correction number after smoothing filtering.

[0536] Optionally, the target data includes at least one of the following:

[0537] Identification of the reference target;

[0538] the first perceptual measurement;

[0539] a rate of change of the first perceptual measurement;

[0540] the first perceptual measurement quantity after smoothing filtering;

[0541] the perceived signal power of the reference target, the perceived signal-to-noise ratio (SNR) of the reference target, or the perceived signal-to-interference-plus-noise ratio (SINR) of the reference target;

[0542] number of corrections;

[0543] rate of change of corrections;

[0544] Correction number after smoothing filtering.

[0545] Optionally, the first indication information includes at least one of the following:

[0546] An interpolation method, wherein the interpolation method is used to indicate that an interpolation method is used to obtain a first perception measurement value of a virtual reference target corresponding to a target position or a correction value of the target position;

[0547] A fitting method, wherein the fitting method is used to indicate that a first perception measurement value of a virtual reference target corresponding to a target position or a correction value of the target position is obtained by a fitting method;

[0548] A weighted method, wherein the weighted method is used to indicate that for a reference target whose first indicator of the reference target and the perceived target is within a preset threshold range, a first perceived measurement value of a virtual reference target corresponding to the target position or a correction value of the target position is obtained in a weighted manner;

[0549] The target position is a position other than the position corresponding to the reference target within a preset range.

[0550] Optionally, the first indication information satisfies at least one of the following:

[0551] In the case where the first indication information includes the interpolation mode, the first indication information further includes at least one of an interpolation dimension and an interpolation principle;

[0552] In the case where the first indication information includes the fitting method, the first indication information further includes at least one of a fitting dimension, a fitting principle, and a parameter required by the fitting principle;

[0553] In the case where the first indication information includes the weighting method, the first indication information further includes at least one of the preset threshold range and a weighting behavior corresponding to the weighting method;

[0554] The weighting behavior includes at least one of the following: weighting according to a first indicator of a reference target and a perception target; weighting according to a perceived signal-to-noise ratio (SNR) or a perceived signal-to-interference-plus-noise ratio (SINR) of the reference target.

[0555] Optionally, the first indicator of the reference target and the perceived target includes a first indicator of the reference target and the perceived target on a target spectrum, and the target spectrum includes at least one of the following:

[0556] a first spectrum, wherein the first spectrum includes a power spectrum or an amplitude spectrum in any one of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0557] a second spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0558] A third spectrum, the third spectrum including a power spectrum or an amplitude spectrum of any one of the dimensions corresponding to the X coordinate, the Y coordinate, and the Z coordinate;

[0559] a fourth spectrum, the fourth spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the dimension corresponding to the X coordinate, the dimension corresponding to the Y coordinate, and the dimension corresponding to the Z coordinate;

[0560] The first dimension includes a time delay dimension or a distance dimension, the second dimension includes a Doppler dimension or a velocity dimension, the third dimension includes an azimuth dimension, and the fourth dimension includes an elevation dimension.

[0561] Optionally, the first indicator includes at least one of Euclidean distance and Mahalanobis distance.

[0562] Optionally, the error map-assisted perception processing device 900 further includes:

[0563] a determination module, configured to determine a target reference target set, wherein the target reference target set includes the at least two reference targets;

[0564] The second execution module 901 is also used to send second information of the reference target in the target reference target set to the first device, and the second information includes at least one of the following: identification information, type information, location information, posture information, perception contract information, antenna array configuration, capability information, modulation capability, signal amplification capability, reflection coefficient, transmission coefficient, reflection delay, transmission delay, supported frequency band, supported frequency band, crystal oscillator stability and radar characteristics.

