Target object sensing management method, target object sensing configuration method, target object sensing network self-organizing method, and device and medium

Abstract

A target object sensing management method, a target object sensing configuration method, a target object sensing network self-organizing method, and a device and a medium. The target object sensing management method comprises: on the basis of a preset process state, performing sensing management on a target object.

Description

Target object perception management, configuration, network self-organization methods, devices and media Technical Field

[0001] The present application relates to the field of synaesthesia integration technology, and in particular to a target object perception management, configuration, network self-organization method, device and medium. Background Art

[0002] Integrated Sending and Communication (ISAC) is a hot topic in mobile communication systems. Target object perception is a key aspect of ISAC, and it is essential for the system to perceive the target object. However, managing the perceived target is an urgent issue.

[0003] In cellular networks, network node deployment must consider network equipment coverage to achieve maximum communication coverage. In perception systems, the coverage performance of perception nodes over perceived targets also requires careful consideration. Perception signals and communication signals share the same electromagnetic wave transmission characteristics. The coverage range of perception nodes can be theoretically determined based on the perception channel module and the required received power of the perception signal. Expanding the coverage range of perception systems and improving the accuracy of feedback on perceived targets are pressing challenges. Summary of the Invention

[0004] The embodiments of the present application aim to provide a target object perception management, configuration, network self-organization method, device and medium to improve the coverage of the perception system and improve the feedback accuracy of target object perception.

[0005] The present invention provides a method for sensing and recognizing a target object, wherein the method includes:

[0006] Perform perception management on target objects according to preset process status.

[0007] The present invention also provides a method for configuring target object perception, wherein the method includes:

[0008] Get configuration information based on the measurement request.

[0009] The present application also provides a method for self-organizing a target object perception network, wherein the method includes:

[0010] Maintaining synaesthesia integration information;

[0011] A perception network is constructed according to the synaesthesia integration information.

[0012] An embodiment of the present application further provides an electronic device, wherein the electronic device includes:

[0013] one or more processors;

[0014] a memory for storing one or more programs;

[0015] When the one or more programs are executed by the one or more processors, the one or more processors implement any method described in the embodiments of the present application.

[0016] An embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs, and the one or more programs are executed by one or more processors to implement any method described in the embodiments of the present application.

[0017] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] FIG1 is a flow chart of a target object perception management method provided by an embodiment of the present application;

[0020] FIG2 is a flow chart of another target object perception management method provided by an embodiment of the present application;

[0021] FIG3 is a flow chart of another target object perception management method provided by an embodiment of the present application;

[0022] FIG4 is an example diagram of a target object perception management method provided by an embodiment of the present application;

[0023] FIG5 is an example diagram of a transition of a preset process state provided in an embodiment of the present application;

[0024] FIG6 is an example diagram of information transmission provided by an embodiment of the present application;

[0025] FIG7 is a flow chart of a target object perception configuration method provided by an embodiment of the present application;

[0026] FIG8 is an example diagram of a frequency band distribution provided by an embodiment of the present application;

[0027] FIG9 is a flow chart of a target object perception network self-organization method provided by an embodiment of the present application;

[0028] FIG10 is a flowchart of another target object perception network self-organization method provided by an embodiment of the present application;

[0029] FIG11 is a flow chart of another target object perception network self-organization method provided in an embodiment of the present application;

[0030] FIG12 is a schematic diagram of the structure of a perception mode provided in an embodiment of the present application;

[0031] FIG13 is a schematic diagram of the structure of a target object perception management device provided in an embodiment of the present application;

[0032] FIG14 is a schematic diagram of the structure of a target object sensing configuration device provided in an embodiment of the present application;

[0033] FIG15 is a schematic diagram of the structure of a target object perception network self-organizing device provided in an embodiment of the present application;

[0034] FIG16 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] It should be understood that the specific implementations described herein are only used to explain the present application and are not used to limit the present application.

[0036] In the subsequent description, suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of this application and have no specific meaning. Therefore, "module", "component" or "unit" can be used interchangeably.

[0037] FIG1 is a flow chart of a target object perception management method provided by an embodiment of the present application. The embodiment of the present application is applicable to situations where the perception range is expanded. The method can be executed by a target object perception management device. The device can be implemented by software and / or hardware methods and can generally be integrated into a first node. The first node can include a base station or a terminal device. Referring to FIG1 , the method provided by the embodiment of the present application specifically includes the following steps:

[0038] Step 110: Perform perception management on the target object according to a preset process state. The preset process state may be a preconfigured perception state for perception management. The preset process state may include one or more different perception states, and different perception management operations may be performed in different perception states. For example, upon initial perception of the target object, unique identification information may be created for the target object.

[0039] In an embodiment of the present application, the target object can be perceived and managed throughout the entire perception process through pre-configured preset process states, which can improve the accuracy of object perception and enhance the perception coverage.

[0040] In some application embodiments, the preset process state includes at least one of the following: a perception initial state, a perception tracking state, and a perception disappearance state.

[0041] In an embodiment of the present application, the perception initial state may be the initial state of perceiving the target object, the perception tracking state may be the state of continuously perceiving and tracking the target object, and the perception disappearance state may be the state of perceiving the disappearance of the target object. The perception processing operations of corresponding nodes are respectively configured in the perception initial state, the perception tracking state, and the perception disappearance state.

[0042] Based on the above application embodiment, the triggering of sensing the initial state includes: sensing that the state of the target object meets a first preset condition.

[0043] Among them, the state can be a data state composed of data for sensing the target object, and the state can include but is not limited to the state of sensing the speed of the target object and the state of sensing the signal strength of the target object. The first preset condition can identify the critical condition for sensing the target object. For example, the first preset condition can include the minimum signal strength for sensing the state of the target object.

[0044] Based on the above application embodiment, the perception management of the target object includes: perceiving the position or motion-related state of the target object in the perception tracking state.

[0045] In an embodiment of the present application, in the perception and tracking state, the position or motion-related state of the target object can be perceived.

[0046] Based on some other application embodiments, the triggering of the perception disappearance state includes: disappearance of the perception target object or release of management of the perception target.

[0047] In the embodiment of the present application, the disappearance of the target object is sensed or the sensed target is released, which can determine that the sensed disappearance state is triggered.

[0048] Based on the above application embodiment, the loss of perception includes at least one of the following:

[0049] The target object is beyond the sensing range of the first node or the sensing fails;

[0050] The target object is at rest;

[0051] The target object changes from motion to stillness;

[0052] The position or motion-related state of the target object cannot be perceived.

[0053] In an embodiment of the present application, perception loss may include perceiving that the target object is beyond the perception range of the first node or perception failure, or that the target object is in a stationary state and the first node cannot perceive the target object through the perception signal, or that the target object changes from motion to a stationary state, or that the position or motion-related state of the target object cannot be perceived. It can be understood that the operation-related state may include moving speed, moving direction, micro-Doppler value, etc.

[0054] In an exemplary embodiment, sensing the target object may include a sensing initial state, a sensing tracking state, and a sensing disappearance state.

[0055] Based on the above application embodiment, the target object is sensed and managed according to the preset process state, including:

[0056] Sense the target object and determine the target object identity in the preset process state.

[0057] In an embodiment of the present application, the target object can be perceived according to a preset process state, and a target object identifier can be set for the perceived target object. The target object identifier can be used in the entire process of perceiving the target object. The target object identifier can be determined by an upper-level instruction or by the first node.

[0058] Based on the above application embodiment, it also includes:

[0059] The communication perception integration information or perception information of the target object is maintained based on the object identification in the preset process state.

[0060] In an embodiment of the present application, in the process of performing perception management on a target object based on a preset process state, communication perception integration information or perception information of the target object can be maintained based on a determined target object identifier.

