Sensing cooperation methods, communication apparatus and storage medium

Abstract

Provided in the present disclosure are sensing cooperation methods, a communication apparatus and a storage medium. A method is applied to a sensing function entity, and comprises: performing sensing detection on a target by means of a first sensing unit; and performing cooperative sensing detection on the target by means of a second sensing unit.

Description

Perception collaboration method, communication device and storage medium

[0001] This disclosure claims priority to Chinese patent application No. 202311866036.3, filed on December 29, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the field of communications, and in particular to a perception collaboration method, a communication device, and a storage medium. Background Art

[0003] With the rapid development of information technology, integrated communication and perception technologies are playing a vital role in wireless communications. By integrating wireless communications with perception functions, this technology enables real-time perception and monitoring of the environment, objects, and user status, and rapidly transmits and processes this information. Furthermore, it improves network reliability and adaptability. Through the close collaboration between perception and communication, it optimizes resource allocation and network configuration based on real-time perception data to meet diverse perception service requirements and environmental changes. Consequently, this technology is finding widespread application in areas such as intelligent transportation, smart manufacturing, and the Internet of Things. Summary of the Invention

[0004] In a first aspect, a perception collaboration method is provided, which is applied to a perception functional entity. The method includes:

[0005] Perceiving and detecting the target through the first perception unit;

[0006] The target is cooperatively sensed and detected through the second sensing unit.

[0007] In a second aspect, a perception collaboration method is provided, which is applied to a first perception unit. The method includes:

[0008] A first message is sent to the second perception unit, where the first message is used to request the second perception unit to perform collaborative perception detection on a target, where the target is the target that the first perception unit performs perception detection on.

[0009] In a third aspect, a perception collaboration method is provided, which is applied to a second perception unit. The method includes:

[0010] A first message is received, where the first message is used to request the second perception unit to perform collaborative perception detection on a target, where the target is the target that the first perception unit performs perception detection on.

[0011] In a fourth aspect, a perception collaboration device is provided, which is applied to a perception functional entity. The perception collaboration device includes:

[0012] A sensing and detection module, configured to sense and detect a target through a first sensing unit;

[0013] The perception and detection module is also used to perform collaborative perception and detection of the target through the second perception unit.

[0014] In a fifth aspect, a perception cooperation device is provided, which is applied to a first perception unit. The perception cooperation device includes:

[0015] The sending module is used to send a first message to the second perception unit, where the first message is used to request the second perception unit to perform collaborative perception detection on a target, where the target is the target that the first perception unit performs perception detection on.

[0016] In a sixth aspect, a perception cooperation device is provided, which is applied to the second perception unit. The perception cooperation device includes:

[0017] The receiving module is used to receive a first message, where the first message is used to request the second perception unit to perceive and detect a target, where the target is the target perceived and detected by the first perception unit.

[0018] In the seventh aspect, a communication device is provided, comprising: a memory and a processor; the memory and the processor are coupled; the memory is used to store instructions executable by the processor; and the processor executes the perception collaboration method described in any one of the above aspects or embodiments when executing the instructions.

[0019] In an eighth aspect, a computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the perceptual collaboration method described in any one of the above aspects or embodiments is implemented.

[0020] In a ninth aspect, a computer program product is provided, which includes computer program instructions, and when the computer program instructions are executed by a processor, the perceptual collaboration method described in any one of the above aspects or embodiments is implemented.

[0021] For the detailed descriptions of the fourth to ninth aspects and their various implementations in this disclosure, reference can be made to the detailed descriptions in the first, second, third aspects and their various implementations; and for the beneficial effects of the fourth to ninth aspects and their various implementations, reference can be made to the analysis of the beneficial effects in the first, second, third aspects and their various implementations, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present disclosure, the following briefly introduces the drawings required for use in some embodiments of the present disclosure. Obviously, the drawings described below are only drawings of some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0023] FIG1 is a schematic diagram of the architecture of a communication system provided by some embodiments of the present disclosure.

[0024] FIG2 is a schematic diagram of the architecture of another communication system provided by some embodiments of the present disclosure.

[0025] FIG3 is a schematic diagram of the architecture of another communication system provided by some embodiments of the present disclosure.

[0026] FIG4 is a schematic diagram of the architecture of another communication system provided by some embodiments of the present disclosure.

[0027] FIG5 is a schematic diagram of the architecture of another communication system provided by some embodiments of the present disclosure.

[0028] FIG6 is a schematic diagram of the architecture of another communication system provided by some embodiments of the present disclosure.

[0029] FIG7 is a flowchart of a perception collaboration method provided by some embodiments of the present disclosure.

[0030] FIG8 is a flowchart of another perception collaboration method provided by some embodiments of the present disclosure.

[0031] FIG9 is a flowchart of another perception collaboration method provided by some embodiments of the present disclosure.

[0032] FIG10 is a flowchart of another perception collaboration method provided by some embodiments of the present disclosure.

[0033] FIG11 is a flowchart of another perception collaboration method provided by some embodiments of the present disclosure.

[0034] FIG12 is a flowchart of another perception collaboration method provided by some embodiments of the present disclosure.

[0035] FIG13 is a flowchart of another perception collaboration method provided by some embodiments of the present disclosure.

[0036] FIG14 is a flowchart of another perception collaboration method provided by some embodiments of the present disclosure.

[0037] FIG15 is a flowchart of another perception collaboration method provided by some embodiments of the present disclosure.

[0038] FIG16 is a flowchart of another perception collaboration method provided by some embodiments of the present disclosure.

[0039] FIG17 is a schematic structural diagram of a perception collaboration device provided in some embodiments of the present disclosure.

[0040] FIG18 is a schematic structural diagram of another perception cooperation device provided in some embodiments of the present disclosure.

[0041] FIG19 is a schematic structural diagram of another perception cooperation device provided in some embodiments of the present disclosure.

[0042] FIG20 is a schematic structural diagram of a communication device provided in some embodiments of the present disclosure. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions of this disclosure in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this disclosure, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of this disclosure without making any creative efforts shall fall within the scope of protection of this disclosure.

[0044] It should be noted that in this disclosure, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this disclosure as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts by way of example.

[0045] In the following, the terms "first," "second," etc. are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the quantity of the technical features indicated. Therefore, a feature specified as "first," "second," etc. may explicitly or implicitly include one or more of the features.

[0046] In the description of this disclosure, unless otherwise specified, " / " means "or." For example, A / B can mean A or B. "And / or" herein is simply a description of an association between related objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: only A, only B, and A and B. Furthermore, "at least one" means one or more, and "a plurality" means two or more.

[0047] The integration of communication and perception has become one of the leading trends in 6G technology and services. 6G networks are expected to be a fusion of mobile communication networks, perception networks, and computing networks. In a narrow sense, a perception network refers to a system capable of target positioning (such as ranging, speed, and angle measurement), target imaging, target detection, target tracking, and target recognition. In a broad sense, a perception network refers to a system capable of perceiving the attributes and states of all services, networks, users, and terminals, as well as environmental objects. In complex application scenarios, the business information processing process exhibits a high degree of coupling between communication and perception. First, the perception and communication links overlap in the spatiotemporal domain; second, perception and communication functions influence each other; and third, both communication and perception capabilities typically require wide-bandwidth spectrum and large-aperture antennas to meet their needs.

[0048] The integrated communication and perception network architecture is a system architecture that supports wireless communication and wireless perception functions, services, and applications. Mobile communication systems consist of two major components: the network and terminals, and exhibit overall characteristics such as centralized, hierarchical, tree-like, and cellular architectures. However, perception systems such as radar remote sensing lack the concepts of network and terminal, and lack standardized, unified architectures and paradigms. To achieve integrated communication and perception, the perception system architecture, functional modules, and processes must be aligned with those of the communication system. The time-frequency domain resources used by perception signals compete with or reuse those of communication signals. However, since the location and state of perceived targets are constantly changing (for example, as targets move across different communication nodes in a cellular network), a comprehensive collaborative mechanism is required to ensure accurate perception of the target. To maintain accurate perception of the target as it moves across different communication nodes in a cellular network, a comprehensive collaborative mechanism between different communication nodes is required.

[0049] The methods provided in the embodiments of the present disclosure can be applied to various communication systems. For example, the communication system can be a fifth-generation (5G) communication system, a Wi-Fi system, a 3GPP (the 3rd Generation Partnership Project)-related communication system, a future-evolved communication system (such as a sixth-generation (6G) communication system), or a system integrating multiple systems, and the embodiments of the present disclosure are not limited thereto.

[0050] 1 is a schematic diagram of the architecture of a communication system provided by an embodiment of the present disclosure. As shown in FIG1 , the communication system includes: a sensing function entity 110 , a first sensing unit 120 , a second sensing unit 130 , and a target 140 .

[0051] The perception function entity 110 is used to perform perception management and process perception data.

[0052] In some embodiments, the sensing function entity 110 includes at least one of the following: a first functional module, a second functional module, a third functional module, a fourth functional module, and a fifth functional module. The first functional module is configured to obtain sensing service requirements; the second functional module is configured to obtain deployment information of sensing units; the third functional module is configured to determine a sensing signal transmission configuration and a sensing echo reception configuration; the fourth functional module is configured to manage collaboration between sensing units; and the fifth functional module is configured to analyze sensing service requirements and select sensing units that meet the sensing service requirements.

[0053] In some embodiments, the sensing function entity 110 includes a first sensing function entity 150 and a second sensing function entity 160. For example, the first sensing function entity 150 may be an upper-layer management entity of the sensing function entity 110, and the second sensing function entity 160 may be a lower-layer management entity of the sensing function entity 110. The first sensing function entity 150 includes a first functional module and a second functional module. The second sensing function entity 160 includes a third functional module, a fourth functional module, and a fifth functional module.

[0054] The first sensing unit 120 is configured to receive the sensing signal configuration sent by the sensing function entity 110 and perform sensing detection on the target 140 based on the sensing signal configuration.

[0055] The second perception unit 130 is configured to receive a message sent by the perception function entity 110 or the first perception unit 120 and perform collaborative perception detection on the target 140 based on the message.

[0056] In some embodiments, the first sensing unit 120 and the second sensing unit 130 each include a sensing signal sending unit and a sensing echo receiving unit. The second functional module can be used to obtain the deployment information and sensing capabilities of the sensing units in the sensing network, for example, including the following a1-a6.

[0057] a1. Deployment mode of the sensing signal sending unit and the sensing echo receiving unit. Exemplarily, the deployment mode may be co-location deployment, co-station deployment, non-co-station deployment, or non-co-location deployment.

[0058] a2. Deployment information of the perception signal sending unit. Exemplarily, the deployment information of the perception signal sending unit includes, but is not limited to, an identity document (ID) of the network device or terminal device where the perception signal sending unit is located. The ID of the network device or terminal device includes, but is not limited to, a communication base station ID, a distributed unit (DU) ID, a transmit / receive point (TRP) ID, a microcell ID, a reconfigurable intelligent surface (RIS) ID, and a neighbor cell relation (NCR) ID.

[0059] a3. Detecting the deployment information of the echo receiving unit: In some embodiments, the detection of the deployment information of the echo receiving unit can refer to the deployment information in a2 above, and the embodiments of the present disclosure will not be repeated here.

[0060] a4. Perception capability of the signal sending unit.

[0061] In some embodiments, the sensing capability of the sensing signal sending unit includes:

[0062] Frequency domain capabilities of the perceived signal transmission, such as bandwidth, continuous or discontinuous frequency domain, frequency domain granularity, and frequency domain combing settings;

[0063] The time domain capabilities of the perceived signal transmission; for example, supported frame format, duration, start offset, granularity, periodic mode, semi-persistent mode, aperiodic mode, and other time domain capabilities; where granularity units include relative units such as frames, time slots, and symbols, or absolute units such as milliseconds and microseconds;

[0064] The power of the sensing signal transmission; for example, the maximum available power of the sensing signal transmission;

[0065] a signal waveform used for transmitting the sensing signal; in some embodiments, the signal waveform includes at least one of the following: an orthogonal frequency division multiplex (OFDM) signal waveform, an orthogonal time frequency space (OTFS) signal waveform, or a frequency modulated continuous wave (FMCW) signal waveform;

[0066] A channel for sensing signals that can be multiplexed; in some embodiments, the multiplexed channel includes at least one of the following: a synchronization signal channel, a channel state reference signal channel, a demodulation reference signal channel, a phase tracking reference signal channel, a sounding reference signal channel, a data channel, and a control channel;

[0067] The number of sensing beams;

[0068] The azimuth and elevation ranges of a single sensing beam;

[0069] The maximum azimuth and elevation angle ranges of the sensing signal;

[0070] a5. Perception capability of the echo receiving unit.

