Target sensing method, electronic device and storage medium

Abstract

The embodiments of the present application relate to the technical field of wireless communications. Provided are a target sensing method, an electronic device and a storage medium. The method comprises: acquiring sensing attribute information, wherein the sensing attribute information is used for sensing services; and associating the sensing attribute information with a sensing object. The embodiments of the present application aim to process a sensing object by means of acquired sensing attribute information, so as to reduce the impact of an interference source in an environment on the sensing of the sensing object, such that the accuracy of target sensing can be improved, and the sensing performance of a system can be improved.

Description

Target perception method, electronic device and storage medium Technical Field

[0001] The present application relates to the field of wireless communication technology, for example, to a target perception method, electronic device and storage medium. Background Art

[0002] With the advancement of global communications services, communication information systems are no longer able to meet people's demand for ultimate performance. With the reshaping of the environment, services such as digital twins, virtual reality, gesture recognition, deformation detection, target detection and tracking, and security are driving the need for current communication networks to support perception capabilities. The development of communication networks is driven by technologies such as millimeter-wave frequency bands, large bandwidth, and multi-antenna technology. These technologies have enabled communication systems to initially acquire the ability to perceive the physical world. Compared to current radar systems, perception using communication networks offers advantages such as wide deployment, long coverage, and dense networking, making it the ideal choice for connecting the physical and virtual worlds. Accurately constructing the physical world requires accurate interpretation of perceived targets and effective mitigation of environmental interference.

[0003] Currently, because the current perceived target and its surrounding environment cannot be clearly distinguished during perception services, the perception information acquired through communication systems often contains environmental noise. For example, perception services such as target detection, tracking, gesture recognition, and small deformation detection are often affected by noise. This noise can come from both stationary and moving targets. When these interference sources are clearly identified as targets, certain information can be obtained, allowing the direct or indirect understanding of their impact on the environment. This can help filter out this direct or indirect known information when perceiving the target of interest, thereby achieving better perception performance. Summary of the Invention

[0004] The embodiments of the present application aim to provide a target perception method, electronic device, and storage medium to assist in perceiving a target of interest by using acquired information based on an interference source, thereby reducing the impact of environmental clutter on the perception of the target of interest and improving the performance of target perception.

[0005] The present invention provides a method for detecting a target, wherein the method includes:

[0006] Acquiring perception attribute information, where the perception attribute information is used for perception services;

[0007] The perception attribute information is associated with a perception object.

[0008] An embodiment of the present application also provides an electronic device, wherein the electronic device includes: one or more processors; a memory for storing one or more programs; 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.

[0009] An embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium 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.

[0010] 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

[0011] FIG1 is a flow chart of a target perception method provided by an embodiment of the present application;

[0012] FIG2 is a diagram illustrating an example of signaling of perception attribute information provided in an embodiment of the present application;

[0013] FIG3 is a diagram illustrating an example of signaling interaction between a location management function (LMF) and a user equipment (UE) according to an embodiment of the present application;

[0014] FIG4 is a diagram illustrating an example of signaling interaction between an LMF and a base station (BS) according to an embodiment of the present application;

[0015] FIG5 is an example diagram of signaling interaction between an LMF and a BS provided in an embodiment of the present application;

[0016] FIG6 is a diagram illustrating an example of signaling interaction between a sensing function (SF) and a BS according to an embodiment of the present application;

[0017] FIG7 is a diagram illustrating an example of signaling interaction between an SF and an LMF provided in an embodiment of the present application;

[0018] FIG8 is an example diagram of signaling interaction between core network elements provided in an embodiment of the present application;

[0019] FIG9 is an example diagram of a core network element provided in an embodiment of the present application;

[0020] FIG10 is an example diagram of a different signaling interaction provided in an embodiment of the present application;

[0021] FIG11 is a flowchart illustrating an example of a target detection enhancement solution provided in an embodiment of the present application;

[0022] FIG12 is a schematic structural diagram of a target sensing device provided in an embodiment of the present application;

[0023] FIG13 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] 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.

[0025] 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.

[0026] FIG1 is a flow chart of a target perception method provided in an embodiment of the present application. The embodiment of the present application is applicable to scenarios where a perception object is perceived based on information within an environment. The method can be performed by a target perception device, which can be implemented by software and / or hardware. Referring to FIG1 , the method provided in an embodiment of the present application specifically includes the following steps:

[0027] Step 110: Acquire perception attribute information, which is used for perception services.

[0028] Among them, the perception attribute information can be information used to assist in perceiving the perception object, the perception attribute information can be relevant information about the environment in which the perception object is located, the perception attribute information can include perception information or positioning information of the interference source in the environment in which the perception object is located, the perception attribute information can include auxiliary information, capability information, request information, etc., the perception attribute information can include position-related information, speed-related information, scattering point or scatterer-related information, etc., the perception attribute information can be determined by local or other devices through historical records, measurements, estimates or predictions, etc., the perception attribute information can be uploaded to the local by other nodes or indicated by a high-level layer, the signaling indicating the perception attribute information can include but is not limited to one or more of quantity signaling, estimation signaling, auxiliary information signaling, reporting signaling, device capability signaling, request signaling, and recommendation signaling, and the perception attribute information can exist in the form of information range, information set, information list or information relative value.

[0029] In an embodiment of the present application, perception attribute information can be received. The perception attribute information can be obtained within the environment where the perception object is located. The acquisition process of the perception attribute information can include local acquisition, bottom-level upload or high-level indication. For example, obtaining the perception attribute information can include the core network network element recommending an expected radar cross-section (RCS) to the base station. The recommended expected RCS obtained by the base station can be used as the perception attribute information obtained by the base station.

[0030] Step 120: Associate the perception attribute information with the perception object.

[0031] Among them, association can be a process of interacting perception attribute information with perception objects, and the association can include associating perception attribute information with perception objects for storage, using perception attribute information for measurement of perception objects, using perception attribute information for positioning of perception objects, using perception attribute information for clutter filtering of perception objects, using perception attribute information for clutter processing of perception objects, etc.

[0032] In an embodiment of the present application, the perception object can be associated and interacted according to the acquired perception attribute information, so that the perception attribute information is associated with the perception object, or the acquired perception attribute information can be used for perception services.

[0033] Based on the above application embodiments, the attribute parameters of the perceived attribute information include at least one of the following: absolute position, relative position, speed, direction of movement, angle, distance, Doppler, micro-Doppler, multi-scattering point combination, material, shape, target size, scattering point / body joint relationship, speed signaling, speed range signaling, speed list signaling, angle signaling, angle range signaling, angle list signaling, distance signaling, time signaling, reference time difference signaling, distance range signaling, distance list signaling, Doppler signaling, Doppler range signaling, Doppler Radar list signaling, multi-scatterer joint signaling, multi-scatterer joint range signaling, multi-scatterer joint list signaling, radar cross-section signaling, radar cross-section range signaling, radar cross-section list signaling, capability / power / reference signal received power / path reference signal received power signaling, capability / power / reference signal received power / path reference signal received power range signaling, capability / power / reference signal received power / path reference signal received power list signaling; phase / phase difference signaling, phase / phase difference range signaling, phase / phase difference list signaling.

[0034] Based on the above application embodiment, the signaling indicating the attribute parameter includes at least one of the following: absolute signaling, relative signaling, local signaling, global signaling and coordinate conversion signaling.

[0035] In the embodiment of the present application, the attribute parameters can be indicated by signaling such as absolute signaling, relative signaling, local signaling, global signaling, and coordinate conversion signaling.

[0036] Based on the above application embodiment, the scattering point / volume joint relationship includes at least one of the following:

[0037] The number of scattering points corresponding to the scatterer;

[0038] The positional relationship between the scatterer and the scattering point;

[0039] The radar cross section of the scatterer corresponding to the scattering point.