[0061] Based on the above-mentioned application embodiments, the communication perception integrated information or perception information includes at least one of the following: confidence, micro-motion feature information, timestamp, speed, reference signal receiving power, reference signal receiving path power, reference node, and reference path.

[0062] In an embodiment of the present application, the confidence level may be the confidence (expressed as a percentage) that the communication-perception integration information or the perception information of the target object is within the shape description range. The micro-motion feature information may be information indicating the subtle movement of the target object. The micro-motion feature information may be represented based on a micro-Doppler value. The timestamp information may be a digital record of the date and time at which the communication-perception integration information or the perception information occurs. The speed may be the moving speed of the target object. The reference signal received power (RSRP), the reference signal received path power (RSRPP), the reference node, and the reference path may be relevant signal parameters used to perceive the communication-perception integration information or the perception information of the target object.

[0063] Based on the above application embodiment, it also includes:

[0064] Transmit auxiliary perception information of the target object with the second node.

[0065] In an embodiment of the present application, the first node can also transmit information with the second stage to assist in perceiving the target object through information aggregation. The information exchanged between the first node and the second node can be auxiliary perception information, which can be used to perceive the target object.

[0066] Based on the above application embodiment, the auxiliary perception information includes at least one of the following: node location, time period measurement results, reference signal configuration information, location calculation method indication parameters, confidence, timestamp, node capability, and original status information.

[0067] In an embodiment of the present application, the second node can transmit auxiliary perception information to the first node, and the auxiliary perception information may include information obtained by the second node from sensing the target object. The auxiliary perception information may include but is not limited to: node position, time period measurement results, reference signal configuration information, position calculation method indication parameters, confidence, timestamp, node capability, and at least one of the original status information.

[0068] FIG2 is a flow chart of another target object perception management method provided by an embodiment of the present application. The present embodiment of the present application is a refinement of the above-mentioned embodiment, and describes the manner in which information is exchanged between the first node and the second node. Referring to FIG2 , the method provided by the embodiment of the present application specifically includes the following steps:

[0069] Step 210: Request at least one of data, configuration, or node capability from the second node.

[0070] In an embodiment of the present application, the first node may request at least one of data, configuration, or node capability from the second node, and the requested data, configuration, or node capability may assist the first node in perceiving the target object.

[0071] Step 220: Obtain the response information of the second node.

[0072] In an embodiment of the present application, the second node may feedback information in response to the request of the first node, and the information may include at least one of data, configuration, or node capability.

[0073] Step 230: Perform perception management on the target object according to the preset process status.

[0074] FIG3 is a flow chart of another target object perception management method provided by an embodiment of the present application. The present embodiment of the present application is a refinement of the above-mentioned embodiment, and describes the manner in which information is exchanged between the first node and the second node. Referring to FIG3 , the method provided by the embodiment of the present application specifically includes the following steps:

[0075] Step 310: Obtain at least one of data, configuration, or node capability provided by the second node.

[0076] In an embodiment of the present application, the second node can actively provide at least one of data, configuration or node capabilities to the first node, and the first node can obtain one or more of the data, configuration or node capabilities to achieve auxiliary perception management of the target object.

[0077] Step 320: Perform perception management on the target object according to the preset process status.

[0078] Based on the above application embodiment, the target object is sensed and managed according to the preset process state, including:

[0079] Identify the target object and enter the initial perception state of the preset process state, and feed back the synaesthesia measurement information of the target object to the third node; obtain the object identification fed back by the third node for the target object, and enter the tracking perception state of the preset process state.

[0080] Among them, the third node can be a management node of the first node, and the third node can include a base station, a network node, a core network unit, a location management function unit, an access and mobility management function unit, a perception function unit, etc.

[0081] In an embodiment of the present application, the preset process state can report the perception initial state. When the first node recognizes the target object and enters the perception initial state, the synaesthesia measurement information of the target object can be uploaded to the third node. The third node can determine the target object identification of the target object based on the synaesthesia measurement information. The first node can obtain the target object identification fed back by the third node and enter the perception tracking state.

[0082] Based on the above application embodiment, in the perception tracking state, perception management of the target object is performed according to the preset process state, including:

[0083] In the perception tracking state of the preset process state, the synaesthesia measurement result is continuously obtained according to the target object identification of the target object; and the position information and perception information of the target object are updated according to the synaesthesia measurement result.

[0084] In an embodiment of the present application, when the first node is in a perception tracking state, it can continuously perceive the target object based on the target object identification of the target object and obtain corresponding synaesthesia measurement results. It can be understood that the first node maintains the target object identification of the same target object in the perception tracking state, and can update the position information and perception information of the target object through the synaesthesia measurement results of the target object, so that the target object can be accurately identified in the perception tracking state of the first node.

[0085] On the basis of the above-mentioned application embodiment, the target object is sensed and managed according to the preset process state, including: sensing the disappearance of the target object and entering the sensed disappearance state.

[0086] In an embodiment of the present application, when the first node senses that the target object has disappeared, it may enter a sensed disappearance state.

[0087] Based on the above application embodiment, sensing the disappearance of the target object includes at least one of the following:

[0088] The target object is stationary; the target object is beyond the perception range of the first node; the first node fails to perceive the target object.

[0089] In an embodiment of the present application, when the first node senses that the target object is in a stationary state, it can be considered that the target object has disappeared; or, when the target object moves out of the perception range of the first node, the first node senses that the target object has disappeared; or, when the first node fails to sense the target object, the first node senses that the target object has disappeared.

[0090] In some application embodiments, the invention further comprises:

[0091] A target object identifier associated with the target object is determined.

[0092] In an embodiment of the present application, the first node may set an associated target object identifier for the target object. It is understood that if a target object moves again after being stationary, the first node's perception and management of the target object may be in two different preset process states. The first node may consider the target object perceived twice to be different, and therefore the target object identifier of the target object may be different.

[0093] Based on the above application embodiment, determining the target object identifier associated with the target object includes:

[0094] Acquire synaesthesia measurement information of the target object and send the synaesthesia measurement information to the second node; and receive the target object identifier determined by the second node based on the synaesthesia measurement information.

[0095] In an embodiment of the present application, after obtaining the synaesthesia measurement information of the target object, the first node can send the synaesthesia measurement information to the second node, and the second node can determine the target object identification of the target object based on the synaesthesia measurement information. The first node can receive the target object identification fed back by the second node.

[0096] Based on the above application embodiment, it also includes: the target object identification is associated with the communication perception integrated information of the target object.

[0097] Based on the above application embodiment, it also includes:

[0098] Report positioning measurement parameters and synaesthesia measurement values.

[0099] In the embodiment of the present application, the first node may also report the positioning measurement parameters and synaesthesia measurement values ​​generated by sensing the target object.

[0100] Based on the above-mentioned application embodiments, the positioning measurement parameters include at least one of the following: reference signal time difference, reception and transmission time difference, relative arrival time, positioning reference signal reception path power, side link positioning reference signal reception reference power, propagation path or other path.

[0101] Based on the above application embodiment, the synaesthesia measurement value includes at least one of the following:

[0102] Propagation path information, velocity information, Doppler information, perceived location information, reference signal received power, and reference signal received path power.

[0103] In some application embodiments, reporting positioning measurement parameters and synaesthesia measurement values ​​includes at least one of the following:

[0104] Report positioning measurement parameters and synaesthesia measurement values ​​for each configuration;

[0105] Report positioning measurement parameters and synaesthesia measurement values ​​for each sending and receiving point;

[0106] Report positioning measurement parameters and synaesthesia measurement values ​​for each resource;

[0107] Report positioning measurement parameters and synaesthesia measurement values ​​for each resource set;

[0108] Report positioning measurement parameters and synaesthesia measurement values ​​for each positioning frequency layer;

[0109] Report positioning measurement parameters and synaesthesia measurement values ​​for each terminal device.