[0071] In some embodiments, the sensing capability of the sensing echo receiving unit includes:

[0072] Frequency domain capabilities of sensing signal echo reception, such as bandwidth, continuous or discontinuous frequency domain, frequency domain granularity, and frequency domain combing settings;

[0073] The time domain capabilities of sensing signal echo reception; for example, supported frame format, duration, start offset, granularity, periodic mode, semi-persistent mode, aperiodic mode, and other time domain capabilities; granularity units include relative units such as frames, time slots, and symbols, or absolute units such as milliseconds and microseconds;

[0074] Sensitivity of signal echo reception;

[0075] A waveform of a sensing signal; in some embodiments, the signal waveform includes at least one of the following: an OFDM signal waveform, an OTFS signal waveform, or an FMCW signal waveform;

[0076] A channel for sensing signals that can be multiplexed; in some embodiments, the multiplexed channel includes at least one of the following: a synchronization signal channel, a channel state reference signal channel, a demodulation reference signal channel, a phase tracking reference signal channel, a sounding reference signal channel, a data channel, and a control channel;

[0077] The arrival angle range of the received signal echo is perceived; in some embodiments, the arrival angle range includes: a horizontal arrival angle range and a vertical arrival angle range.

[0078] a6. Perception range.

[0079] In some embodiments, the perception range includes: a plane perception range and a vertical perception range. The plane perception range can be identified by a two-dimensional plane rectangular coordinate system. For example, the perception range is divided into multiple grids, and the grid size and the position of each grid are defined by rectangular coordinates to identify the perception range. Alternatively, the plane perception range can also be identified by a polar coordinate system. For example, the perception range is identified based on the center coordinates, perception radius, and scanning range of the perception azimuth of the perception range. The vertical perception range can be identified by adding a third dimension (for example, adding a new parameter) on the basis of the plane perception range. For example, if the plane perception range adopts a two-dimensional plane rectangular coordinate system, the vertical axis coordinate is added to describe the spatial thickness of the perception range to identify the vertical perception range. If the plane perception range adopts a polar coordinate system, the pitch scanning angle range of the perception signal is added to identify the vertical perception range.

[0080] In some embodiments, the third functional module may be used to determine a sensing signal sending configuration and a sensing echo receiving configuration, and manage the sensing signal sending configuration and the sensing echo receiving configuration, for example, including the following b1-b12.

[0081] b1. Based on the perception indicators, determine the minimum requirements for time domain resources, frequency domain resources, code domain resources, and spatial domain resources for sending perception signals.

[0082] In some embodiments, the airspace resource includes at least one of the following:

[0083] The number of sensing beams used;

[0084] The sensing beam used; illustratively, the sensing beam can be identified based on a beam number or a reference signal multiplexed by the sensing beam;

[0085] The main lobe direction, main lobe horizontal width and vertical width of each sensing beam, or the azimuth angle range and elevation angle range of each sensing beam;

[0086] The duration of the perception beam, the order of perception beam switching, and the time point of perception beam switching;

[0087] The maximum azimuth and elevation angle ranges of the sensing signal.

[0088] In some embodiments, the code domain resource includes: a codeword sequence used by the perception signal.

[0089] b2. Negotiate with the communication entity where the perception signal sending unit is located regarding the available time domain resources, frequency domain resources, code domain resources, and spatial domain resources when sending the perception signal.

[0090] b3. Negotiate with the communication entity where the sensing echo receiving unit is located regarding available time domain resources, frequency domain resources, code domain resources, and spatial domain resources when receiving the sensing signal echo.

[0091] b4. Configure the time domain resources, frequency domain resources, code domain resources, and spatial domain resources used by the perception signal sending unit when sending the perception signal.

[0092] b5. Configure the time domain resources, frequency domain resources, code domain resources, and spatial domain resources used when receiving the sensing signal echo for the sensing echo receiving unit.

[0093] b6. Obtain changes in available sensing resources of the sensing signal sending unit and the sensing echo receiving unit.

[0094] b7. Indicate the perception signal sending unit used. Exemplarily, the indication can be based on a new generation base station (gNB) identifier, a TRP identifier, a DU identifier, a terminal identifier, etc.

[0095] b8. Indicate the sensing echo receiving unit to be used. For example, the indication can be based on the gNB identifier, TRP identifier, DU identifier, terminal identifier, etc.

[0096] b9. Indicates the transceiver mode of the sensing signal. Exemplarily, the transceiver modes include: self-transmit and self-receive, and A-transmit and B-receive. When the sensing signal transmitting unit and the sensing echo receiving unit are deployed on the same communication network device or at the same physical address, the self-transmit and self-receive mode can be used. When the sensing signal transmitting unit and the sensing echo receiving unit are deployed on different communication network devices or at different physical addresses, the A-transmit and B-receive mode can be used.

[0097] b10. Configure the perception signal sending unit with the waveform, multiplexed channels, power, time domain resources, frequency domain resources, spatial domain resources, and code domain resources of the perception signal.

[0098] b11. Configure the waveform of the signal, multiplexed channels, power, time domain resources, frequency domain resources, spatial domain resources, and code domain resources used by the echo sensing receiving unit for echo reception.

[0099] b12. Based on the business requirements and indicator requirements of the sensing service, indicate the sensing range to the sensing signal sending unit and the sensing echo receiving unit.

[0100] In some embodiments, the perception range may be indicated by one of the following:

[0101] The three-dimensional coordinates of the sensing signal sending unit are used as the center, and are defined by the sensing radius and the horizontal azimuth angle range and pitch angle range of the sensing beam scan;

[0102] It is defined by the perception resolution attenuation curve. It can be understood that the perception signal attenuates with increasing propagation distance. The perception beam is limited by the beamforming characteristics of the antenna array. The closer to the edge of the scanning angle range, the greater the signal attenuation. Therefore, the perception resolution also attenuates with distance and angle.

[0103] In some embodiments, the fourth functional module is used to manage collaboration between perception units, for example including the following c1-c2.

[0104] c1. If two adjacent sensing units are operating area sensing services, the two sensing units are controlled to coordinate sensing signal resources to avoid mutual sensing signal interference. The fourth functional module splices the sensing data reported by the two adjacent sensing units. If there is sensing data with overlapping sensing ranges, the fourth functional module can fuse the sensing data.

[0105] c2. If a perception unit runs a tracking perception type perception service and performs tracking perception on a specific target, when the perception accuracy requirement of the specific target is higher than that of the regional perception type perception service scenario, the perception unit needs to configure perception resources for the specific target that are different from other perception services (usually more resources are configured for the specific target). The fourth functional module needs to locate the position of the specific target in real time and adjust the coverage of the perception beam in real time. When the specific target enters the edge of the perception range of the perception unit, the weak perception area or the perception blind area, the fourth functional module decides the collaborative perception mode and collaborative perception resource configuration between the perception units to ensure the perception performance and perception continuity of the specific target.

[0106] Exemplarily, the fourth functional module may determine the following content of the perception unit A:

[0107] Whether to maintain awareness of specific goals;

[0108] Whether to switch the transmission and reception mode of the sensing signal. For example, switching from self-transmission and self-reception to A-transmission and B-reception. A-transmission and B-reception includes: sensing unit A transmits, and sensing unit B participating in cooperative sensing detection receives; or sensing unit B participating in cooperative sensing detection transmits, and sensing unit A receives; or sensing unit A transmits, and terminal B participating in cooperative sensing detection receives; or terminal B participating in cooperative sensing detection transmits, and sensing unit A receives.

[0109] In some embodiments, the fourth functional module may further determine the sensing units that participate in the collaborative sensing detection. For example, the fourth functional module determines, based on the location of a specific target, which sensing unit's sensing range the target is in, and selects one or more sensing units to participate in the collaborative sensing detection.

[0110] In some embodiments, the fourth functional module may also negotiate with the sensing units participating in the collaborative sensing detection about the transceiver mode of the sensing signal and the configuration of the sensing resources. During the negotiation process, the interactive information elements involved include:

[0111] The fourth functional module interacts with the sensing units participating in the collaborative sensing detection; the content of this interaction includes: application requirements for sensing collaboration, characteristics of the sensing target, the transmission and reception mode of the sensing signal, the sensing resource configuration required for the collaborative sensing detection, and the processing mode of the sensing data;

[0112] The interaction between a perception unit participating in collaborative perception detection and another perception unit participating in collaborative perception detection; the content of the interaction includes: response to the perception collaboration application (such as receiving, rejecting or modifying the perception collaboration application), the sending and receiving mode of the perception signal, and the perception resource configuration.

[0113] In some embodiments, the fifth functional module is used to analyze the perception service requirements and select a perception unit that meets the perception service requirements, for example, including the following d1-d5.

[0114] d1. Determine the sensing service type. Sensing service types include: area sensing type and tracking sensing type.

[0115] d2. Screen the sensing target. For example, if the sensing service type is tracking sensing type, a feature description of the sensing target needs to be provided. The feature description of the sensing target includes at least one of the following:

[0116] Real-time location information of the target; for example, the target's two-dimensional rectangular coordinate system coordinates, polar coordinate system coordinates, three-dimensional rectangular coordinate system coordinates, and three-dimensional polar coordinate system coordinates;

[0117] The historical movement trajectory of the target;

[0118] The target's predicted movement trajectory;

[0119] The object's shape features; for example, the object's shape, outline, two-dimensional size, and three-dimensional size;

[0120] Target echo signal parameters; for example, real-time and / or historical values ​​of the target's perceived echo intensity;

[0121] The perception accuracy of the target; for example, the perception accuracy of the target and the change history of the perception accuracy of the target;

[0122] Identification of the target; in some embodiments, the target can be identified based on the target serial number; the target serial number is used to map the feature description of the above target. When there are multiple perception targets, the targets can be distinguished by the serial number.

[0123] d3. Determine the perception target.

[0124] In some embodiments, the perception indicator includes at least one of the following:

[0125] Positioning accuracy; for example, horizontal accuracy and vertical accuracy. Horizontal accuracy refers to the error in the perception results on a two-dimensional reference plane or horizontal plane. Vertical accuracy refers to the error in the perception results on the vertical axis or height.

[0126] The perception accuracy of distance, speed, and acceleration; the perception accuracy of distance, speed, and acceleration includes horizontal accuracy and vertical accuracy, which is used to describe the degree of closeness between the measured perception result (i.e., speed) of the perceived target speed and its actual speed;

[0127] The perceptual resolution of distance, velocity, and acceleration is used to describe the minimum difference in the magnitude of the perceived target measurement (e.g., distance, velocity) to allow detection of targets of different magnitudes;

[0128] Refresh rate; i.e., the rate at which sensor results are generated;

[0129] Missed detection probability; for example, the statistical missed detection probability of the perceived target within a preset time;

[0130] False alarm probability; for example, the statistical false alarm probability within a preset time for sensing the target;

[0131] Maximum sensing service latency; for example, the time from triggering a sensing request to outputting the sensing result.

[0132] d4. Select a sensing signal sending unit and a sensing echo receiving unit.

[0133] d5. Determine the transmission and reception mode of the sensing unit for the sensing signal based on the sensing range.

[0134] In some embodiments, the perception function entity further includes a sixth function module, which is used to process the perception data.

[0135] In some embodiments, the sixth functional module is configured to process the sensory data, including at least one of the following:

[0136] Saving the sensing data; for example, saving the original sensing echo signal;

[0137] Forwarding sensing data; for example, forwarding the original sensing echo signal;

[0138] Measuring the perceived echo signal; for example, calculating the perceived measurement values ​​of the perceived echo signal, such as time delay, angle, velocity, and Doppler;

[0139] Filter out targets based on perception data;

[0140] Determine characteristic information of the target based on the perception data;

[0141] Calculate the false alarm rate and missed alarm rate;

[0142] Fusion of perception data; for example, positioning data fusion, trajectory fusion, target feature fusion;

[0143] Build a perception map.

[0144] In some embodiments, the sixth functional module is deployed in a core network and / or an access network, and the access network includes communication nodes, base stations, communication centralized units, communication distributed units, and terminal devices.

[0145] In some embodiments, the various functions of the sixth functional module for processing perception data can be deployed in the same location, network element or terminal, or in different locations, network elements or terminals.

[0146] In some embodiments, the sensing function entity may be deployed at different locations in the core network or access network to flexibly sense and detect the target 140. The following describes the architecture of the communication system when the sensing function entity is deployed at different locations.

[0147] In some embodiments, as shown in FIG2 , the perception function entity 110 is deployed in the core network, and the first perception unit 120 and the second perception unit 130 are respectively deployed in the communication node A and the communication node B of the access network.

[0148] In some embodiments, the perception function entity 110 may be deployed in integration with network elements of an existing core network; or, it may be deployed independently in the core network.

[0149] In some embodiments, the perception function entity 110 performs a signaling interaction process with the first perception unit 120 and / or the second perception unit 130 via the interface between the core network and the access network. Exemplarily, the perception function entity 110 includes a perception management module 111 and a perception data processing module 112. The perception management module 111 can perform perception control on the first perception unit 120 and the second perception unit 130, and the perception data processing module 112 can receive perception data sent by the first perception unit 120 and the second perception unit 130. The signaling interaction process is used to configure the second perception unit 130 to perform collaborative perception detection of the target 140.

