Target detection method and device

Abstract

The present application relates to the field of wireless communications, and provides a target detection method and device. The method comprises: a sensing management device can acquire N pieces of first sensing information corresponding to K scattering points, and send target indication information and location prediction information to a sensing device on the basis of the N pieces of first sensing information. The first sensing information is information of scattering points obtained by sensing the scattering points corresponding to the first sensing information in a first time period. The target indication information indicates that M scattering points belong to the same target, and the M scattering points are all or some of the K scattering points. The location prediction information indicates the predicted location of each of the M scattering points in a second time period, and is used for sensing a target in the second time period. In the process, the sensing management device can indicate to the sensing device which scattering points among the K scattering points belong to the same target, so that the sensing device can sense the target as the granularity in the second time period, thereby improving the sensing accuracy.

Description

Target detection method and device

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on December 20, 2023, with application number 202311763770.7 and invention name “Target Detection Method and Device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of wireless communications, and in particular to a target detection method and device. Background Art

[0003] With the development of communication technology, more and more communication scenarios have emerged, such as human-connected scenarios, Internet of Things scenarios, or vehicle-connected scenarios. In order to enhance the business capabilities in these scenarios, the concept of integrated sensing and communication (ISAC) has been proposed. ISAC means that network devices and / or terminals, in addition to communication capabilities, also have perception capabilities and can detect information such as the location or speed of the target. Taking the detection of the location of a target by a network device as an example, the network device can send a signal to the target and receive an echo signal reflected by the target after the signal reaches the target. Subsequently, the network device can determine the location of the target based on information such as the time of sending the signal, the time of receiving the echo signal, the direction of sending the signal, and the direction of receiving the echo signal. However, the accuracy of locating the target using this method is not high.

[0004] Summary of the Invention

[0005] This application provides a target detection method and device, which can perceive the target at the granularity, thereby improving the perception accuracy.

[0006] To achieve the above objectives, this application adopts the following technical solutions:

[0007] In a first aspect, a target detection method is provided, which can be performed by a perception management device. The perception management device here can refer to the perception management device itself, or a processor, module, logical node, chip, or chip system in the perception management device that implements the method.

[0008] The method includes: obtaining N pieces of first perception information, and sending target indication information and position prediction information based on the N pieces of first perception information. The N pieces of first perception information correspond to K scattering points, and any piece of first perception information is scattering point information obtained by sensing the corresponding scattering point within a first time period, where K is an integer greater than 1, and N is an integer greater than or equal to K. The target indication information indicates that M scattering points belong to the same target, and the M scattering points are all or part of the K scattering points. The position prediction information indicates the predicted position of each of the M scattering points in a second time period, where the second time period is later than the first time period, and the position prediction information is used to sense the target within the second time period.

[0009] Based on the method provided in the first aspect above, the perception management device can obtain N first perception information corresponding to K scattering points, and indicate to the device receiving target indication information (such as the first perception device) based on the N first perception information that M scattering points out of the K scattering points belong to the same target, so that the first perception device can perceive with the target as the granularity within the second time period to improve the perception accuracy. In addition, the perception management device also indicates the position of each of the M scattering points predicted in the second time period to the device receiving position prediction information (such as the first perception device), so that the first perception device can perceive the target in the second time period according to the instruction of the perception management device. Since the first perception device obtains the possible location of the target in advance, it can further process the signal in the direction of the location, such as increasing the signal transmission and reception power through beamforming, so as to further improve the accuracy of detection and positioning.

[0010] In a possible implementation, the method further includes: sending first indication information to a first sensing device, where the first indication information indicates that a first scattering point among the M scattering points is sensed by the first sensing device within the first time period.

[0011] Based on the above possible implementation, if the first sensing device senses all or some of the K scattering points (e.g., the first scattering point) during the first time period, the sensing management device indicates these scattering points to the first sensing device so that the first sensing device can associate the same scattering points sensed during the first and second time periods. In this way, when detecting a target, the first sensing device can incorporate information about the first scattering points sensed during the first time period to improve sensing accuracy.

[0012] In a possible implementation, the method further includes: sending perception operation indication information, where the perception operation indication information indicates a perception operation performed on the target within the second time period.

[0013] Based on the above possible implementation methods, the device that receives the perception operation indication information (such as the first perception device) can perform the corresponding perception operation on the target within the second time period.

[0014] In a possible implementation, the perception operation includes at least one of the following: positioning operation, motion direction recognition, orientation recognition, or posture recognition.

[0015] Based on the above possible implementation methods, the first perception device can perform one or more of the following operations on the target within the second time period: positioning operation, movement direction recognition, orientation recognition or posture recognition.

[0016] In a possible implementation, the sensing operation includes gesture recognition, and the method further includes: sending gesture type information, where the gesture type information is used to indicate positions of the M scattering points corresponding to different gesture types.

[0017] Based on the above possible implementation methods, the device receiving the posture type information (such as the first perception device) can determine the posture of the target in the second time period according to the posture type information.

[0018] In a possible implementation, the method further includes: sending perception mode indication information, where the perception mode indication information indicates a perception mode adopted for performing the perception operation on the target.

[0019] Based on the above possible implementation methods, the device that receives the perception mode indication information (such as the first perception device) can determine the perception mode adopted for performing the perception operation on the target.

[0020] In a possible implementation, the sensing method includes sensing information of a center point of the target, or sensing information of a specified position on the target.

[0021] Based on the above possible implementation methods, the first sensing device can sense information about the center point of the target, or sense information about a specified position on the target according to the sensing method indication information.

[0022] In a possible implementation, the method further includes: acquiring second perception information, where the second perception information indicates information obtained by perceiving the target within the second time period according to the perception operation indication information.

[0023] Based on the above possible implementation manner, the perception management device can obtain information obtained by perceiving the target within the second time period according to the perception operation instruction information.

[0024] In a possible implementation, the method further includes: sending resource indication information, where the resource indication information indicates at least one of time domain resources, frequency domain resources, or spatial domain resources used to perceive the target within the second time period.

[0025] Based on the above possible implementation methods, the device receiving resource indication information (such as the first perception device) can use at least one of the above time domain resources, frequency domain resources or spatial domain resources to perceive the target within the second time period.

[0026] In a possible implementation manner, the information of the scattering point indicates the position of the scattering point and the first time period.

[0027] Based on the above possible implementation methods, the perception management device can obtain the position of the scattering point and the first time period, and then send target indication information and position prediction information based on this information.

[0028] In a possible implementation, the information of the scattering point further indicates the Doppler frequency shift of the scattering point.

[0029] Based on the above possible implementation methods, the perception management device can also obtain the Doppler frequency shift of the scattering point, and then send target indication information and position prediction information according to the Doppler frequency shift of the scattering point.

[0030] In a possible implementation manner, the method further includes: sending first position information, where the first position information indicates a position of each of the M scattering points in the first time period.

[0031] Based on the above possible implementation methods, the device that receives the first position information (such as the first perception device) can combine the position of each of the M scattering points in the first time period when detecting the target to improve the perception accuracy.

[0032] In a second aspect, a target detection method is provided, which can be performed by a first sensing device. The first sensing device herein can refer to the first sensing device itself, or a processor, module, logical node, chip, or chip system within the first sensing device that implements the method.

[0033] The method includes receiving target indication information and position prediction information, and sensing the target within a second time period based on the target indication information and the position prediction information. The target indication information indicates that M scattering points belong to the same target, and the position prediction information indicates a predicted position of each of the M scattering points in the second time period, where M is an integer greater than 1.

[0034] Based on the method provided in the second aspect above, the first sensing device can determine that the M scattering points belong to the same target and perform sensing at the target granularity, thereby improving sensing accuracy. Furthermore, the first sensing device can also determine the target's likely location in the second time period based on the location prediction information. Therefore, the first sensing device can further process the signal in the direction of that location, such as increasing the signal's transmit and receive power through beamforming, to further improve detection and positioning accuracy.

[0035] In one possible implementation, the method further includes: obtaining P first perception information, the P first perception information corresponding to P scattering points respectively, any one of the first perception information is information of the scattering point obtained by perceiving the corresponding scattering point within a first time period, the P scattering points are all or part of the M scattering points, the second time period is later than the first time period, and P is a positive integer; and sending the P first perception information.

[0036] Based on the above possible implementation methods, the first perception device can obtain P first perception information and send P first perception information, so that the device that receives the P first perception information (such as the perception management device) determines whether the P scattering points corresponding to these P first perception information are scattering points of the same target.

[0037] In a possible implementation manner, the method further includes: receiving first indication information, where the first indication information indicates that a first scattering point among the M scattering points is a scattering point among the P scattering points.

[0038] Based on the above possible implementation, the first sensing device can determine that the first scattering point among the M scattering points is the scattering point it sensed during the first time period, thereby associating the same scattering points sensed during the first and second time periods. In this way, when detecting a target, the first sensing device can incorporate information about the first scattering point sensed during the first time period to improve sensing accuracy.

[0039] In a possible implementation manner, the information of the scattering point indicates the position of the scattering point and the first time period.

[0040] Based on the above possible implementation methods, the first perception device can send the location of the scattering point and the first time period, so that the device receiving the information (such as the perception management device) determines which scattering points belong to the same target based on the information.

[0041] In a possible implementation, the information of the scattering point further indicates the Doppler frequency shift of the scattering point.

[0042] Based on the above possible implementation methods, the first sensing device can send the Doppler frequency shift of the scattering points, so that the device receiving the information (such as the sensing management device) determines which scattering points belong to the same target based on the information.

[0043] In one possible implementation, the method also includes: receiving perception operation indication information, the perception operation indication information indicating a perception operation to be performed on the target within the second time period; perceiving the target within the second time period based on the target indication information and the position prediction information, including: performing the perception operation on the target within the second time period based on the target indication information and the position prediction information to obtain second perception information.

[0044] Based on the above possible implementation methods, the first perception device can perform the perception operation indicated by the perception operation indication information on the target within the second time period according to the target indication information and the position prediction information to obtain second perception information.

[0045] In a possible implementation, the method further includes: sending the second perception information.

[0046] Based on the above possible implementation methods, the device that receives the second perception information (such as the perception management device) can obtain the target information obtained by the first perception device performing the corresponding perception operation on the target within the second time period.

[0047] In a possible implementation, the perception operation includes at least one of the following: positioning operation, motion direction recognition, orientation recognition, or posture recognition.

[0048] Based on the above possible implementation methods, the first sensing device can perform at least one of the following operations on the target: positioning operation, movement direction recognition, orientation recognition or posture recognition.

[0049] In a possible implementation, the sensing operation includes gesture recognition, and the method further includes: receiving gesture type information, where the gesture type information is used to indicate positions of the M scattering points corresponding to different gesture types.

[0050] Based on the above possible implementation methods, the first perception device can determine the posture of the target in the second time period according to the posture type information.

[0051] In a possible implementation, the method further includes: receiving perception mode indication information, where the perception mode indication information indicates a perception mode adopted for performing the perception operation on the target.

[0052] Based on the above possible implementation methods, the first perception device can determine the perception method used to perform the perception operation on the target according to the perception method indication information.

[0053] In a possible implementation, the sensing method includes sensing information of a center point of the target, or sensing information of a specified position on the target.

[0054] Based on the above possible implementation methods, the first sensing device can sense information about the center point of the target, or sense information about a specified position on the target according to the sensing method indication information.

[0055] In a possible implementation, the method further includes: receiving resource indication information, where the resource indication information indicates at least one of time domain resources, frequency domain resources, or spatial domain resources used to perceive the target within the second time period.