[0110] In an embodiment of the present application, the reporting of positioning measurement parameters and synaesthesia measurement values ​​may include reporting of positioning measurement parameters and synaesthesia measurement values ​​for different granularities, specifically including but not limited to reporting positioning measurement parameters and synaesthesia measurement values ​​for each configuration; reporting positioning measurement parameters and synaesthesia measurement values ​​for each sending and receiving point; reporting positioning measurement parameters and synaesthesia measurement values ​​for each resource; reporting positioning measurement parameters and synaesthesia measurement values ​​for each resource set; and reporting positioning measurement parameters and synaesthesia measurement values ​​for each positioning frequency layer.

[0111] Based on the above-mentioned application embodiment, the positioning parameters and synaesthesia measurement values ​​are transmitted through at least one of the following information: perception control information, side channel control information, downlink control information, uplink control information, media access layer control unit, non-access layer, high-layer information, and system information block.

[0112] In an embodiment of the present application, positioning parameters and synaesthesia measurement values ​​can be transmitted through one or more information of perception control information, side channel control information, downlink control information, uplink control information, media access layer control unit, non-access layer, high-layer information, and system information block.

[0113] In some application embodiments, sensing and managing a target object according to a preset process state includes:

[0114] A target object identification of at least one target object is generated.

[0115] In an embodiment of the present application, the first node can perform multi-target tracking on multiple target objects and can generate a corresponding target object identifier for each target object.

[0116] In some application embodiments, the invention further comprises:

[0117] The communication identifier and the target object identifier of the target object are acquired, and an identifier association relationship between the target object identifier and the communication identifier is generated.

[0118] In an embodiment of the present application, a first node may obtain a communication identifier and a target object identifier set for a target object, and may associate the target object identifier with the communication identifier information of the target object. For example, if the target object is a vehicle with communication capabilities, upon sensing the vehicle, the target object identifier of the vehicle may be associated with the vehicle's communication identifier, and the association information may be transmitted by the first node to the second node.

[0119] In some application embodiments, sensing and managing a target object according to a preset process state includes:

[0120] Acquire a perception target trajectory of at least one second node for the target object; and associate at least two perception target trajectories.

[0121] In an embodiment of the present application, multiple second nodes may be provided to sense the target object and generate sensed target trajectories. When the first node obtains sensed target trajectories for the same target object, it may associate these sensed target trajectories.

[0122] Based on the above application embodiment, at least one of the following is also included:

[0123] Merging at least part of the at least two perception target trajectories; and deleting at least part of the duplicate trajectories of the at least two perception target trajectories.

[0124] In an embodiment of the present application, for a target object having at least two associated perception target trajectories, the perception target trajectories may be merged, or overlapping portions of the perception target trajectories may be deleted.

[0125] Based on the above application embodiment, associating at least two perceived target trajectories includes:

[0126] Associating at least two perceived target trajectories; associating target object identifiers of at least two perceived target trajectories; and associating perception data of at least two perceived target trajectories.

[0127] In an embodiment of the present application, associating at least two perceived target trajectories of the same target object may include associating the perceived target trajectories themselves, associating the target object identifiers corresponding to the perceived target trajectories, and associating the perception data corresponding to the perceived target trajectories.

[0128] In an exemplary embodiment, referring to FIG4 , the second node may include a terminal a and a base station b. The sensing coverage area of ​​terminal a may be S1, and the sensing coverage area of ​​base station b may be S2. The movement trajectory of a target object may be ABCD. The sensing target trajectory of the target object sensed by terminal a may be ABC, and the sensing target trajectory of the target object sensed by base station b may be BCD. When the first node receives the sensing target trajectory ABC of the target object from terminal a and the sensing target trajectory BCD of the target object from base station b, the first node may associate the sensing target trajectory ABC with the sensing target trajectory BCD for the target object, thereby generating the sensing target trajectory ABCD of the target object. It will be understood that this exemplary embodiment is merely an example and not a limitation. When associating the sensing target trajectories, there may be multiple sensing target trajectories, that is, there may be multiple second nodes sensing the target object to generate the sensing target trajectory. The number of second nodes may be 3, 4, 5, or more. The second nodes participating in sensing the sensing target trajectory of the target object may include only the terminal participating in sensing, only the base station participating in sensing, or the terminal and the base station participating in sensing in collaboration.

[0129] In an exemplary embodiment, the first node can perform perception management on the target object through preset process states, which may include a perception initial state, a perception tracking state, and a perception disappearance state, see FIG5 , and the preset process states can be transformed.

[0130] In some embodiments, the perception-initial state may be converted to the perception-tracking state, and the perception-tracking state may be converted to the perception-disappearing state.

[0131] In the embodiment of the present application, the initial state of perception may be the state in which the target object is initially perceived, and the perception information of the target object may be a state from non-existence to existence. The tracking state of perception may be the state in which the perception process continuously tracks the target object, and the perception information of the target object may be a state from existence to existence, and the perception information of the target object may be continuously changing. The first node continuously perceives and tracks the target object in the tracking state and updates the perception information of the target object. The disappearance state of perception may be the state in which the target object is perceived to have disappeared, and the perception information of the target object may be a state from existence to non-existence.

[0132] Based on the above-mentioned application embodiments, the reasons for the disappearance of the target object may include at least one of the following: the perceived target object is beyond the perception range, the perceived target object is in a stationary state, the perceived target object changes from a moving state to a stationary state, the target object is not successfully perceived, or the motion state of the target object cannot be perceived.

[0133] Based on the above-mentioned application embodiment, the first node can maintain the identity document (ID) of the target object in the perception management of the target object, and the ID is associated with at least one of the following parameters of the target object: position, confidence, micro-Doppler, timestamp, speed, RSRP, RSRPP, reference node and reference path.

[0134] In some application embodiments, the first node may report positioning measurement parameters and synaesthesia measurement values, where the positioning measurement parameters include at least one of the following: reference signal time difference, receive-transmit time difference, relative arrival time, positioning reference signal receive path power, side link positioning reference signal receive reference power, propagation path or other path. Synaesthesia measurement values ​​include at least one of the following: range Doppler spectrum, propagation path information, velocity information, Doppler information, perceived location information, reference signal receive power, and reference signal receive path power. The first node may report these measurement values ​​or measurement parameters to the second node.

[0135] Furthermore, positioning reference parameters and synaesthesia measurement values ​​may be reported for each configuration, for each Transmission and Reception Point (TRP), for each resource, for each resource set or for each Positioning Frequency Layer (PFL), and for each terminal device.

[0136] Furthermore, the first node may also transmit information with a second node, where the second node may be a location management function (LMF) or a sensing function (SF). The transmitted information may include the location of the communication node, time period measurement results, reference signal configuration information, different location calculation methods or parameters, result confidence, result timestamp, communication node capabilities, and LMF information before sensing. The first node may use this information to assist the sensing process to reduce interference.

[0137] In some embodiments, as shown in FIG6 , a first node requests data, configuration, or related node capabilities from a second node, and the second node responds to the request and provides the corresponding information to the first node. Alternatively, the second node provides data, configuration, or related node capability information to the first node.

[0138] Specifically, the first node may perform perception management of the target object through the preset process state, which may include the following process:

[0139] 1. After the first node recognizes the target object, it enters the initial perception state and feeds back the measurement results to the SF or other units. The SF or other units assign the target ID corresponding to the target object, and the first node enters the perception tracking state;

[0140] 2. After the first node enters the perception tracking state, it updates the target object's position, perception information, etc. based on the perception measurement results;

[0141] 3. When the first node senses that the target object has stopped, is out of the sensing range, or is not being tracked, the first node enters the sensing loss state.