[0150] In some embodiments, as shown in FIG2 , as target 140 moves from the perception range of first perception unit 120 to the perception range of second perception unit 130, first perception unit 120 and second perception unit 130 establish collaborative perception of target 140 based on a signaling exchange process. For example, first perception unit 120 includes a perception signal sending module 121 and a perception echo receiving module 122, and second perception unit 130 includes a perception signal sending module 131 and a perception echo receiving module 132. Perception management module 111 can perform perception control on perception signal sending modules 121 and 131, causing them to transmit perception signals to target 140. Simultaneously, perception echo receiving modules 122 and 132 can receive echo signals (i.e., perception data) sent by target 140 and transmit them to perception data processing module 112. This establishes collaborative perception of target 140 and enables perceptual detection of target 140.

[0151] In some embodiments, the communication node of the access network may be a base station, a relay node, or an integrated broadband access (IBA) node.

[0152] It should be noted that the forms of the communication nodes of the above-mentioned access network are only some examples given in the embodiments of this disclosure. Based on the actual scenarios and perceived business requirements, the communication nodes may also have other implementation forms, which are not limited in the embodiments of this disclosure.

[0153] In some embodiments, when the perception function entity 110 includes a first perception function entity 150 and a second perception function entity 160, as shown in Figure 3, the first perception function entity 150 is deployed in the core network, and the second perception function entity 160 is deployed in a centralized unit of the access network. The first perception unit 120 and the second perception unit 130 are respectively deployed in distributed units A and B of the access network.

[0154] In some embodiments, the first perception function entity 150 in the core network includes a perception management module 151 and a perception data processing module 152. The perception management module 151 retains basic perception management functions (such as obtaining perception business requirements, obtaining deployment information and perception-related capabilities of perception units, selecting perception units, determining perception indicators, etc.). The perception data processing module 152 retains high-level perception data processing functions (such as recognition of perception targets, precise positioning, generation of target trajectories, statistics on false alarm rates and missed alarm rates, screening of perception data in tracking perception modes, integration of perception data in collaborative perception modes (including fusion of positioning data, trajectory fusion, feature fusion), construction of perception maps, etc.).

[0155] In some embodiments, as shown in FIG3 above, when the target 140 moves from the perception range of the first perception unit 120 to the perception range of the second perception unit 130 , the centralized unit controls the first perception unit 120 and the second perception unit 130 to establish collaborative perception of the target 140 .

[0156] Exemplarily, the second perception function entity 160 includes a perception signal resource configuration module 161 and a perception data collaborative processing module 162. The perception management module 151 can perform perception control on the perception signal resource configuration module 161, which in turn can perform perception control on the perception signal sending module 121 and the perception signal sending module 131. At this point, the perception signal sending module 121 and the perception signal sending module 131 can send perception signals to the target 140. Simultaneously, the perception echo receiving module 122 and the perception echo receiving module 132 can receive the echo signal (i.e., perception data) sent by the target 140 and send it to the perception data collaborative processing module 162. The perception data collaborative processing module 162 further sends the perception data to the perception data processing module 152. This establishes collaborative perception of the target 140 and enables perceptual detection of the target 140.

[0157] In some embodiments, the centralized unit may be a base station or a central unit (CU). The distributed unit may be a distributed unit (DU), a transmit / receive processing module (TRP), a transceiver, a distributed microcell, a reconfigurable intelligent surface (RIS) unit, or a network controllable reconfigurable intelligent surface (NCR).

[0158] In some embodiments, the above-mentioned base station can be a base station or evolved base station (eNB or eNodeB) in long term evolution (LTE), long term evolution advanced (LTEA), a base station device in a 5G network, or a base station in a future communication system, etc. The base station may include various macro base stations, micro base stations, home base stations, wireless remote stations, reconfigurable intelligent surfaces (RIS), routers, relays, wireless fidelity (WIFI) devices and other network side devices.

[0159] It should be noted that the above-mentioned centralized units and distributed units are only some examples given in the embodiments of this disclosure. Based on the actual scenarios and perceived business needs, centralized units and distributed units may also have other implementation forms, which are not limited in the embodiments of this disclosure.

[0160] In some embodiments, as shown in FIG4 , the perception function entity 110 is deployed in the core network, the first perception unit 120 is deployed in the communication node C of the access network, and the second perception unit 130 is deployed in the terminal of the access network.

[0161] In some embodiments, the awareness function entity 110 may also be deployed in an access network.

[0162] In some embodiments, when the target 140 moves toward the edge of the perception range of the communication node C, the communication node C establishes collaborative perception of the target 140 with a terminal having perception capability and a perception range covering the target 140 .

[0163] Exemplarily, the second perception unit 130 can be deployed in terminal A and terminal B. The perception function entity 110 performs perception control and receives echo signals (i.e., perception data) on terminal A and terminal B through communication node C. For example, communication node C includes a perception signal sending module and a perception echo receiving module. The perception management module 111 of the perception function entity 110 performs perception control on communication node C, so that the perception signal sending module of communication node C performs perception control on terminal A and terminal B. At this time, terminal A and terminal B can send perception signals to target 140, receive echo signals (i.e., perception data) sent by target 140, and send them to the perception echo receiving module of communication node C. The perception echo receiving module finally sends the perception data to the perception data processing module 112 of the perception function entity 110. In this way, collaborative perception of target 140 can be established, and perception detection of target 140 can be achieved.

[0164] In some embodiments, the terminal can be a mobile phone, a tablet computer, a computer with wireless transceiver function, a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, etc. The embodiments of the present disclosure do not limit the application scenarios. The terminal may also sometimes be referred to as a user, user equipment (UE), access terminal, UE unit, UE station, mobile station, mobile station, remote station, remote terminal, mobile device, UE terminal, wireless communication device, UE agent or UE device, etc., and the embodiments of the present disclosure do not limit this.

[0165] In some embodiments, as shown in Figure 5, the awareness function entity 110 is deployed in a communication node of the access network. For example, the awareness function entity 110 is deployed in communication node D and communication node E.

[0166] In some embodiments, when the target 140 moves from the perception range of the communication node D to the perception range of the communication node E, the communication node D and the communication node E establish cooperative perception of the target 140 .

[0167] For example, while target 140 is moving, communication node D sends a sensing signal to target 140 and receives an echo signal (i.e., sensing data) sent by target 140. Furthermore, communication node D can also perform sensing management negotiation with communication node E, so that communication node E sends a sensing signal to target 140 and receives an echo signal from target 140. After receiving the echo signal, communication node E also sends the echo signal to communication node D. In this way, collaborative sensing of target 140 can be established, and sensing detection of target 140 can be achieved.

[0168] In some embodiments, as shown in FIG6 , the sensing function entity 110 is deployed in a centralized unit of the access network, and the first sensing unit 120 and the second sensing unit 130 are respectively deployed in a distributed unit A and a distributed unit B of the access network.

[0169] In some embodiments, when target 140 moves from the perception range of distributed unit A to the perception range of distributed unit B, the centralized unit controls distributed unit A and distributed unit B to establish collaborative perception of target 140. For example, the perception management module 111 of the perception function entity 110 can perform perception control on distributed unit A (i.e., the first perception unit 120) and distributed unit B (i.e., the second perception unit 130) so that distributed unit A and distributed unit B send perception signals to the perceived target 140 and receive echo signals (i.e., perception data) of the perceived target 140. After receiving the echo signals, distributed unit A and distributed unit B also send the echo signals to the perception data processing module 112 of the perception function entity 110. In this way, collaborative perception of target 140 can be established, and perception detection of target 140 can be achieved.

[0170] It should be noted that the above scenarios are intended to more clearly illustrate the technical solutions of the embodiments of the present disclosure and do not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. Ordinary technicians in this field can know that with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present disclosure are also applicable to similar technical problems.

[0171] FIG7 is a perception cooperation method provided by an embodiment of the present disclosure, which is applied to a perception function entity and includes the following steps:

[0172] S101. Detect and perceive a target through a first perception unit.

[0173] In some embodiments, based on the different sensing service types, the target can be one or more target areas, or one or more target objects. For example, when the sensing service type is area sensing, the target can be one or more target areas. When the sensing service type is tracking sensing, the target can be one or more target objects.

[0174] In some embodiments, the sensing function entity determines a first sensing unit for performing the sensing service based on sensing service requirements and transmits a sensing signal configuration of the first sensing unit to the first sensing unit. The first sensing unit determines whether to accept the sensing signal configuration based on the sensing signal configuration and its own capabilities. If the first sensing unit accepts the sensing signal configuration, it can perform sensing detection of the target based on the sensing signal configuration. In other words, the sensing function entity can perform sensing detection of the target through the first sensing unit.

[0175] In some embodiments, the sensing signal configuration includes at least one of the following: a sensing signal sending configuration, a sensing echo receiving configuration, a sensing range configuration, and a sensing signal transceiver mode configuration.

[0176] In some embodiments, the perception signal transmission configuration includes at least one of the following: a signal waveform used for perception signal transmission, a multiplexed channel, a power configuration, a time domain configuration, a frequency domain configuration, a spatial domain configuration, and a code domain configuration.

[0177] In some embodiments, the signal waveform includes at least one of the following: an OFDM signal waveform, an OTFS signal waveform, and an FMCW signal waveform.

[0178] In some embodiments, the multiplexed channels include at least one of the following: a synchronization signal channel, a channel for a channel state reference signal, a demodulation reference signal channel, a phase tracking reference signal channel, a detection reference signal channel, a data channel, and a control channel.

[0179] In some embodiments, the time domain configuration includes at least one of the following: duration, start offset, granularity, periodic mode, semi-persistent mode, and non-periodic mode.

[0180] In some embodiments, the frequency domain configuration includes at least one of the following: whether the frequency band is continuous, the bandwidth of the perception signal, and comb-shaped frequency domain resource configuration.

[0181] In some embodiments, the spatial configuration includes at least one of the following: the number of sensing beams, the identification of the sensing beams, the angle information of the sensing beams, the duration of the sensing beams, the order of switching the sensing beams, the time point of switching the sensing beams, and the angle range information of the sensing signal transmission.

[0182] In some embodiments, the perceptual echo reception configuration includes at least one of the following: a signal waveform used for perceptual echo reception, a multiplexed channel, a time domain configuration, a frequency domain configuration, a spatial domain configuration, and a code domain configuration.

[0183] In some embodiments, the perception range configuration includes: configuring the perception range with the three-dimensional coordinates of the emission point of the perception signal as the center, and with the perception radius and the horizontal azimuth angle range and pitch angle range of the perception beam scan; and / or, configuring the perception range based on the perception resolution attenuation curve.

[0184] S102. Perform collaborative perception detection on the target through the second perception unit.

[0185] In some embodiments, as shown in FIG8 , the above step S102 may be implemented as steps S1021 - S1023 .

[0186] S1021. When the first perception unit perceives and detects the target, determine whether the capability of the first perception unit meets the tracking requirement for the target.

[0187] In some embodiments, when the first perception unit senses and detects a target, it may send perception data about the target to the perception function entity. The perception function entity may analyze the perception data and determine whether the capabilities of the first perception unit meet the requirements for tracking the target. For example, it may determine whether the perception accuracy of the first perception unit meets the required perception accuracy for the target.

[0188] S1022. When the capability of the first perception unit does not meet the tracking requirement for the target, determine a second perception unit.

[0189] In some embodiments, if the capabilities of a first sensing unit do not meet the target tracking requirements, the sensing function entity may determine a second sensing unit among the sensing units adjacent to the first sensing unit that can perform collaborative sensing detection. For example, the second sensing unit may be the sensing unit whose sensing range has the highest degree of overlap with the sensing range of the first sensing unit.

[0190] S1023. Perform collaborative perception detection on the target through the second perception unit.

[0191] In some embodiments, the sensing function entity sends a sensing signal configuration of the second sensing unit to the second sensing unit. The second sensing unit determines whether to accept the sensing signal configuration based on the sensing signal configuration of the second sensing unit and its own capabilities. If the second sensing unit accepts the sensing signal configuration, it can perform cooperative sensing detection of the target. That is, the sensing function entity can perform cooperative sensing detection of the target through the second sensing unit.

[0192] It can be understood that based on the perception collaboration method provided by the embodiment of the present disclosure, the perception function entity can obtain the perception data of the target and realize the perception detection of the target by performing perception detection on the target through the first perception unit. At the same time, the perception function entity can perform collaborative perception detection on the target through the second perception unit, and can perform more in-depth and detailed perception detection on the target on the basis of the first perception unit to make up for the shortcomings of the first perception unit in the perception detection of the target (for example, when the target moves to the edge area of ​​the perception range of the first perception unit, the result of the perception detection of the target by the first perception unit is not accurate enough). By combining the first perception unit and the second perception unit, the embodiment of the present disclosure assists the first perception unit in the perception detection of the target based on the collaborative perception detection of the second perception unit, which can improve the accuracy of perception, enhance the perception and recognition capabilities of the target, and ensure the perception performance of the target.

[0193] In some embodiments, as shown in FIG9 , the above method further includes: steps S201 - S202 .

[0194] S201. Acquire the perception data fed back by the target perception unit.

[0195] The target sensing unit is a sensing unit used to sense and detect the target, and the target sensing unit includes at least a first sensing unit and a second sensing unit.