[0056] Based on the above possible implementation methods, the first perception device can use at least one of the above time domain resources, frequency domain resources or spatial domain resources to perceive the target within the second time period.

[0057] In a possible implementation, the method further includes: receiving first position information, where the first position information indicates a position of each of the M scattering points in a first time period, and the second time period is later than the first time period.

[0058] Based on the above possible implementation methods, when detecting a target, the first perception device may combine the position of each of the M scattering points in the first time period to improve perception accuracy.

[0059] In a third aspect, a communication device is provided for implementing the above-mentioned method. The communication device may be the perception management device described in the first aspect. The communication device includes modules, units, or means corresponding to the above-mentioned method. The modules, units, or means may be implemented in hardware, software, or by hardware executing corresponding software implementations. The hardware or software includes one or more modules or units corresponding to the above-mentioned functions.

[0060] In one possible implementation, the communication device may include a processing module and an interface module. The processing module may be configured to implement the processing functions described in the first aspect and any possible implementation thereof. The processing module may, for example, be a processor. The interface module, also referred to as an interface unit, may be configured to implement the sending and / or receiving functions described in the first aspect and any possible implementation thereof. The interface module may be comprised of an interface circuit, a transceiver, a transceiver, or a communication interface.

[0061] In a possible implementation, the interface module includes a sending module and a receiving module, which are respectively used to implement the sending and receiving functions in the above-mentioned first aspect and any possible implementation thereof.

[0062] In one possible implementation, a processing module is configured to obtain N pieces of first perception information, where the N pieces of first perception information correspond to K scattering points. Any piece of first perception information is information about the scattering point obtained by sensing the corresponding scattering point within a first time period, where K is an integer greater than 1, and N is an integer greater than or equal to K. An interface module is configured to send target indication information and position prediction information based on the N pieces of first perception information, where the target indication information indicates that M scattering points belong to the same target, where the M scattering points are all or part of the K scattering points. The position prediction information indicates a predicted position of each of the M scattering points in a second time period, where the second time period is later than the first time period, and the position prediction information is used to sense the target within the second time period.

[0063] In a possible implementation, the interface module is configured to send first indication information to the first perception device, where the first indication information indicates that a first scattering point among the M scattering points is perceived by the first perception device within the first time period.

[0064] In a possible implementation, the interface module is further configured to send perception operation indication information, where the perception operation indication information indicates a perception operation performed on the target within the second time period.

[0065] In a possible implementation, the perception operation includes at least one of the following: positioning operation, motion direction recognition, orientation recognition, or posture recognition.

[0066] In a possible implementation, the sensing operation includes gesture recognition, and the interface module is further used to send gesture type information, where the gesture type information is used to indicate the positions of the M scattering points corresponding to different gesture types.

[0067] In a possible implementation, the interface module is further configured to send sensing mode indication information, where the sensing mode indication information indicates a sensing mode used to perform the sensing operation on the target.

[0068] In a possible implementation, the sensing method includes sensing information of a center point of the target, or sensing information of a specified position on the target.

[0069] In a possible implementation, the processing module is further configured to obtain second perception information, where the second perception information indicates information obtained by perceiving the target within the second time period according to the perception operation indication information.

[0070] In a possible implementation, the interface module is further configured to send resource indication information, where the resource indication information indicates at least one of time domain resources, frequency domain resources, or spatial domain resources used to perceive the target within the second time period.

[0071] In a possible implementation manner, the information of the scattering point indicates the position of the scattering point and the first time period.

[0072] In a possible implementation, the information of the scattering point further indicates the Doppler frequency shift of the scattering point.

[0073] In a possible implementation, the interface module is further configured to send first location information, where the first location information indicates a location of each of the M scattering points in the first time period.

[0074] In a fourth aspect, a communication device is provided for implementing the above method. The communication device may be the first sensing device described in the second aspect. The communication device includes modules, units, or means corresponding to the above method. The modules, units, or means may be implemented in hardware, software, or by hardware executing corresponding software implementations. The hardware or software includes one or more modules or units corresponding to the above functions.

[0075] In one possible implementation, the communication device may include a processing module and an interface module. The processing module may be configured to implement the processing functions described in the second aspect and any possible implementation thereof. The processing module may, for example, be a processor. The interface module, also referred to as an interface unit, may be configured to implement the sending and / or receiving functions described in the second aspect and any possible implementation thereof. The interface module may be comprised of an interface circuit, a transceiver, a transceiver, or a communication interface.

[0076] In a possible implementation, the interface module includes a sending module and a receiving module, which are respectively used to implement the sending and receiving functions in the above-mentioned second aspect and any possible implementation thereof.

[0077] In one possible implementation, an interface module is configured to receive target indication information and position prediction information, wherein the target indication information indicates that M scattering points belong to the same target, and the position prediction information indicates a predicted position of each of the M scattering points in a second time period, where M is an integer greater than 1; and a processing module is configured to perceive the target in the second time period based on the target indication information and the position prediction information.

[0078] In one possible implementation, the processing module is further used to obtain P first perception information, where the P first perception information respectively correspond to P scattering points. Any one first perception information is information about the scattering point obtained by perceiving the corresponding scattering point within a first time period. The P scattering points are all or part of the M scattering points. The second time period is later than the first time period, and P is a positive integer. The interface module is further used to send the P first perception information.

[0079] In a possible implementation manner, the interface module is further configured to receive first indication information, where the first indication information indicates that a first scattering point among the M scattering points is a scattering point among the P scattering points.

[0080] In a possible implementation manner, the information of the scattering point indicates the position of the scattering point and the first time period.

[0081] In a possible implementation, the information of the scattering point further indicates the Doppler frequency shift of the scattering point.

[0082] In one possible implementation, the interface module is also used to receive perception operation indication information, which indicates the perception operation performed on the target within the second time period; the processing module is specifically used to perform the perception operation on the target within the second time period based on the target indication information and the position prediction information to obtain second perception information.

[0083] In a possible implementation, the interface module is further configured to send the second perception information.

[0084] In a possible implementation, the perception operation includes at least one of the following: positioning operation, motion direction recognition, orientation recognition, or posture recognition.

[0085] In a possible implementation, the sensing operation includes gesture recognition, and the interface module is further configured to receive gesture type information, where the gesture type information is configured to indicate positions of the M scattering points corresponding to different gesture types.

[0086] In a possible implementation, the interface module is further configured to receive sensing mode indication information, where the sensing mode indication information indicates a sensing mode used to perform the sensing operation on the target.

[0087] In a possible implementation, the sensing method includes sensing information of a center point of the target, or sensing information of a specified position on the target.

[0088] In a possible implementation, the interface module is further configured to receive resource indication information, where the resource indication information indicates at least one of time domain resources, frequency domain resources, or spatial domain resources used to perceive the target within the second time period.

[0089] In a possible implementation, the interface module is further configured to receive first position information, where the first position information indicates a position of each of the M scattering points in a first time period, and the second time period is later than the first time period.

[0090] In a fifth aspect, a communication device is provided, comprising: a processor; the processor is configured to be coupled to a memory and, after reading instructions from the memory, execute the method described in any of the above aspects in accordance with the instructions. The communication device may be the perception management device described in the first aspect; alternatively, the communication device may be the first perception device described in the second aspect.

[0091] In conjunction with the fifth aspect above, in one possible implementation, the communication device further includes a memory for storing program instructions and data. Optionally, the memory is integrated with the processor; or the memory is independent of the processor.

[0092] In conjunction with the fifth aspect above, in one possible implementation, the processor and / or memory further includes an artificial intelligence (AI) module for implementing AI-related functions. The AI ​​module can implement AI functions through software, hardware, or a combination of software and hardware. For example, the AI ​​module includes a radio access network (RAN) intelligent controller (RIC) module.

[0093] In conjunction with the fifth aspect above, in one possible implementation, the communication device is a chip or a chip system. Optionally, when the communication device is a chip system, it can be composed of a chip or include a chip and other discrete devices.

[0094] In a sixth aspect, a communication device is provided, comprising: a processor and an interface circuit; the interface circuit being configured to receive a computer program or instruction and transmit it to the processor; and the processor being configured to execute the computer program or instruction, thereby causing the communication device to perform the method described in any of the above aspects. The communication device may be the perception management device described in the first aspect; alternatively, the communication device may be the first perception device described in the second aspect.

[0095] In conjunction with the sixth aspect above, in one possible implementation, the processor further includes an AI module for implementing AI-related functions. The AI ​​module can implement AI functions through software, hardware, or a combination of software and hardware. For example, the AI ​​module includes a RIC module.

[0096] In conjunction with the sixth aspect above, in one possible implementation, the communication device is a chip or a chip system. Optionally, when the communication device is a chip system, it can be composed of a chip or include a chip and other discrete devices.

[0097] In a seventh aspect, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium. When the computer-readable storage medium is run on a computer, the computer can execute the method described in any one of the above aspects.

[0098] In an eighth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the method described in any one of the above aspects.

[0099] In a ninth aspect, a communication system is provided, which includes the communication device of the third aspect and the communication device of the fourth aspect.

[0100] Among them, the technical effects brought about by any possible implementation method in the third to ninth aspects can be referred to the technical effects brought about by any aspect in the first to second aspects or different possible implementation methods in any aspect, and will not be repeated here.

[0101] It is understandable that, provided that the solutions are not contradictory, the solutions in each aspect can be combined. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] FIG1A is a schematic diagram of a scattering point provided in this application;

[0103] FIG1B is a schematic diagram of a sensing mode provided in this application;

[0104] FIG1C is a second schematic diagram of the perception mode provided by this application;

[0105] FIG1D is a third schematic diagram of the sensing mode provided in this application;

[0106] FIG1E is a fourth schematic diagram of the sensing mode provided in this application;

[0107] FIG1F is a fifth schematic diagram of the sensing mode provided in this application;

[0108] FIG1G is a sixth schematic diagram of the perception mode provided in this application;

[0109] FIG2 is a schematic diagram of the communication system architecture provided by this application;

[0110] FIG3 is a schematic diagram of the hardware structure of the communication device provided in this application;

[0111] FIG4 is a flow chart of the target detection method provided in this application;

[0112] FIG5 is a second flow chart of the target detection method provided by this application;

[0113] FIG6 is a schematic diagram of the structure of the communication device provided in this application. DETAILED DESCRIPTION

[0114] Before introducing the technical solution of this application, the relevant technical terms involved in this application are explained. It is understood that these explanations are intended to make this application easier to understand and should not be regarded as limiting the scope of protection claimed in this application.

[0115] 1. Perception

[0116] In this application, perception refers to obtaining certain information about a target, such as information related to one or more characteristics of the target, such as its location, speed, direction of travel, appearance, or posture. Perception is typically performed in conjunction with communication. For example, a perception device may transmit a signal, receive a reflected signal (or echo signal) from the target after the signal reaches the target and is reflected by the target, and obtain the aforementioned information based on the transmitted and received signals.

[0117] 2. Sensing device

[0118] In this application, a sensing device can be used to sense a target. The sensing device can be any device with sensing and communication capabilities. Exemplarily, the sensing device is a network device or a terminal.