[0040] In the embodiment of the present application, the scattering point / body joint relationship may include the number of scattering points constituting the scattering body, the positional relationship between the scattering points constituting the scattering body, and the radar scattering cross section between the scattering points constituting the scattering body.

[0041] Based on the above application embodiment, the perception attribute information includes at least one of the following: information range, information list, information set, information relative value, and information difference value.

[0042] In an embodiment of the present application, the perceptual attribute information may exist in the form of an information range, an information list, an information set, an information relative value, an information difference value, etc. For example, the perceptual attribute information may be a position range, or the perceptual attribute information may be a direction list of movement directions, or the perceptual attribute information may be a relative position based on a specified coordinate origin, etc.

[0043] Based on the embodiment of the present application, the perception attribute information includes at least one of the following: measurement information, estimation information, and prediction information.

[0044] In embodiments of the present application, the perceptual attribute information may include measurement information generated through measurement, estimation information generated through estimation, or prediction information generated through prediction. For example, the perceptual attribute information may include speed measurement results. For another example, the perceptual attribute information may include a future direction of motion estimated based on historical directions. For another example, the perceptual attribute information may include a future position predicted based on the current position.

[0045] In an exemplary embodiment, the signaling related to the attribute parameters includes at least one of the following: signaling related to positioning; and signaling related to perception.

[0046] In an embodiment of the present application, the perception attribute information may be indicated or transmitted through signaling related to positioning, or may also be indicated or transmitted through signaling related to perception.

[0047] Based on the above application embodiment, the signaling includes at least one of the following: horizontal speed signaling, vertical speed signaling, speed horizontal uncertainty signaling, speed vertical uncertainty signaling, speed quality signaling, speed confidence signaling, and speed timestamp signaling.

[0048] In an embodiment of the present application, the signaling that carries perception attribute information of this type of speed may specifically include one or more of horizontal speed signaling, vertical speed signaling, speed horizontal uncertainty signaling, speed vertical uncertainty signaling, speed quality signaling, speed confidence signaling, and speed timestamp signaling. The above-mentioned signaling can be used for positioning or for business scenarios such as perception.

[0049] Based on the above application embodiment, the perceived attribute information includes at least one of the following: auxiliary information, capability information and request information.

[0050] In an embodiment of the present application, the perception attribute information may exist in the form of at least one of auxiliary information, capability information or request information. The auxiliary information may be information that assists in perceiving the perception object or is used for perception services, while the capability information may include the ability to support the perception object to perceive or implement perception services, and the request information may include information requesting perception of the perception object or performing perception services.

[0051] Based on the above application embodiment, the auxiliary information includes at least one of the following:

[0052] Desired speed signaling, desired speed range signaling, desired speed list signaling, undesired speed signaling;

[0053] Desired angle signaling, desired angle range signaling, desired angle list signaling, undesired angle signaling;

[0054] Expected distance / time / reference signal time difference signaling, expected distance range signaling, expected distance list signaling, unexpected distance signaling;

[0055] Desired Doppler signaling, desired Doppler range signaling, desired Doppler list signaling, undesired Doppler signaling;

[0056] Desired multi-scatterer joint signaling, desired multi-scatterer joint range signaling, desired multi-scatterer joint list signaling, undesired multi-scatterer joint signaling;

[0057] Expected radar cross-section signaling, expected radar cross-section range signaling, expected radar cross-section list signaling, and unexpected radar cross-section signaling;

[0058] Expected capability / power / reference signal received power / path reference signal received power signaling, expected capability / power / reference signal received power / path reference signal received power range signaling, expected capability / power / reference signal received power / path reference signal received power list signaling, unexpected capability / power / reference signal received power / path reference signal received power signaling;

[0059] Expected phase / phase difference signaling, expected phase / phase difference range signaling, expected phase / phase difference list signaling, and unexpected phase / phase difference signaling.

[0060] In some application embodiments, the perceived attribute information includes auxiliary information, and obtaining the perceived attribute information includes at least one of the following:

[0061] Obtaining a positioning measurement result of the positioning measurement, and using the positioning measurement result as auxiliary information for locating the perception object;

[0062] Acquire a positioning measurement result of the positioning measurement, and use the positioning measurement result as auxiliary information for perceiving the perception object;

[0063] Acquire a perception measurement result of the perception measurement, and use the perception measurement result as auxiliary information for locating the perception object;

[0064] A perception measurement result of the perception measurement is obtained, and the perception measurement result is used as auxiliary information for perceiving the perception object.

[0065] In an embodiment of the present application, the perception attribute information can be used as auxiliary information, and the auxiliary information can be a positioning measurement result of a positioning measurement, and the positioning measurement result can be used as auxiliary information for locating a perception object, or the auxiliary information can be a positioning measurement result, and the positioning measurement result can be used as auxiliary information for perceiving a perception object, or the auxiliary information can be a perception measurement result of a perception measurement, and the perception measurement result can be used as auxiliary information for perceiving a perception object, or the auxiliary information can be a perception measurement result of a perception measurement, and the perception measurement result can be used as auxiliary information for locating a perception object. Furthermore, the perception attribute information can also be used to locate or perceive the perception object in response to capability information or request information.

[0066] In an exemplary embodiment, a core network, base station, or terminal within a perception system identifies a known perception object. The known perception object can be used to perceive a target of interest in a subsequent process. The known perception object can be described by perception attribute information. The perception attribute information can include characterization by features or identification IDs. The perception attribute information can include the absolute position, relative position, speed, direction of movement, target size, scatterer / point association relationship of the known perception object, etc. The perception attribute information can include a range, a list, a set, or a relative value of the above parameters. The relative value can include, but is not limited to, a difference or gradient value that reflects the change. Furthermore, the above parameters can be associated with a timestamp, and can also be associated with information such as quality, uncertainty, and / or confidence.

[0067] In an embodiment of the present application, the accuracy of the perception service can be improved by using the above-mentioned form of perception attribute information. For example, within a perception area, a pair of perception links detects a perception target. In some cases, the other perception link can use the information of the perception target to eliminate the influence of the target and then detect other perception targets. This can reduce certain interference and also reduce the complexity and delay of detection.

[0068] In an exemplary embodiment, taking speed as an example, after a perception system node such as a network node, a base station or a terminal has identified a perception target, or identified a perception target based on speed, the following signaling can be used in the identification process: speed signaling regarding positioning and speed signaling regarding perception.

[0069] Perception speed signaling includes measured speed signaling, which can include existing positioning speed measurement information. Furthermore, perception speed measurement information is proposed, which measures or estimates the speed of perception targets that lack communication capabilities or do not participate in the reception and transmission of perception service signals. Secondly, this measurement and estimation information is expanded to serve as auxiliary information in perception services and positioning services.

[0070] The aforementioned extended auxiliary information includes: 1. Target velocity measured by sensing as auxiliary information for positioning services; 2. Velocity measurement information for positioning as auxiliary information for sensing services; 3. Target velocity measured by sensing as auxiliary information for sensing services; and 4. Velocity measurement information for positioning as auxiliary information for positioning services. These measurements, estimates, or auxiliary information can originate from the base station or terminal directly involved in the service, or can be forwarded from other base stations or terminals, and can be forwarded through core network elements, base stations, or terminals.

[0071] Specifically, VelocityUseCase ENUMERATED{positioning, sensing} may be introduced in measurement-related velocity signaling to indicate usage scenarios of sensing attribute information such as auxiliary information, capability information, or request information.

[0072] Exemplarily, the speed signaling related to the measurement may include the following forms:

[0073] In the embodiment of the present application, VelocityUseCase ENUMERATED{positioning, sensing} may be added to the velocity signaling to indicate the application's business scenario.