[0196] S202. Based on the perception data fed back by the target perception unit, update the feature information of the target to obtain updated feature information of the target.

[0197] It is understood that the method provided by the embodiments of the present disclosure, by acquiring the perception data fed back by the target perception unit, can promptly obtain the target's position, speed, direction, and other perception information, allowing the perception function entity to promptly understand changes in the target. Furthermore, the perception function entity updates the target's feature information based on the perception data, allowing the perception function entity to promptly obtain the target's real-time status, thereby enhancing the perception function entity's perception of the target.

[0198] In some embodiments, the above method further includes: sending updated feature information of the target to the target perception unit.

[0199] It can be understood that in the method provided by the embodiment of the present disclosure, the perception function entity sends the updated feature information to the target perception unit, so that the target perception unit can timely adjust the configuration of perception detection of the target based on the updated feature information, improve the perception performance of the target, enhance the perception ability of the target, and thus improve the accuracy of perception.

[0200] In some embodiments, a perception function entity includes at least one of the following: a first functional module, a second functional module, a third functional module, a fourth functional module, and a fifth functional module; wherein the first functional module is configured to obtain a perception service requirement; the second functional module is configured to obtain deployment information of a perception unit; the third functional module is configured to determine a perception signal transmission configuration and a perception echo reception configuration; the fourth functional module is configured to manage collaboration between perception units; and the fifth functional module is configured to parse the perception service requirement and select a perception unit that meets the perception service requirement. For example, after the first functional module obtains the perception service requirement, the fifth functional module parses the perception service requirement to determine a first perception unit that meets the perception service requirement and can perform the perception service.

[0201] In some embodiments, the perception functional entity includes a first perception functional entity and a second perception functional entity; the first perception functional entity includes a first functional module and a second functional module; the second perception functional entity includes a third functional module, a fourth functional module and a fifth functional module.

[0202] In some embodiments, the example contents of the first to fifth functional modules mentioned above can refer to the example descriptions of the first to fifth functional modules in the architecture of the above-mentioned communication system, and the embodiments of the present disclosure will not be repeated here.

[0203] It is understood that the method provided by the embodiments of the present disclosure divides the perception functional entity into different functional modules, each of which has a specific task. This ensures the independence of the functional modules, facilitating the expansion and maintenance of each functional module by the perception functional entity. In addition, by dividing the perception functional entity into different functional modules, each functional module can collaborate and cooperate with each other, thereby increasing the flexibility of the perception system, thereby better meeting various perception business needs and improving the perception performance of the target.

[0204] In some embodiments, the perception function entity further includes a sixth function module, which is used to process the perception data.

[0205] In some embodiments, the sixth functional module is configured to process the sensory data, including at least one of the following:

[0206] Save sensory data;

[0207] forwarding sensor data;

[0208] Measuring and sensing echo signals;

[0209] Filter out targets based on perception data;

[0210] Determine characteristic information of the target based on the perception data;

[0211] Calculate the false alarm rate and missed alarm rate;

[0212] Fusion of sensory data;

[0213] Build a perception map.

[0214] In some embodiments, the sixth functional module is deployed in a core network and / or an access network, and the access network includes communication nodes, base stations, communication centralized units, communication distributed units, and terminal devices.

[0215] It should be noted that, for example contents of the first to sixth functional modules, reference may be made to the example descriptions of the first to fifth functional modules in the architecture of the above-mentioned communication system, and the embodiments of the present disclosure will not be repeated here.

[0216] In some embodiments, based on the different types of sensing services, the sensing collaboration process between the first sensing unit and the second sensing unit (i.e., the process in which the sensing function entity senses and detects the target through the first sensing unit and configures the second sensing unit so that the second sensing unit performs collaborative sensing and detection on the target) can be divided into a regional sensing type and a tracking sensing type. The following examples illustrate the sensing collaboration process of the regional sensing type and the sensing collaboration process of the tracking sensing type.

[0217] 1. Regional Awareness Collaboration Process:

[0218] In some embodiments, the perception function entity establishes a perception service and determines the type of the perception service based on the perception service. If it is a regional perception type, then according to the perception range and perception address required by the perception service, a first perception unit that meets the requirements is selected, the transceiver mode of the perception signal (for example, self-transmission and self-reception, A transmit and B receive) is determined, and the time domain resources, frequency domain resources, spatial domain resources, and code domain resources required for the configuration of the perception signal are determined. Next, the perception function entity determines whether the perception range required by the perception service overlaps with the perception range of the second perception unit; if so, the perception function entity and the second perception unit complete the coordination of the perception signal transmission resources. The perception signals of the first perception unit and the second perception unit form orthogonality or avoidance in at least one of the time domain, frequency domain, code domain, and spatial domain to avoid mutual interference.

[0219] In some embodiments, the perception functional entities can be deployed at different locations in the core network or access network. That is, the perception functional entities can be located in different network architectures to meet the needs of perception services and address different perception scenarios. The perception collaboration process described above also varies based on different network architectures. The following examples illustrate the perception collaboration process under different network architectures.

[0220] In Architecture 1, the sensing functional entity is deployed in the core network, with the first and second sensing units deployed in communication nodes A and B, respectively, of the access network. The first and second sensing units collaborate on the target perception process between site-type sensing units.

[0221] In some embodiments, the sensing function entity performs a signaling interaction process with the first sensing unit and / or the second sensing unit via an interface between the core network and the access network. The signaling interaction process is used to configure the second sensing unit to perform cooperative sensing detection of the target.

[0222] In some embodiments, the signaling interaction process includes: sending a first message to the second perception unit, where the first message is used to request the second perception unit to perform collaborative perception detection on the target.

[0223] In some embodiments, the first message includes at least one of the following:

[0224] Characteristic information of the target;

[0225] a perception signal configuration of the first perception unit;

[0226] The perception signal configuration of the second perception unit.

[0227] In some embodiments, the characteristic information of the target includes at least one of the following:

[0228] Real-time location information of the target;

[0229] The historical movement trajectory of the target;

[0230] The target's predicted movement trajectory;

[0231] The target's physical characteristics;

[0232] Target echo signal parameters;

[0233] the perceived accuracy of the target;

[0234] The identifier of the target.

[0235] In some embodiments, the signaling interaction process further includes: receiving a second message sent by a second perception unit, where the second message is used to respond to the first message.

[0236] In some embodiments, the second message is used to indicate at least one of the following:

[0237] The second perception unit agrees or refuses to perceive and detect the target;

[0238] a suggestion by the second perception unit for modifying the perception signal configuration of the second perception unit;

[0239] The second perception unit proposes a modification to the perception signal configuration of the first perception unit.

[0240] In some embodiments, the interface information elements involved in this architecture include: interface information elements between the perception function entity and the first perception unit, and interface information elements between the perception function entity and the second perception unit. For example, the interface information elements between the perception function entity and the first perception unit include: perception function entity to first perception unit; first perception unit to perception function entity. The interface information elements between the perception function entity and the second perception unit include: perception function entity to second perception unit; second perception unit to perception function entity.

[0241] Exemplarily, the perception function entity may send a first message to the second perception unit based on the interface between the core network and the access network (i.e., the interface information element between the perception function entity and the second perception unit). Exemplarily, the perception function entity performs a signaling interaction process with the first perception unit to negotiate the time domain, frequency domain, spatial domain, and code domain resources required when the first perception unit sends a perception signal. Then, the perception function entity sends a first message to the second perception unit through the signaling interaction process to notify the second perception unit of the perception signal configuration of the first perception unit and request the second perception unit to perform collaborative perception detection on the target.

[0242] In response to the first message, the second perception unit sends a second message to the perception function entity. At this point, the perception function entity can determine, based on the second message, whether the second perception unit can achieve collaborative perception detection of the target. For example, based on the second message, the perception function entity determines whether the second perception unit can achieve orthogonality or avoidance with the perception resources of the first perception unit. If this is not possible, the perception function entity renegotiates with the first perception unit regarding the perception resources to be used when sending the perception signal based on the second perception unit's suggestion for modifying the second perception unit's perception signal configuration or the perception signal configuration of the first perception unit.

[0243] In some embodiments, the interface information elements involved in this architecture include: interface information elements between a sensing function entity and a first sensing unit, and interface information elements between the first sensing unit and a second sensing unit. The interface information elements between the sensing function entity and the first sensing unit include: sensing function entity to first sensing unit; first sensing unit to sensing function entity. The interface information elements between the first sensing unit and the second sensing unit include: first sensing unit to second sensing unit; second sensing unit to first sensing unit.

[0244] Exemplarily, the perception function entity does not send the first message directly to the second perception unit, but sends the first message to the second perception unit through the interface information element between the first perception unit and the perception function entity. Exemplarily, the perception function entity sends the first message to the first perception unit based on the signaling interaction process. After receiving the first message sent by the perception function entity, the first perception unit first determines whether to adopt the perception signal configuration of the first perception unit based on its own perception capability, and feeds back to the perception function entity a message of agreeing or rejecting the perception signal configuration, or modifying the perception signal configuration. Then, the first perception unit can perform a signaling interaction process with the second perception unit through the interface between communication node A and communication node B, that is, forward the first message to the second perception unit.

[0245] The second perception unit sends a second message to the first perception unit in response to the first message. The first perception unit can further forward the second message to the perception function entity so that the perception function entity determines whether the second perception unit can achieve collaborative perception detection of the target based on the second message.

[0246] It can be understood that, based on the perception architecture provided in Architecture 1, by deploying the first and second perception units in the access network, the amount of perception data transmitted within the network can be reduced, thereby lowering network latency and communication load. Furthermore, through perception collaboration between site-based perception units, perception data dispersed across various sites can be aggregated and integrated to obtain more comprehensive and accurate perception results.

[0247] Architecture 2: When the perception function entity includes a first perception function entity and a second perception function entity, the first perception function entity is deployed in the core network, and the second perception function entity is deployed in a centralized unit of the access network. The first perception unit and the second perception unit are deployed in distributed units A and B of the access network, respectively. In this case, the first and second perception units' collaborative process for target perception is collaboration between site-type perception units.

[0248] In some embodiments, the perception function entity deploys a centralized unit of the second perception function entity to perform a signaling interaction process with the second perception unit, wherein the signaling interaction process is used to configure the second perception unit to perform cooperative perception detection of the target.

[0249] In some embodiments, the interface information elements involved in this architecture include: interface information elements between the perception function entity and the distributed unit A, and interface information elements between the perception function entity and the distributed unit B. The centralized unit of the second perception function entity can perform signaling interaction processes with the first perception unit and / or the second perception unit through the above-mentioned interface information elements.

[0250] Exemplarily, the first perception function entity sends a first message to the first perception unit via the second perception function entity, so that the first perception unit determines whether perception detection of the target can be performed based on the first message. The first perception function entity sends a first message to the second perception unit via the second perception function entity, so that the second perception unit determines whether collaborative perception detection of the target can be performed based on the first message. For example content of the signaling interaction process, please refer to the signaling interaction process in the above-mentioned architecture 1, and the embodiments of the present disclosure will not be repeated here.

[0251] It can be understood that, based on the perception architecture provided by Architecture 2, by deploying perception units in distributed units A and B of the access network, distributed deployment of perception functions is achieved. This deployment reduces the risk of single-site perception failures and improves the stability and reliability of the perception system. Furthermore, by deploying perception units in different distributed units, the perception function entity can flexibly configure and expand perception units based on perception service requirements, better meeting perception needs in different regions and perception scenarios.

[0252] In Architecture 3, the sensing functional entity is deployed in the core network. The first sensing unit is deployed in the communication node C of the access network, and the second sensing unit is deployed in the terminal of the access network. In this case, the first and second sensing units perform a collaborative process for sensing the target, which is a collaboration between a site-type sensing unit and a terminal-type sensing unit.

[0253] In some embodiments, when the perception function entity is deployed in the core network, the perception function entity and the first perception unit in communication node C need to perform a signaling interaction process across the core network / access network interface. In this case, the first message and the second message are forwarded through communication node C connected to the second perception unit. In this case, the interface information elements involved in this architecture include: interface information elements between the perception function entity and the first perception unit, wherein the interface information elements between the perception function entity and the first perception unit include: perception function entity to first perception unit; first perception unit to perception function entity.

[0254] In some embodiments, the perception function entity can send a first message (e.g., the perception signal configuration of the first perception unit) to the first perception unit in the communication node C. In response to the first message, the first perception unit can determine whether to adopt the perception signal configuration based on its own perception capabilities, communication service load, and other factors. After the first perception unit makes the determination, it provides feedback to the perception function entity, indicating approval or rejection of the perception signal configuration, or modification of the perception signal configuration. In this case, the interface information elements involved in this process include: interface information elements between the perception function entity and the first perception unit, wherein the interface information elements between the perception function entity and the first perception unit include: perception function entity to first perception unit; first perception unit to perception function entity.