[0142] In target management, they are considered as two target nodes. At the same time point, SF maintains one target ID.

[0143] Based on the above-mentioned application embodiments, the first node and / or the second node can be specifically a UE, a base station, a core network unit, a TRP, a network node, a server, a SF, a LMF or an access and mobility management function (AMF).

[0144] FIG7 is a flowchart of a target object perception configuration method provided by an embodiment of the present application. The embodiment of the present application is applicable to situations where the perception range is expanded. The method can be executed by a target perception configuration device, which can be implemented by software and / or hardware methods and can generally be integrated into a first node. The first node can include a base station or a terminal device. Referring to FIG7 , the method provided by the embodiment of the present application specifically includes the following steps:

[0145] Step 410: Obtain configuration information according to the measurement request.

[0146] In this embodiment of the present application, the first node may obtain configuration information through a measurement request.

[0147] Based on the above application embodiment, the measurement request includes at least perception-related information, and the perception-related information includes at least one of the following:

[0148] Perception-related information for each configuration; perception-related information for each transmitting and receiving point; perception-related information for each resource; perception-related information for each resource set; perception-related information for each physical frequency domain layer; perception-related information for each terminal device.

[0149] In an embodiment of the present application, the measurement request carries at least perception-related information, which may be perception-related information at different granularities, including but not limited to perception-related information for each resource set; perception-related information for each physical frequency domain layer; and perception-related information for each terminal device.

[0150] Furthermore, based on the above application embodiment, the perception-related information includes at least one of the following:

[0151] Indication information that the low frequency band does not perceive the high frequency band; indication information that the high frequency band does not perceive the low frequency band; indication information that low frequency band perception is prioritized; indication information that high and low frequency band perception is prioritized; indication information that high frequency band perception is the default; indication information that low frequency band perception is the default; request for perception of frequency band; reporting configuration of perception method; indication of line-of-sight path of perception reference path; indication of non-line-of-sight path of perception reference path.

[0152] Specifically, referring to Figure 8, during the target perception process of the first node, the configuration can be obtained through perception-related information, and the perception information may include indication information that the low frequency band does not perceive the high frequency band; indication information that the high frequency band does not perceive the low frequency band; indication information of priority for low frequency band perception; indication information of priority for high and low frequency band perception; indication information of default high frequency band perception; indication information of default low frequency band perception; request for perception frequency band; reporting configuration of perception method; indication of line-of-sight path of perception reference path; indication of non-line-of-sight path of perception reference path, thereby obtaining the configuration used for perception management of the target object.

[0153] FIG9 is a flow chart of a target object perception network self-organization method provided by an embodiment of the present application. The embodiment of the application is applicable to situations where the perception range is expanded. The method can be executed by a target perception network self-organization device. The device can be implemented by software and / or hardware methods and can generally be integrated into a first node. The first node can include a base station or a terminal device. Referring to FIG9 , the method provided by the embodiment of the present application specifically includes the following steps:

[0154] Step 510: Maintain communication perception integration information.

[0155] In an embodiment of the present application, the first node may maintain communication perception integration information, which may include communication perception integration information obtained by itself and / or communication perception integration information obtained by other nodes.

[0156] Step 520: Construct a perception network based on the communication perception integration information.

[0157] Specifically, the first node may construct a perception network according to the maintained communication perception integration information, thereby improving the coverage of the perception network.

[0158] In some application embodiments, maintaining communication awareness integration information includes:

[0159] Acquire the sensing capability information of the second node.

[0160] In an embodiment of the present application, the communication perception integration information maintained by the first node includes at least the perception capability information of the second stage. The first node can obtain the perception capability information of the second node and maintain the perception capability information.

[0161] Based on the above application embodiment, the perception capability information includes at least one of the following:

[0162] Support for synaesthesia signal frequency bands;

[0163] The ability to process synaesthesia signals;

[0164] the ability to process synaesthesia signals of the first time period;

[0165] the ability to process synaesthesia signals from a first time period in a second time period;

[0166] Processing maintenance capabilities of sensing neighbor nodes within a specified time period;

[0167] Processing and maintaining the ability to sense neighboring nodes;

[0168] The receiving or sending capabilities of the perceived neighboring nodes.

[0169] Among them, the perception capability information may include support for the frequency band of synaesthesia signals, and may include the range or identification of the supported synaesthesia signal frequency band; the processing capability of synaesthesia signals, which may include indication information of whether the synaesthesia signals can be processed; the capability of processing synaesthesia signals in a first time period, which may include the capability of processing the synaesthesia signals received in the first time period, and the first time period may be the time for receiving the synaesthesia signals; the capability of processing synaesthesia signals in a first time period in a second time period, which may include the capability of processing the synaesthesia signals received in the first time period in the second time period, and the second time period may be the capability of processing the synaesthesia signals; the maintenance capability of processing the perception neighboring nodes in a specified time period, which may include the capability of whether the perception neighboring nodes can be processed in the specified time period; the maintenance capability of processing the perception neighboring nodes may be the capability of the node to maintain its perception neighboring nodes; the receiving or sending capability of the perception neighboring nodes may be the capability of the node to send information to or receive information from the perception neighboring nodes, wherein the perception neighboring nodes may be nodes in adjacent positions within the perception network.

[0170] In some other application embodiments, maintaining communication awareness integration information includes:

[0171] Maintains a list of synaesthesia integration nodes.

[0172] In an embodiment of the present application, the first node can maintain communication perception integration nodes through a list, and the communication perception integration information of different nodes can be saved in the list. The synaesthesia integration nodes maintained in the list can be synaesthesia integration nodes perceived by the first node, or synaesthesia integration nodes shared by other synaesthesia integration nodes, or can be synaesthesia integration nodes with which the first node has communicated.

[0173] Based on the above application embodiment, maintaining the list of synaesthesia integrated nodes includes at least one of the following:

[0174] Discovering a second node with sensing capabilities;

[0175] Maintaining a node list of second nodes having a sensing function;

[0176] The second node having the perception function is selected according to the measurement value.

[0177] In an embodiment of the present application, the way in which the first node maintains the list of synaesthesia integrated nodes may include at least one of the following: the first node sends a second node with perception function, and the second node can be added to the list of maintained perception integrated nodes; a node list is constructed for the second node with perception function, and the node list is maintained in the first stage; the first node can delete the second node with perception function through measurement values.

[0178] In some other application embodiments, maintaining a list of synaesthesia-integrated nodes includes:

[0179] Obtain a request from the perception function unit for a request list; and report at least one piece of list information of the list in response to the request from the perception function unit.

[0180] In an embodiment of the present application, the first node can perceive the functional unit request, which can request to obtain the list of maintained synaesthesia integrated nodes. The first node can report part of the list information or all of the list information in response to the perception functional unit request.

[0181] Based on the above application embodiment, maintaining a list of synaesthesia integrated nodes includes:

[0182] Obtain node information transmitted by a third node, wherein the node information includes at least target node information; determine that a list includes the target node information, and transmit a preset data packet to a target node corresponding to the target node information according to the list.

[0183] In an embodiment of the present application, the first node can obtain node information transmitted by the third node. When the target node information included in the node information is located in the list maintained by the first node, the first node can transmit the preset data packet to the target node according to the target node information through the maintained list.

[0184] Based on the above application embodiment, it also includes: the list does not include the target node information, and the first information is fed back to the third node.

[0185] In an embodiment of the present application, the first node receives node information from a third node, and the target node information in the node information does not belong to the list maintained by the first node. The first node can feedback the first information to the third node, so that the third node knows that the list maintained by the first node does not include the target node information.