[0119] The network device in this application may also be referred to as a radio access network (RAN) device or RAN node, etc. The network device includes, but is not limited to, an evolved base station (NodeB or eNB or e-NodeB, evolutionary Node B) in long term evolution (LTE), an evolved base station (next generation eNB, ng-eNB) in next generation LTE, a base station (gNodeB or gNB) in new radio (NR), a transmitting point (TP) or a transmission receiving point (TRP), a base station in subsequent evolution of 3GPP, a next generation base station (next generation NodeB, gNB), a next generation base station in a sixth generation (6G) mobile communication system, a base station in a future mobile communication system, an access node in a wireless fidelity (WiFi) system, a wireless relay node, a wireless backhaul node, an integrated access and backhaul (IAB) node, etc. Among them, the base station can be: a macro base station, a micro base station, a pico base station, a small station, a relay station, or a balloon station, etc. Multiple base stations can support networks of the same technology mentioned above, or they can support networks of different technologies mentioned above. The base station can include one or more co-sited or non-co-sited TRPs. The network device can also be a device that acts as a base station in device-to-device (D2D) communication, vehicle-to-vehicle communication, drone communication, and machine communication. The network device can also be a wireless controller in a cloud radio access network (CRAN) scenario. The RAN node can also be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), a radio unit (RU), a road side unit (RSU) with base station function, a wired access gateway, or a core network element, etc. The network device can also be a server, a wearable device, a machine communication device, or an in-vehicle device, etc. For example, a network device in vehicle to everything (V2X) technology may be a road side unit (RSU).

[0120] In this application, the CU and DU may be separately configured or may be included in the same network element, such as a baseband unit (BBU). The RU may be included in a radio frequency device or radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). It is understood that the CU may be classified as a network device in an access network, or as a network device in a core network, without limitation herein.

[0121] It is understandable that in different systems, CU (or CU-CP and CU-UP), DU or RU may have different names, but those skilled in the art can understand their meanings. For example, in an open radio access network (ORAN) system, CU may also be referred to as O-CU (open CU), DU may also be referred to as O-DU, CU-CP may also be referred to as O-CU-CP, CU-UP may also be referred to as O-CU-UP, and RU may also be referred to as O-RU. In addition, any unit of CU (or CU-CP, CU-UP), DU and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0122] The terminal in this application can be deployed on land, including indoors, outdoors, handheld or vehicle-mounted; it can also be deployed on the water surface (such as ships, etc.); it can also be deployed in the air (such as airplanes, balloons and satellites, etc.). The terminal can also be called a terminal device, and the terminal device can be a user equipment (UE), a mobile station (MS), a mobile terminal (MT), etc., or a device for providing voice or data connectivity to users. Among them, UE includes a handheld device with wireless communication function, a vehicle-mounted device (for example, a device set in a car, bicycle, electric car, airplane, ship, train, high-speed rail, etc.), a wearable device (such as a smart watch, a smart bracelet, a pedometer, etc.) or a computing device. Exemplarily, the UE can be a mobile phone, a mobile internet device (MID) or a computer with wireless transceiver function. A UE may also be a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless modem, a smart point of sale (POS) machine, customer-premises equipment (CPE), an intelligent robot, a robotic arm, workshop equipment, a wireless terminal in industrial control, a wireless terminal in unmanned driving, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, an on-board terminal, a roadside unit (RSU) with terminal functions, or an aerial device (e.g., an intelligent robot, a hot air balloon, a drone, an airplane), etc. A terminal may also be other devices with terminal functions, for example, a terminal may also be a device that functions as a terminal in D2D communication.

[0123] The terminal of the present application can be an on-board module, on-board module, on-board component, on-board chip or on-board unit built into a vehicle as one or more components or units, and the vehicle can implement the method of the present application through the built-in on-board module, on-board module, on-board component, on-board chip or on-board unit. Therefore, the present application can be applied to vehicle networking, such as vehicle to everything (V2X), long-term evolution vehicle (LTE-V), vehicle to vehicle (V2V), etc.

[0124] It is understandable that in some scenarios, the roles of network devices and terminals are relative. For example, a helicopter or drone, which is usually configured as a terminal, can also be configured as a mobile base station, and the device that accesses the network device via the helicopter or drone is configured as a terminal.

[0125] In this application, the sensing device can be set as needed. For example, in some scenarios, in order to ensure that the sensing device has a sufficient direct line of sight, the sensing device can be set on a roadside object such as a street lamp or a roadside tree.

[0126] 3. Target

[0127] In this application, the target is an object that can be sensed by a sensing device. The target may be mobile (for example, the target is a car or an animal, etc.), or it may not be mobile (for example, the target is an RSU, etc.). The target may have communication capabilities (for example, the target is a terminal), or it may not have communication capabilities (for example, the target is a passive object such as a car or a bicycle). Exemplarily, the targets include but are not limited to: animals, various engineering vehicles, various means of transport, or the various terminals described above. Among them, engineering vehicles are, for example, excavators, cranes, or backhoes. Means of transport can be used to transport goods, etc., such as vehicles, trains, high-speed railways, airplanes, or drones.

[0128] 4. Scattering points

[0129] In this application, a scattering point refers to the point where a signal sent by a sensing device contacts a target. For example, in Figure 1A, when Signal A sent by sensing device A reaches the target, it is reflected, scattered, or diffracted on the target surface, forming an echo signal of Signal A. Points on the target surface where reflection, scattering, or diffraction occurs can be considered scattering points. It should be understood that scattering points can also be named in other ways, such as reflection points or diffraction points. This application uses scattering points as an example for description.

[0130] It is understood that a target may correspond to at least one scattering point. When a target corresponds to multiple scattering points, the multiple scattering points may be contact points between different signals sent by the same sensing device and the target, or contact points between signals sent by different sensing devices and the target, without limitation.

[0131] 5. Perception Mode

[0132] In this application, a sensing mode refers to the mode in which a sensing device senses a target, including single-station sensing mode, dual-station sensing mode, or multi-station sensing mode. Single-station sensing mode, dual-station sensing mode, and multi-station sensing mode are distinguished based on the number of sensing devices and whether the devices transmitting and receiving signals are the same. This is explained in detail below.

[0133] Single-station sensing mode refers to a mode in which a single sensing device senses a target. In single-station sensing mode, the device that transmits and receives signals is the same. For example, in Figure 1B, the sensing device is a network device that can transmit a signal and receive an echo signal from that signal, and sense the target based on the transmitted signal and the received echo signal. For another example, in Figure 1C, the sensing device is a terminal that can transmit a signal and receive an echo signal from that signal, and sense the target based on the transmitted signal and the received echo signal.

[0134] Dual-station sensing mode refers to a mode in which a target is sensed using two sensing devices. In dual-station sensing mode, the devices that transmit and receive signals are different. For example, in Figure 1D, the sensing device that transmits the signal and the sensing device that receives the signal are both network devices, but these two network devices are different. Specifically, network device 1 can transmit a signal, network device 2 can receive the echo signal of the signal, and perceive the target based on the echo signal. For another example, in Figure 1E, the sensing device that transmits the signal and the sensing device that receives the signal are both terminals, but these two terminals are different. Specifically, terminal 1 can transmit a signal, terminal 2 can receive the echo signal of the signal, and perceive the target based on the echo signal. For another example, in Figure 1F, the sensing device that transmits the signal is a network device, and the sensing device that receives the signal is a terminal. Specifically, the network device can transmit a signal, the terminal can receive the echo signal of the signal, and perceive the target based on the echo signal. For another example, in Figure 1G, the sensing device that transmits the signal is a terminal, and the sensing device that receives the signal is a network device. Specifically, the terminal can send a signal, the network device can receive the echo signal of the signal, and perceive the target based on the echo signal.

[0135] Multi-station sensing mode refers to a mode in which three or more sensing devices are used to sense targets. Some of these sensing devices are used to transmit signals, while others are used to receive echoes of the signals and sense targets based on these echoes. For example, in the case of three sensing devices, one sensing device transmits a signal, while the other two receive echoes of the signal and sense targets based on these echoes. Alternatively, two sensing devices transmit a signal, while another receives echoes of the signals transmitted by the two sensing devices and senses targets based on these echoes.

[0136] This application primarily uses single-station sensing mode and dual-station sensing mode sensing targets as examples to illustrate. The logic of multi-station sensing mode sensing targets is similar to that of dual-station sensing mode sensing targets, differing in the number of sensing devices that transmit signals and / or the number of sensing devices that receive signals. Therefore, the introduction to multi-station sensing mode sensing targets can refer to the description of dual-station sensing mode sensing targets in this application and will not be repeated here.

[0137] As mentioned above, the sensing device can perceive the target, and therefore, the target can be detected based on the sensing device's perception. However, in reality, the sensing device perceives scattered points on the target. However, the target is much larger than the scattered points, and treating a single scattered point as the target will result in low target detection accuracy. Taking the intelligent traffic scenario as an example, if the sensing device perceives a scattered point located at the front of a vehicle, according to current technology, this scatter point will be considered the vehicle's geometric center point, resulting in low accuracy when subsequently positioning the vehicle based on this scattered point.

[0138] To address the aforementioned issues, the present application provides a target detection method. In this method, a sensing management device can obtain N pieces of first sensing information corresponding to K scattering points and, based on the N pieces of first sensing information, send target indication information to a sensing device. Each piece of first sensing information is information about the corresponding scattering point obtained by sensing the corresponding scattering point within a first time period, where K is an integer greater than 1, and N is an integer greater than or equal to K. The target indication information can indicate that M scattering points belong to the same target, where the M scattering points are all or some of the K scattering points.

[0139] In the above process, the sensing management device can indicate to the sensing device which of the K scattering points corresponding to the N first sensing information belong to the same target based on the N first sensing information. In this way, the sensing device can perform sensing at the target granularity to improve sensing accuracy.

[0140] In some embodiments, the sensing management device may also send location prediction information to the sensing device, indicating the predicted location of each of the M scattering points during a second time period, which is later than the first time period. In this way, the sensing device can sense the target during the second time period according to the sensing management device's instructions. Because the sensing device has pre-determined information about the target's likely location, it can further process the signal in the direction of that location, such as increasing the signal's transmit and receive power through beamforming, to further improve detection and positioning accuracy.

[0141] The implementation of the method provided in this application is described in detail below with reference to the accompanying drawings.

[0142] It can be understood that the method provided in the present application can be used in various communication systems. For example, the communication system can be an LTE system, a fifth generation (5G) communication system, a wireless fidelity (WiFi) system, a third generation partnership project (3GPP) related communication system, a future evolutionary communication system (such as a sixth generation (6G) communication system, etc.), or a system integrating multiple systems, etc., without limitation. Among them, 5G can also be called new radio (NR). The method provided in the present application is described below using the communication system 20 shown in Figure 2 as an example. Figure 2 is only a schematic diagram and does not constitute a limitation on the applicable scenarios of the technical solution provided in the present application.

[0143] As shown in Figure 2, it is a schematic diagram of the architecture of the communication system 20 provided in this application. In Figure 2, the communication system 20 includes at least one perception management device 201 (Figure 2 shows only one), a perception device 202 in communication with the perception management device 201, and a target 203 located within the perception area of ​​the perception device 202. Optionally, the communication system 20 also includes a perception device 204 in communication with the perception management device 201. Optionally, the target 203 is also located within the perception area of ​​the perception device 204. Optionally, the perception device 202 and the perception device 204 are in communication with each other.

[0144] The perception management device in this application, such as the perception management device 201, is a device with communication capabilities and computing capabilities, for example, a server, a perception server, a cloud server, a core network element, an access network element (such as the network device mentioned above), a cloud, or a computing device with communication capabilities, etc., without limitation. The core network element in this application can be an existing core network element, such as an access and mobility management function (AMF) network element or a session management function (SMF) network element, etc., or a newly added core network element. The introduction of the perception device 202, the perception device 204, and the target 203 can refer to the description of the perception device and the target in the previous text and will not be repeated here.