[0074] Alternatively, by adding a signaling identifier to describe the business scenario of the speed signaling application, a new speed signaling for a specific business scenario can be generated, which may include the following forms:

[0075] Taking VelocityTypes as an example, it is possible to add sensing signaling to existing signaling, which can be in the following forms:

[0076] Taking HorizontalVelocity_ForSensing as an example, velocity signaling may include timestamp, azimuth quality, azimuth uncertainty, azimuth confidence, horizontal velocity signaling, horizontal velocity uncertainty, horizontal velocity confidence, etc. The velocity signaling may specifically include the following forms:

[0077] Taking HorizontalWithVerticalVelocity_ForSensing as an example, the relevant parameters of the horizontal and vertical velocities used by the sensing service can be indicated. The specific form of the signaling can be as follows:

[0078] Taking the HorizontalVelocityWithUncertainty_ForSensing signaling as an example, the uncertainty of the horizontal and vertical velocities of the sensing service can be indicated. The specific form of the signaling can be as follows:

[0079] Taking the HorizontalWithVerticalVelocityAndUncertainty_ForSensing signaling as an example, the horizontal and vertical velocities and uncertainty of the sensing service can be indicated. The specific form of the signaling is as follows:

[0080] It will be understood that the above-mentioned signaling examples are merely illustrative and not limiting. Service-related speed signaling may support a variety of signaling combinations, and speed signaling for auxiliary services may be located at different positions in different signalings, and may involve speed-related measurements, for example, measurements related to horizontal speed, vertical speed, absolute speed, relative speed, speed direction, horizontal direction, vertical direction, the moment or time period of speed measurement, and the length of the time period.

[0081] In this embodiment of the present application, the speed-related signaling of the service may include at least one of the following:

[0082] Bearing,horizontalSpeed,verticalDirection,verticalSpeed,Timestamp,TimePeriod,bearingQuality,bearingUncertainty,bearingConfidence,horizontalSpeedQuality,horizontalSpeedUncertainty, horizontalSpeedConfidence, verticalDirectionQuality, verticalDirectionUncertainty, verticalDirectionConfidence, verticalSpeedQuality, verticalSpeedUncertainty, verticalSpeedConfidence, etc.

[0083] In the embodiment of the present application, the above-mentioned speed signaling may be positioning speed measurement information or perception measurement information.

[0084] Specifically, the speed measurement information of positioning can be used as auxiliary information for perception services. In the signaling process related to the perception service, the auxiliary information required for perception can be some information sent by the core network network elements, other BSs, and terminals to the perception receiving end or the perception sending end. The positioning measurement results (such as speed-related measurement or estimation information) are sent to the perception receiving end. When performing the perception service, the perception receiving end uses the known auxiliary information as a reference to complete the perception service. Optionally, in some examples, the positioning results (including the target's position, angle, distance, direction, time, time domain resources, frequency domain resources, spatial resources, beams, etc.) can be transmitted as auxiliary information messages for the perception service. By the same principle, the speed measurement information of positioning can also be used as capability information of the perception service or request information for the corresponding capability, and can have a signaling process corresponding to the capability information and request information.

[0085] In other embodiments, the speed measurement information of perception can be used as auxiliary information for the perception service. In the signaling process related to the perception service, the auxiliary information required for perception can be some information sent by the core network network elements, other BSs, and terminals to the perception receiving end or the perception sending end. The perception measurement results (such as speed-related measurement or estimation information) are sent to the perception receiving end. When performing the perception service, the perception receiving end uses the known auxiliary information as a reference to complete the perception service. By the same principle, the speed measurement information of positioning can also be used as capability information of the perception service or request information of the corresponding capability, and can have a signaling process corresponding to the capability information and request information.

[0086] In other embodiments, the perceived speed measurement information may be used as auxiliary information, capability information or request information for positioning services.

[0087] In other embodiments, the positioning speed measurement information may be used as auxiliary information, capability information or request information of the positioning service.

[0088] Referring to FIG. 2 , in an embodiment of the present application, the perception attribute information may be indicated by the following signaling:

[0089] Desired speed signaling, desired speed range signaling, desired speed list signaling, undesired speed signaling;

[0090] Desired angle signaling, desired angle range signaling, desired angle list signaling, undesired angle signaling;

[0091] Expected distance / time / Reference Signal Time Difference (RSTD) signaling, expected distance range signaling, expected distance list signaling, and undesired distance signaling;

[0092] Desired Doppler signaling, desired Doppler range signaling, desired Doppler list signaling, undesired Doppler signaling;

[0093] Desired multi-scatterer joint signaling, desired multi-scatterer joint range signaling, desired multi-scatterer joint list signaling, undesired multi-scatterer joint signaling;

[0094] Expected radar cross-section signaling, expected radar cross-section range signaling, expected radar cross-section list signaling, and unexpected radar cross-section signaling;

[0095] Expected capability / power / reference signal received power / path reference signal received power signaling, expected capability / power / reference signal received power / path reference signal received power range signaling, expected capability / power / reference signal received power / path reference signal received power list signaling, unexpected capability / power / reference signal received power / path reference signal received power signaling;

[0096] Expected phase / phase difference signaling, expected phase / phase difference range signaling, expected phase / phase difference list signaling, and unexpected phase / phase difference signaling.

[0097] Based on the above application embodiment, the perception attribute information includes at least one of an information set, an information list, or an information group;

[0098] The information set, information list or information group includes measurement related information;

[0099] The information collection, information list or information group includes auxiliary related information;

[0100] The information collection, information list or information group includes capability-related information;

[0101] The information collection, information list or information group includes the request related information.

[0102] In an embodiment of the present application, the perception attribute information may be in the form of at least one of an information set, an information list, or an information group, and the information included in the information set, information list, or information group may include measurement-related information, assistance-related information, capability-related information, or request-related information.

[0103] Based on the above application embodiment, the information list, information set or information group includes at least one of the following:

[0104] Historical measurement information and current measurement information; current measurement information and estimated measurement information; predicted measurement information and estimated measurement information;

[0105] Historical auxiliary information and current auxiliary information; current auxiliary information and estimated auxiliary information; predicted auxiliary information and estimated auxiliary information;

[0106] Historical capability information and current capability information; current capability information and estimated capability information; predicted capability information and estimated capability information;

[0107] Historical request information and current request information; current request information and estimated request information; predicted request information and estimated request information.

[0108] In an embodiment of the present application, an information list, information set, or information group may include historical measurement information and current measurement information, or the information list may include current measurement information and estimated measurement information, or predicted measurement information and estimated measurement information, etc. It is understandable that the measurement-related information included in the information list, information set, or information group may also include one or more combinations of historical measurement information and current measurement information; current measurement information and estimated measurement information; predicted measurement information and estimated measurement information. Similarly, the information list, information set, or information group may be divided into historical auxiliary information and current auxiliary information, current auxiliary information and estimated auxiliary information, and predicted auxiliary information and estimated auxiliary information. Alternatively, the information list, information set, or information group may be divided into historical capability information and current capability information, current capability information and estimated capability information, and predicted capability information and estimated capability information. Alternatively, the information list, information set, or information group may be divided into historical request information and current request information, current request information and estimated request information, and predicted request information and estimated request information.

[0109] Based on the above application embodiment, the interaction of the perceived attribute information includes at least one of the following:

[0110] Send request message / receive request message;

[0111] Reporting messages / receiving reporting messages; measuring messages;

[0112] Send recommendation messages / receive recommendation messages;

[0113] Send capability message / receive capability message;

[0114] Termination message;

[0115] Indicates message error;

[0116] The message includes at least one of the perception attribute information at a historical moment, the current perception attribute information, and the perception attribute information predicted at a future moment.