[0186] In some application embodiments, it also includes: reporting the list to the perception master node.

[0187] Specifically, the first node may report the list of synaesthesia integrated nodes maintained by itself to the perception master node, and the perception master node may be a perception functional unit or a master node of the perception network where the first node is located.

[0188] In some application embodiments, maintaining a list of synaesthesia-integrated nodes includes:

[0189] Obtain an Internet Protocol address of the second node; and update the list according to the Internet Protocol address.

[0190] In an embodiment of the present application, the list of synesthesia integrated nodes maintained by the first node may include at least the Internet Protocol address of the synesthesia integrated node. The Internet Protocol address may be transmitted to the first node by the synesthesia integrated node itself, that is, the second node may be the synesthesia integrated node. The Internet Protocol address may also be transmitted to the first node by another node, and the second node may be a node with a communication connection with the first node. The second node may forward the Internet Protocol address of the synesthesia integrated node to the first node. The first node may update the list of synesthesia integrated nodes according to the Internet Protocol address it receives. The update may include updating the Internet Protocol address of the synesthesia integrated node and adding the Internet Protocol address of the newly added synesthesia integrated node.

[0191] A first node requests an Internet Protocol address configuration, disconnection, connection change, keepalive association, secure connection, direct communication request, or service data transmission information from a second node, and the second node responds to the first node's request. The first node or the second node acts as an Internet Protocol router, and the first node or the second node respectively maintains an Internet Protocol routing table.

[0192] The first node sends link update feedback to the second node.

[0193] Based on the above-mentioned application embodiment, the request or response information includes at least one of the following: Internet Protocol address configuration or Internet Protocol address configuration indication, first node information, second node information, perception service information, and security information.

[0194] Specifically, the Internet Protocol address configuration includes at least one of the following: supporting Internet Protocol routers and not supporting Internet Protocol routers.

[0195] In some application embodiments, the Internet Protocol address configuration indication includes at least one of the following: supporting Internet Protocol address allocation, not supporting Internet Protocol address allocation.

[0196] FIG10 is a flowchart of another target object perception network self-organization method provided by an embodiment of the present application. The present embodiment of the present application is a refinement of the above-mentioned embodiment, and describes the process of maintaining synaesthesia integration information. Referring to FIG10 , the method provided by the embodiment of the present application specifically includes the following steps:

[0197] Step 610: Broadcast the perception signal of the first node.

[0198] In an embodiment of the present application, the first node may broadcast its own perception signal to obtain responses from other nodes.

[0199] Step 620: Receive node information fed back by the second node in response to the sensing signal.

[0200] In an embodiment of the present application, the second node receives a perception signal broadcast by the first node. The second node can feedback node information to the first node based on the perception signal. The node information can identify the perception capability of the second node and configuration information related to perception. The first node can receive the node information fed back by the first node.

[0201] Step 630: Construct a perception network based on the communication perception integration information.

[0202] Based on the above application embodiment, the perception signal includes at least one of the following information: node identification, node location, perception capability, supported frequency band, supported carrier frequency, supported partial bandwidth, maximum perception range, power, beam and perceived neighboring node.

[0203] FIG11 is a flow chart of another target object perception network self-organization method provided by an embodiment of the present application. This embodiment of the present application is a refinement of the above-mentioned embodiment, and describes the process of maintaining synaesthesia integration information. Referring to FIG10 , the method provided by the embodiment of the present application specifically includes the following steps:

[0204] Step 710: Transmit a request for obtaining node information to the second node.

[0205] In an embodiment of the present application, the first node may transmit a request to the second node, where the request may be used to obtain node information of the second node.

[0206] Step 720: Receive node information fed back by the second node.

[0207] Specifically, the second node may feedback node information to the first node in response to the request, and the first node may receive the node information. It is understandable that the node information may include an identifier of the perception capability of the second node and configuration information related to perception.

[0208] Step 730: Build a perception network based on the communication perception integration information.

[0209] Based on the above application embodiment, the node information includes at least one of the following: supported frequency band, maximum sensing range, power, node location, and sensed neighboring nodes.

[0210] In some application embodiments, maintaining synaesthesia integration information includes:

[0211] The sensing capability is reported by the sensing neighboring nodes.

[0212] In an embodiment of the present application, the first node may report its own perception capability through its perception neighbor node in the perception network, so that the perception master node obtains the perception capability of the first node.

[0213] In an exemplary embodiment, Figure 12 is a structural diagram of a perception mode provided in an embodiment of the present application. Referring to Figure 12, the perception mode may include six modes: base station self-transmission and self-reception, base station transmission and base station reception, user terminal (User Equipment, UE) self-transmission and self-reception, user terminal transmission and user terminal reception, user terminal transmission and base station reception, and base station transmission and user terminal reception. In the target perception network, perception can be performed by the base station or the base station and the user terminal can be collaboratively perceived. Since the range of base station perception is not as large as the range of communication, in order to expand the perception range, the target perception network self-organization method can be used to utilize the random distribution of user terminals to expand the perception range.

[0214] In an embodiment of the present application, the perception capability may include support for the frequency band of synaesthesia signals, the ability to process perception signals, the ability to process perception signals in a first time period, the ability to process perception signals in a first time period within a second time period, the ability to process the maintenance of perception neighboring nodes within a certain time period, the ability to process the maintenance of perception neighboring nodes, and the ability to receive or send to perception neighboring nodes.

[0215] Specifically, a first node executing the target perception network self-organization method may maintain a list of communicating perception nodes. The first node may discover nodes with perception capabilities; alternatively, the first node may maintain and update a list of perception-capable nodes; or the first node may select nodes based on measurement values, for example, only nodes with measurement values ​​or distances that meet a threshold. The perception list may include individual nodes or a collection of nodes that can provide perception services.

[0216] In an embodiment of the present application, the SF requests the list information of the first node, and the first node can respond to the request and report the corresponding list information.

[0217] In the target perception network self-organizing method, each UE can maintain its own node list. Based on the received first node information, which includes the destination node information, the UE sends the corresponding data packet to the destination node according to the node list maintained by itself; if the node list does not include the destination node, it is fed back to the first node.

[0218] In an embodiment of the present application, the SF or Server Node in the target perception network maintains a summarized node list, and the UE or base station reports the corresponding UE perception capability or perception list to the SF or Server Node. The reporting process may include the UE reporting the target node information to the SF or server node based on the received first node information and the destination node information contained in the first node information, the SF or server node designating a node for the UE to send next, and the UE sending the corresponding data packet to the designated node; if the node list does not include the destination node or the designated node, the feedback fails.

[0219] In the embodiment of the present application, in order to expand the perception range, the characteristics of the UE's position such as mobility and randomness are utilized.

[0220] 1. The UE reports its own location or perception capability / function, as well as supported frequency bands or carrier frequencies or BWP, maximum perception range, power, beam, current location, and parameters such as the nodes (or node pairs) around it that can provide perception capabilities.

[0221] Step 1: Broadcast a sensing signal. The sensing signal includes at least one of the following: the ID information of the own node. The ID information can be the sensing application ID configured by each UE node or the ID used for sensing. The broadcast process can reuse the discovery process.

[0222] Step 2: The UE node that receives the signal feeds back its own node information including at least one of the following: supported frequency band, maximum sensing range, power, current location of the node, and surrounding nodes that the node can identify and communicate with.

[0223] Alternatively, the node information is transmitted between two UE nodes through a request and response method.