[0565] Optionally, the second execution module 901 is further configured to:

[0566] receiving, from the first device, first information of the first device, where the first information is used to determine the target reference target set, the first information including at least one of the following: an identifier of the first device, sensing capability information of the first device, location information of the first device, posture information of the first device, and speed information of the first device;

[0567] Acquiring perception demand information, wherein the perception demand information is used to determine the target reference target set;

[0568] Second information of a reference target set in the candidate reference target set is acquired, where the second information of the reference target set in the candidate reference target set is used to determine the target reference target set.

[0569] 10 , an embodiment of the present application further provides an error map-assisted perception processing device. As shown in FIG10 , the error map-assisted perception processing device 1000 includes:

[0570] An acquisition module 1001 is configured to acquire target correction data corresponding to a perception target, where the target correction data is determined based on an error map, where the error map is determined based on first perception measurements of at least two reference targets, where the first perception measurements are obtained by performing perception measurements on the reference targets.

[0571] The first adjustment module 1002 is configured to correct a second perceptual measurement value obtained by perceptual measurement of the perceptual target based on the target correction number to obtain a third perceptual measurement value.

[0572] Optionally, the acquisition module 1001 is specifically configured to: receive the error map from the first device or the second device; and determine the target correction data corresponding to the perceived target according to the error map.

[0573] Optionally, the acquisition module 1001 is specifically configured to: send a second perception measurement value and second indication information to a second device, where the second indication information is used to indicate a request to obtain the target correction number; and receive the target correction number from the second device.

[0574] Optionally, the error map-assisted perception processing device 1000 further includes:

[0575] A sending module is configured to send the third sensing measurement value to the second device.

[0576] Optionally, the acquisition module 1001 is further configured to: acquire first target information;

[0577] The first target information includes at least one of the following:

[0578] a first signal configuration, the first signal configuration being used to indicate a signal configuration of a first signal for performing perception on a perception target;

[0579] a first measurement configuration, where the first measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a perception target;

[0580] A first reporting configuration is used to indicate a reporting behavior of a measurement quantity required for performing perception on a perception target.

[0581] Optionally, the first measurement configuration includes at least one of the following:

[0582] a type of the second perceptual measurement;

[0583] The type of the third perception measurement quantity.

[0584] The error map-assisted perception processing device in the embodiments of the present application can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or chip. The electronic device can be a terminal, or it can be other devices other than a terminal. For example, the terminal can include but is not limited to the types of terminal 11 listed above, and other devices can be servers, network attached storage (NAS), etc., which are not specifically limited in the embodiments of the present application.

[0585] The error map-assisted perception processing device provided in the embodiment of the present application can implement the various processes implemented in the method embodiments of Figures 3 to 6 and achieve the same technical effects. To avoid repetition, they will not be described here.

[0586] As shown in Figure 11, an embodiment of the present application also provides a communication device 1100, including a processor 1101 and a memory 1102, and the memory 1102 stores a program or instruction that can be run on the processor 1101. When the program or instruction is executed by the processor 1101, the various steps of the above-mentioned error map-assisted perception processing method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0587] The present application also provides a terminal including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is configured to execute a program or instruction to implement the steps of the method embodiment shown in FIG3 or FIG7 . This terminal embodiment corresponds to the first device or third device-side method embodiment described above, and each implementation process and implementation method of the above method embodiment can be applied to this terminal embodiment and achieve the same technical effect. Specifically, FIG12 is a schematic diagram of the hardware structure of a terminal implementing an embodiment of the present application.

[0588] The terminal 1200 includes but is not limited to: a radio frequency unit 1201, a network module 1202, an audio output unit 1203, an input unit 1204, a sensor 1205, a display unit 1206, a user input unit 1207, an interface unit 1208, a memory 1209 and at least some of the components of the processor 1210.

[0589] Those skilled in the art will appreciate that the terminal 1200 may also include a power supply (such as a battery) to power various components. The power supply may be logically connected to the processor 1210 via a power management system, thereby enabling the power management system to manage charging, discharging, and power consumption. The terminal structure shown in FIG12 does not limit the terminal. The terminal may include more or fewer components than shown, or may combine certain components, or have different component arrangements, which will not be described in detail here.