[0117] In an embodiment of the present application, the perception attribute information can be sent in the form of a request message, or received as a request message; the perception attribute information can be reported through a message or a reported message can be received; the perception attribute information can be generated through measurement; the perception attribute information can also be sent as recommendation information, and the perception attribute information can be sent as a recommendation message through other nodes; the perception attribute information can interact during the signaling process of the termination message, for example, the node can send a measurement report to terminate the signaling related to the perception attribute information; the perception attribute information can also interact during the signaling process of the error message, for example, sending a measurement failure message of the perception attribute information, reporting the measurement failure message of the perception attribute information, which may result in a perception service error.

[0118] Based on the above application embodiment, the quantity correspondence between different attribute parameters in the perception attribute information, or between the same attribute parameter and different types of signaling, includes at least one of the following:

[0119] One-to-one; m-to-n; n-to-m; wherein n and m are integers greater than 1, and m is greater than or equal to n.

[0120] In embodiments of the present application, the quantitative correspondence between different types of attribute parameters in the perception attribute information may include one-to-one, m-to-n, n-to-m, etc., where n and m are integers greater than 1, and m is greater than or equal to n. Alternatively, the same attribute parameter in the perception attribute information may also correspond to different types of signaling in a one-to-one, m-to-n, n-to-m, etc. For example, request signaling for a single attribute parameter may correspond to multiple or multiple attribute parameters.

[0121] Based on the above application embodiment, obtaining the perception attribute information includes at least one of the following:

[0122] Acquire the perception attribute information periodically; acquire the perception attribute information semi-continuously; and acquire the perception attribute information aperiodically.

[0123] In an embodiment of the present application, the perception attribute information may be acquired periodically, or semi-continuously, or non-periodically.

[0124] In an exemplary embodiment, referring to FIG2 , the perception attribute information may include at least one of the following parameters. The perception attribute information may be used as auxiliary information of the perception object, and the auxiliary information may be used for positioning or perception of the perception object. The above parameters may include at least speed-related signaling, measurement-related signaling, auxiliary information-related signaling, capability-related signaling, or request-related signaling, etc., and the above parameters may constitute one or more signaling sets, signaling lists or signaling groups. The composition process may group parameters of the same or similar attributes into a set, list or signaling group to facilitate positioning services or perception services. For example, for a perceived target in a certain area, historical measurements or estimates may be grouped into one list, current measurements or estimates may be grouped into one list, or predictions or estimates for future moments may be grouped into another list.

[0125] It is understandable that in other embodiments, the historical, current, and past measurements or estimates for sensory target 1 are grouped into one list, while the historical, current, and past measurements or estimates for sensory target 2 are grouped into another list. This allows for more organized reporting of more useful information to the sensory node when reporting the above-mentioned sensory attribute information.

[0126] In some cases, the core network element (SF) recommends a desired RCS or reference signal received power (RSRP) to the BS or terminal. This allows the BS or terminal to filter the acquired sensing measurements or results to achieve the desired result when performing sensing services. This allows for more accurate and efficient sensing services, improving accuracy and reducing service latency.

[0127] In some examples, request messages are sent, and these request messages can request historical moments, current measurements, or predictions for future moments. For example, when a BS sends request messages to a UE or a core network element (SF, Access and Mobility Management Function (AMF)), these request messages can request historical moments, current measurements, or predictions for future moments. This can preserve the trajectory information of moving targets and also achieve prediction of target motion, making it more suitable for sensing business needs.

[0128] In some embodiments, a core network element may request the motion status of the (sensing target, UE) from a TRP, UE, BS, or other core network element. For example, the SF sends a motion status request to the LMF; or the SF sends the request information to the AMF.

[0129] In some embodiments, the signaling exchange during a speed-related measurement, reporting, or speed request process, speed and direction, or any other signaling between any two speeds, can be one-to-one or m:n, where n and m are integers and m can be greater than, less than, or equal to n.

[0130] In other embodiments, one speed direction corresponds to one speed. Alternatively, one speed direction may correspond to multiple speeds. In this case, if there are multiple targets and multiple speeds are detected, and these speeds have the same direction, only one direction may be reported, which can save resource overhead. For another example, one timestamp may be used to report one speed. Alternatively, one timestamp may be used to report two speeds. In this case, the two speeds may correspond to different sensed targets.

[0131] For another example, if the quality, uncertainty or confidence level of multiple measurements are the same, the reporting of one speed measurement may correspond to reporting only one quality, uncertainty or confidence level.

[0132] In some application embodiments, processes such as sensing speed-related measurement, reporting, speed request, capability request, capability provision or recommendation may be performed periodically, semi-continuously, or non-periodically.

[0133] In some application embodiments, associating the perceived attribute information with the perceived object includes at least one of the following:

[0134] The motion attribute of the perception sending end and / or the perception receiving end of the perception attribute information is in a motion state, and at least one of all stationary perception objects, all moving perception objects, perception objects at a non-moving speed or speed range, and perception objects at a moving speed or speed range is eliminated from the perception result corresponding to the perception attribute information based on the relativity of the perception attribute information;

[0135] The motion attributes of the perception sending end and the perception receiving end of the perception attribute information are in a stationary state, and at least one of all stationary perception objects, all moving perception objects, perception objects with non-moving speed or speed range, and perception objects with moving speed or speed range in the perception results corresponding to the perception attribute information is eliminated.

[0136] In an embodiment of the present application, when the perceived object is a moving target, the association processing of the perceived object based on the perceived attribute information may include:

[0137] The motion attribute of the sensing sending end and / or the sensing receiving end of the sensing attribute information is in a motion state, and all stationary sensing objects in the sensing result corresponding to the sensing attribute information are eliminated based on the relativity of the sensing attribute information;

[0138] The motion attributes of the perception sending end and the perception receiving end of the perception attribute information are in a stationary state, and all stationary perception objects in the perception results corresponding to the perception attribute information are eliminated.

[0139] When the perceived object is a stationary target, the association processing of the perceived object based on the perceived attribute information may include:

[0140] The motion attribute of the sensing sending end and / or the sensing receiving end of the sensing attribute information is in a motion state, and all moving sensing objects in the sensing result corresponding to the sensing attribute information are eliminated based on the relativity of the sensing attribute information;

[0141] The motion attributes of the perception sending end and the perception receiving end of the perception attribute information are in a stationary state, and all moving perception objects in the perception results corresponding to the perception attribute information are eliminated.

[0142] When the perceived object is a target with a given moving speed or speed range, the association processing of the perceived object based on the perceived attribute information may include:

[0143] The motion attribute of the sensing sending end and / or the sensing receiving end of the sensing attribute information is in a motion state, and based on the relativity of the sensing attribute information, the sensing objects with non-motion speed or speed range in the sensing result corresponding to the sensing attribute information are eliminated;

[0144] The motion attributes of the sensing sending end and the sensing receiving end of the sensing attribute information are in a stationary state, and the sensing objects with non-moving speed or speed range in the sensing results corresponding to the sensing attribute information are eliminated;

[0145] The motion attribute of the sensing sending end and / or the sensing receiving end of the sensing attribute information is in a motion state, and based on the relativity of the sensing attribute information, the sensing object of the motion speed or speed range in the sensing result corresponding to the sensing attribute information is eliminated;

[0146] The motion attributes of the perception sending end and the perception receiving end of the perception attribute information are in a stationary state, and the perception objects of the motion speed or speed range in the perception results corresponding to the perception attribute information are eliminated.