[0224] In this embodiment of the present application, UEs report and exchange UE perception capabilities through neighboring nodes. Perception capabilities include support for interoceptive signal frequency bands and signal processing capabilities. These capabilities can be used to identify server UEs, facilitating UE-based perception. Server UEs are equivalent to distributed SF nodes, and server nodes can report their perception results to the SF and notify the corresponding application layer.

[0225] FIG13 is a schematic diagram of the structure of a target object perception management device provided in an embodiment of the present application. The device can execute the target perception method provided in any embodiment of the present application and has the corresponding functional modules and beneficial effects of the execution method. The device can be implemented by software and / or hardware. As shown in FIG13, the device provided in an embodiment of the present application specifically includes:

[0226] The perception management module 810 is used to perform perception management on the target object according to a preset process state.

[0227] Based on the above application embodiment, the preset process state in the device includes at least one of the following: perception initial state, perception tracking state and perception disappearance state.

[0228] Based on the above application embodiment, the triggering of sensing the initial state includes: sensing that the state of the target object meets a first preset condition.

[0229] Based on the above application embodiment, the perception management module 810 is specifically used to: perceive the position or motion-related state of the target object in the perception tracking state.

[0230] Based on the above application embodiment, the triggering of the sensed disappearance state in the device includes: disappearance of the sensed target object or release of the management of the sensed target.

[0231] Based on the above application embodiment, the loss of perception includes at least one of the following:

[0232] The target object is beyond the sensing range of the first node or the sensing fails;

[0233] The target object is at rest;

[0234] The target object changes from motion to stillness;

[0235] The position or motion-related state of the target object cannot be perceived.

[0236] Based on the above application embodiment, the perception management module 810 is specifically used to: perceive the target object and determine the target object identifier in a preset process state.

[0237] Based on the above application embodiment, the device also includes: an information maintenance module, which is used to maintain the communication perception integration information or perception information of the target object based on the target object identification in a preset process state.

[0238] Based on the above application embodiment, the device further includes: an auxiliary information module, which is used to transmit auxiliary perception information of the target object with the second node.

[0239] Based on the above application embodiment, the auxiliary perception information includes at least one of the following:

[0240] Node location, time period measurement results, reference signal configuration information, location calculation method indication parameters, confidence level, timestamp, node capability, and original status information.

[0241] Based on the above application embodiment, the device also includes: requesting at least one of data, configuration or node capability from the second node; and obtaining information of the second node's response.

[0242] Based on the above application embodiment, the device also includes: obtaining at least one of data, configuration or node capability provided by the second node.

[0243] Based on the above-mentioned application embodiment, the perception management module 810 is specifically used to: identify the target object entering the perception initial state of the preset process state, and feedback the synaesthesia measurement information of the target object to the third node; obtain the target object identification feedback by the third node for the target object, and enter the perception tracking state of the preset process state.

[0244] Based on the above-mentioned application embodiment, the perception management module 810 is specifically used to: in the perception tracking state of the preset process state, continuously obtain the synaesthesia measurement results according to the target object identification of the target object; and update the position information and perception information of the target object according to the synaesthesia measurement results.

[0245] Based on the above application embodiment, the perception management module 810 is specifically used to: perceive the disappearance of the target object and enter the perception disappearance state.

[0246] Based on the above application embodiment, sensing the disappearance of the target object includes at least one of the following:

[0247] The target object is at rest;

[0248] The target object is beyond the sensing range of the first node;

[0249] The first node fails to perceive the target object.

[0250] Based on the above application embodiment, the device further includes: an association module, configured to determine a target object identifier associated with the target object.

[0251] Based on the above application embodiment, the association module is specifically used to:

[0252] Acquire synaesthesia measurement information of the target object, and send the synaesthesia measurement information to the second node;

[0253] Receive the target object identifier determined by the second node based on the synaesthesia measurement information.

[0254] Based on the above application embodiment, the association module further includes: the target object identifier is associated with the communication perception integrated information of the target object.

[0255] Based on the above-mentioned application embodiment, the communication perception integrated information includes at least one of the following: position, confidence, micro-motion feature information, timestamp, speed, reference signal receiving power, reference signal receiving path power, reference node, and reference path.

[0256] Based on the above application embodiment, the device further includes: an information reporting module, which is used to report positioning measurement parameters and synaesthesia measurement values.

[0257] Based on the above application embodiment, the positioning measurement parameters include at least one of the following:

[0258] Reference signal time difference, receive and transmit time difference, relative arrival time, positioning reference signal receive path power, side link positioning reference signal receive reference power, propagation path or other path.

[0259] Based on the above application embodiment, the synaesthesia measurement value includes at least one of the following:

[0260] Propagation path information, velocity information, Doppler information, perceived location information, reference signal received power, and reference signal received path power.

[0261] Based on the above application embodiment, reporting the positioning measurement parameters and synaesthesia measurement values ​​includes at least one of the following:

[0262] Report positioning measurement parameters and synaesthesia measurement values ​​for each configuration;

[0263] Report positioning measurement parameters and synaesthesia measurement values ​​for each sending and receiving point;

[0264] Report positioning measurement parameters and synaesthesia measurement values ​​for each resource;

[0265] Report positioning measurement parameters and synaesthesia measurement values ​​for each resource set;

[0266] Report positioning measurement parameters and synaesthesia measurement values ​​for each positioning frequency layer;

[0267] Report positioning measurement parameters and synaesthesia measurement values ​​for each terminal device.

[0268] Based on the above application embodiment, the positioning parameters and the synaesthesia measurement value are transmitted via at least one of the following information:

[0269] Perception control information, side channel control information, downlink control information, uplink control information, media access layer control unit, non-access layer, high-layer information, system information block.

[0270] Based on the above application embodiment, the perception management module 810 is specifically used to: generate a target object identifier of at least one target object.

[0271] Based on the above application embodiment, the perception management module 810 further includes: an identification processing unit, which is used to obtain the communication identification and target object identification of the target object, and generate an identification association relationship between the target object identification and the communication identification.

[0272] Based on the above application embodiment, the perception management module 810 includes: a trajectory processing unit for acquiring a perception target trajectory of at least one second node for a target object; and a trajectory association unit for associating at least two perception target trajectories.

[0273] Based on the above application embodiment, the trajectory association unit is specifically configured to perform at least one of the following: merging at least partial trajectories of at least two perceived target trajectories; and deleting at least partial duplicate trajectories of at least two perceived target trajectories.

[0274] Based on the above application embodiment, the trajectory association unit associates at least two perceived target trajectories, including:

[0275] associating at least two perceived target trajectories;

[0276] associating at least two target object identifiers of the perceived target trajectories;

[0277] The perception data of at least two perception target trajectories are associated.

[0278] FIG14 is a schematic diagram of the structure of a target object perception configuration device provided in an embodiment of the present application. The device can execute the target perception configuration method provided in any embodiment of the present application and has the corresponding functional modules and beneficial effects of the execution method. The device can be implemented by software and / or hardware. As shown in FIG14, the device provided in an embodiment of the present application specifically includes:

[0279] The configuration acquisition module 910 is configured to acquire configuration information according to a measurement request.

[0280] Based on the above-mentioned application embodiment, the in-device measurement request includes at least perception-related information, and the perception-related information includes at least one of the following:

[0281] Perception-related information for each configuration;

[0282] Perception-related information for each sending and receiving point;

[0283] Perception-related information for each resource;

[0284] Perception-related information for each resource set;

[0285] Perception-related information for each physical frequency domain layer;

[0286] Perception-related information for each terminal device.