[0590] It should be understood that in an embodiment of the present application, the input unit 1204 may include a graphics processing unit (GPU) 12041 and a microphone 12042, and the graphics processor 12041 processes the image data of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 1206 may include a display panel 12061, and the display panel 12061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 1207 includes a touch panel 12071 and at least one of other input devices 12072. The touch panel 12071 is also called a touch screen. The touch panel 12071 may include two parts: a touch detection device and a touch controller. Other input devices 12072 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be repeated here.

[0591] In the embodiment of the present application, after receiving downlink data from a network-side device, the RF unit 1201 may transmit the data to the processor 1210 for processing. Furthermore, the RF unit 1201 may send uplink data to the network-side device. Typically, the RF unit 1201 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low-noise amplifier, a duplexer, and the like.

[0592] The memory 1209 can be used to store software programs or instructions and various data. The memory 1209 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, applications or instructions required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory 1209 may include a volatile memory or a non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 1209 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0593] Processor 1210 may include one or more processing units. Optionally, processor 1210 integrates an application processor and a modem processor. The application processor primarily handles operations related to the operating system, user interface, and application programs, while the modem processor primarily processes wireless communication signals, such as a baseband processor. It is understood that the modem processor may not be integrated into processor 1210.

[0594] When the terminal is a first device, the radio frequency unit 1201 is configured to perform a first operation, where the first operation includes any one of the following:

[0595] sending target data for each of at least two reference targets to a second device, the target data being used to establish an error map;

[0596] obtaining first indication information, and determining an error map based on the first indication information and first perceptual measurement quantities of at least two reference targets, where the first indication information is used to indicate a manner of determining the error map based on the first perceptual measurement quantities of the at least two reference targets, where the first perceptual measurement quantities are measurement quantities obtained by perceptually measuring the reference targets;

[0597] The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement value obtained by the perception measurement of the perception target to obtain a third perception measurement value.

[0598] When the terminal is a third device, the radio frequency unit 1201 is configured to obtain target correction data corresponding to a perception target, where the target correction data is determined according to an error map, where the error map is determined based on first perception measurement quantities of at least two reference targets, where the first perception measurement quantity is a measurement quantity obtained by performing perception measurement on the reference target;

[0599] The processor 1210 is configured to correct a second perception measurement value obtained by the perception measurement of the perception target based on the target correction number to obtain a third perception measurement value.

[0600] It can be understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant description of the above-mentioned first device side method embodiment and achieve the same or corresponding technical effects. To avoid repetition, it will not be repeated here.

[0601] The present application also provides a network-side device, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is configured to execute a program or instruction to implement the steps of the method embodiment shown in Figures 3, 6, or 7. This network-side device embodiment corresponds to the aforementioned network-side device method embodiment, and each implementation process and implementation method of the aforementioned method embodiment is applicable to this network-side device embodiment and can achieve the same technical effects.

[0602] Specifically, embodiments of the present application also provide a network-side device. As shown in Figure 13, network-side device 1300 includes an antenna 1301, a radio frequency device 1302, a baseband device 1303, a processor 1304, and a memory 1305. Antenna 1301 is connected to radio frequency device 1302. In the uplink direction, radio frequency device 1302 receives information via antenna 1301 and sends the received information to baseband device 1303 for processing. In the downlink direction, baseband device 1303 processes the information to be transmitted and sends it to radio frequency device 1302. Radio frequency device 1302 processes the received information and then sends it through antenna 1301.

[0603] The method executed by the network-side device in the above embodiment may be implemented in the baseband device 1303 , which includes a baseband processor.

[0604] The baseband device 1303 may include, for example, at least one baseband board, on which multiple chips are arranged, as shown in Figure 13, one of which is, for example, a baseband processor, which is connected to the memory 1305 through a bus interface to call the program in the memory 1305 and execute the network device operations shown in the above method embodiment.