[0147] In an exemplary embodiment, as the mobile communication system is updated, the 5G system is constructed in a flexible manner. 5G-advanced and future mobile communication systems will continue to evolve based on the advantages of the 5G system. In addition, as the mobile communication system incorporates positioning, perception and other capabilities, the mobile communication system will obtain more and more information about the physical world, such as user location, movement of people / vehicles / animals, rainfall / flood information, size, shape and movement trajectory of objects, etc. The combination of communication and perception can be widely used in people's lives. When considering the impact of the environment on perception, taking the target detection and tracking service in perception as an example, the motion state of the target can include motion or stillness, such as a drone hovering at a certain moment.

[0148] 1. Detection of moving targets:

[0149] (1) For moving target detection, the impact of stationary targets in the environment on the perception results can be filtered out first. However, considering the relativity of motion, when the sensing transmitter and / or the sensing receiver are in motion, the measured perception results need to eliminate the stationary targets based on this relativity.

[0150] (2) For the case of BS-sending and BS-receiving sensing mode. The sending and receiving ends of the sensing are both BSs, and it is assumed that the BS itself does not have motion attributes. In this case, all stationary targets (i.e., with a speed of 0) can be eliminated from the sensing results.

[0151] Alternatively, further considering the case where the BS sends and the UE receives a sensing pattern, it is assumed that the UE may have motion attributes. In this case, the motion of the UE itself needs to be considered in the sensing result. That is, the targets in the environment that are not moving themselves will have certain motion attributes because the sensing receiving end is in motion. In this case, it is necessary to eliminate all absolutely stationary targets (i.e., with a velocity of 0 based on the absolute reference frame) while considering the motion of the sensing receiving end.

[0152] In this case, the sensing receiver is the UE. There are two scenarios. In the first, the UE needs to know its own speed and take its own motion into account when performing sensing services. In the second, the UE does not know its own speed and needs to be informed of its speed via the core network or other devices such as base stations or terminals. In this case, the speed-related information of the sensing receiver is used as auxiliary sensing information and is sent to the sensing receiver via the core network or other devices such as base stations or terminals.

[0153] (3) For the case of UE sending and BS receiving sensing mode. In this case, the motion of the UE itself needs to be considered in the sensing results. That is, the targets in the environment that are not moving themselves are in motion. Since the sensing transmitter is in motion, the stationary targets in the measured sensing results also have certain motion properties. In this case, it is necessary to eliminate all absolutely stationary targets (i.e., with a speed of 0 based on the absolute reference frame) while considering the motion of the sensing transmitter.

[0154] In this case, the sensing receiver is the BS, and the sensing transmitter is the UE. The UE has motion attributes, and the sensing receiver needs to know the motion attributes of the sensing transmitter. There are two cases. The first is that the UE directly reports its motion attributes to the BS. The UE reporting method can include at least one of DCI, PUCCH, PUSCH, MAC CE, or RRC signaling. When performing sensing services, the BS uses the auxiliary information reported by the UE to perform sensing services. The second is that the UE's speed needs to be notified to the sensing receiving BS through the core network or other devices such as base stations or terminals. In this case, the speed-related information of the sensing transmitter is used as auxiliary sensing information and is sent to the sensing receiver through the core network or other devices such as base stations or terminals.

[0155] (4) For the case of UE sending and receiving sensing mode. At this time, for the sensing results, the movement of the UE itself needs to be considered first, that is, the targets in the environment that are not moving. Since both the sensing sending end and the sensing receiving end may be in motion, the stationary targets in the measured sensing results also have certain motion properties. At this time, it is necessary to eliminate all absolutely stationary targets (that is, based on the absolute reference system, the speed is 0) on the basis of considering that both the sensing sending end and the sensing receiving end may be moving. For this case, the sensing receiving end is the UE, and the sensing sending end is also the UE. Since both UEs may have motion properties, the sensing receiving end needs to know the motion properties of the sensing sending end and the sensing receiving end itself. At this time, the above two cases (2) and (3) are combined, and there are four cases in total, which will not be repeated here. In general, it involves the transmission process of various speed-related information as auxiliary information, and the corresponding signaling messages.

[0156] It should be noted that the auxiliary information of the speed-related information may also correspond to corresponding request signaling, recommendation signaling, and UE capabilities. For example, the sensing receiver requests the core network for auxiliary information related to the speed information of the sensing transmitter.

[0157] In an example, the UE sends a Request_velocity_assistanceData signaling to a core network element (such as SF). After receiving the request signaling, the core network returns the auxiliary information related to the requested speed information to the perception node.

[0158] In another example, when selecting a perception node for a perception service, the core network knows the speed, location, and other related information of one or more terminals. The core network can recommend a perception transmitter or a perception receiver, and use the node with known speed / location as the perception transmitter or receiver.

[0159] In one example, a base station or core network can send a capability request message to obtain UE capabilities. This compares to the existing LMF, which sends capability request messages to the UE via LPP messages and then receives capability messages provided by the UE. For sensing services, core network elements, such as the SF / AMF, can first be used to send capability request messages to the UE and receive capability messages provided by the UE. These messages are primarily related to sensing services, including positioning capabilities and other sensing capabilities, rather than simply the positioning-related capabilities of the existing positioning targets or anchor points. Alternatively, sensing service capabilities can be forwarded by the base station. For example, the core network element first sends a capability request message to the base station, which then sends a capability request message to the UE. In one scenario, the UE provides its capabilities to the core network element. Alternatively, the UE provides its capabilities to the base station, which then transmits the received capabilities (e.g., aggregates, selects, or recommends them) to the core network element. Optionally, after receiving the capabilities provided by the UE, the base station no longer sends relevant information to the core network element. Instead, based on the received capabilities, the base station autonomously selects UEs to participate in sensing and serve as sensing nodes. Optionally, the BS reports information of the UE independently selected as the perception node to the core network, thereby facilitating message transmission between the core network and the perception node.

[0160] 2. For stationary target detection:

[0161] (1) For static target detection, the first step is to filter out the impact of moving targets in the environment on the perception results. However, considering the relativity of motion, when the sensing transmitter and / or the sensing receiver are in motion, the measured perception results need to eliminate the impact of moving targets based on this relativity.

[0162] (2) For the case of BS-sending and BS-receiving sensing mode. The sensing sender and receiver are both BS, assuming that the BS itself does not have motion attributes. In this case, all moving targets (i.e., speed is not 0) can be eliminated from the sensing results.

[0163] (3) Regarding the case where the BS sends and the UE receives the sensing mode. Assume that the UE can have motion attributes. At this time, for the sensing results, the movement of the UE itself needs to be considered first, that is, the target in the environment that is not moving itself. Since the sensing receiving end is in a state of motion, the stationary target in the measured sensing result also has certain motion attributes. This affects the influence of the original moving target. For example, when the speed is the same but the direction is opposite, the originally moving target will be stationary in the measurement. At this time, it is necessary to eliminate all targets with absolute motion (that is, based on the absolute reference system, the speed is not 0) on the basis of considering the motion of the sensing receiving end.

[0164] (4) For the case of UE sending and BS receiving sensing mode. At this time, for the sensing results, the movement of the UE itself needs to be considered first, that is, the targets in the environment that are not moving. Since the sensing sending end is in a moving state, the stationary targets in the measured sensing results also have certain motion properties. This affects the influence of the original moving targets. For example, when the speed is the same but the direction is opposite, the originally moving target will be stationary in the measurement. At this time, it is necessary to eliminate all targets with absolute motion (that is, based on the absolute reference system, the speed is not 0) on the basis of considering the motion of the sensing sending end.

[0165] (5) For the case of UE sending and receiving sensing modes. At this time, for the sensing results, the movement of the UE itself, that is, the targets in the environment that are not moving, must be considered first. Since both the sensing sending end and the sensing receiving end may be in motion, the stationary targets in the measured sensing results also have certain motion properties, thereby affecting the influence of the original moving targets. For example, when the speeds are the same but in opposite directions, the originally moving targets will be stationary in the measurement. At this time, it is necessary to eliminate all targets in absolute motion (that is, with the absolute reference system as the reference, the speed is not 0) on the basis of considering that both the sensing sending end and the sensing receiving end may be in motion.