[0145] Optionally, the communication system 20 further includes a positioning device 205 for determining the location of the sensing device 202 and / or the sensing device 204, and indicating the location to the sensing management device 201. Exemplarily, the positioning device 205 is a device with communication and computing capabilities, such as a server, a cloud server, a core network element, an access network element, a cloud, or a computing device with communication capabilities, without limitation.

[0146] In Figure 2, the perception management device, the positioning device, and the perception device are different physical devices. However, in specific applications, at least two of the logical functions of the perception management device, the logical functions of the positioning device, and the logical functions of the perception device can be integrated into the same physical device. For example, the logical functions of the perception management device 201 are integrated into the perception device 202 or the perception device 204. In this case, the perception device 202 or the perception device 204 has the logical functions of the perception management device 201 and can perform the operations of the perception management device 201, such as sending target indication information based on N first perception information. Similarly, the logical functions of the positioning device 205 can be integrated into the perception device 202 or the perception device 204, or the logical functions of the perception management device 201 and the logical functions of the positioning device 205 can both be integrated into the perception device 202 or the perception device 204.

[0147] It should be understood that the communication system 20 shown in FIG2 is for illustrative purposes only and is not intended to limit the technical solutions of this application. Those skilled in the art will appreciate that, in a specific implementation, the communication system 20 may further include other devices, and the number of sensing management devices, sensing devices, and target or positioning devices may be determined based on specific needs without limitation. For example, the communication system 20 may further include sensing devices other than sensing device 202 and sensing device 204.

[0148] Optionally, each device in Figure 2 of the present application (such as a perception management device, a perception device or a positioning device, etc.) can also be referred to as a communication device, which can be a general device or a dedicated device. This application does not make specific limitations on this.

[0149] Optionally, the relevant functions of each device in Figure 2 of this application (such as a perception management device, a perception device, or a positioning device, etc.) can be implemented by a single device, or can be implemented by multiple devices together, or can be implemented by one or more functional modules within a single device. This application does not specifically limit this. It is understood that the above functions can be network elements in hardware devices, software functions running on dedicated hardware, or a combination of hardware and software, or virtualized functions instantiated on a platform (e.g., a cloud platform).

[0150] In specific implementation, each device in Figure 2 of this application (such as a perception management device, a perception device, or a positioning device, etc.) can adopt the composition structure shown in Figure 3, or include the components shown in Figure 3. Figure 3 shows a schematic diagram of the hardware structure of a communication device applicable to this application. The communication device 30 includes at least one processor 301 and at least one communication interface 304 for implementing the method provided in this application. The communication device 30 may also include a communication line 302 and a memory 303.

[0151] The processor 301 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application.

[0152] The communication link 302 may include a path for transmitting information between the above components, such as a bus.

[0153] Communication interface 304 is used to communicate with other devices or communication networks. Communication interface 304 can be any transceiver-like device, such as an Ethernet interface, a radio access network (RAN) interface, a wireless local area network (WLAN) interface, a transceiver, a pin, a bus, an interface circuit, or a transceiver circuit.

[0154] The memory 303 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this. The memory can be independent and coupled to the processor 301 via a communication line 302. The memory 303 can also be integrated with the processor 301. The memory provided in this application can generally be non-volatile.

[0155] Among them, the memory 303 is used to store computer-executable instructions involved in executing the solution provided by this application, and is controlled by the processor 301. The processor 301 is used to execute the computer-executable instructions stored in the memory 303, thereby implementing the method provided by this application. Alternatively, optionally, in this application, the processor 301 can also perform the processing-related functions of the method provided below in this application, and the communication interface 304 is responsible for communicating with other devices or communication networks, which is not specifically limited in this application.

[0156] Optionally, the computer-executable instructions in this application may also be referred to as application code, which is not specifically limited in this application.

[0157] The coupling in this application is an indirect coupling or communication connection between devices, units or modules, which can be electrical, mechanical or other forms, and is used for information exchange between devices, units or modules.

[0158] As an embodiment, the processor 301 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 3 .

[0159] As an embodiment, the communication device 30 may include multiple processors, such as processor 301 and processor 307 in FIG3 . Each of these processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. The processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0160] As an embodiment, the communication device 30 may further include an output device 305 and / or an input device 306. The output device 305 is coupled to the processor 301 and can display information in a variety of ways. For example, the output device 305 can be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector. The input device 306 is coupled to the processor 301 and can receive user input in a variety of ways. For example, the input device 306 can be a mouse, a keyboard, a touch screen device, or a sensor device.

[0161] It is understandable that the composition structure shown in Figure 3 does not constitute a limitation on the communication device. In addition to the components shown in Figure 3, the communication device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0162] The method provided by the present application will be described below with reference to the accompanying drawings. Each network element in the following embodiment may include the components shown in FIG3 , which will not be described in detail.

[0163] It is understandable that the message names between the various devices or the names of the parameters in the messages in the following embodiments of the present application are only examples, and other names may be used in specific implementations, and the present application does not make any specific limitations on this.

[0164] It can be understood that in this application, "sending information to... (such as a sensing device)" can be understood as the destination end of the information being the sensing device. It can include sending information to the sensing device directly or indirectly. "Receiving information from... (such as a sensing device)" can be understood as the source end of the information being the sensing device, which can include receiving information from the sensing device directly or indirectly. The information may be processed as necessary between the source end and the destination end of the information transmission, such as format changes, etc., but the destination end can understand the valid information from the source end. Similar expressions in this application can be understood similarly and will not be repeated here.

[0165] It is understood that in this application, " / " can indicate that the objects associated with each other are in an "or" relationship, for example, A / B can mean A or B; "and / or" can be used to describe that there are three relationships between the associated objects, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In addition, expressions similar to "at least one of A, B and C" or "at least one of A, B or C" are usually used to indicate any of the following: A exists alone; B exists alone; C exists alone; A and B exist at the same time; A and C exist at the same time; B and C exist at the same time; A, B and C exist at the same time. The above uses A, B and C as an example to illustrate the optional items of the item. When there are more elements in the expression, the meaning of the expression can be obtained according to the above rules.

[0166] In order to facilitate the description of the technical solutions of the present application, in the present application, words such as "first" and "second" may be used to distinguish between technical features with the same or similar functions. The words such as "first" and "second" do not limit the quantity and execution order, and the words such as "first" and "second" do not necessarily limit them to be different. In the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" should not be interpreted as being more preferred or more advantageous than other embodiments or design. The use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way for easy understanding.

[0167] It is understood that the "embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the various embodiments in the entire specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It is understood that in the various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the present application.

[0168] It can be understood that in the present application, "used to indicate" can include direct indications and indirect indications, and can also include explicit indications and implicit indications. When describing that a certain indication information is used to indicate A, it can include that the indication information directly indicates A or indirectly indicates A, but it does not mean that the indication information must carry A. The information indicated by a certain information (such as the perception operation indication information or the perception mode indication information described below) is called information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated, such as but not limited to, directly indicating the information to be indicated, such as the information to be indicated itself or the index of the information to be indicated. The information to be indicated can also be indirectly indicated by indicating other information, where there is an association between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while the other parts of the information to be indicated are known or agreed in advance. For example, the indication of specific information can also be achieved by means of the arrangement order of each information agreed in advance (such as specified in the protocol), thereby reducing the indication overhead to a certain extent.

[0169] It can be understood that in this application, "when...", "in the case of...", "if" and "if" all mean that corresponding processing will be taken under certain objective circumstances, and do not limit the time, nor do they require judgment actions when implementing them, nor do they mean that there are other limitations.

[0170] In this application, "greater than or equal to" can be replaced by "greater than" or "equal to"; "less than or equal to" can be replaced by "less than" or "equal to". For example, "A is greater than or equal to B" can be replaced by "A is greater than B" or "A is equal to B"; "A is less than or equal to B" can be replaced by "A is less than B" or "A is equal to B".

[0171] It is understood that some optional features in this application may, in certain scenarios, be implemented independently of other features, such as the solution on which they are currently based, to solve corresponding technical problems and achieve corresponding effects. They may also be combined with other features in certain scenarios as needed. Accordingly, the devices provided in this application may also implement these features or functions accordingly, which will not be described in detail here.

[0172] It is understandable that the same step or steps or technical features with the same function in different embodiments of the present application can be referenced to each other.

[0173] It is understood that the processing of user personal information involved in this application, such as collection, storage, use, processing, transmission, provision, and disclosure, complies with the provisions of relevant laws and regulations and does not violate public order and good morals. For example, in this application, the processing of user personal information is carried out with the user's authorization, which is explained here and will not be repeated below.

[0174] It is understood that in this application, the perception management device and / or the perception device can perform some or all of the steps in this application. These steps are only examples, and this application can also perform other steps or variations of various steps. In addition, the steps can be performed in a different order than presented in this application, and it is possible that not all steps in this application need to be performed.

[0175] It can be understood that the method provided below in this application uses a perception management device and a perception device (such as a first perception device or a second perception device, etc.) as an example of the execution subject of the interaction diagram to illustrate the method, but this application does not limit the execution subject of the interaction diagram. For example, the perception management device in the method provided in the following embodiment of this application may also be a chip, chip system, or processor that supports the perception management device to implement the method, or a logical node, logical module, or software that can implement all or part of the functions of the perception management device; the perception device in the method provided below in this application may also be a chip, chip system, or processor that supports the perception device to implement the method, or a logical node, logical module, or software that can implement all or part of the functions of the perception device.

[0176] As shown in FIG4 , a target detection method provided by the present application may include the following steps:

[0177] S401: The perception management device obtains N first perception information.

[0178] In the present application, the perception management device may be perception management device 201 in the communication system shown in Figure 2 . N first perception information corresponds to K scattering points. K is an integer greater than 1, and N is an integer greater than or equal to K. It will be understood that N equals K, indicating that each piece of first perception information corresponds to a scattering point. N greater than K indicates that at least two of the N first perception information correspond to the same scattering point.

[0179] In one possible implementation, the second perception device sends N first perception information to the perception management device. Accordingly, the perception management device receives N first perception information from the second perception device. If the second perception device is a network device, the second perception device can communicate with the perception management device using the Xn interface. If the second perception device is a terminal, the second perception device can communicate with the perception management device through the network device to which it is connected. For example, the second perception device sends N first perception information to the network device to which it is connected through uplink control information (UCI), medium access control control element (MAC-CE) or radio resource control (RRC) message. After receiving the N first perception information, the network device sends N first perception information to the perception management device through the Xn interface.

[0180] In this application, any first perception information is information about a scattering point obtained by perceiving a scattering point corresponding to the first perception information within a first time period. For example, a second perception device may sense the scattering point within the first time period to obtain the scattering point information and transmit the scattering point information to a perception management device. The first time period may include a period of time, such as 5 milliseconds (ms). Alternatively, the second perception device may sense the scattering point at a certain moment within the first time period to obtain the scattering point information.

[0181] In the present application, the information of the scattering point may indicate the location of the scattering point and the first time period. The second sensing device may indicate the location of the scattering point and the first time period to the sensing management device in various ways.

[0182] First, the following methods (1) to (3) are used as examples to introduce the methods in which the second sensing device indicates the position of the scattering point. Method (1): The information of the scattering point includes the coordinates of the scattering point, and the sensing management device can determine the position of the scattering point based on the coordinates. The coordinates can be two-dimensional coordinates or three-dimensional coordinates. Method (2): The information of the scattering point includes the azimuth of the scattering point relative to the second sensing device, and the distance between the scattering point and the second sensing device. The sensing management device can determine the position of the scattering point based on the above information and the locally stored position of the second sensing device. If the sensing management device does not store the position of the second sensing device locally, the information of the scattering point can also include the position of the second sensing device, or the sensing management device can obtain the position of the second sensing device from the positioning device (the positioning device 205 shown in Figure 2). Method (3): The information of the scattering point includes the azimuth of the scattering point relative to the sensing management device, and the distance between the scattering point and the sensing management device. The sensing management device can determine the position of the scattering point based on the above information and its own position. Before S401, the sensing management device can indicate the position of the sensing management device to the second sensing device so that the second sensing device can determine the azimuth of the scattering point relative to the sensing management device and the distance between the scattering point and the sensing management device.