[0605] The network side device may further include a network interface 1306 , which is, for example, a Common Public Radio Interface (CPRI).

[0606] Specifically, the network side device 1300 of the embodiment of the present application also includes: instructions or programs stored in the memory 1305 and can be run on the processor 1304. The processor 1304 calls the instructions or programs in the memory 1305 to execute the methods executed by the modules shown in Figures 8, 9 or 10, and achieves the same technical effect. To avoid repetition, it will not be repeated here.

[0607] Specifically, the embodiment of the present application further provides a network side device. As shown in FIG14 , the network side device 1400 includes: a processor 1401, a network interface 1402, and a memory 1403. The network interface 1402 is, for example, a Common Public Radio Interface (CPRI).

[0608] Specifically, the network side device 1400 of the embodiment of the present application also includes: instructions or programs stored in the memory 1403 and executable on the processor 1401. The processor 1401 calls the instructions or programs in the memory 1403 to execute the methods executed by the modules shown in FIG9 and achieve the same technical effect. To avoid repetition, they will not be elaborated here.

[0609] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned error map-assisted perception processing method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0610] The processor is the processor in the terminal described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. In some examples, the readable storage medium may be a non-transitory readable storage medium.

[0611] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned error map-assisted perception processing method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0612] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0613] An embodiment of the present application further provides a computer program / program product, which is stored in a storage medium. The computer program / program product is executed by at least one processor to implement the various processes of the above-mentioned error map-assisted perception processing method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0614] An embodiment of the present application also provides a wireless communication system, including: a first device, a second device and a third device, wherein the terminal can be used to execute the steps of the error map-assisted perception processing method on the first device side as described above, the second device can be used to execute the steps of the error map-assisted perception processing method on the second device side as described above, and the third device can be used to execute the steps of the error map-assisted perception processing method on the third device side as described above.

[0615] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0616] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of a computer software product plus a necessary general-purpose hardware platform, or of course, by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes a number of instructions for enabling a terminal or network-side device to execute the methods described in each embodiment of the present application.

[0617] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms of implementation methods without departing from the purpose of this application and the scope of protection of the claims. These implementation methods are all within the protection of this application.

Claims

1. An error map-assisted perception processing method, comprising: The first device performs a first operation, where the first operation includes any one of the following: sending target data of each of at least two reference targets to a second device, the target data being used to establish an error map; acquiring first indication information, and determining an error map according to the first indication information and first perceptual measurement quantities of at least two reference targets, wherein the first indication information is used to indicate a manner of determining the error map based on first perceptual measurement quantities of the at least two reference targets, where the first perceptual measurement quantity is a measurement quantity obtained by perceptually measuring the reference targets; The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement quantity obtained by the perception measurement of the perception target to obtain a third perception measurement quantity.

2. The method according to claim 1, wherein: After the first device performs the first operation, the method further includes: The first device measures the perception target to obtain the second perception measurement value; The first device corrects the second perception measurement value based on the target correction number corresponding to the perception target to obtain the third perception measurement value.

3. The method according to claim 2, wherein: After the first device corrects the second perception measurement value based on the target correction number corresponding to the perception target to obtain the third perception measurement value, the method further includes: The first device sends the third perception measurement quantity to the second device.

4. The method according to claim 2, wherein: After the first device sends the target data of each reference target of at least two reference targets to the second device, the method further includes any one of the following: The first device receives the error map from the second device; The first device sends the second perception measurement value and second indication information to the second device, and receives the target correction number from the second device, where the second indication information is used to indicate a request to obtain the target correction number.

5. The method according to claim 1, wherein: After acquiring the first indication information and determining the error map according to the first indication information and first perceptual measurement quantities of at least two reference targets, the method further includes: The first device sends the error map to a first target device, where the first target device is the second device or the third device.

6. The method according to any one of claims 1 to 5, wherein: After the first device performs the first operation, the method further includes: The first device sends the second perception measurement quantity to the second device.