[0255] In some embodiments, when the perception function entity determines that there is a weak perception field or a perception blind spot within the perception range of the communication node C where the first perception unit is located, it can determine whether it is a terminal that can perform regional perception collaboration (that is, a second perception unit) based on the position of the perception unit adjacent to the first perception unit and the perception range of the adjacent perception unit. If there is a terminal that can perform regional perception collaboration (that is, a second perception unit) among the adjacent perception units, the perception function entity can perform a signaling interaction process with the second perception unit. The example content of the signaling interaction process can refer to the signaling interaction process in the above-mentioned architecture 1, and the embodiments of the present disclosure will not be repeated here.

[0256] In some embodiments, when the perception function entity is deployed in the core network, a signaling interaction process is performed between the perception function entity and the second perception unit based on a non-access stratum (NAS) interface.

[0257] In some embodiments, the perception function entity may also be deployed in the access network. When the perception function entity is deployed in the access network, the perception function entity and the second perception unit perform a signaling interaction process via an air interface (called a Uu interface in a 5G network).

[0258] In some embodiments, the first message further includes: conditions for initiating and exiting sensing. The conditions for initiating sensing include: a time offset (the interval after receiving the first message at which cooperative sensing detection is initiated); a starting location range (when the target is within this location range, cooperative sensing detection is initiated); and a condition for exiting sensing includes: exiting the location range (when the target moves outside this location range, cooperative sensing detection is exited).

[0259] In some embodiments, the interface information elements involved in this architecture include: interface information elements between the perception function entity and the first perception unit, wherein the interface information elements between the perception function entity and the first perception unit include: perception function entity to first perception unit; first perception unit to perception function entity.

[0260] Exemplarily, the perception function entity sends a first message to the second perception unit via the interface information element, causing the second perception unit to initiate cooperative perception detection within a specified location range. Simultaneously, the perception function entity receives a second message sent by the second perception unit to confirm whether the second perception unit can achieve cooperation within the perception range of the first perception unit.

[0261] In some embodiments, the interface information elements involved in this architecture include: interface information elements between the perception function entity and the first perception unit, interface information elements between the perception function entity and the second perception unit, and interface information elements between the first perception unit and the second perception unit. The interface information elements between the perception function entity and the first perception unit include: perception function entity to first perception unit; first perception unit to perception function entity. The interface information elements between the perception function entity and the second perception unit include: perception function entity to second perception unit; second perception unit to perception function entity. The interface information elements between the first perception unit and the second perception unit include: first perception unit to second perception unit; second perception unit to first perception unit.

[0262] Exemplarily, the perception function entity may also notify the first perception unit of the second perception unit that can perform collaborative perception detection, so that the first perception unit and the second perception unit perform perception negotiation. For example, the perception function entity sends the identifier of the second perception unit to be selected (for example, the identifier of the second perception unit or the terminal identifier), the perception capability of the second perception unit to be selected, and the first message to the first perception unit. After receiving the above message, the first perception unit forwards the first message to the second perception unit and receives the second message sent by the second perception unit. Finally, the first perception unit may forward the second message to the perception function entity.

[0263] It can be understood that the perception architecture provided by Architecture 3, by deploying perception functions in the core network, access network, and terminals, can achieve distributed processing of target perception, reducing pressure on the core network and improving perception efficiency. In addition, the number of secondary perception units can be increased or decreased based on perception service needs, and the association management between the first and second perception units can be adjusted to flexibly adapt to changes in perception needs, thereby improving target perception performance.

[0264] Architecture 4: The perception function entity is deployed in a communication node of the access network. For example, the perception function entity is deployed in communication nodes D and E. Furthermore, the first perception unit is also deployed in communication node D, and the second perception unit is deployed in communication node E. In this case, the first and second perception units collaborate on the target perception process as a collaboration between site-type perception units.

[0265] In some embodiments, the sensing function entity deploys a signaling interaction process between the communication node where the sensing function entity is located and the second sensing unit. The signaling interaction process is used to configure the second sensing unit to perform cooperative sensing detection of the target.

[0266] In some embodiments, the interface information element involved in this architecture includes: an interface information element between a first sensing unit and a second sensing unit. The interface information element between the first sensing unit and the second sensing unit includes: the first sensing unit to the second sensing unit; the second sensing unit to the first sensing unit.

[0267] Exemplarily, the first perception function entity deployed in the communication node D selects the perception unit required for the perception service, and negotiates the perception resources required by the perception unit with the communication module of the communication node E through the above-mentioned interface information element. In addition, the first perception function entity can also perform a signaling interaction process with the second perception unit in the adjacent communication node E through the above-mentioned interface information element. Exemplarily, the first perception unit or the first perception function entity negotiates the orthogonality or avoidance between the perception resources with the second perception unit or the second perception function entity in the communication node E through the interface between the communication nodes. The example content of the signaling interaction process can be referred to the signaling interaction process in the above-mentioned architecture 1, and the embodiments of the present disclosure will not be repeated here.

[0268] Exemplarily, the first perception unit (i.e., the first perception functional entity) sends a first message to the second perception unit (i.e., the second perception functional entity) and receives a second message sent by the second perception unit to determine whether the second perception unit can achieve collaborative perception detection of the target.

[0269] It should be noted that if communication node D and communication node E are two communication base stations respectively, the perception negotiation between the first perception unit and the second perception unit will affect the protocol of the interface between base stations.

[0270] It can be understood that based on the perception architecture provided by architecture 4, by deploying the first perception unit and the second perception unit in communication node D and communication node E, collaboration between site-type perception units can be achieved, which can improve the real-time perception of the target, improve the accuracy of the acquired perception data, and improve the perception ability of the target.

[0271] In Architecture 5, the sensing function entity is deployed in a centralized unit of the access network, and the first and second sensing units are deployed in distributed units A and B, respectively. In this case, the first and second sensing units collaborate on the target perception process between site-type sensing units.

[0272] In some embodiments, the perception function entity deploys a signaling interaction process between a centralized unit of the perception function entity and a second perception unit. The signaling interaction process is used to configure the second perception unit to perform collaborative perception detection of the target. The signaling interaction process between the perception function entity and the first perception unit and / or the second perception unit can be referenced from the signaling interaction process in Architecture 1 above and will not be further described in detail in the present embodiment.

[0273] In some embodiments, the interface information elements involved in this architecture include: interface information elements between the sensing function entity and the distributed unit A, and interface information elements between the sensing function entity and the distributed unit B.

[0274] It's understandable that the perception architecture provided by Architecture 5, with its perception functional entities deployed in centralized units, offers greater processing power and security, improving the reliability and stability of the perception system. Furthermore, collaboration between site-based perception units reduces network transmission of perception data, improving perception efficiency.

[0275] 2. Tracking perception type perception collaboration process:

[0276] In some embodiments, compared to the area perception type, the tracking perception type requires additional perception resources to be allocated to a specific selected perception target to ensure perception of the target. Therefore, the perception function entity needs to adjust the selection of the second perception unit and the perception resources of the first perception unit in real time based on changes in the target's perception trajectory and perception accuracy.

[0277] In some embodiments, compared to the perception cooperation process and interface information element of the area perception type, the tracking perception type adds the following content to the interface information element (whether it is the interface between the perception function entity and the second perception unit, or the interface between the first perception unit and the second perception unit):

[0278] X to the second sensory unit.

[0279] In some embodiments, X may be a sensing functional entity, a first sensing unit, or a centralized unit. The second sensing unit may be deployed in a communication node or a terminal. X may send a first message (e.g., characteristic information of a target) to the second sensing unit.

[0280] In some embodiments, X may send a resource configuration update to the second perception unit; and / or receive a resource configuration update sent by the second perception unit.

[0281] In some embodiments, X may obtain perception data fed back by a target perception unit (eg, a second perception unit), and update feature information of the target based on the fed-back perception data to obtain updated feature information of the target.

[0282] In some embodiments, X may further send updated feature information of the target to the target sensing unit (eg, the second sensing unit) so that the second sensing unit dynamically adjusts the beam of the sensing signal.

[0283] It can be understood that by sending the updated characteristic information of the target to the target perception unit, the target perception unit can timely update and adjust the relevant configuration of perception detection based on the characteristic information to ensure the continuity of perception of the target.

[0284] FIG10 is a perception cooperation method provided by an embodiment of the present disclosure, which is applied to a first perception unit and includes the following steps:

[0285] S301. Send a first message to the second perception unit.

[0286] The first message is used to request the second perception unit to perform collaborative perception detection on a target, where the target is the target of the perception detection by the first perception unit.

[0287] In some embodiments, the first perception unit determines the second perception unit based on an instruction of the perception function entity, and sends the first message to the second perception unit.

[0288] In some embodiments, the example implementation of the above step S301 can refer to the example implementation in the above architectures 1 to 5, and the embodiments of the present disclosure will not be repeated here.

[0289] It can be understood that based on the perception collaboration method provided by the embodiment of the present disclosure, the first perception unit can send a first message to the second perception unit, so that the second perception unit can perform collaborative perception detection on the target based on the first message. The second perception unit can further perform in-depth and detailed perception detection on the target on the basis of the perception detection of the target by the first perception unit to make up for the shortcomings of the first perception unit in perception detection of the target (for example, when the target moves to the edge area of ​​the perception range of the first perception unit, the result of the perception detection of the target by the first perception unit is not accurate enough). By enabling the second perception unit to perform collaborative perception detection on the target, the embodiment of the present disclosure can improve the accuracy of perception and ensure the perception performance of the target.

[0290] In some embodiments, as shown in FIG11 , the above method further includes: step S302 .

[0291] S302: Receive a second message.

[0292] The second message is used to respond to the first message.

[0293] In some embodiments, the example content of the second message can be implemented with reference to the examples in Architectures 1 to 5 above, and will not be described in detail in the embodiments of the present disclosure.

[0294] In some embodiments, the method further includes: receiving a sensing signal configuration of a first sensing unit sent by a sensing function entity; and performing sensing detection on a target based on the sensing signal configuration of the first sensing unit. For an example implementation of this, reference may be made to step S101 above, and this embodiment of the present disclosure will not be further described herein.

[0295] In some embodiments, the method further includes: receiving updated characteristic information of the target; and adjusting the perception signal configuration of the first perception unit based on the updated characteristic information of the target. For an example implementation of this, reference may be made to steps S201-S202 above, which will not be further described in detail in this embodiment of the present disclosure.

[0296] It can be understood that in the method provided by the embodiment of the present disclosure, the first perception unit receives updated feature information, which can enable the first perception unit to timely adjust the configuration of perception detection of the target based on the updated feature information, improve the perception performance of the target, enhance the perception ability of the target, and thereby improve the accuracy of perception.

[0297] FIG12 is a perception cooperation method provided by an embodiment of the present disclosure, which is applied to a second perception unit and includes the following steps:

[0298] S401: Receive a first message.

[0299] The first message is used to request the second perception unit to perform perception detection on a target, and the target is the target that the first perception unit performs perception detection on.

[0300] In some embodiments, the above step S401 can be implemented with reference to the examples in the above-mentioned Architectures 1 to 5, and will not be described in detail in the embodiments of the present disclosure.

[0301] It can be understood that based on the perception collaboration method provided by the embodiment of the present disclosure, the second perception unit can, by receiving the first message, promptly perform collaborative perception detection on the target based on the first message, so as to ensure the perception performance of the target when the target moves and crosses different communication nodes, and improve the accuracy of perception.

[0302] In some embodiments, the method further includes sending a second message. The second message is used to respond to the first message. For example implementations herein, reference may be made to the example implementations in Architectures 1 to 5 above, and the present disclosure will not be further elaborated herein.

[0303] In some embodiments, the method further includes: receiving updated characteristic information of the target; and adjusting the perception signal configuration of the second perception unit based on the updated characteristic information of the target. For an example implementation, reference may be made to steps S201-S202 above, which will not be further described in detail in this embodiment of the present disclosure.

[0304] It can be understood that in the method provided by the embodiment of the present disclosure, the second perception unit receives updated feature information, which can enable the second perception unit to timely adjust the configuration of perception detection of the target based on the updated feature information, improve the perception performance of the target, enhance the perception ability of the target, and thereby improve the accuracy of perception.

[0305] For ease of understanding, the perception collaboration method provided by the embodiments of the present disclosure is described below using different scenarios as examples.

[0306] In Scenario 1, based on Architecture 1, a perception functional entity (PFE) is deployed in the 5G network. A first perception unit (PU) and a second perception unit (PU) are deployed in adjacent base stations gNB A and gNB B, respectively. The PFE includes a perception management module and a perception data processing module. Based on perception service requirements (such as perception range, accuracy, resolution, and latency), the PFE uses a collaborative perception method between the two PFEs deployed in adjacent base stations to track specific targets.

[0307] For example, in scenario 1, the capabilities and sensing range of the first sensing unit deployed in gNB A meet the sensing service requirements. As shown in FIG13 , the sensing collaboration method provided in the embodiment of the present disclosure can be implemented as follows:

[0308] Sa1. The sensing management module sends the sensing configuration to the first sensing unit in gNB A.

[0309] In some embodiments, the first sensing unit includes: a sensing signal sending unit A and a sensing echo receiving unit A. The second sensing unit includes: a sensing signal sending unit B and a sensing echo receiving unit B.