[0183] The following describes how the second sensing device indicates the first time period using the following methods (4) to (6) as examples. In method (4), the information of the scattering point may include the starting time of the first time period and the duration of the first time period. The sensing management device may determine the first time period based on the starting time and duration. The starting time or duration may also be preset or defined in the protocol. In this way, the information of the scattering point may not include this information. In method (5), the information of the scattering point may include the offset between the starting time and the reference time, as well as the duration of the first time period. The sensing management device may determine the starting time based on the offset and the reference time, and then determine the first time period based on the starting time and the duration of the first time period. The reference time is a time defined in the protocol or a preset time. The offset or duration may also be preset or defined in the protocol. In this way, the information of the scattering point may not include this information. In method (6), the information of the scattering point may include an identifier of the time domain resource where the first time period is located. For example, the information of the scattering point includes the index of the time slot where the first time period is located, or includes the index of the symbol where the first time period is located and the index of the time slot where the symbol is located. The sensing management device may determine the first time period based on the index of the time domain resource. Optionally, the information of the scattering point may further include an index of a subframe where the time slot is located, etc., which is not limited.

[0184] Optionally, the scattering point information further indicates a Doppler shift of the scattering point. For example, the scattering point information includes the Doppler shift of the scattering point. The sensing management device can determine the movement speed and / or movement direction of the scattering point in the first time period based on the Doppler shift of the scattering point.

[0185] It is understandable that the present application does not limit the number of second perception devices. In other words, the perception management device can obtain N first perception information from one or more second perception devices. Taking the communication system 20 shown in Figure 2 as an example, the perception management device 201 can obtain N first perception information from the perception device 202, or the perception management device 201 can obtain R first perception information from the perception device 202 and obtain Q first perception information from the perception device 204. R and Q are positive integers less than N, and the sum of R and Q is equal to N. This will be explained in detail below with reference to Figures 1B to 1G.

[0186] Scenario 1: The perception management device 201 obtains N first perception information from the perception device 202.

[0187] In one possible implementation, the perception device 202 obtains N first perception information and sends the N first perception information to the perception management device 201 .

[0188] In Example 1, taking the sensing pattern shown in FIG1B as an example, sensing device 202 is the network device in FIG1B . Sensing device 202 can transmit N signals and receive an echo signal from each signal. Based on these signals and the echo signals, it can determine information about N scattering points, i.e., N first sensing information, and send these N first sensing information to sensing management device 201. For any of the N signals, sensing device 202 can determine the transmission delay of the signal based on the time it transmits the signal and the time it receives its echo signal (e.g., the transmission delay is equal to the time difference between the two). Furthermore, it can determine the distance between the corresponding scattering point (i.e., the point where the signal contacts the target) and sensing device 202 (e.g., the distance is equal to the transmission delay multiplied by the speed of light divided by 2). Combined with the direction of the signal, the location of the scattering point can be determined. Sensing device 202 can also determine the time when the signal reaches the target and determine a first time period based on this time. It is understood that the first time period includes the time when the signal reaches the target. Sensing device 202 can also determine the Doppler shift of the corresponding scattering point based on the signal and its echo signal. In addition, if the target is moving, the sensing device 202 may also sense different scattering points by sending signals with the same direction at different times. Therefore, the directions of the N signals may be the same or different.

[0189] In Example 2, taking the sensing pattern shown in FIG1C as an example, sensing device 202 is the terminal in FIG1C . Sensing device 202 can send N signals and receive an echo signal for each signal. Based on these signals and the echo signal, it determines information about N scattering points, i.e., N first sensing information, and sends the N first sensing information to sensing management device 201. The process of sensing device 202 obtaining N first sensing information can be referred to the description in Example 1.

[0190] Example 3: Taking the sensing pattern shown in Figure 1D as an example, sensing device 202 is network device 2 in Figure 1D. Network device 1 can send N signals separately. Sensing device 202 can receive the echo signal of each signal and determine information about N scattering points based on these echo signals, namely, N first sensing information, and send N first sensing information to sensing management device 201. For any one of the N signals, the signal includes the transmission time of the signal. After receiving the echo signal of the signal, sensing device 202 can determine the transmission delay of the signal based on the transmission time and the time of receiving the echo signal. It can then determine the distance between the scattering point corresponding to the signal (i.e., the point where the signal contacts the target) and sensing device 202. Combined with the direction of the signal, the location of the scattering point can be determined. Sensing device 202 can also determine the time when the signal reaches the target and determine the first time period based on this time. Sensing device 202 can also determine the Doppler shift of the scattering point corresponding to the signal based on the echo signal. In Example 3, the number of network devices 1 is not limited. That is, the N signals can be sent by the same network device or by W different network devices. W is a positive integer less than or equal to N. In addition, some of the W network devices can be replaced by terminals.

[0191] In Example 4, taking the sensing pattern shown in Figure 1E as an example, sensing device 202 is terminal 2 in Figure 1E . Terminal 1 can send N signals separately. Sensing device 202 can receive the echo signal of each signal, determine information about N scattering points based on these echo signals, i.e., N first sensing information, and send N first sensing information to sensing management device 201. The process of sensing device 202 obtaining N first sensing information can be referred to the description in Example 3. In Example 4, the number of terminals 1 is not limited; that is, the N signals can be sent by the same terminal or by W different terminals.

[0192] Example 5: Taking the sensing pattern shown in Figure 1F as an example, sensing device 202 is the terminal in Figure 1F. The network device can send N signals respectively. Sensing device 202 can receive the echo signal of each signal, determine the information of N scattering points based on these echo signals, that is, N first sensing information, and send N first sensing information to sensing management device 201. The process of sensing device 202 obtaining N first sensing information can be referred to the description in Example 3. In Example 5, the number of network devices is not limited. That is, the N signals can be sent by the same network device or by W different network devices.

[0193] In Example 6, taking the sensing pattern shown in Figure 1G as an example, sensing device 202 is the network device in Figure 1G . A terminal can send N signals, and sensing device 202 can receive the echo signal of each signal. Based on these echo signals, it determines information about N scattering points, i.e., N first sensing information, and sends the N first sensing information to sensing management device 201. The process for sensing device 202 to obtain N first sensing information can be referred to the description in Example 3. In Example 6, the number of terminals is not limited; that is, the N signals can be sent by the same terminal or by W different terminals.

[0194] Scenario 2: The perception management device 201 obtains R first perception information from the perception device 202 and obtains Q first perception information from the perception device 204.

[0195] In one possible implementation, the sensing device 202 obtains R pieces of first sensing information and sends the R pieces of first sensing information to the sensing management device 201. For example, the sensing device 202 may obtain the R pieces of first sensing information and send the R pieces of first sensing information to the sensing management device 201 by using any one of the methods in Examples 1 to 6 above.

[0196] In one possible implementation, the sensing device 204 obtains Q pieces of first sensing information and sends the Q pieces of first sensing information to the sensing management device 201. For example, the sensing device 204 may obtain the Q pieces of first sensing information and send the Q pieces of first sensing information to the sensing management device 201 using any one of the methods described in Examples 1 to 6 above.

[0197] In one possible design, R pieces of first perception information correspond to R scattering points, and Q pieces of first perception information correspond to Q scattering points. The R scattering points and the Q scattering points may be completely identical, completely identical, or partially identical.

[0198] Exemplarily, R scattering points and Q scattering points are exactly the same, indicating that sensing device 202 and sensing device 204 sense the same scattering points on the same target. For example, sensing device 202 and sensing device 204 both sense scattering points 1 to 3 on target 1.

[0199] For example, R scattering points and Q scattering points are completely different, indicating that sensing device 202 and sensing device 204 sense different scattering points on the same target. For example, sensing device 202 senses scattering points 1 to 3 on target 1, and sensing device 204 senses scattering points 4 to 5 on target 1. And / or, R scattering points and Q scattering points are completely different, indicating that sensing device 202 and sensing device 204 sense different scattering points on different targets. For example, sensing device 202 senses scattering points 1 to 3 on target 1, and sensing device 204 senses scattering points 1 to 2 on target 2.

[0200] Illustratively, the fact that R scattering points and Q scattering points are partially identical indicates that sensing device 202 and sensing device 204 sense the same scattering points on the same target, as well as different scattering points on the same target. For example, sensing device 202 senses scattering points 1 to 3 on target 1, while sensing device 204 senses scattering points 2 to 5 on target 1. Alternatively, the fact that R scattering points and Q scattering points are partially identical indicates that sensing device 202 and sensing device 204 sense the same scattering points on the same target, as well as different scattering points on different targets. For example, sensing device 202 senses scattering points 1 to 3 on target 1, while sensing device 204 senses scattering points 2 to 3 on target 1, and sensing device 204 also senses scattering points 1 to 2 on target 2.

[0201] It is understandable that the number of second perception devices may also be greater than 2. In this case, each second perception device may obtain a portion of the N first perception information (such as obtaining the first perception information using any of the methods in Examples 1 to 6 above) and send the obtained first perception information to the perception management device, which will not be repeated here.

[0202] S402: The perception management device sends target indication information and position prediction information to the first perception device according to the N first perception information. Correspondingly, the first perception device receives the target indication information and position prediction information from the perception management device.

[0203] In one possible implementation, the perception management device determines target indication information and location prediction information based on N first perception information.

[0204] In this application, target indication information may indicate that M scattering points belong to the same target, where the M scattering points are all or part of the K scattering points. Position prediction information may indicate the predicted position of each of the M scattering points in a second time period, where the second time period is later than the first time period. The position prediction information may be used to sense the target during the second time period. In other words, the sensing management device may determine which of the K scattering points belong to the same target and indicate this to the first sensing device, allowing the first sensing device to perform target-based sensing, improving sensing accuracy. The sensing management device may also predict the position of each of the M scattering points in the second time period and indicate this to the first sensing device, allowing the first sensing device to obtain the target's likely location in advance. This allows the first sensing device to further process the signal in the direction of this location, such as increasing the signal's transmit and receive power through beamforming, to further improve detection and positioning accuracy. The target may be target 203 in the communication system 20 shown in Figure 2. The second time period may include a period of time. The duration of the second time period may be the same as or different from the duration of the first time period.

[0205] Illustratively, the sensing management device may determine, based on the positions of K scattering points, that M of the K scattering points belong to the same target. For example, among the K scattering points, M of the scattering points are closely spaced, e.g., the distance between any two of the M scattering points is less than or equal to a first threshold. Furthermore, the sensing management device may determine, based on the Doppler shift of the K scattering points, the movement speeds of the K scattering points in a first time period, and determine, based on the movement speeds, that the M scattering points belong to the same target. Furthermore, the sensing management device may determine, based on the Doppler shift of the K scattering points, the movement directions of the K scattering points in the first time period, and determine, based on the movement directions, that the M scattering points belong to the same target. Furthermore, the sensing management device may determine, based on the Doppler shift of the K scattering points, the movement directions of the K scattering points in the first time period, and determine, based on the movement directions, that the M scattering points belong to the same target. Furthermore, the sensing management device may determine, based on the Doppler shift of the K scattering points, the movement directions of the K scattering points in the first time period, and determine, based on the movement directions, that the M scattering points belong to the same target. Furthermore, the sensing management device may determine, based on the Doppler shift of the K scattering points, the movement directions of the K scattering points in the first time period, and determine, based on the movement directions, that the M scattering points belong to the same target.