7. The method according to claim 1, further comprising: The first device acquires first target information, or acquires first target information and second target information; The first target information includes at least one of the following: The first signal configuration is used to indicate a signal configuration of a first signal for performing perception on a perception target. Place; a first measurement configuration, where the first measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a perception target; a first report configuration, where the first report configuration is used to indicate a reporting behavior of a measurement amount required to perform perception on a perception target; The second target information includes at least one of the following: a second signal configuration, the second signal configuration being used to indicate a signal configuration of a second signal for performing sensing on a reference target; a second measurement configuration, where the second measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a reference target; The second reporting configuration is used to indicate a reporting behavior of a measurement amount required to be obtained by performing sensing on a reference target.

8. The method according to claim 7, wherein: The first measurement configuration includes at least one of the following: a type of the second perceptual measurement; The type of the third perceptual measurement quantity.

9. The method according to claim 7, wherein: The second measurement configuration includes at least one of the following: a type of the first perceptual measurement; the rate of change of the first sensed measurement; the first perceptual measurement after smoothing filtering; The type of correction number; Identification of the reference target; The rate of change of the correction number; Correction number after smoothing filtering.

10. The method according to claim 7, wherein: The method for acquiring the first target information and the second target information includes at least one of the following: protocol agreement and sending by a second device.

11. The method according to claim 1, wherein: The target data includes at least one of the following: Identification of the reference target; the first perceptual measurement; the rate of change of the first sensed measurement; the first perceptual measurement after smoothing filtering; A perceived signal power of a reference target, a perceived signal-to-noise ratio (SNR) of a reference target, or a perceived signal-to-interference-and-noise ratio (SINR) of a reference target; number of corrections; The rate of change of the correction number; Correction number after smoothing filtering.

12. The method according to claim 1, wherein: The first indication information includes at least one of the following: An interpolation method, wherein the interpolation method is used to indicate that a first perception measurement value of a virtual reference target corresponding to a target position or a correction value of the target position is obtained by interpolation; A fitting method, wherein the fitting method is used to indicate that a first perception measurement value of a virtual reference target corresponding to a target position or a correction value of a target position is obtained by a fitting method; A weighted method, wherein the weighted method is used to indicate that for a reference target whose first index is within a preset threshold range between a reference target and a perception target, a first perception measurement value of a virtual reference target corresponding to the target position or a correction number of the target position is obtained by a weighted method; The target position is a position other than the position corresponding to the reference target within a preset range.

13. The method according to claim 12, wherein: The first indication information satisfies at least one of the following: In the case where the first indication information includes the interpolation mode, the first indication information further includes at least one of an interpolation dimension and an interpolation principle; In the case where the first indication information includes the fitting method, the first indication information further includes at least one of a fitting dimension, a fitting principle, and a parameter required by the fitting principle; In the case where the first indication information includes the weighting method, the first indication information also includes at least one of the preset threshold range and the weighting behavior corresponding to the weighting method; The weighting behavior includes at least one of the following: weighting according to a first indicator of a reference target and a perceived target; weighting according to a perceived signal-to-noise ratio SNR or a perceived signal-to-interference-plus-noise ratio SINR of the reference target.

14. The method according to claim 13, wherein: The first index of the reference target and the perceived target includes a first index of the reference target and the perceived target on a target spectrum, and the target spectrum includes at least one of the following: A first spectrum, wherein the first spectrum includes a power spectrum or an amplitude spectrum in any one of the first dimension, the second dimension, the third dimension, and the fourth dimension; a second spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the first dimension, the second dimension, the third dimension, and the fourth dimension; A third spectrum, wherein the third spectrum includes a power spectrum or an amplitude spectrum of any one of the dimensions corresponding to the X coordinate, the Y coordinate, and the Z coordinate; a fourth spectrum, the fourth spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two dimensions of a dimension corresponding to the X coordinate, a dimension corresponding to the Y coordinate, and a dimension corresponding to the Z coordinate; Among them, the first dimension includes the time delay dimension or the distance dimension, the second dimension includes the Doppler dimension or the speed dimension, the third dimension includes the azimuth dimension, and the fourth dimension includes the elevation dimension.