[0166] For such scenarios, known objects with motion attributes can be filtered out first, including known located targets and known perceived targets. This information can be used as auxiliary perception information and sent to the perception receiving node or perception processing node via the core network element, BS, or terminal.

[0167] 3. Detection of perceived targets with a given movement speed or speed range:

[0168] (1) For the detection of targets with a given speed or speed range, the impact of targets in the environment that are not within the given speed or speed range on the perception results can be filtered out first. However, considering the relativity of motion, when the sensing transmitter and / or the sensing receiver are in motion, the measured perception results need to eliminate targets with non-given speeds or speed ranges based on this relativity.

[0169] (2) For the case of BS-sending and BS-receiving sensing mode. The sensing transmitter and receiver are both BS, assuming that the BS itself does not have motion attributes. In this case, all targets that are not moving at the given speed or speed range can be eliminated from the sensing results.

[0170] (3) Regarding the case of BS sending and UE receiving sensing patterns. Assume that the UE can have motion attributes. In this case, for the sensing results, the motion of the UE itself needs to be considered first, that is, the targets in the environment that are not moving themselves. Since the sensing receiving end is in motion, the stationary targets in the measured sensing results also have certain motion attributes. At this time, it is necessary to eliminate all targets whose absolute speed is not a given motion speed or speed range (that is, based on the absolute reference system) on the basis of considering the motion of the sensing receiving end.

[0171] (4) For the case of UE sending and BS receiving sensing mode. In this case, the motion of the UE itself needs to be considered in the sensing results. That is, the targets in the environment that are not moving themselves are in motion. Since the sensing transmitter is in motion, the stationary targets in the measured sensing results also have certain motion properties. In this case, it is necessary to eliminate all targets whose absolute speed is not a given motion speed or speed range (that is, based on the absolute reference frame) while considering the motion of the sensing transmitter.

[0172] (5) For the case of UE-sending and UE-receiving sensing mode. In this case, the motion of the UE itself needs to be considered in the sensing results, that is, the targets in the environment that are not moving. Since both the sensing sending end and the sensing receiving end may be in motion, the stationary targets in the measured sensing results also have certain motion properties. In this case, it is necessary to eliminate all targets whose absolute speed is not a given motion speed or speed range (that is, based on the absolute reference system) on the basis of considering that both the sensing sending end and the sensing receiving end may be in motion.

[0173] 4. In target detection, for targets with known speed or given movement speed / speed range:

[0174] For known sensing targets or scatterers that affect perception, the effects of these known environmental or target information can be eliminated when perceiving the target of interest. For example, a known target has velocity v1, the sensing transmitter has velocity vs, and the sensing receiver has velocity vr. Here, v1, vs, and vr can be 0. To eliminate the influence of the known target v1 when perceiving the target of interest, the influence of the velocities of both the sensing transmitter and the sensing receiver needs to be considered. In this case, the sensing receiver needs to obtain all of the aforementioned velocity attributes and use this auxiliary perception information for perception. For such scenarios, known objects with motion attributes can be first filtered out, including known located targets and known perceived targets. This information can be used as auxiliary perception information and sent to the sensing receiving node or the sensing processing node via the core network element, base station, or terminal.

[0175] In the embodiments of the present application, the above-mentioned situations are applicable to the perception modes of self-transmission and self-reception, or self-transmission and other-reception.

[0176] Based on the above application embodiment, the attribute parameters of the perceived attribute information further include at least one of the following: angle, distance, Doppler, micro-Doppler, and multi-scattering point combination.

[0177] In an embodiment of the present application, the motion attribute or speed in the attribute parameters of the perceptual attribute information can be further replaced and expanded. The perceptual attribute information may include one or more of angle, distance, Doppler, micro-Doppler, and a combination of multiple scattering points. The perceptual attribute information may include a combination, list, or set of the above-mentioned attribute parameters. There may be a certain relationship between these combinations, sets, or lists. For example, the set of the above-mentioned attribute parameters included in the perceptual attribute information can be linked according to time correlation or spatial correlation, that is, different sets of perceptual attribute information can be linked based on a time series, or a set of perceptual attribute information can be composed of multiple scattering centers or subsets, and each scattering center or subset can describe or identify the attribute parameters of one or more perceptual attribute information.

[0178] Taking multiple scattering point combinations as an example, after identifying a vehicle, the vehicle is equated with multiple scatterers. At this point, it is clear that these multiple scattering point combinations in the perception environment correspond to a single vehicle. When subsequently perceiving other targets, these scatterer combinations can be considered together. For example, their speeds or other perception parameters can be used to simplify the perception process and improve accuracy and efficiency. Therefore, in some cases, a single signaling structure storing a list of perceived targets can more conveniently represent a single perceived target.

[0179] In some application embodiments, the signaling indicating the attribute parameter includes at least one of the following: absolute signaling, relative signaling, local signaling, global signaling, and coordinate conversion signaling.

[0180] The above-mentioned attribute parameters may include angle, distance, Doppler, micro-Doppler, multi-scattering point combination and other attribute parameters, which can be obtained through at least one of measurement signaling, reporting signaling, request signaling, and recommendation signaling. The above-mentioned signaling may include but is not limited to at least one of absolute signaling, relative signaling, local signaling, global signaling and coordinate conversion signaling. The coordinate conversion signaling can instruct the core network network element, BS side, UE side, etc. to perform coordinate conversion. In the perception process, the coordinate conversion signaling can instruct the perception station, perception receiving end, perception sending end, core network network element or perception target to perform coordinate conversion. The above-mentioned coordinate conversion signaling can assist the signaling process of information signaling, capability information signaling, recommendation information signaling and request information signaling. For example, the perception receiving end can receive the coordinate conversion instruction sent by the perception sending end according to the signaling process of capability information signaling, and the perception receiving end can enable the coordinate conversion capability, thereby performing coordinate conversion on the perception attribute information.

[0181] Furthermore, based on the above-mentioned application embodiment, the attribute parameters of the perception attribute information also include: location-related information of the perception station, wherein the location-related information includes absolute location information or relative location information.

[0182] In an embodiment of the present application, the perception attribute information may also include absolute position information or relative position information of the perception station.

[0183] In the embodiment of the present application, associating the perception attribute information with the perception object includes:

[0184] Coordinate conversion is performed according to the location-related information of the sensing station indicated by the signaling, wherein the signaling includes at least one of the following:

[0185] Signaling of absolute coordinate conversion to relative coordinate;

[0186] Signaling of local coordinate conversion to global coordinate;

[0187] Signaling of global coordinate conversion to local coordinate;

[0188] Signaling of the transformation of the first local coordinates into the second local coordinates.

[0189] In an embodiment of the present application, the association processing of the perceived object according to the perception attribute information may include coordinate conversion of the position-related information of the perception station, and the coordinate conversion includes signaling of converting absolute coordinates to relative coordinates, signaling of converting local coordinates to global coordinates, signaling of converting global coordinates to local coordinates, signaling of converting first local coordinates to second local coordinates, etc. For example, the position of the perception station is converted from the absolute coordinates of the perception station to the relative coordinates relative to the perception object, or the position of the perception station is converted from the global coordinates to the local coordinates where the perception object is located, or the position of the first local coordinates where the perception station is located is converted to the position of the second local coordinates where the perception object is located, etc.