[0206] For example, the perception management device can predict the location of each scattering point in the second time period based on the location and speed of the M scattering points in the first time period. Alternatively, the perception management device can predict the location of each scattering point in the second time period based on the location, speed, and direction of the M scattering points in the first time period. It is understood that if the perception management device also obtains the locations of all or some of the M scattering points at historical time, the perception management device can combine these locations to predict the location of the corresponding scattering point in the second time period, thereby improving the accuracy of the position prediction. The historical time is at least a period of time or at least a moment before the first time period.

[0207] In one possible implementation, after the sensing management device determines that the M scattering points belong to the same target, the M scattering points can be numbered so as to indicate the M scattering points to the first sensing device. For example, the numbers of the M scattering points are A1 to A2. M Optionally, the perception management device may also number the target, for example, the target is numbered as target A.

[0208] Optionally, the sensing management device may further identify the target. For example, the sensing management device may identify the target's outline based on the positions of the M scattering points in the first time period, thereby determining the target's type, such as determining whether the target is a car, an engineering vehicle, or an animal.

[0209] The following describes the specific information contained in the target indication information and the position prediction information.

[0210] For example, the target indication information may include the identifier of each scattering point in the M scattering points. For example, the target indication information includes A1, A2, ..., A M , or including {A1,A2,…..,A M}, or including [A1,A2,…..,A M ] to indicate that the M points belong to the same target. Optionally, the target indication information may also include a target identifier. For example, the target indication information may include the content shown in Table 1. As another example, the target indication information may include two fields: one field including the target identifier and the other field including the identifier of each scattering point. Of course, the target indication information may also indicate that the M scattering points belong to the same target using other methods, without limitation.

[0211] Table 1

[0212] Exemplarily, the location prediction information includes the identifier of each scattering point and the coordinates of each scattering point, which may be two-dimensional coordinates or three-dimensional coordinates. Alternatively, the location prediction information includes the coordinates of each scattering point, the azimuth of each scattering point relative to the first sensing device, and the distance between each scattering point and the first sensing device. Alternatively, the location prediction information includes the coordinates of each scattering point, the azimuth of each scattering point relative to the sensing management device, and the distance between each scattering point and the sensing management device. It is understandable that the above information can be presented in the form of a table or array, etc., without limitation. Taking the example that the location prediction information includes the identifier of each scattering point and the coordinates of each scattering point, the content included in the location prediction information may be as shown in Table 2, or the location prediction information includes [A1, X1, Y1, A2, X2, Y2, ..., A M ,X M ,Y M ]. Wherein, X1 represents the abscissa of the scattering point A1, Y1 represents the ordinate of the scattering point A1, X2 represents the abscissa of the scattering point A2, Y2 represents the ordinate of the scattering point A2, ..., X M Indicates scattering point A M The horizontal axis, Y M Indicates scattering point A M The vertical coordinate of .

[0213] Table 2

[0214] Exemplarily, the target indication information and the position prediction information may be indicated by the signaling combination shown in Table 3. Here, Target Index indicates the identifier of the target, Target points indicates the identifier of the scattering point, Coordinate 1 indicates the position information of the first scattering point, Coordinate 2 indicates the position information of the second scattering point, and Coordinate M indicates the position information of the Mth scattering point.

[0215] Table 3

[0216] Optionally, the location prediction information further indicates a second time period. The manner in which the location prediction information indicates the second time period is similar to the manner in which the scattering point information in S401 indicates the first time period, and will not be described in detail.

[0217] It can be understood that after the perception management device determines the target indication information and the position prediction information, it can send the target indication information and the position prediction information to the first perception device. The first perception device can be a perception device near the above-mentioned predicted position (such as the predicted position of at least one of the above-mentioned M scattering points in the second time period). For example, the distance between the first perception device and the above-mentioned predicted position is less than or equal to the fourth threshold. In addition, the present application does not limit the number of first perception devices. In other words, the perception management device can instruct one perception device to perceive M scattering points in the second time period, and the perception management device can also instruct two or more perception devices to perceive M scattering points in the second time period.

[0218] It is understandable that the first sensing device and the second sensing device may be the same or different. The first sensing device and the second sensing device are different, meaning that the sensing device that sensed K scattering points in the first time period does not need to sense M scattering points in the second time period. The first sensing device and the second sensing device are the same, meaning that the sensing device that sensed all or part of the K scattering points in the first time period also senses all or part of the M scattering points in the second time period. For example, the first sensing device obtains P first sensing information and sends the P first sensing information to the sensing management device. The P first sensing information correspond to P scattering points, which are all or part of the K scattering points. Subsequently, the sensing management device sends target indication information and position prediction information to the first sensing device, instructing the first sensing device to sense all or part of the M scattering points in the second time period.

[0219] Optionally, if the P scattering points represent all or part of the M scattering points, the sensing management device further sends first indication information to the first sensing device. The first indication information indicates that the first scattering point among the M scattering points is a scattering point among the P scattering points, or indicates that the first scattering point among the M scattering points was sensed by the first sensing device within the first time period. For example, the first indication information includes an identifier of the first scattering point, or the first indication information may include M bits, each of which corresponds to one of the M scattering points, with each bit indicating whether the corresponding scattering point was sensed by the first sensing device within the first time period. For example, if M equals 3, if the M bits are "001," this indicates that the first two scattering points among the M scattering points were not sensed by the first sensing device within the first time period, but the last scattering point was sensed by the first sensing device within the first time period. Through the above method, the first sensing device can associate the first scattering point among the M scattering points with previously sensed scattering points, thereby combining information about the previously sensed scattering points to detect the target in the second time period. For details, please refer to the description in S403 below. In addition, the present application does not limit the number of first scattering points. For example, the number of first scattering points can be one or more.

[0220] Optionally, if the first sensing device and the second sensing device are different, the sensing management device may also send first location information to the first sensing device. The first location information may indicate the location of each of the M scattering points during the first time period. Thus, after receiving the first location information, the first sensing device can detect the target using this information. For details, please refer to the description in S403 below. The manner in which the first location information indicates location is similar to the manner in which the location prediction information indicates location, and will not be further described.

[0221] It can be understood that if the first perception device is a network device, the first perception device can communicate with the perception management device using the Xn interface. If the first perception device is a terminal, the first perception device can communicate with the perception management device through the network device to which it is connected. For example, the perception management device sends target indication information and position prediction information to the network device to which the first perception device is connected through the Xn interface. After receiving the above information, the network device sends the target indication information and position prediction information to the first perception device through downlink control information (DCI), MAC-CE or RRC message.

[0222] It is understood that if at least two of the K scattering points other than the M scattering points belong to the same target, the perception management device can indicate that these scattering points belong to the same target in a manner similar to that described above, and can also indicate the predicted position of each scattering point in a third time period. The meaning of the third time period is similar to that of the second time period, and reference can be made to the above description of the second time period. It should be understood that the third time period and the second time period can be the same time period or different time periods.

[0223] Optionally, the sensing management device further sends resource indication information to the first sensing device. The resource indication information may indicate at least one of the time domain resources, frequency domain resources, or spatial domain resources used by the sensing target during the second time period. Thus, upon receiving the information, the first sensing device may adopt the corresponding resource sensing target.

[0224] In the present application, time domain resources may include symbols, time slots, mini time slots, subframes or subframes, etc. The time domain resources include the time domain resources where the second time period is located. For example, the resource indication information includes the index of the symbol where the second time period is located. Optionally, the resource indication information also includes the index of the time slot where the symbol is located. The resource indication information may also include the index of the subframe where the time slot is located. The resource indication information may also include the index of the frame where the subframe is located. Frequency domain resources may include subcarriers, resource blocks (RBs), carriers, frequencies, bandwidths or bandwidth parts, etc. Spatial domain resources may include beams, antenna ports or antenna weights, etc. The beam may be a narrow beam or a wide beam, without limitation.

[0225] S403: The first sensing device senses the target within the second time period based on the target indication information and the position prediction information.

[0226] It is understandable that the first sensing device can be a device that sends signals or a device that receives echo signals. If the first sensing device is a device that sends signals, the first sensing device can send signals according to the position prediction information, such as increasing the transmission power of the signal through beamforming in the direction of the position indicated by the position prediction information, so that the third sensing device can receive the echo signal of the signal and obtain the second sensing information. The second sensing information can indicate information about the target sensed in the second time period. For example, the second sensing information includes the position coordinates of each of the M scattering points in the second time period. The second sensing information may also include the position coordinates of the target at the second moment, rather than the position coordinates of each scattering point in the second time period, to reduce signaling overhead. It is understandable that the third sensing device can use any one of the above examples 1 to 6 to obtain the second sensing information.

[0227] It is understandable that the information sent by the perception management device to the first perception device can be sent to the third perception device. For example, the perception management device can also send target indication information and position prediction information to the third perception device, so that the third perception device can receive the echo signal according to the position prediction information, such as increasing the signal receiving power through beamforming in the direction of the position indicated by the position prediction information, so as to improve the accuracy of the acquired second perception information. In addition, the third perception device can also determine that the M scattering points belong to the same target based on the target indication information, and then locate the target to improve the positioning accuracy. In addition, the perception management device can also send the first indication information or the first position information to the third perception device.

[0228] It will be appreciated that if the signal sent by the first sensing device can reach Z of the M scattering points, the third sensing device can obtain information about the Z scattering points. If Z is equal to M, the third sensing device can determine the position of each of the M scattering points in the second time period, and then locate the target based on these positions, such as by calculating the geometric mean of these positions and determining this geometric mean as the position of the geometric center of the target. If Z is less than M, the third sensing device can determine the positions of some of the M scattering points in the second time period. Subsequently, the third sensing device can combine the first indication information or the first position information with the positions of the Z scattering points in the second time period to estimate the positions of the remaining scattering points in the second time period, thereby locating the target.

[0229] If the first sensing device is a device that receives echo signals, the first sensing device can obtain the second sensing information using any of the methods in Examples 1 to 6 above. The difference is that in S403, the first sensing device obtains in advance the possible position of each of the M scattering points in the second time period, so the first sensing device can increase the received power of the signal in the direction of the position through beamforming to improve the accuracy of the obtained second sensing information. In addition, the first sensing device may not be able to perceive the position of each of the M scattering points in the second time period, then the first sensing device can locate the target in combination with the first indication information or the first position information.

[0230] It is understood that after the first sensing device obtains the second sensing information, it can send the second sensing information to the sensing management device. After receiving the second sensing information, the sensing management device can further process it, such as predicting the positions of the M scattering points in a fourth time period after the second time period, and indicating the positions to the corresponding sensing device so that the sensing device can detect the target in the fourth time period.

[0231] Based on the method shown in Figure 4, the perception management device can obtain N pieces of first perception information corresponding to K scattering points. Based on the N pieces of first perception information, it can indicate to the first perception device that M of the K scattering points belong to the same target, allowing the first perception device to perform target-based perception within the second time period, thereby improving perception accuracy. Furthermore, the perception management device also indicates to the first perception device the predicted location of each of the M scattering points in the second time period, allowing the first perception device to perceive the target in the second time period according to the perception management device's instructions. Because the first perception device has pre-determined information about the target's likely location, it can further process the signal in the direction of that location, such as increasing the signal's transmit and receive power through beamforming, to further improve detection and positioning accuracy.