15. The method according to claim 13 or 14, wherein: The first indicator includes at least one of Euclidean distance and Mahalanobis distance.

16. The method according to claim 1, wherein: Before the first device performs the first operation, the method further includes: The first device sends first information to the second device, the first information being used to determine a target reference target set The target reference target set includes the at least two reference targets, and the first information includes at least one of the following: an identifier of the first device, perception capability information of the first device, location information of the first device, posture information of the first device, and speed information of the first device; The first device receives second information of the reference target in the reference target set from the second device, and the second information includes at least one of the following: identification information, type information, location information, attitude information, perception contract information, antenna array configuration, capability information, modulation capability, signal amplification capability, reflection coefficient, transmission coefficient, supported frequency band, supported frequency band, crystal oscillator stability and radar characteristics.

17. An error map-assisted perception processing method, comprising: The second device performs a second operation, where the second operation includes any one of the following: receiving target data for each of at least two reference targets from a first device, and establishing an error map based on the target data; Sending at least part of first indication information to a first device, where the first indication information is used to indicate a manner of determining an error map based on first perceptual measurement quantities of at least two reference targets, where the first perceptual measurement quantities are measurement quantities obtained by perceptually measuring the reference targets; The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement quantity obtained by the perception measurement of the perception target to obtain a third perception measurement quantity.

18. The method according to claim 17, wherein: After the second device performs the second operation, the method includes: The second device receives the third perception measurement quantity from a second target device, where the second target device is the first device or the third device.

19. The method according to claim 18, wherein: Before the second device receives the third perception measurement amount from the second target device, the method further includes at least one of the following: In a case where the second operation includes establishing an error map based on the target data, the second device sends the error map to the second target device; In a case where the second operation includes sending at least part of the first indication information to the first device, and the second target device is a third device, the second device sending the error map to the second target device; The second device receives the second perception measurement value and second indication information from the second target device, and sends the target correction number to the second target device, where the second indication information is used to indicate a request to obtain the target correction number.

20. The method according to any one of claims 17 to 19, wherein: In a case where the second operation includes sending at least part of the first indication information to the first device, the method further includes: The second device receives the error map from the first device.

21. The method according to claim 17, wherein: After the second device performs the second operation, the method includes: The second device receives the second perception measurement from the first device; The second device corrects the second perception measurement value according to the target correction number to obtain the third perception measurement value.

22. The method according to claim 17, further comprising any of the following: The second device sends first target information and second target information to the first device; The second device sends second target information to the first device, and sends first target information to the third device; in, The first target information includes at least one of the following: A first signal configuration, wherein the first signal configuration is used to indicate a signal configuration of a first signal for performing perception on a perception target; a first measurement configuration, where the first measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a perception target; a first report configuration, where the first report configuration is used to indicate a reporting behavior of a measurement amount required to perform perception on a perception target; The second target information includes at least one of the following: a second signal configuration, the second signal configuration being used to indicate a signal configuration of a second signal for performing sensing on a reference target; a second measurement configuration, where the second measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a reference target; The second reporting configuration is used to indicate a reporting behavior of a measurement amount required to be obtained by performing sensing on a reference target.

23. The method according to claim 22, wherein: The first measurement configuration includes at least one of the following: a type of the second perceptual measurement; The type of the third perceptual measurement quantity.

24. The method according to claim 22, wherein: The second measurement configuration includes at least one of the following: Identification of the reference target; a type of the first perceptual measurement; the rate of change of the first sensed measurement; the first perceptual measurement after smoothing filtering; The type of correction number; The rate of change of the correction number; Correction number after smoothing filtering.