[0310] In some embodiments, the awareness configuration includes at least one of the following:

[0311] an identification of a sensing signal sending unit;

[0312] Sense the identification of the echo receiving unit;

[0313] Sense the signal transmission and reception patterns;

[0314] The sensing signal configuration of the first sensing unit; for example, signal waveform, multiplexed channels, power configuration, time domain configuration, frequency domain configuration, spatial domain configuration, and code domain configuration;

[0315] The perception signal configuration of the second perception unit; for example, signal waveform, multiplexed channels, time domain configuration, frequency domain configuration, spatial domain configuration, code domain configuration;

[0316] Sensing signal transmission power;

[0317] Perception range.

[0318] Sa2. The first perception unit sends perception configuration adoption information to the perception management module.

[0319] In some embodiments, the first sensing unit can determine whether to accept or reject the sensing configuration, modify the sensing configuration, etc. based on its own capabilities and the communication load of gNB A. When the first sensing unit accepts the sensing configuration, it sends a sensing configuration adoption message to the sensing management module.

[0320] Sa3. The first perception unit implements perception behavior based on the perception configuration.

[0321] Sa4. The first perception unit sends the perception data to the perception data processing module.

[0322] Sa5, the perception data processing module, parses the perception data, filters out perceived targets, and identifies any targets that require tracking based on perception service requirements. For example, in drone detection, if a drone's trajectory does not conform to the preset trajectory, it will be identified as an abnormal target and tracked.

[0323] Sa6. The perception data processing module sends the identified tracking target and target features to the perception management module.

[0324] Sa7. The perception management module sends the target features required for tracking perception and the perception configuration used for tracking perception to the first perception unit.

[0325] In some embodiments, to improve tracking and sensing accuracy, the sensing management module can select sensing units adjacent to the first sensing unit for collaborative sensing and tracking. In this example, it is assumed that the second sensing unit in gNB B is selected for collaboration.

[0326] Sa8. The perception management module sends a tracking perception collaboration request to the second perception unit.

[0327] In some embodiments, the cooperation requirements for tracking perception include: target characteristics of the tracking target, and a perception signal configuration of the second perception unit, which is dedicated to tracking perception use.

[0328] Sa9. The second perception unit sends a feedback message to the perception management module. The feedback message is used to instruct the second unit to accept the tracking perception cooperation of the tracking target.

[0329] Sa10. The second perception unit implements perception behavior based on the perception configuration.

[0330] Sa11. The second perception unit sends the perception data to the perception data processing module.

[0331] Sa12, the perception data processing module generates perception data of the tracking target based on the perception data.

[0332] Sa13, the perception data processing module sends the updated features of the tracking target to the first perception unit and the second perception unit based on the changes of the tracking target (such as changes in trajectory and positioning).

[0333] Sa14: The first sensing unit updates the characteristics of the tracked target and adjusts the sensing configuration of the tracked target in real time. For example, it adjusts the duration of the sensing beam, the order of sensing beam switching, and the timing of sensing beam switching to ensure that the tracked target is still covered after the sensing beam switches.

[0334] Sa15, the second perception unit updates the characteristics of the tracked target and adjusts the perception configuration of the tracked target in real time. For example, it adjusts the duration of the perception beam, the order of perception beam switching, and the time point of perception beam switching to ensure that the tracking target can still be covered after the perception beam is switched.

[0335] Scenario 2: Based on Architecture 2, the CU of the 5G communication base station manages DU A and DU B respectively. The first perception unit is deployed in DU A, the second perception unit is deployed in DU B, and the second perception function entity is deployed on the CU. The second perception function entity includes: a perception signal resource configuration module and a perception echo data intermediate processing module. The first perception function entity is deployed in the core network. The first perception function entity includes a perception management module and a perception data processing module. The perception signal resource configuration module is used to complete the selection of perception units and the resource configuration of perception signals. The perception echo data intermediate processing module is used to complete the preliminary fusion of the echo data of the second perception unit. The perception management module is used to complete the generation of perception business requirements and the selection of perception units. The perception data processing module is used to complete the recognition of perception targets, precise positioning, target trajectory generation, false alarm rate and missed alarm rate statistics, fusion of target data of collaborative perception units (including positioning data fusion, trajectory fusion, target feature fusion), perception map construction and other functions.

[0336] For example, in scenario 2, the capability and sensing range of the first sensing unit managed by the CU meet the sensing service requirements. As shown in FIG14 , the sensing collaboration method provided by the embodiment of the present disclosure can be implemented as follows:

[0337] Sb1. The perception management module sends perception service requirements to the CU.

[0338] In some embodiments, the first sensing unit includes: a sensing signal sending unit A and a sensing echo receiving unit A. The second sensing unit includes: a sensing signal sending unit B and a sensing echo receiving unit B.

[0339] In some embodiments, sensing business needs includes at least one of the following:

[0340] an identification of a sensing signal sending unit;

[0341] Sense the identification of the echo receiving unit;

[0342] The identifier of the communication node deployed by the first perception unit. For example, the identifier of the communication node may be the identifier of the DU A to which the CU is connected.

[0343] Sense the signal transmission and reception patterns;

[0344] Perception range;

[0345] Perception indicators.

[0346] Sb2. The perception signal resource configuration module in the CU sends the perception signal configuration to the first perception unit based on the perception service requirements.

[0347] In some embodiments, the sensing signal resource configuration module determines the following based on the sensing requirements:

[0348] (1) Whether to adopt the perception unit selection recommended by the perception management module. In some embodiments, if the CU selects other perception units to meet the perception service requirements, the modification information can also be fed back to the core network.

[0349] (2) Based on the sensing requirements and the load of the communication node (in this scenario, the DU A) where the selected sensing unit is located, the sensing signal configuration of the sensing unit is determined. The sensing signal configuration can be referred to the example described in step S101 above and will not be repeated here.

[0350] Sb3. The first perception unit sends perception signal configuration adoption information to the CU (perception signal resource configuration module).

[0351] In some embodiments, the first sensing unit may determine whether to accept or reject the sensing signal configuration, modify the sensing signal configuration, etc. based on its own capabilities and the communication load of the DU A. When the first sensing unit accepts the sensing signal configuration, it sends sensing signal configuration adoption information to the sensing signal resource configuration module.

[0352] Sb4. The first perception unit implements the perception behavior based on the perception signal configuration.

[0353] Sb5. The first perception unit sends the perception data to the CU (perception echo data intermediate processing module).

[0354] Sb6, CU (perception echo data intermediate processing module) sends the intermediate processing results of the perception data to the perception data processing module.

[0355] In some embodiments, the sensory echo data intermediate processing module performs intermediate processing on the sensory data. For example, it measures sensory measurements such as latency, angle, velocity, and Doppler, and sends the intermediate processing results and / or the original sensory data to the sensory data processing module in the core network domain.

[0356] Sb7, the perception data processing module parses the perception data, filters out perception targets, and identifies whether there are targets that need to be tracked and perceived based on perception service requirements. For example, in an intrusion detection service, if an intruder is found, it will be identified as an abnormal target and tracked and perceived.

[0357] Sb8. The perception data processing module sends the target features required for tracking perception and the perception configuration used for tracking perception to the perception management module.

[0358] Sb9. The perception management module sends the target features required for tracking perception and the perception configuration used for tracking perception to the first perception unit.

[0359] In some embodiments, to improve the accuracy of tracking perception, the perception management module can select perception units that can perform cooperative perception tracking from other perception units adjacent to the first perception unit. In this example, it is assumed that the second perception unit in DU B is selected for collaboration.

[0360] Sb10. The perception management module sends a tracking perception collaboration request to the perception signal resource configuration module of the second perception function entity.

[0361] In some embodiments, the collaborative requirements for tracking sensing include: business requirements for collaborative tracking sensing, target characteristics of the tracking target, and a sensing signal configuration of the sensing unit, which is dedicated to tracking sensing use.

[0362] In some embodiments, the business requirement for collaborative tracking awareness includes at least one of the following:

[0363] an identification of a sensing signal sending unit;

[0364] Sense the identification of the echo receiving unit;

[0365] The identifier of the communication node deployed by the second perception unit. For example, the identifier of the communication node may be the identifier of the DU B to which the CU is connected.

[0366] Sense the signal transmission and reception patterns;

[0367] Perception range;

[0368] Perception indicators.

[0369] Sb11. CU (perception signal resource configuration module) sends the perception signal configuration required for collaborative tracking perception to the second perception unit based on the collaboration requirements.

[0370] In some embodiments, the sensing signal resource configuration module determines the following based on the collaboration requirements:

[0371] (1) Whether to adopt the perception unit selection recommended by the perception management module. In some embodiments, if the CU selects other perception units to meet the perception service requirements, it can also feedback the modification information to the core network. In this scenario, the CU adopts the second perception unit of DU B to participate in collaborative tracking perception.

[0372] (2) Based on the sensing requirements and the load of the communication node (DU B in this scenario) where the selected sensing unit is located, the sensing signal configuration of the sensing unit is determined. The sensing signal configuration can be referred to the example described in step S101 above and will not be repeated here.

[0373] Sb12. The second perception unit sends perception signal configuration adoption information to the CU (perception echo data intermediate processing module).

[0374] Sb13. The second perception unit implements the perception behavior based on the perception signal configuration.

[0375] Sb14. The second perception unit sends the perception data to the CU (perception echo data intermediate processing module).

[0376] Sb15, CU (perception echo data intermediate processing module) sends the intermediate processing results of the perception data to the perception data processing module.

[0377] In some embodiments, if the perception echo data intermediate processing module supports processing the collaborative perception data of DU A and DU B, such as soft merging of perception measurement values ​​in the perception overlap area, the processed intermediate processing results can be sent to the perception data processing module. If not, the intermediate processing results of the perception data of the first perception unit and the perception data of the second perception unit can be sent to the perception data processing module separately.

[0378] Sb16: The perception data processing module generates perception data of the tracking target based on the perception data. For example, the perception data processing module integrates the perception data of the first perception unit and the second perception unit, performs collaborative processing on the perception data of the perception overlap area, and identifies the perception data of the tracking target.

[0379] Sb17. The perception data processing module sends updated tracking target features to the CU based on changes in the tracking target (e.g., changes in trajectory and positioning). Exemplarily, the perception data processing module may send the updated tracking target features to the CU based on forwarding by the perception management module.

[0380] Sb18, CU sends the updated features of the tracking target to the first perception unit and the second perception unit.

[0381] Sb19: The first sensing unit updates the characteristics of the tracked target and adjusts the sensing configuration of the tracked target in real time. For example, it adjusts the duration of the sensing beam, the order of sensing beam switching, and the timing of sensing beam switching to ensure that the tracked target is still covered after the sensing beam is switched.

[0382] Sb20: The second sensing unit updates the characteristics of the tracked target and adjusts the sensing configuration of the tracked target in real time. For example, it adjusts the duration of the sensing beam, the order of sensing beam switching, and the timing of sensing beam switching to ensure that the tracked target is still covered after the sensing beam switches.

[0383] Scenario 3: Based on Architecture 3, a perception functional entity is deployed in the core network. The perception functional entity includes a perception management module and a perception data processing module. The first perception unit is deployed in gNB A. Two perception-capable terminals are selected as collaborative units for target tracking and perception.

[0384] For example, in scenario three, the second perception unit is deployed in terminal A and terminal B, and terminal A and terminal B meet the perception service requirements. As shown in FIG15 , the perception collaboration method provided by the embodiment of the present disclosure can be implemented as follows:

[0385] Sc1. The sensing management module sends the sensing configuration to the first sensing unit in gNB A.

[0386] Sc2. The first perception unit sends perception configuration adoption information to the perception management module.

[0387] Sc3. The first perception unit implements perception behavior based on the perception configuration.

[0388] Sc4. The first perception unit sends the perception data to the perception data processing module.

[0389] Sc5. The perception data processing module parses the perception data, filters out the perception targets, and identifies whether there are any perception targets that need to be tracked based on the perception business needs.

[0390] Sc6. The perception data processing module sends the identified tracking target and target features to the perception management module.

[0391] Sc7. The perception management module sends the target features required for tracking perception and the perception configuration used for tracking perception to the first perception unit.

[0392] In some embodiments, the perception management module determines whether the first perception unit can meet the tracking perception requirements; if so, the target features required for tracking perception and the perception configuration used for tracking perception are sent to the first perception unit.

[0393] In some embodiments, to improve tracking perception accuracy, the perception management module can select perception units adjacent to the first perception unit for collaborative perception tracking. In this example, assume that the perception units in Terminal A and Terminal B are selected for collaboration, and the perception range of the perception units in these two terminals can cover the current real-time location and predicted trajectory of the tracked target.

[0394] Sc8. The perception management module sends a tracking perception collaboration request to the first perception unit.

[0395] In some embodiments, the cooperation requirements for tracking and sensing include: target characteristics of the tracking target, sensing signal configuration of terminal A, and sensing signal configuration of terminal B. The above configuration is dedicated to tracking and sensing use.

[0396] Sc9. The first perception unit sends a tracking perception collaboration request to terminal A.

[0397] Sc10. The first perception unit sends a tracking perception collaboration request to terminal B.