[0287] Based on the above application embodiment, the perception-related information includes at least one of the following:

[0288] The low frequency band does not perceive the indication information of the high frequency band;

[0289] The high frequency band does not perceive the indication information of the low frequency band;

[0290] Indication information for low-frequency band perception priority;

[0291] Indication of high and low frequency band perception priority;

[0292] Indication of default high-band perception;

[0293] Indication of default low-band awareness;

[0294] Request to sense the frequency band;

[0295] Reporting configuration of perception method;

[0296] Indication of sight path of the perceived reference path;

[0297] An indication of the non-line-of-sight path of the perceived reference path.

[0298] FIG15 is a schematic diagram of the structure of a target object perception network self-organizing device provided in an embodiment of the present application. The device can execute the target perception network self-organizing method provided in any embodiment of the present application and has the corresponding functional modules and beneficial effects of the execution method. The device can be implemented by software and / or hardware. As shown in FIG15, the device provided in an embodiment of the present application specifically includes:

[0299] The information maintenance module 1010 is used to maintain communication perception integration information.

[0300] The network construction module 1020 is used to construct a perception network based on the communication perception integration information.

[0301] Based on the above application embodiment, the information maintenance module 1010 includes:

[0302] The sensing capability unit is used to obtain the sensing capability information of the second node.

[0303] Based on the embodiment of the present application, the perception capability information includes at least one of the following:

[0304] Support for synaesthesia signal frequency bands;

[0305] The ability to process synaesthesia signals;

[0306] the ability to process synaesthesia signals of the first time period;

[0307] the ability to process synaesthesia signals from a first time period in a second time period;

[0308] Processing maintenance capabilities of sensing neighbor nodes within a specified time period;

[0309] Processing and maintaining the ability to sense neighboring nodes;

[0310] The receiving or sending capabilities of the perceived neighboring nodes.

[0311] Based on the above application embodiment, the information maintenance module 1010 includes: a list maintenance unit, which is used to maintain a list of synaesthesia integration nodes.

[0312] Based on the above application embodiment, the list maintenance unit is specifically used for at least one of the following:

[0313] Discovering a second node with sensing capabilities;

[0314] Maintaining a node list of second nodes having a sensing function;

[0315] The second node having the perception function is selected according to the measurement value.

[0316] Based on the above application embodiment, the list maintenance unit is specifically used to: obtain a request from the perception function unit requesting a list; and report at least one list information of the list in response to the request from the perception function unit.

[0317] Based on the above-mentioned application embodiment, the list maintenance unit is specifically used to: obtain node information transmitted by the third node, wherein the node information at least includes target node information; determine that the list includes target node information, and transmit a preset data packet to the target node corresponding to the target node information according to the list.

[0318] Based on the above application embodiment, the list maintenance unit is further specifically configured to: if the list does not include target node information, feed back the first information to the third node.

[0319] Based on the above application embodiment, the device also includes: a list reporting module, which is used to report the list to the perception master node.

[0320] Based on the above application embodiment, the list maintenance unit is further specifically used to: obtain the Internet Protocol address of the second node; and update the list according to the Internet Protocol address.

[0321] Based on the above application embodiment, the information maintenance module 1010 is specifically configured to: broadcast a perception signal of a first node; and receive node information fed back by a second node in response to the perception signal.

[0322] Based on the above application embodiment, the information maintenance module 1010 is specifically used to: transmit a request for obtaining node information to the second node; and receive node information fed back by the second node.

[0323] Based on the above application embodiment, the perception signal includes at least one of the following information: node identification, node location, perception capability, supported frequency band, supported carrier frequency, supported partial bandwidth, maximum perception range, power, beam and perceived neighboring node.

[0324] Based on the above application embodiment, the node information includes at least one of the following: supported frequency band, maximum sensing range, power, node location, and sensed neighboring nodes.

[0325] Based on the above application embodiment, the information maintenance module 1010 is specifically used to: report the sensing capability through the sensing neighboring node.

[0326] Figure 16 is a structural diagram of an electronic device provided in an embodiment of the present application, which includes a processor 10, a memory 11, an input device 12 and an output device 13; the number of processors 10 in the electronic device can be one or more, and Figure 16 takes one processor 10 as an example; the processor 10, memory 11, input device 12 and output device 13 in the electronic device can be connected via a bus or other means, and Figure 16 takes connection via a bus as an example.

[0327] The memory 11, as a computer-readable storage medium, can be used to store software programs, computer executable programs, and modules, such as the modules corresponding to the apparatus in the embodiments of the present application (the perception management module 810, the configuration acquisition module 910, or the information maintenance module 1010, and the network construction module 1020). The processor 10 executes the various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the memory 11, thereby implementing the above-mentioned method.

[0328] The memory 11 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created based on the use of the electronic device, etc. In addition, the memory 11 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 11 may further include a memory remotely located relative to the processor 10, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0329] The input device 12 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the electronic device. The output device 13 may include a display device such as a display screen.

[0330] An embodiment of the present application further provides a storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, the computer-executable instructions are used to perform a target perception method, the method comprising:

[0331] Perform perception management on target objects according to preset process status.

[0332] Alternatively, the computer executable instructions, when executed by a computer processor, are used to perform a target-aware configuration method, the method comprising:

[0333] Get configuration information based on the measurement request.

[0334] Alternatively, the computer executable instructions, when executed by a computer processor, are used to perform a target-aware network self-organization method, the method comprising:

[0335] Maintain communication and perception integration information;

[0336] A perception network is constructed based on the communication perception integration information.

[0337] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present application can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a computer's floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0338] It is worth noting that in the embodiments of the above-mentioned device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application.

[0339] Those skilled in the art will appreciate that all or some of the steps, devices, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof.

[0340] In a hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. The corresponding software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0341] The above content describes the preferred embodiments of the present application with reference to the accompanying drawings, and does not limit the scope of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present application should be within the scope of the present application.

Claims

1. A method for target object perception management, applied to a first node, the method comprising: Performing perception management on a target object according to a preset process state.

2. The method according to claim 1, wherein The preset process state includes at least one of the following: a perception initial state, a perception tracking state, and a perception disappearance state.

3. The method according to claim 2, wherein The triggering of the perception initial state includes: perceiving that the state of the target object meets a first preset condition.

4. The method according to claim 2, wherein Performing perception management on the target object includes: Perceiving the position or motion-related state of the target object in the perception tracking state.

5. The method according to claim 2, wherein The triggering of the perception disappearance state includes: Perceiving the disappearance of the target object or releasing the management of the perceived target object.

6. The method according to claim 5, wherein The perception of disappearance includes at least one of the following: The target object exceeds the perception range of the first node or the perception fails; The target object is in a stationary state; The target object changes from a moving state to a stationary state; The position or motion-related state of the target object cannot be perceived.

7. The method according to claim 1, wherein The performing of perception management on the target object according to the preset process state includes: Perceiving the target object in the preset process state and determining the target object identifier.

8. The method according to claim 7, further comprising: Maintaining the communication perception integration information or perception information of the target object based on the target object identifier in the preset process state.

9. The method according to claim 1, further comprising: Transmitting auxiliary perception information of the target object to a second node.

10. According to the method of claim 9, wherein, The auxiliary perception information includes at least one of the following: Node position, time period measurement result, reference signal configuration information, position calculation method indication parameter, confidence level, timestamp, node capability, original state information.

11. The method according to claim 1, further comprising: Requesting at least one of data, configuration, or node capability from the second node; Obtaining the information responded by the second node.

12. The method according to claim 1, further comprising: Obtaining at least one of data, configuration, or node capability provided by the second node.

13. The method according to claim 1, wherein The performing of perception management on the target object according to the preset process state includes: When it is recognized that the target object enters the perception initial state of the preset process state, feeding back the communication perception measurement information of the target object to a third node; Obtaining the target object identifier fed back by the third node for the target object and entering the perception tracking state of the preset process state.