25. The method of claim 17, wherein: The target data includes at least one of the following: Identification of the reference target; the first perceptual measurement; the rate of change of the first sensed measurement; the first perceptual measurement after smoothing filtering; A perceived signal power of a reference target, a perceived signal-to-noise ratio (SNR) of a reference target, or a perceived signal-to-interference-and-noise ratio (SINR) of a reference target; number of corrections; The rate of change of the correction number; Correction number after smoothing filtering.

26. The method of claim 17, wherein: The first indication information includes at least one of the following: An interpolation method, wherein the interpolation method is used to indicate that a first perception measurement value of a virtual reference target corresponding to a target position or a correction value of the target position is obtained by interpolation; A fitting method, wherein the fitting method is used to indicate that a first perception measurement value of a virtual reference target corresponding to a target position or a correction value of a target position is obtained by a fitting method; A weighted method, wherein the weighted method is used to indicate that for a reference target whose first index is within a preset threshold range between a reference target and a perception target, a first perception measurement value of a virtual reference target corresponding to the target position or a correction number of the target position is obtained by a weighted method; The target position is a position other than the position corresponding to the reference target within a preset range.

27. The method according to claim 26, wherein: The first indication information satisfies at least one of the following: In the case where the first indication information includes the interpolation mode, the first indication information further includes at least one of an interpolation dimension and an interpolation principle; In the case where the first indication information includes the fitting method, the first indication information further includes at least one of a fitting dimension, a fitting principle, and a parameter required by the fitting principle; In the case where the first indication information includes the weighting method, the first indication information also includes at least one of the preset threshold range and the weighting behavior corresponding to the weighting method; The weighting behavior includes at least one of the following: weighting according to a first indicator of a reference target and a perceived target; weighting according to a perceived signal-to-noise ratio SNR or a perceived signal-to-interference-plus-noise ratio SINR of the reference target.

28. The method according to claim 27, wherein: The first index of the reference target and the perceived target includes a first index of the reference target and the perceived target on a target spectrum, and the target spectrum includes at least one of the following: A first spectrum, wherein the first spectrum includes a power spectrum or an amplitude spectrum in any one of the first dimension, the second dimension, the third dimension, and the fourth dimension; a second spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the first dimension, the second dimension, the third dimension, and the fourth dimension; A third spectrum, wherein the third spectrum includes a power spectrum or an amplitude spectrum of any one of the dimensions corresponding to the X coordinate, the Y coordinate, and the Z coordinate; a fourth spectrum, the fourth spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two dimensions of a dimension corresponding to the X coordinate, a dimension corresponding to the Y coordinate, and a dimension corresponding to the Z coordinate; Among them, the first dimension includes the time delay dimension or the distance dimension, the second dimension includes the Doppler dimension or the speed dimension, the third dimension includes the azimuth dimension, and the fourth dimension includes the elevation dimension.

29. The method according to claim 27 or 28, wherein: The first indicator includes at least one of Euclidean distance and Mahalanobis distance.

30. The method of claim 17, wherein: Before the second device performs the second operation, the method includes: The second device determines a target reference target set, wherein the target reference target set includes the at least two reference targets; The second device sends second information of the reference targets in the target reference target set to the first device, and the second information includes at least one of the following: identification information, type information, location information, posture information, perception contract information, antenna array configuration, capability information, modulation capability, signal amplification capability, reflection coefficient, transmission coefficient, reflection delay, transmission delay, supported frequency band, supported frequency band, crystal oscillator stability and radar characteristics.

31. The method according to claim 30, wherein: Before the second device determines the target reference target set, the method further includes: The second device receives first information of the first device from the first device, where the first information is used to determine the target reference target set, and the first information includes at least one of the following: an identifier of the first device, perception capability information of the first device, location information of the first device, posture information of the first device, and speed information of the first device; The second device acquires perception requirement information, where the perception requirement information is used to determine the target reference target set; The second device obtains second information of a reference target set in a candidate reference target set, where the second information of the reference target set in the candidate reference target set is used to determine the target reference target set.