[0398] Sc11. Terminal A sends response feedback to the first perception unit.

[0399] Sc12. Terminal B sends a response feedback to the first perception unit.

[0400] Sc13. Terminal A implements sensing behavior.

[0401] Sc14. Terminal B implements sensing behavior.

[0402] Sc15. Terminal A sends the perception data to the perception data processing module.

[0403] Sc16. Terminal B sends the perception data to the perception data processing module.

[0404] Sc17, the perception data processing module generates perception data of the tracking target based on the perception data.

[0405] In Scenario 4, based on Architecture 4, the sensing functional entities (FFEs) are deployed in gNB A and gNB B, respectively. gNB A and gNB B each include a sensing management module, a sensing data processing module, and sensing units (sensing signal transmission unit and sensing echo reception unit). Based on sensing service requirements issued by the core network, the FFEs in gNB A and gNB B configure sensing resources, transmit and receive sensing signals, and process sensing data.

[0406] For example, in scenario 4, after a user activates the awareness service, assuming the user selects the awareness function entity in gNB A to enable awareness, the awareness function entity in gNB A initiates a request to establish the awareness service to the core network. As shown in Figure 16 , the awareness collaboration method provided in this embodiment of the disclosure can be implemented as follows:

[0407] Sd1 and gNB A send a request to establish a sensing service to the core network.

[0408] Sd2: The core network sends the sensing service requirements to gNB A.

[0409] In some embodiments, the core network may determine the sensing service demand based on the registration information of the sensing service.

[0410] Sd3. The perception function entity of gNB A determines the perception service requirements and sends perception service adoption feedback to the core network.

[0411] Sd4. The perception function entity of gNB A determines the perception signal resource configuration of the perception unit according to the perception service requirements.

[0412] Sd5. The sensing unit of gNB A implements sensing based on the sensing signal resource configuration.

[0413] The perception data processing module in the perception function entity of Sd6 and gNB A processes the perception data, filters out the identified perception targets, and determines whether there are any targets that meet the tracking perception conditions.

[0414] Sd7. The perception function entity of gNB A sends a perception service change notification to the core network.

[0415] In some embodiments, if the perception function entity determines that a target meets the tracking perception conditions, it may send a perception service change notification to the core network to add the establishment requirements and perception needs of the tracking perception service.

[0416] Sd8. The perception function entity of gNB A generates tracking perception signal resource configuration, implements tracking perception, and processes tracking perception echo data.

[0417] Sd9. The perception function entity of gNB A determines whether the tracking perception indicators are met. If not, it determines that a collaborative perception unit needs to be added to enhance the tracking perception performance.

[0418] Sd10, the sensing function entity of gNB A selects the sensing unit or sensing function entity capable of performing tracking perception on the tracking target from the adjacent sensing units or sensing function entities. In this example, it is assumed that the sensing function entity deployed on gNB B is selected.

[0419] In step 11, gNB A sends a configuration negotiation request for tracking cooperative sensing signals to gNB B.

[0420] Configuration negotiation requirements include business needs for tracking collaborative sensing, recommended sensing signal resource configuration, and tracking target feature description.

[0421] At step 12, the perception functional entity of gNB B feeds back an adoption message to gNB A.

[0422] In some embodiments, the sensing function entity of gNB B determines whether the tracking cooperative sensing request can be adopted based on its own sensing capabilities and the communication load of gNB B. If so, it feeds back an adoption message to gNB A.

[0423] Sd13, gNB B notifies the core network to establish the perception service

[0424] Sd14, gNB B implements tracking perception.

[0425] Sd15. gNB B feeds back the sensing data to the sensing functional entity of gNB A.

[0426] In some embodiments, gNB B configures the tracking sensing signal resources and combines the tracking target characteristics to feed back the sensing data to the sensing function entity of gNB A.

[0427] In Sd16, the perception function entity of gNB A collaboratively processes the tracking perception echo data of itself and the perception function entity of gNB B, fuses the perception data of the overlapping area, updates the tracking target features (such as the target's positioning, trajectory changes, etc.), and notifies the updated target features to the perception function entity of gNB B in real time.

[0428] In some embodiments, architecture 4 is typically used for perception services implemented in some independent areas, such as intrusion perception in the airport area, which is deployed only on several base stations in the airport. The base stations around the airport have no perception service needs, so the perception function entity can be deployed down to the access network domain of the airport area to reduce the interaction delay and overhead with the core network.

[0429] The above mainly introduces the scheme of the embodiment of the present disclosure from the perspective of method. It can be understood that in order to realize the above functions, the perception and cooperation device includes at least one of the hardware structure and software modules corresponding to the execution of each function. It should be easy for those skilled in the art to realize that, in combination with the units and algorithm steps of each example described in the embodiment disclosed herein, the embodiment of the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiment of the present disclosure.

[0430] It is understandable that, in order to realize the above functions, the perception collaboration device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the algorithm steps of each example described in the embodiments of the present disclosure, the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present disclosure.

[0431] The embodiment of the present disclosure can divide the functional modules of the perception cooperation device according to the above-mentioned method embodiment. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one functional module. The above-mentioned integrated modules can be implemented in the form of hardware or software. It should be noted that the division of modules in the embodiment of the present disclosure is schematic and is only a logical function division. There may be other division methods in actual implementation. The following is an example of dividing each functional module corresponding to each function.

[0432] Figure 17 is a schematic diagram of the structure of a perception collaboration device provided in an embodiment of the present disclosure. The perception collaboration device is applied to a perception functional entity and can execute the perception collaboration method provided in the above method embodiment. As shown in Figure 17, the perception collaboration device 200 includes a perception detection module 201, a deployment module 202, a sending module 203, and an update module 204.

[0433] The sensing and detection module 201 is configured to sense and detect a target through a first sensing unit;

[0434] The perception detection module 201 is further configured to perform collaborative perception detection on the target through the second perception unit.

[0435] In some embodiments, the perception function entity includes at least one of the following: a first functional module, a second functional module, a third functional module, a fourth functional module, and a fifth functional module; wherein the first functional module is used to obtain perception service requirements; the second functional module is used to obtain deployment information of the perception unit; the third functional module is used to determine the perception signal sending configuration and the perception echo receiving configuration; the fourth functional module is used to manage the collaboration between perception units; and the fifth functional module is used to analyze the perception service requirements and select the perception unit that meets the perception service requirements.

[0436] In some embodiments, the perception functional entity includes a first perception functional entity and a second perception functional entity; the first perception functional entity includes a first functional module and a second functional module; the second perception functional entity includes a third functional module, a fourth functional module and a fifth functional module.

[0437] In some embodiments, the perception function entity is deployed in the core network.

[0438] In some embodiments, the perception function entity performs a signaling interaction process with the first perception unit and / or the second perception unit through the interface between the core network and the access network, and the signaling interaction process is used to configure the second perception unit to perform collaborative perception detection of the target.

[0439] In some embodiments, when the perception function entity includes a first perception function entity and a second perception function entity, the first perception function entity is deployed in a core network, and the second perception function entity is deployed in a centralized unit of an access network.

[0440] In some embodiments, before collaborative perception detection of a target is performed through a second perception unit, a deployment module 202 is used to deploy a centralized unit of a second perception function entity to perform a signaling interaction process with the second perception unit, and the signaling interaction process is used to configure the second perception unit to perform collaborative perception detection of the target.

[0441] In some embodiments, the sensing functional entity is deployed in a centralized unit of the access network.

[0442] In some embodiments, before performing collaborative perception detection on a target through a second perception unit, the deployment module 202 is also used to deploy a signaling interaction process between a centralized unit of a perception function entity and the second perception unit, and the signaling interaction process is used to configure the second perception unit to perform collaborative perception detection on the target.

[0443] In some embodiments, the awareness function entity is deployed in a communication node of the access network.

[0444] In some embodiments, before performing collaborative perception detection on the target through the second perception unit, the deployment module 202 is also used to deploy the communication node of the perception function entity to perform a signaling interaction process with the second perception unit, and the signaling interaction process is used to configure the second perception unit to perform collaborative perception detection on the target.

[0445] In some embodiments, the signaling interaction process includes:

[0446] A first message is sent to the second perception unit, where the first message is used to request the second perception unit to perform collaborative perception detection on the target.

[0447] In some embodiments, the signaling interaction process further includes:

[0448] A second message sent by a second perception unit is received, where the second message is used to respond to the first message.

[0449] In some embodiments, when the second perception unit is deployed at the terminal, the first message and the second message are forwarded through the communication node connected to the second perception unit.

[0450] In some embodiments, the first message includes at least one of the following:

[0451] Characteristic information of the target;

[0452] a perception signal configuration of the first perception unit;

[0453] The perception signal configuration of the second perception unit.

[0454] In some embodiments, the characteristic information of the target includes at least one of the following:

[0455] Real-time location information of the target;

[0456] The historical movement trajectory of the target;

[0457] The target's predicted movement trajectory;

[0458] The target's physical characteristics;

[0459] Target echo signal parameters;

[0460] the perceived accuracy of the target;

[0461] The identifier of the target.

[0462] In some embodiments, the sensing signal configuration includes at least one of the following: a sensing signal sending configuration, a sensing echo receiving configuration, a sensing range configuration, and a sensing signal transceiver mode configuration.

[0463] In some embodiments, the sensing range configuration includes:

[0464] The sensing range is configured with the three-dimensional coordinates of the emission point of the sensing signal as the center, the sensing radius, and the horizontal azimuth angle range and the pitch angle range of the sensing beam scan; and / or,

[0465] Configure the perception range based on the perception resolution attenuation curve.

[0466] In some embodiments, the perception signal transmission configuration includes at least one of the following: a signal waveform used for perception signal transmission, a multiplexed channel, a power configuration, a time domain configuration, a frequency domain configuration, a spatial domain configuration, and a code domain configuration.

[0467] In some embodiments, the perceptual echo reception configuration includes at least one of the following: a signal waveform used for perceptual echo reception, a multiplexed channel, a time domain configuration, a frequency domain configuration, a spatial domain configuration, and a code domain configuration.

[0468] In some embodiments, the signal waveform includes at least one of the following: an OFDM signal waveform, an OTFS signal waveform, and an FMCW signal waveform.

[0469] In some embodiments, the multiplexed channels include at least one of the following: a synchronization signal channel, a channel for a channel state reference signal, a demodulation reference signal channel, a phase tracking reference signal channel, a detection reference signal channel, a data channel, and a control channel.

[0470] In some embodiments, the time domain configuration includes at least one of the following: duration, start offset, granularity, periodic mode, semi-persistent mode, and non-periodic mode.

[0471] In some embodiments, the frequency domain configuration includes at least one of the following: whether the frequency band is continuous, the bandwidth of the perception signal, and comb-shaped frequency domain resource configuration.

[0472] In some embodiments, the spatial configuration includes at least one of the following: the number of sensing beams, the identification of the sensing beams, the angle information of the sensing beams, the duration of the sensing beams, the order of switching the sensing beams, the time point of switching the sensing beams, and the angle range information of the sensing signal transmission.

[0473] In some embodiments, the second message is used to indicate at least one of the following:

[0474] The second perception unit agrees or refuses to perceive and detect the target;

[0475] a suggestion by the second perception unit for modifying the perception signal configuration of the second perception unit;

[0476] The second perception unit proposes a modification to the perception signal configuration of the first perception unit.

[0477] In some embodiments, the perception function entity further includes a sixth function module, which is used to process the perception data.

[0478] In some embodiments, the sixth functional module is configured to process the sensory data, including at least one of the following:

[0479] Save sensory data;

[0480] forwarding sensor data;

[0481] Measuring and sensing echo signals;

[0482] Filter out targets based on perception data;

[0483] Determine characteristic information of the target based on the perception data;

[0484] Calculate the false alarm rate and missed alarm rate;

[0485] Fusion of sensory data;

[0486] Build a perception map.

[0487] In some embodiments, the sixth functional module is deployed in the core network and / or access network, and the access network includes communication nodes, base stations, communication centralized units, communication distributed units, and terminal devices.

[0488] In some embodiments, the sending module 203 is configured to determine a first sensing unit for performing the sensing service according to a requirement of the sensing service; and to send a sensing signal configuration of the first sensing unit to the first sensing unit.

[0489] In some embodiments, the perception detection module 201 can be used to determine whether the capability of the first perception unit meets the tracking requirements for the target when the first perception unit performs perception detection on the target; determine a second perception unit when the capability of the first perception unit does not meet the tracking requirements for the target; and perform collaborative perception detection on the target through the second perception unit.

[0490] In some embodiments, the update module 204 is used to obtain perception data fed back by a target perception unit, where the target perception unit is a perception unit used to perceive and detect the target, and the target perception unit includes at least a first perception unit and a second perception unit; based on the perception data fed back by the target perception unit, the characteristic information of the target is updated to obtain the updated characteristic information of the target.

[0491] In some embodiments, the sending module 203 is further used to send updated feature information of the target to the target perception unit.

[0492] Figure 18 is a schematic diagram of the structure of a perception collaboration device provided by an embodiment of the present disclosure. The perception collaboration device is applied to the first perception unit and can execute the perception collaboration method provided by the above method embodiment. As shown in Figure 18, the perception collaboration device 300 includes: a sending module 301 and a receiving module 302.