[0232] Optionally, in a possible implementation of the method shown in FIG4 , the perception management device may further instruct the first perception device to perform a perception operation on the target, so that the first perception device performs a corresponding perception operation on the target in the second time period to obtain second perception information. Specifically, as shown in FIG5 , the method shown in FIG4 may further include the following steps:

[0233] S402a: The sensing management device sends sensing operation instruction information to the first sensing device. Correspondingly, the first sensing device receives the sensing operation instruction information from the sensing management device.

[0234] In the present application, the sensing operation indication information may indicate a sensing operation performed on the target within the second time period. The sensing operation may include at least one of the following: positioning operation, motion direction recognition, orientation recognition, or posture recognition.

[0235] Exemplarily, the perception operation instruction information may include an identifier of the corresponding perception operation. Taking the identifier of the positioning operation as "00", the identifier of the movement direction identification as "01", the identifier of the orientation identification as "10", and the identifier of the posture identification as "11" as an example, if the perception operation instruction information includes "00", it means that the perception management device instructs to locate the target within the second time period; if the perception operation instruction information includes "00" and "01", it means that the perception management device instructs to locate the target within the second time period and identify the movement direction of the target; if the perception operation instruction information includes "10", it means that the perception management device instructs to identify the orientation of the target within the second time period; if the perception operation instruction information includes "00" and "11", it means that the perception management device instructs to locate the target within the second time period and identify the posture of the target.

[0236] As mentioned above, the perception management device can identify the target. The perception management device can determine the corresponding perception operation based on the identified target. For example, if the perception management device identifies the target as a vehicle, the perception management device can determine that the perception operation includes a positioning operation, or includes a positioning operation and movement direction identification, or includes a positioning operation and orientation identification. If the perception management device identifies the target as a cat, the perception management device can determine that the perception operation includes a positioning operation and posture recognition (such as identifying whether the cat is lying down or running, etc.). If the perception management device identifies the target as an excavator, the perception management device can determine that the perception operation includes a positioning operation, a orientation operation, and posture recognition (such as identifying whether the excavator's digging arm is working, etc.).

[0237] It can be understood that after the first perception device receives the perception operation indication information, it can perform the perception operation indicated by the perception operation indication information on the target within the second time period based on the target indication information and the position prediction information to obtain second perception information.

[0238] For example, if the sensing operation indication information indicates a positioning operation, the first sensing device may determine the location of the target in the second time period. The second sensing information may indicate the location of the target in the second time period. For details, please refer to the corresponding description in S403.

[0239] For example, if the sensing operation indication information indicates motion direction identification, the first sensing device may obtain the Doppler shift of M scattering points in the second time period, determine the motion direction of each scattering point in the second time period based on the Doppler shift, and thereby determine the target's motion direction in the second time period. Alternatively, the first sensing device senses the target's position at two different times in the second time period, and the vector line connecting the two positions is the target's motion direction in the second time period. For example, the first sensing device senses M scattering points at time t1 in the second time period, determines the positions of the M scattering points at time t1, and determines the target's position at time t1 based on the positions of the M scattering points at time t1. The first sensing device further senses M scattering points at time t2 in the second time period, determines the positions of the M scattering points at time t2, and determines the target's position at time t2 based on the positions of the M scattering points at time t2. If time t2 is later than time t1, the vector line connecting the target's position at time t1 to its position at time t2 is the target's motion direction in the second time period. It will be appreciated that the second sensing information may indicate the target's motion direction in the second time period, such as by using three-dimensional vector coordinates.

[0240] For example, if the sensing operation indication information indicates direction identification, the first sensing device may obtain the positions of the M scattering points in the second time period and identify the direction of the target in the second time period based on the positions. The second sensing information may indicate the direction of the target in the second time period, for example, the second sensing information may include an identifier corresponding to the direction.

[0241] For example, if the sensing operation indication information indicates gesture recognition, the first sensing device may obtain the positions of the M scattering points in the second time period and identify the gesture of the target in the second time period based on the positions. The second sensing information may indicate the gesture of the target in the second time period, for example, the second sensing information may include an identifier corresponding to the gesture.

[0242] For example, if the sensing operation instruction information indicates posture recognition, the first sensing device may obtain the Doppler shifts of M scattering points in the second time period and identify the posture of the target in the second time period based on the Doppler shifts. Taking the first sensing device determining the posture of an excavator as an example, when the excavator is traveling, the Doppler shifts corresponding to the manipulator arm and the vehicle body are the same or similar, and both Doppler shifts are non-zero. When the excavator is operating, the Doppler shifts corresponding to the manipulator arm and the vehicle body are different, with the Doppler shift corresponding to the vehicle body being zero. Therefore, if the Doppler shifts of the scattering points on the manipulator arm in the second time period are the same or similar to the Doppler shifts of the scattering points on the vehicle body in the second time period, and both are non-zero, the first sensing device determines that the excavator's posture is in the traveling state. If the Doppler shifts of the scattering points on the manipulator arm in the second time period are different from the Doppler shifts of the scattering points on the vehicle body in the second time period, and the Doppler shifts of the scattering points on the vehicle body in the second time period are zero, the first sensing device determines that the excavator's posture is in the operating state.

[0243] Optionally, in one possible implementation of the method shown in FIG4 , the perception management device may further indicate to the first perception device the perception mode used to perform the above-mentioned perception operation on the target, so that the first perception device performs the perception operation on the target using the corresponding perception mode in the second time period to obtain the second perception information. Specifically, as shown in FIG5 , the method shown in FIG4 may further include the following steps:

[0244] S402b: The sensing management device sends sensing mode indication information to the first sensing device. Correspondingly, the first sensing device receives the sensing mode indication information from the sensing management device.

[0245] In this application, the sensing mode indication information may indicate the sensing mode adopted by the sensing operation performed on the target, and the sensing mode includes information about the center point of the sensing target, or information about a specified position on the sensing target.

[0246] Exemplarily, the perception mode indication information includes 1 bit. If the value of the 1 bit is "0", it indicates that the perception management device indicates the information of the center point of the perception target. If the value of the 1 bit is "1", it indicates that the perception management device indicates the information of a designated position on the perception target, and vice versa. The perception mode indication information can also indicate the designated position, such as the perception mode indication information includes the identifier of the designated position or the predicted coordinates of the designated position in the second time period. For another example, if the perception mode indication information includes the identifier of the designated position or the predicted coordinates of the designated position in the second time period, it indicates that the perception management device indicates the information of the designated position on the perception target. If the perception mode indication information is empty, or the perception management device does not send the perception mode indication information, it indicates that the perception management device indicates the information of the center point of the perception target.

[0247] For example, taking the sensing operation indication information indicating a positioning operation as an example, if the sensing mode indication information indicates sensing information about the target's center point, this indicates that the position of the target's center point in the second time period needs to be determined. Therefore, after the first sensing device determines the positions of M scattering points in the second time period, it determines the geometric mean of these positions. This geometric mean is the position of the target's center point in the second time period. If the sensing mode indication information indicates sensing information about A2 and A3, this indicates that the positions of A2 and A3 in the second time period need to be determined. Therefore, the first sensing device can use the method shown in S403 to sense the positions of A2 and A3 in the second time period.

[0248] For example, if the sensing operation indication information indicates motion direction identification, if the sensing mode indication information indicates sensing information about the center point of the target, then it is necessary to determine the motion direction of the target's center point during the second time period. Therefore, after the first sensing device obtains the motion direction of each of the M scattering points during the second time period, it can determine the average of these motion directions and use this average as the motion direction of the target's center point during the second time period. Alternatively, the first sensing device determines the position of the target's geometric center at two different times during the second time period, and the vector line connecting these two positions is the motion direction of the target's center point during the second time period.

[0249] For example, if the sensing operation instruction information indicates motion direction identification, if the sensing mode instruction information indicates sensing information about A2, then it is necessary to determine the motion direction of A2 in the second time period. Therefore, the first sensing device can use the method shown in S403 to obtain the Doppler shift of A2 in the second time period and determine the motion direction of A2 in the second time period based on the Doppler shift. Alternatively, the first sensing device can determine the position of A2 at two different times in the second time period, and the vector line connecting the two positions is the motion direction of A2 in the second time period.

[0250] Optionally, in one possible implementation of the method shown in FIG4 , if the sensing operation includes posture recognition, the sensing management device may further indicate to the first sensing device the positions of M scattering points corresponding to different posture types, so that the first sensing device can determine the posture of the target in the second time period. Specifically, as shown in FIG5 , the method shown in FIG4 may further include the following steps:

[0251] S402c: The perception management device sends the gesture type information to the first perception device. Correspondingly, the first perception device receives the gesture type information from the perception management device.

[0252] In the present application, the posture type information can be used to indicate the positions of M scattering points corresponding to different posture types. The "positions of the M scattering points" here can be the actual positions of the M scattering points, or the relative positions of the M scattering points (such as the positions of the M scattering points relative to the center point of the target). In this way, after the first sensing device determines the position of each of the M scattering points in the second time period, it can be compared with the positions of the M scattering points indicated by the posture type information, and the posture type corresponding to the closest position is determined as the posture of the target in the second time period. It is understandable that if the positions of the M scattering points indicated by the posture type information are the actual positions of the M scattering points, then after the first sensing device determines the position of each of the M scattering points in the second time period, it can directly compare it with the position indicated by the posture type information; if the positions of the M scattering points indicated by the posture type information are the relative positions of the M scattering points, then after the first sensing device determines the position of each of the M scattering points in the second time period, it can determine the relative position of the M scattering points in the second time period and then compare it with the position indicated by the posture type information.

[0253] For example, taking the case where the posture types include posture types 1 to 3, and the posture type information indicates the actual positions of M scattering points, the content of the posture type information may be as shown in Table 4. After the first sensing device determines the position of each of the M scattering points in the second time period, it may compare the position with the positions shown in Table 4. If the position of each of the M scattering points in the second time period is closest to each position 1 in Table 4, the first sensing device determines that the posture type of the target in the second time period is posture type 1; if the position of each of the M scattering points in the second time period is closest to each position 2 in Table 4, the first sensing device determines that the posture type of the target in the second time period is posture type 2; if the position of each of the M scattering points in the second time period is closest to each position 3 in Table 4, the first sensing device determines that the posture type of the target in the second time period is posture type 3.

[0254] Table 4

[0255] It is understandable that if the first perception device cannot recognize the posture of the target in the second time period, it can indicate to the perception management device that it cannot recognize the posture of the target in the second time period.

[0256] The multiple information sent by the above-mentioned perception management device to the first perception device, such as target indication information, position prediction information, first indication information, perception operation indication information or posture type information, can be included in one message or in multiple messages without restriction.

[0257] It can be understood that the actions of the perception management device or the first perception device or the second perception device in the above steps can be executed by the processor 301 in the communication device 30 shown in Figure 3 calling the application code stored in the memory 303, and this application does not impose any restrictions on this.

[0258] The various embodiments mentioned above in this application can be combined without limitation if there is no contradiction between the solutions.