32. An error map-assisted perception processing method, comprising: The third device obtains a target correction number corresponding to the perception target, where the target correction number is determined according to an error map, where the error map is determined based on first perception measurement quantities of at least two reference targets, where the first perception measurement quantity is a measurement quantity obtained by performing perception measurement on the reference target; The third device corrects a second perception measurement value obtained by the perception measurement of the perception target based on the target correction number to obtain a third perception measurement value.

33. The method of claim 32, wherein: The third device acquiring target correction data corresponding to the perceived target includes: The third device receives the error map from the first device or the second device; The third device determines the target correction data corresponding to the perceived target according to the error map.

34. The method of claim 32, wherein: The third device acquiring target correction data corresponding to the perceived target includes: The third device sends a second perception measurement value and second indication information to the second device, where the second indication information is used to indicate a request to obtain the target correction number; The third device receives the target correction number from the second device.

35. The method of claim 32, wherein: After the third device corrects the second perception measurement amount obtained by the perception measurement of the perception target based on the target correction number to obtain the third perception measurement amount, the method further includes: The third device sends the third perception measurement quantity to the second device.

36. The method of claim 32, further comprising: The third device acquires the first target information; The first target information includes at least one of the following: A first signal configuration, wherein the first signal configuration is used to indicate a signal configuration of a first signal for performing perception on a perception target; a first measurement configuration, where the first measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a perception target; A first reporting configuration is used to indicate a reporting behavior of a measurement amount required to perform sensing on a sensing target.

37. The method of claim 36, wherein: The first measurement configuration includes at least one of the following: a type of the second perceptual measurement; The type of the third perceptual measurement quantity.

38. An error map-assisted perception processing device, comprising: The first execution module is configured to execute a first operation, where the first operation includes any one of the following: sending target data of each of at least two reference targets to a second device, the target data being used to establish an error map; acquiring first indication information, and determining an error map according to the first indication information and first perceptual measurement quantities of at least two reference targets, wherein the first indication information is used to indicate a manner of determining the error map based on first perceptual measurement quantities of the at least two reference targets, where the first perceptual measurement quantity is a measurement quantity obtained by perceptually measuring the reference targets; The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement quantity obtained by the perception measurement of the perception target to obtain a third perception measurement quantity.

39. An error map-assisted perception processing device, comprising: The second execution module is configured to execute a second operation, where the second operation includes any one of the following: receiving target data for each of at least two reference targets from a first device, and establishing an error map based on the target data; Sending at least part of first indication information to a first device, where the first indication information is used to indicate a manner of determining an error map based on first perceptual measurement quantities of at least two reference targets, where the first perceptual measurement quantities are measurement quantities obtained by perceptually measuring the reference targets; The error map is used to determine a target correction number corresponding to a perception target, and the target correction number is used to correct a second perception measurement quantity obtained by the perception measurement of the perception target to obtain a third perception measurement quantity.

40. An error map-assisted perception processing device, comprising: The acquisition module is used to obtain the target correction data corresponding to the perceived target, and the target correction data is determined according to the error map. The error map is determined based on first perceptual measurement quantities of at least two reference targets, where the first perceptual measurement quantities are measurement quantities obtained by perceptually measuring the reference targets; The first adjustment module is used to correct the second perception measurement value obtained by the perception measurement of the perception target based on the target correction number to obtain a third perception measurement value.

41. A terminal comprising a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the error map-assisted perception processing method as described in any one of claims 1 to 16 and 32 to 37 are implemented.

42. A network side device, comprising a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the error map-assisted perception processing method as described in any one of claims 1 to 37 are implemented.

43. A readable storage medium storing a program or instruction, wherein the program or instruction, when executed by a processor, implements the steps of the error map-assisted perception processing method as described in any one of claims 1 to 37.

Images