[0493] The sending module 301 is used to send a first message to the second perception unit, where the first message is used to request the second perception unit to perform collaborative perception detection on a target, where the target is the target that the first perception unit performs perception detection on.

[0494] In some embodiments, the receiving module 302 is configured to receive a second message, where the second message is used to respond to the first message.

[0495] In some embodiments, the sending module 301 can be used to determine the second perception unit based on the instruction of the perception function entity; and send the first message to the second perception unit.

[0496] In some embodiments, the receiving module 302 is further configured to receive a sensing signal configuration of a first sensing unit sent by the sensing function entity; and perform sensing detection on the target based on the sensing signal configuration of the first sensing unit.

[0497] In some embodiments, the receiving module 302 is further configured to receive updated characteristic information of the target; and adjust the perception signal configuration of the first perception unit based on the updated characteristic information of the target.

[0498] Figure 19 is a schematic diagram of the structure of a perception collaboration device provided by an embodiment of the present disclosure. The perception collaboration device is applied to the second perception unit and can execute the perception collaboration method provided by the above method embodiment. As shown in Figure 19, the perception collaboration device 400 includes: a receiving module 401 and a sending module 402.

[0499] The receiving module 401 is used to receive a first message, where the first message is used to request the second perception unit to perceive and detect a target, where the target is the target perceived and detected by the first perception unit.

[0500] In some embodiments, the sending module 402 is configured to send a second message, where the second message is used to respond to the first message.

[0501] In some embodiments, the receiving module 401 is further configured to receive updated characteristic information of the target; and adjust the perception signal configuration of the second perception unit based on the updated characteristic information of the target.

[0502] In the case of implementing the functions of the above-mentioned integrated modules in hardware, the embodiments of the present disclosure provide a possible structure of the communication device involved in the above-mentioned embodiments. As shown in Figure 20, the communication device 500 includes: a processor 502 and a bus 504. In some embodiments, the communication device 500 may also include a memory 501; in some embodiments, the communication device 500 may also include a communication interface 503.

[0503] The processor 502 can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of the present disclosure. The processor 502 can be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof, and can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of the present disclosure. The processor 502 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0504] The communication interface 503 is used to connect to other devices via a communication network, such as Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0505] The memory 501 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a 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 thereto.

[0506] As a possible implementation, memory 501 can exist independently of processor 502 and can be connected to processor 502 via bus 504 to store instructions or program codes. When processor 502 calls and executes the instructions or program codes stored in memory 501, the perceptual collaboration method provided in the embodiments of the present disclosure can be implemented.

[0507] In another possible implementation, memory 501 may be integrated with processor 502. Bus 504 may be an Extended Industry Standard Architecture (EISA) bus, for example. Bus 504 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, FIG20 shows only one thick line, but this does not imply that there is only one bus or only one type of bus.

[0508] Some embodiments of the present disclosure provide a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium) having computer program instructions stored therein. When the computer program instructions are executed on a computer, the computer executes a perceptual collaboration method as in any of the above-mentioned embodiments.

[0509] Exemplarily, the above-mentioned computer-readable storage media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks, or magnetic tapes, etc.), optical disks (e.g., compact disks (CDs), digital versatile disks (DVDs), etc.), smart cards, and flash memory devices (e.g., erasable programmable read-only memories (EPROMs), cards, sticks, or key drives, etc.). The various computer-readable storage media described in the present disclosure may represent one or more devices and / or other machine-readable storage media for storing information. The term "machine-readable storage medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0510] An embodiment of the present disclosure provides a computer program product containing instructions. When the computer program product is run on a computer, the computer is enabled to execute the perceptual collaboration method of any one of the above embodiments.

[0511] The above are only specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or replacements within the technical scope disclosed in the present disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A perception collaboration method, applied to a perception functional entity, the method comprising: Performing perception detection on a target through a first perception unit; Performing collaborative perception detection on the target through a second perception unit.

2. The method according to claim 1, wherein The perception functional entity includes at least one of the following: a first functional module, a second functional module, a third functional module, a fourth functional module, and a fifth functional module; wherein, the first functional module is used to obtain perception service requirements; the second functional module is used to obtain the deployment information of perception units; the third functional module is used to determine the perception signal sending configuration and the perception echo receiving configuration; the fourth functional module is used to manage the collaboration between perception units; the fifth functional module is used to analyze the perception service requirements and select perception units that meet the perception service requirements.

3. The method according to claim 2, wherein, The perception functional entity includes a first perception functional entity and a second perception functional entity; the first perception functional entity includes the first functional module and the second functional module; the second perception functional entity includes the third functional module, the fourth functional module, and the fifth functional module.

4. The method according to claim 2, wherein, The perception functional entity is deployed in the core network.

5. The method according to claim 4, wherein The perception functional entity performs a signaling interaction process with the first perception unit and / or the second perception unit through the interface between the core network and the access network, and the signaling interaction process is used to configure the collaborative perception detection of the second perception unit on the target.

6. The method according to claim 3, wherein In the case where the perception functional entity includes the first perception functional entity and the second perception functional entity, the first perception functional entity is deployed in the core network, and the second perception functional entity is deployed in the centralized unit of the access network.

7. The method according to claim 6, wherein, Before performing the collaborative perception detection on the target through the second perception unit, the method further includes: Performing a signaling interaction process between the centralized unit deploying the second perception functional entity and the second perception unit, and the signaling interaction process is used to configure the collaborative perception detection of the second perception unit on the target.

8. The method according to claim 2, wherein The perception functional entity is deployed in the centralized unit of the access network.

9. The method according to claim 8, wherein Before performing the collaborative perception detection on the target through the second perception unit, the method further includes: Performing a signaling interaction process between the centralized unit deploying the perception functional entity and the second perception unit, and the signaling interaction process is used to configure the collaborative perception detection of the second perception unit on the target.

10. The method according to claim 2, wherein The perception functional entity is deployed in a communication node of the access network.

11. The method according to claim 10, wherein Before performing the collaborative perception detection on the target through the second perception unit, the method further includes: Performing a signaling interaction process between the communication node deploying the perception functional entity and the second perception unit, and the signaling interaction process is used to configure the collaborative perception detection of the second perception unit on the target.

12. The method according to any one of claims 5, 7, 9, and 11, wherein, The signaling interaction process includes: Sending a first message to the second perception unit, and the first message is used to request the second perception unit to perform collaborative perception detection on the target.

13. The method according to claim 12, wherein, The signaling interaction process further includes: Receive the second message sent by the second sensing unit, where the second message is used to respond to the first message.

14. The method according to claim 13, wherein, When the second sensing unit is deployed on a terminal, the first message and the second message are forwarded through the communication node connected to the second sensing unit.

15. The method according to claim 12, wherein, The first message includes at least one of the following: The feature information of the target; The sensing signal configuration of the first sensing unit; The sensing signal configuration of the second sensing unit.

16. The method according to claim 15, wherein, The feature information of the target includes at least one of the following: The real-time position information of the target; The historical movement trajectory of the target; The predicted movement trajectory of the target; The external shape feature of the target; The echo signal parameters of the target; The sensing accuracy of the target; The identifier of the target.

17. The method according to claim 15, wherein The sensing signal configuration includes at least one of the following: sensing signal transmission configuration, sensing echo reception configuration, sensing range configuration, sensing signal transceiver mode configuration.

18. The method according to claim 17, wherein, The sensing range configuration includes: Centering on the three-dimensional coordinates of the emission point of the sensing signal, configuring the sensing range with the sensing radius and the horizontal azimuth angle range and elevation angle range of the sensing beam scanning; and / or, Configuring the sensing range based on the sensing resolution attenuation curve.

19. The method according to claim 17, wherein, The sensing signal transmission configuration includes at least one of the following: the signal waveform used for sensing signal transmission, the multiplexed channel, the power configuration, the time domain configuration, the frequency domain configuration, the spatial domain configuration, the code domain configuration.

20. The method according to claim 17, wherein, The sensing echo reception configuration includes at least one of the following: the signal waveform used for sensing echo reception, the multiplexed channel, the time domain configuration, the frequency domain configuration, the spatial domain configuration, the code domain configuration.

21. The method according to claim 19 or 20, wherein The signal waveform includes at least one of the following: orthogonal frequency division multiplexing (OFDM) signal waveform, orthogonal time-frequency-space modulation (OTFS) signal waveform, frequency-modulated continuous wave (FMCW) signal waveform.

22. The method according to claim 19 or 20, wherein The multiplexed channel includes at least one of the following: the channel of the synchronization signal, the channel of the channel state reference signal, the channel of the demodulation reference signal, the channel of the phase tracking reference signal, the channel of the sounding reference signal, the data channel, the control channel.

23. The method according to claim 19 or 20, wherein The time domain configuration includes at least one of the following: duration, start offset, granularity, periodic mode, semi-persistent mode, aperiodic mode.

24. The method according to claim 19 or 20, wherein, The frequency domain configuration includes at least one of the following: whether it is a continuous frequency band, the bandwidth of the sensing signal, the comb-shaped frequency domain resource configuration.

25. The method according to claim 19 or 20, wherein The spatial domain configuration includes at least one of the following: the number of sensing beams, the identifier of the sensing beam, the angle information of the sensing beam, the duration of the sensing beam, the sensing beam switching order, the sensing beam switching time point, the angle range information of the sensing signal transmission.

26. The method according to claim 13, wherein, The second message is used to indicate at least one of the following: The second sensing unit agrees or refuses to perform sensing detection on the target; The second sensing unit's modification suggestions for the sensing signal configuration of the second sensing unit; The second sensing unit's modification suggestions for the sensing signal configuration of the first sensing unit.

27. The method according to claim 2, wherein The sensing functional entity further includes a sixth functional module, and the sixth functional module is used to process sensing data.

28. The method according to claim 27, wherein, The sixth functional module is used to process sensing data, including at least one of the following: Save the sensing data; Forward the sensed data; Measure the sensed echo signal; Filter out the target based on the sensed data; Determine the feature information of the target based on the sensed data; Statistically calculate the false alarm rate and the missed alarm rate; Fuse the sensed data; Construct a sensing map.

29. The method according to claim 27, wherein The sixth functional module is deployed in the core network and / or the access network, and the access network includes communication nodes, base stations, communication centralized units, communication distributed units, and terminal devices.

30. The method according to claim 1 further includes: Determine the first sensing unit for performing the sensing service according to the requirements of the sensing service; Send the sensing signal configuration of the first sensing unit to the first sensing unit.

31. The method according to claim 1, wherein, The collaborative sensing detection of the target by the second sensing unit includes: When the first sensing unit performs sensing detection on the target, determine whether the capability of the first sensing unit meets the tracking requirements for the target; When the capability of the first sensing unit does not meet the tracking requirements for the target, determine the second sensing unit; Perform collaborative sensing detection on the target through the second sensing unit.

32. The method according to claim 1 further includes: Obtain the sensed data fed back by the target sensing unit, where the target sensing unit is a sensing unit for performing sensing detection on the target, and the target sensing unit includes at least the first sensing unit and the second sensing unit; Update the feature information of the target based on the sensed data fed back by the target sensing unit to obtain the updated feature information of the target.

33. The method according to claim 32 further includes: Send the updated feature information of the target to the target sensing unit.

34. A sensing collaboration method applied to a first sensing unit, the method includes: Send a first message to a second sensing unit, where the first message is used to request the second sensing unit to perform collaborative sensing detection on a target, and the target is the target for which the first sensing unit performs sensing detection.

35. The method according to claim 34 further includes: Receive a second message, where the second message is used to respond to the first message.

36. The method according to claim 34, wherein, The sending the first message to the second sensing unit includes: Determine the second sensing unit based on the indication of the sensing functional entity; Send the first message to the second sensing unit.

37. The method according to claim 34 further includes: Receive the sensing signal configuration of the first sensing unit sent by the sensing functional entity; Perform sensing detection on the target based on the sensing signal configuration of the first sensing unit.

38. The method according to claim 37 further includes: Receive the updated feature information of the target; Adjust the sensing signal configuration of the first sensing unit based on the updated feature information of the target.

39. A sensing collaboration method applied to a second sensing unit, the method includes: Receive a first message, where the first message is used to request the second sensing unit to perform sensing detection on a target, and the target is the target for which the first sensing unit performs sensing detection.

40. The method according to claim 39 further comprises: sending a second message for responding to the first message.

41. The method according to claim 39 further comprises: receiving updated feature information of the target; adjusting the sensing signal configuration of the second sensing unit based on the updated feature information of the target.

42. A communication device, comprising: a memory and a processor; the memory and the processor are coupled; the memory is used for storing instructions executable by the processor; when the processor executes the instructions, it executes the sensing cooperation method according to any one of claims 1 to 41.

43. A computer-readable storage medium, wherein, Computer instructions are stored on the computer-readable storage medium, and when the computer instructions run on the electronic device, the electronic device is caused to execute the sensing cooperation method according to any one of claims 1 to 41.

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