[0190] In some application embodiments, associating the perception attribute information with the perception object includes:

[0191] Processing the perception attribute information, where the processing includes at least one of the following: measurement collection, clustering, deduplication, compression, determining the target location of the perception object perceived by different perception nodes at the same time, determining the motion state of the perception object perceived by different perception nodes at the same time, and determining the radar cross-section of the perception object perceived by different perception nodes at the same time. The above processing and other processes may also correspond to data or information at different times.

[0192] In an embodiment of the present application, when the perception attribute information is associated with the perception object, the perception attribute information can be measured, collected, clustered, deduplicated, compressed, and one or more of the following processes can be performed: determining the target position of the perception object perceived by different perception nodes at the same time, determining the motion state of the perception object perceived by different perception nodes at the same time, and determining the radar cross-sectional area of ​​the perception object perceived by different perception nodes at the same time.

[0193] Specifically, local can be a single SF with n TRPs connected, with one of these TRPs serving as the overall local reference TRP. Local can be understood as relative, for example, relative to the velocity direction of the sensing transmitter or receiver, or the angle between the transmitter and the receiver's normal direction, relative to a single sensing or positioning link. In some examples, measurement reporting requests support multiple sensing transceivers sensing the same target. When multiple sensing links can approximately determine the same sensing target in a global coordinate system, and different sensing transceiver nodes have different spatial distributions, measurements in corresponding radial directions have certain complementary advantages, avoiding blind spots in the vertical sensing area, distance, or speed of a single station. In this case, the coordinates between multiple sensing stations (including BSs and / or UEs) need to be acquired by a sensing computing node (e.g., BS, UE, or core network element). This location-related information, whether determined or relative, involves newly introduced signaling processes, including requests, reports, recommendations, and capabilities. For example, SF requests UE and BS to report the coordinate location, and SF requests the BS or UE coordinate location from AMF, LMF, Unified Data Management (UDM), etc.

[0194] For example, if perception attribute information includes UE capabilities, signaling is required to indicate whether the UE has the ability to report or obtain a global coordinate system. Low-power UEs can connect to the base station. In some cases, low-power UEs only need to use a local coordinate system. Some UEs are outside the base station's coverage area and rely on satellites for synchronization. In this case, these UEs can use a global coordinate system. In addition, some UEs have both local and global coordinate system capabilities. When performing perception services, they can select the appropriate coordinate system to process the perception process, thereby performing coordinate conversion on the perception attribute information.

[0195] Similarly, the reference point of the reference system of the local coordinate system (such as the antenna reference point) also needs to introduce new signaling for description. Otherwise, due to the different antenna reference points of different devices, or the different antenna reference points of the same device in different time dimensions, there will be certain problems in the accuracy of the perception service. The local-global coordinate conversion can be performed by signaling the perception attribute information. For example, the coordinate conversion for perception attribute information such as speed or direction can include: absolute <--> relative, local <--> global, local 1 <--> local 2, etc.

[0196] In some cases, when information such as speed / angle, distance, or location is known, coordinate conversion is required during perception. For example, core network elements (SF, LMF, or AMF) know T1's location, which is based on information acquired from BS1. Therefore, when BS2 perceives the location, it needs to convert the angle and distance information referenced by BS1 to coordinates referenced by BS2. These coordinate conversions can be handled by core network elements, the BS, or the UE. Therefore, the signaling containing this information requires a specific signaling process.

[0197] Similarly, for multi-station sensing measurement results, which may be based on different coordinate systems, the processing and fusion of these measurement data can also be performed by core network elements (such as SF), the base station side, the user equipment side, or a combination of these devices and networks. These processing and fusion operations can include at least one of the following: measurement collection, clustering, deduplication, and compression.

[0198] In one example, multiple sensing nodes sense a target. Each sensing node sends the acquired sensing data (e.g., point cloud data) to the core network. The core network processes the collected data (converting coordinates to the same coordinate system, removing duplicates, clustering, and obtaining various sensing parameters such as the target position, motion state, and RCS measured by different sensing nodes at the same time) to obtain the required sensing results, such as the target's motion trajectory. SF processes redundant data to obtain more reliable sensing results.

[0199] In another example, for sensing targets, there are multiple sensing nodes, and each sensing node processes the acquired sensing data (e.g., point cloud data), wherein the processing may include deduplication, clustering, and obtaining various sensing parameters such as target position, motion state, RCS, etc. measured by different sensing nodes at the same time. In other embodiments, after the sensing node processes the data, the sensing node may choose to report the processed results to the core network, and the core network further processes to obtain the sensing requirement results, such as the motion trajectory of the sensing target. In this way, the sensing results can be obtained in two levels, and each level at the sensing node can obtain the sensing results with lower latency. After processing by the sensing node, the reporting overhead can be reduced, and a large amount of measurement data from multiple sensing nodes can be avoided from flooding into the core network elements.

[0200] In an embodiment of the present application, the perception attribute information as illustrated in FIG2 may correspond to some signaling, which may indicate that the corresponding perception attribute information is used for the perception service. The selected perception attribute information indicated by the signaling is used as auxiliary information for processing the perception results, such as filtering or preprocessing, etc., thereby improving the perception efficiency and reducing the perception service overhead.

[0201] The auxiliary information mentioned above may come from measurements of certain devices. The auxiliary information may be a measurement quantity or a requested measurement quantity, or may be device capabilities of measurement-related functions.

[0202] The auxiliary information may come from measurements of a certain device, such as a UE, a BS, a Sensing Reference Unit (SRU), a Positioning Reference Unit (PRU), and the like.

[0203] The auxiliary information mentioned above may also be an estimation or estimate from a certain device, such as UE, BS, PRU, SRU, etc.

[0204] The auxiliary information mentioned above may come from the measurement of a certain network node, such as SF, LMF, etc.

[0205] The auxiliary information mentioned above may come from the estimation or estimation of a certain network node, such as SF, LMF, etc.

[0206] In some application embodiments, the attribute parameters of the perception attribute information also include: wireless access technology-independent data, and the wireless access technology-independent data includes at least one of physical sensor data, camera data, radar data, infrared device data, Bluetooth data, ultra-wideband wireless communication data, wireless communication data, and global navigation satellite system data.

[0207] In embodiments of the present application, the perception attribute information may also include wireless access technology-independent data, including one or more of physical sensor data, camera data, radar data, infrared device data, Bluetooth data, ultra-wideband wireless communication data, wireless communication data, and global navigation satellite system data. The aforementioned attribute parameters, as perception attribute information, can be used in business scenarios such as object positioning or perception. The perception attribute information can be exchanged through request, recommendation, configuration, feedback, and reporting. The perception attribute information can be information generated by detection, prediction, or estimation.

[0208] In an exemplary embodiment, the interaction of perception attribute information between the LMF and the UE can be seen in Figure 3. The LMF can perform a request, recommendation, configuration, feedback, or reporting process on the UE, or the LMF can send request, recommendation, configuration, feedback, or reporting related information to the UE. For another example, the LMF can send a capability request message to the UE. In other words, the LMF sends the requested capability to the UE, and the requested capability can come from another UE. In another example, the LMF performs a reporting process and sends a report message to the UE. In other words, the LMF sends the capability message reported by another UE to the UE.

[0209] In some application embodiments, taking the example where the perception attribute information includes information on UE capabilities, the LMF may send capability request information to the UE, and the UE may provide capabilities to the LMF.

[0210] In some other application embodiments, taking the case where the perception attribute information includes auxiliary information as an example, the UE may send a message requesting the auxiliary information to the LMF, and the LMF may send the auxiliary information to the UE.

[0211] In other application embodiments, taking the example where the perception attribute information includes measurement information, the LMF may send measurement and / or estimation request information to the UE, and the UE may provide measurement results and / or estimation results to the LMF.