[0259] The above description primarily describes the solutions provided by this application from the perspective of interaction between various devices. Accordingly, this application also provides a communication device, which may be the sensing management device in the above-described method embodiments, or a device that includes the above-described sensing management device, or a component that can be used in the sensing management device; alternatively, the communication device may be the first sensing device in the above-described method embodiments, or a device that includes the above-described first sensing device, or a component that can be used in the first sensing device; alternatively, the communication device may be the second sensing device in the above-described method embodiments, or a device that includes the above-described second sensing device, or a component that can be used in the second sensing device. It will be understood that, in order to implement the aforementioned functions, the sensing management device, the first sensing device, or the second sensing device, etc., include hardware structures and / or software modules that perform the respective functions. Those skilled in the art will readily appreciate that, in conjunction with the various exemplary units and algorithmic operations described in the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is implemented in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0260] The present application can divide the functional modules of the perception management device, the first perception device or the second perception device according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of software functional modules. It can be understood that the division of modules in this application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0261] For example, FIG6 shows a schematic diagram of the structure of a communication device 60, where the functional modules are divided in an integrated manner. Communication device 60 includes a processing module 601 and an interface module 602. Processing module 601, also known as a processing unit, is used to perform operations other than transceiver operations and may be, for example, a processing circuit or processor. Interface module 602, also known as an interface unit, is used to perform transceiver operations and may be, for example, an interface circuit, a transceiver, a transceiver, or a communication interface.

[0262] In some embodiments, the communication device 60 may further include a storage module (not shown in FIG. 6 ) for storing program instructions and data.

[0263] In some embodiments, the communication device 60 may further include an AI module (not shown in FIG6 ) for implementing AI-related functions. The AI ​​module may implement AI functions through software, hardware, or a combination of software and hardware. For example, the AI ​​module includes an RIC module. Optionally, the AI ​​module and the storage module are integrated into a single module, or the AI ​​module and the processing module 601 are integrated into a single module.

[0264] Exemplarily, the communication device 60 is used to implement the functions of the perception management device. The communication device 60 is, for example, the perception management device described in the embodiment shown in FIG4 or the embodiment shown in FIG5.

[0265] The processing module 601 is configured to obtain N pieces of first perception information. The N pieces of first perception information correspond to K scattering points. Any piece of first perception information is information about the scattering point obtained by sensing the corresponding scattering point within a first time period. K is an integer greater than 1, and N is an integer greater than or equal to K. For example, the processing module 601 may be configured to execute S401.

[0266] Interface module 602 is configured to send target indication information and position prediction information based on N pieces of first perception information. The target indication information indicates that M scattering points belong to the same target, where the M scattering points are all or part of the K scattering points. The position prediction information indicates the predicted position of each of the M scattering points in a second time period, where the second time period is later than the first time period. The position prediction information is used to perceive the target in the second time period. For example, interface module 602 may be configured to execute S402.

[0267] When used to implement the functions of the perception management device, regarding other functions that the communication device 60 can implement, please refer to the relevant introduction of the embodiment shown in Figure 4 or the embodiment shown in Figure 5, and no further details will be given.

[0268] Alternatively, illustratively, the communication device 60 is used to implement the functions of the first sensing device or the second sensing device. The communication device 60 is, for example, the first sensing device / the second sensing device described in the embodiment shown in FIG4 or the embodiment shown in FIG5.

[0269] Interface module 602 is configured to receive target indication information and position prediction information. The target indication information indicates that M scattering points belong to the same target, and the position prediction information indicates the predicted position of each of the M scattering points in the second time period, where M is an integer greater than 1. For example, interface module 602 may be configured to execute S402.

[0270] The processing module 601 is configured to sense a target within a second time period according to the target indication information and the position prediction information. For example, the processing module 601 may be configured to execute S403.

[0271] When used to implement the functions of the first sensing device / the second sensing device, regarding other functions that the communication device 60 can implement, please refer to the relevant introduction of the embodiment shown in Figure 4 or the embodiment shown in Figure 5, and no further details will be given.

[0272] In a simple embodiment, those skilled in the art can imagine that the communication device 60 can be in the form shown in Figure 3. For example, the processor 301 in Figure 3 can call the computer-executable instructions stored in the memory 303 to enable the communication device 60 to perform the method described in the above method embodiment.

[0273] Exemplarily, the functions / implementation processes of the processing module 601 and the interface module 602 in FIG6 can be implemented by the processor 301 in FIG3 calling computer-executable instructions stored in the memory 303. Alternatively, the functions / implementation processes of the processing module 601 in FIG6 can be implemented by the processor 301 in FIG3 calling computer-executable instructions stored in the memory 303, and the functions / implementation processes of the interface module 602 in FIG6 can be implemented by the communication interface 304 in FIG3.

[0274] It is understandable that one or more of the above modules or units can be implemented by software, hardware or a combination of the two. When any of the above modules or units is implemented by software, the software exists in the form of computer program instructions and is stored in a memory, and a processor can be used to execute the program instructions and implement the above method flow. The processor can be built into an SoC (system on chip) or an ASIC, or it can be an independent semiconductor chip. In addition to the core used to execute software instructions to perform calculations or processing within the processor, it can further include necessary hardware accelerators, such as field programmable gate arrays (FPGAs), PLDs (programmable logic devices), or logic circuits that implement dedicated logic operations.

[0275] When the above modules or units are implemented in hardware, the hardware can be any one or any combination of a CPU, a microprocessor, a digital signal processing (DSP) chip, a microcontroller unit (MCU), an artificial intelligence processor, an ASIC, a SoC, an FPGA, a PLD, a dedicated digital circuit, a hardware accelerator or a non-integrated discrete device, which can run the necessary software or not rely on the software to execute the above method flow.

[0276] Optionally, the present application also provides a chip system, comprising: at least one processor and an interface, wherein the at least one processor is coupled to a memory via the interface, and when the at least one processor executes a computer program or instruction in the memory, the method in any of the above method embodiments is executed. In one possible implementation, the chip system also includes a memory. Optionally, the chip system can be composed of a chip, or can include a chip and other discrete devices, which is not specifically limited in this application.

[0277] Optionally, the present application also provides a computer-readable storage medium. All or part of the processes in the above-mentioned method embodiments can be completed by a computer program to instruct the relevant hardware. The program can be stored in the above-mentioned computer-readable storage medium. When the program is executed, it can include the processes of the above-mentioned method embodiments. The computer-readable storage medium can be an internal storage unit of the communication device of any of the above-mentioned embodiments, such as a hard disk or memory of the communication device. The above-mentioned computer-readable storage medium can also be an external storage device of the above-mentioned communication device, such as a plug-in hard disk, a smart memory card (smart media card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc. equipped on the above-mentioned communication device. Furthermore, the above-mentioned computer-readable storage medium can also include both the internal storage unit of the above-mentioned communication device and an external storage device. The above-mentioned computer-readable storage medium is used to store the above-mentioned computer program and other programs and data required by the above-mentioned communication device. The above-mentioned computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.

[0278] Optionally, the present application also provides a computer program product. All or part of the processes in the above method embodiments may be completed by a computer program instructing related hardware. The program may be stored in the above computer program product, and when executed, the program may include the processes in the above method embodiments.

[0279] Optionally, the present application also provides a computer instruction. All or part of the process in the above method embodiment can be completed by the computer instruction to instruct the relevant hardware (such as a computer, a processor, a perception management device, a first perception device or a second perception device, etc.). The program can be stored in the above-mentioned computer-readable storage medium or in the above-mentioned computer program product.

[0280] Optionally, the present application also provides a communication system, including: the perception management device in the above embodiment, and a first perception device and / or a second perception device.

[0281] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0282] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0283] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0284] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0285] The above is only a specific embodiment of the present application, but the scope of protection of this application is not limited to this. Any changes or substitutions within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A target detection method, characterized in that: The method comprises: Acquire N first perception information, where the N first perception information correspond to K scattering points, and any one of the first perception information is information of the scattering point obtained by sensing the scattering point corresponding to the first perception information within a first time period, K is an integer greater than 1, and N is an integer greater than or equal to K; Target indication information and position prediction information are sent according to the N first perception information, the target indication information indicating that M scattering points belong to the same target, the M scattering points are all or part of the K scattering points, the position prediction information indicates a predicted position of each scattering point in the M scattering points in a second time period, the second time period is later than the first time period, and the position prediction information is used to perceive the target in the second time period.

2. The method according to claim 1, characterized in that The method further comprises: Sending first indication information to a first sensing device, where the first indication information indicates that a first scattering point among the M scattering points is sensed by the first sensing device within the first time period.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: Sending perception operation indication information, where the perception operation indication information indicates a perception operation performed on the target within the second time period.

4. The method according to claim 3, characterized in that The sensing operation includes at least one of the following: positioning operation, movement direction recognition, orientation recognition or posture recognition.

5. The method according to claim 4, characterized in that The sensing operation includes gesture recognition, and the method further includes: Sending posture type information, where the posture type information is used to indicate the positions of the M scattering points corresponding to different posture types.

6. The method according to any one of claims 3 to 5, characterized in that: The method further comprises: Sending sensing mode indication information, wherein the sensing mode indication information indicates a sensing mode adopted for performing the sensing operation on the target.

7. The method according to claim 6, characterized in that The sensing method includes sensing information of a center point of the target, or sensing information of a designated position on the target.

8. The method according to any one of claims 3 to 7, characterized in that: The method further comprises: Acquire second perception information, where the second perception information indicates information obtained by perceiving the target within the second time period according to the perception operation indication information.

9. A target detection method, characterized in that: The method comprises: receiving target indication information and position prediction information, wherein the target indication information indicates that M scattering points belong to the same target, and the position prediction information indicates a predicted position of each of the M scattering points in a second time period, where M is an integer greater than 1; The target is sensed within the second time period according to the target indication information and the position prediction information.

10. The method according to claim 9, characterized in that The method further comprises: Acquire P first perception information, where the P first perception information respectively correspond to P scattering points, any one of the first perception information is information of the scattering point obtained by perceiving the scattering point corresponding to it in a first time period, the P scattering points are all or part of the M scattering points, the second time period is later than the first time period, and P is a positive integer; Send the P first perception information.

11. The method according to claim 10, characterized in that The method further comprises: First indication information is received, where the first indication information indicates that a first scattering point among the M scattering points is a scattering point among the P scattering points.

12. The method according to any one of claims 9 to 11, characterized in that: The method further comprises: receiving sensing operation indication information, where the sensing operation indication information indicates a sensing operation performed on the target within the second time period; The sensing the target within the second time period according to the target indication information and the position prediction information includes: The perception operation is performed on the target within the second time period according to the target indication information and the position prediction information to obtain second perception information.

13. The method according to claim 12, characterized in that The method further comprises: Send the second perception information.

14. The method according to claim 12 or 13, characterized in that The sensing operation includes at least one of the following: positioning operation, movement direction recognition, orientation recognition or posture recognition.

15. The method according to claim 14, characterized in that The sensing operation includes gesture recognition, and the method further includes: Receive posture type information, where the posture type information is used to indicate positions of the M scattering points corresponding to different posture types.

16. The method according to any one of claims 12 to 15, characterized in that: The method further comprises: The sensing mode indication information is received, where the sensing mode indication information indicates a sensing mode adopted for performing the sensing operation on the target.

17. The method according to claim 16, characterized in that The sensing method includes sensing information of a center point of the target, or sensing information of a designated position on the target.

18. A communication device, characterized in that: The method comprises a unit or module for executing the method according to any one of claims 1 to 8, or comprises a unit or module for executing the method according to any one of claims 9 to 17.

19. A communication device, characterized in that: include: A processor, the processor is coupled to a memory, the memory is used to store programs or instructions, when the program or instructions are executed by the processor, the device executes the method as claimed in any one of claims 1 to 8, or executes the method as claimed in any one of claims 9 to 17.

20. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed, the computer performs the method according to any one of claims 1 to 8 or the method according to any one of claims 9 to 17.

21. A computer program product, comprising computer program code, characterized in that: When the computer program code is executed on a computer, the computer is enabled to implement the method according to any one of claims 1 to 8, or the method according to any one of claims 9 to 17.

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