14. According to the method of claim 1, wherein The performing of perception management on the target object according to the preset process state includes: In the perception tracking state of the preset process state, continuously obtaining the communication perception measurement result according to the target object identifier of the target object; Updating the position information and perception information of the target object according to the communication perception measurement result.

15. The method according to claim 1, wherein The performing of perception management on the target object according to the preset process state includes: Perceiving the disappearance of the target object and entering the perception disappearance state of the preset process state.

16. The method according to claim 15, wherein, The perceiving of the disappearance of the target object includes at least one of the following: The target object is in a stationary state; The target object exceeds the perception range of the first node; The first node fails to perceive the target object.

17. The method according to claim 1, further comprising: Determine the target object identifier associated with the target object.

18. The method according to claim 17, wherein The determining the target object identifier associated with the target object includes: Obtain the integrated communication and sensing measurement information of the target object, and send the integrated communication and sensing measurement information to a second node; Receive the target object identifier determined by the second node based on the integrated communication and sensing measurement information.

19. The method according to claim 17, further comprising: The target object identifier is associated with the integrated communication and sensing information of the target object.

20. The method according to claim 8 or 19, wherein, The integrated communication and sensing information includes at least one of the following: position, confidence level, micro-motion feature information, timestamp, speed, reference signal received power, reference signal received path power, reference node, reference path.

21. The method according to claim 1, further comprising: Report positioning measurement parameters and integrated communication and sensing measurement values.

22. The method according to claim 21, wherein The positioning measurement parameters include at least one of the following: Reference signal time difference, transmit-receive time difference, relative arrival time, positioning reference signal received path power, sidelink positioning reference signal received reference power, propagation path or other paths.

23. According to the method of claim 21, wherein, The integrated communication and sensing measurement values include at least one of the following: Propagation path information, speed information, Doppler information, sensed position information, reference signal received power, and reference signal received path power.

24. The method according to claim 21, wherein The reporting the positioning measurement parameters and the integrated communication and sensing measurement values includes at least one of the following: Report the positioning measurement parameters and the integrated communication and sensing measurement values for each configuration; Report the positioning measurement parameters and the integrated communication and sensing measurement values for each transmit-receive point; Report the positioning measurement parameters and the integrated communication and sensing measurement values for each resource; Report the positioning measurement parameters and the integrated communication and sensing measurement values for each resource set; Report the positioning measurement parameters and the integrated communication and sensing measurement values for each positioning frequency layer; Report the positioning measurement parameters and the integrated communication and sensing measurement values for each terminal device.

25. The method according to claim 21, wherein, The positioning parameters and the integrated communication and sensing measurement values are transmitted through at least one of the following information: Sensing control information, sidelink control information, downlink control information, uplink control information, medium access control unit, non-access stratum, high layer information, system information block.

26. The method according to claim 2, wherein The performing sensing management on the target object according to a preset process state further includes: Generate at least one target object identifier of the target object.

27. The method according to claim 2, further comprising: Obtain the communication identifier of the target object and the target object identifier, and generate an identifier association relationship between the target object identifier and the communication identifier.

28. The method according to claim 1, wherein, The performing sensing management on the target object according to a preset process state includes: Obtain the sensing target trajectories of the target object from multiple second nodes; Associate at least two of the sensing target trajectories.

29. The method according to claim 28, further comprising at least one of the following: Merge at least a part of at least two of the sensing target trajectories; Delete at least a part of the duplicate trajectories of at least two of the sensing target trajectories.

30. The method according to claim 28, wherein, The associating at least two of the sensing target trajectories includes: Associate at least two of the sensing target trajectories; Associate the target object identifiers of at least two of the sensing target trajectories; Associate the sensing data of at least two of the sensing target trajectories.

31. A method for configuring sensing of a target object, applied to a first node, the method comprising: Obtain configuration information according to the measurement request.

32. The method according to claim 31, wherein, The measurement request includes at least sensing-related information, and the sensing-related information includes at least one of the following: The sensing-related information for each configuration; The sensing-related information for each transmit-receive point; The sensing-related information for each resource; The sensing-related information for each resource set; The sensing-related information for each physical frequency domain layer; The sensing-related information for each terminal device.

33. The method according to claim 31, wherein The measurement request includes at least sensing-related information, and the sensing-related information includes at least one of the following: Indication information that the low frequency band does not sense the high frequency band; Indication information that the high frequency band does not sense the low frequency band; Indication information of low frequency band sensing priority; Indication information of high and low frequency band sensing priority; Indication information of default high frequency band sensing; Indication information of default low frequency band sensing; Request for the sensing frequency band; Reporting configuration of the sensing method; Indication of the line-of-sight path of the sensing reference path; Indication of the non-line-of-sight path of the sensing reference path.

34. A method for self-organizing a target object sensing network, applied to a first node, the method includes: Maintain communication and sensing integrated information; Construct a sensing network according to the communication and sensing integrated information.

35. The method according to claim 34, wherein The maintaining of the communication and sensing integrated information includes: Obtain the sensing capability information of the second node.

36. The method according to claim 35, wherein, The sensing capability information includes at least one of the following: Support for the communication and sensing signal frequency band; Processing capability of the communication and sensing signal; Capability to process the communication and sensing signal in the first time period; Capability to process the communication and sensing signal in the first time period within the second time period; Capability to process the maintenance of sensing neighbor nodes within the specified time period; Capability to process the maintenance of sensing neighbor nodes; Receiving or transmitting capability for sensing neighbor nodes.

37. The method according to claim 34, wherein The maintaining of the communication and sensing integrated information includes: Maintain a list of communication and sensing integrated nodes.

38. The method according to claim 37, wherein The maintaining of the list of communication and sensing integrated nodes includes at least one of the following: Discover a second node with sensing function; Maintain a node list of the second node with sensing function; Filter the second node with sensing function according to the measurement value.

39. The method according to claim 37, wherein, The maintaining of the list of communication and sensing integrated nodes includes: Obtain a sensing function unit request for the list; Report at least one list information of the list in response to the sensing function unit request.

40. The method according to claim 37, wherein The maintaining of the list of communication and sensing integrated nodes includes: Obtain node information transmitted by a third node, where the node information includes at least target node information; Determine that the list includes the target node information, and transmit a preset data packet to the target node corresponding to the target node information according to the list.

41. The method according to claim 40, further includes: Determine that the list does not include the target node information, and feedback the first information to the third node.

42. The method according to claim 37, further includes: Report the list to the sensing master node.

43. The method according to claim 37, wherein, The maintaining of the list of communication and sensing integrated nodes includes: Obtain the Internet protocol address transmitted by the second node; Update the list according to the Internet protocol address.

44. The method according to claim 34, wherein The maintaining of the communication and sensing integrated information includes: Broadcast the sensing signal of the first node; Receive the node information fed back by the second node in response to the sensing signal.

45. The method according to claim 34, wherein, The maintenance of integrated communication and sensing information includes: Transmitting a request for obtaining node information to a second node; Receiving the node information fed back by the second node.

46. The method according to claim 44, wherein The sensing signal includes at least one of the following information: node identifier, node location, sensing capability, supported frequency band, supported carrier frequency, supported partial bandwidth, maximum sensing range, power, beam, and sensing neighboring nodes.

47. The method according to claim 44 or 45, wherein The node information includes at least one of the following: supported frequency band, maximum sensing range, power, node location, and sensing neighboring nodes.

48. The method according to claim 34, wherein The maintenance of integrated communication and sensing information includes: Reporting the sensing capability through a sensing neighboring node.

49. An electronic device, comprising: At least one processor; A memory configured to store at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1-48.

50. A computer-readable storage medium storing at least one program, the at least one program being executed by at least one processor to implement the method according to any one of claims 1-48.

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