[0212] Based on the above-mentioned application embodiments, the UE capabilities include positioning-related capabilities and / or perception-related capabilities; the auxiliary information includes positioning-related auxiliary information and / or perception-related auxiliary information; the measurement and / or estimation information includes positioning-related measurement and / or estimation information, and perception-related measurement and / or estimation information.

[0213] Based on the above-mentioned application embodiment, referring to FIG4 , the above-mentioned interaction process of the perception attribute information can also be implemented between the LMF and the BS. FIG5 shows the interaction process of the perception attribute information between the BS and the UE. FIG6 shows the interaction process of the perception attribute information between the SF and the BS. FIG7 shows the interaction process of the perception attribute information between the SF and the LMF. The interaction process of the perception attribute information between the above-mentioned different network elements can be the same as the interaction between the LMF and the BS. The perception attribute information can include measurement-related information, capability-related information, and auxiliary information. The perception attribute information can include the results of measurement, prediction, estimation, and other processes. The above-mentioned interaction process can be similar. Referring to FIG8 , the perception attribute information between different network elements can be exchanged between different core network elements in the form of capabilities, auxiliary information, measurement results, estimation results, etc. This interaction can be achieved through signaling processes such as request, recommendation, configuration, feedback, or reporting. The above-mentioned core network elements include but are not limited to the non-wireless access data information unit, wireless access data information unit, AMF unit, LMF unit, SF unit, perception target storage database, perception target management database, authentication and authorization management node, policy and control function (Policy Control Function, PCF) unit, session management function (Session Management Function, SMF) unit, network exposure function (Network Exposure Function, NEF) unit, network storage function (Network Repository Function, NRF) unit, application function (Application Function, AF) unit, unified data management (Unified Data Management, UDM) unit, authentication server function (Authentication Server Function, AUSF) unit, user plane function (User Plane Function, UPF) unit, etc. shown in Figure 9. Referring to Figure 10, multiple different network elements can interact with each other on perception attribute information, so that the perception attribute information can be used to locate or perceive the perception object. The perception attribute information can be interacted between different UEs, between UE and LMF, between UE and SF, and between LMF and SF through request, recommendation, configuration, feedback, reporting, etc. The perception attribute information can be transmitted as a capability between the above-mentioned different network elements.

[0214] In some application embodiments, the attribute parameters of the perceived attribute information further include: at least one of a reference signal and a waveform.

[0215] Specifically, perception attribute information may also include reference signals or waveforms. When used for positioning or perception, these reference signals or waveforms can reuse resources, saving resource overhead and reducing positioning or perception service latency. For example, when a perception service is initiated, the positioning service has just completed, and the perception transceiver and the positioning signal transceiver are the same. In this case, there is no need to resend the perception signal, and the positioning signal can be used for perception service analysis. This not only saves resources that would otherwise be used to resend the signal for perception, but also reduces the latency associated with sending, receiving, or processing the perception signal.

[0216] In some application embodiments, the attribute parameters of the perceived attribute information further include:

[0217] Cluster map filtering data, wherein the Cluster map includes at least one of a filtering times configuration, a resource location configuration for each time, a cycle index configuration, and a filtering time window.

[0218] In an embodiment of the present application, the perception attribute information can also be used to perform Cluster map filtering on the perception object. The perception attribute information may include Cluster map filtering data, which includes but is not limited to the number of filtering configurations, each resource location configuration, period index configuration, filtering time window, etc.

[0219] In an exemplary embodiment, referring to FIG. 11 , cluster map filtering may be performed on the perceived object, and the number of measurements from multiple scans may be averaged. Even if an object stops moving for a period of time, it will still be detected, thereby improving the perception performance of the perceived object.

[0220] Specifically, the perception attribute information may include signaling of information or configuration information such as the number of measurements, the resource location of each measurement, and a measurement cycle index. The signaling may include requests, measurement reports, recommendations, updates, and the like.

[0221] Configuration request: The perception receiving end requests the configuration information sent by the perception sending end, the perception receiving end requests the configuration information sent by the core network element, the core network element requests the configuration information sent by the perception sending end, and the core network element requests the configuration information sent by the core network element.

[0222] Configured measurement reporting: The sensing receiver performs scanning measurements and reports them. The reporting can be direct or delayed.

[0223] Configuration recommendation: configuration information recommended by the perception receiving end to the perception sending end, configuration information recommended by the perception receiving end to the core network element, configuration information recommended by the core network element to the perception sending end, and configuration information recommended by the core network element to the core network element.

[0224] Configuration update: the configuration recommended by the perception receiving end, the configuration recommended by the core network element, and the configuration sent by the perception sending end. The configuration may be limited to resources for CMF functions.

[0225] Furthermore, the perception attribute information may be used as a capability, and the interaction of the perception attribute information as a capability may include at least one of the following signaling:

[0226] Request: The first network element requests the second network element to have the ability of cluster map filtering or the number / maximum number of times of using cluster map filtering, wherein the first network element or the second network element includes at least one of UE, BS, SF, PRU, SRU.

[0227] Recommendation: The third network element recommends reporting its ability to perform cluster map filtering or the number / maximum number of times cluster map filtering is used, where the third network element includes at least one of UE, BS, SF, PRU, and SRU.

[0228] Furthermore, the cluster map filter data included in the perception attribute information may include time or a time window, including at least a time window length, a time window start point, a time window end point, etc. of at least one cluster map filter measurement.

[0229] Measurement and reporting based on the above-mentioned perception attribute information: measuring all time windows, performing selection processing within all time windows, and reporting after selection, or reporting all time windows and then performing selection processing at the receiving side.

[0230] Measurement based on the above-mentioned perception attribute information: only necessary time windows are measured as needed, or reception measurements are performed as needed.

[0231] In some application embodiments, the attribute parameters of the perceived attribute information further include:

[0232] Dynamic / static clutter related data, wherein the dynamic / static clutter related data includes at least one of a dynamic / static clutter vector, a dynamic / static clutter I value, a dynamic / static clutter Q value, a dynamic / static clutter delay, a dynamic / static clutter angle, a dynamic / static clutter coordinate, a dynamic / static clutter position, a dynamic / static clutter propagation path, a dynamic / static clutter arrival angle ranging, and a dynamic / static clutter RCS.

[0233] Based on the above application embodiment, the dynamic / static clutter data includes at least one of the following:

[0234] For full range of dynamic / static clutter data;

[0235] Dynamic / static clutter data for the transmit / receive point, antenna unit, antenna transmit / receive unit, or antenna reference point;

[0236] Dynamic / static clutter data for frequency layer;

[0237] Dynamic / static clutter data for time windows;

[0238] Dynamic / static clutter data for beam, resource, or spatial filters.

[0239] In an exemplary embodiment, the perception attribute information may include dynamic / static clutter related data, and the processing of the dynamic / static clutter related data associated with the perception object may include performing dynamic / static clutter processing on the perception object based on the dynamic / static clutter related data. For example, measurements at multiple moments can be fitted into a circle, the number of measurements can be used to fit the center of the circle, and the vector difference between the fitted center and the center of the coordinate system can be used as the static clutter vector in the corresponding environment within the multiple measurement times.

[0240] When the perception attribute information includes dynamic / static clutter-related data, the interaction process of this perception attribute information can be indicated through signaling such as measurement signaling, reporting signaling, request signaling, and capability signaling. The dynamic / static clutter-related data can be measured on the UE side, RSU side, BS side, or core network element side. The dynamic / static clutter-related data can be represented by I value, Q value, delay, angle, coordinates, location, propagation path, random distribution, AoA, RCS, etc. One propagation path corresponds to multiple angles or one angle, etc.

[0241] Similarly, the correspondence between the number of measurements and the number of reports of dynamic / static clutter related data can include: m:n, where m and n are 0 or positive integers. For the same reason, such as signaling such as request signaling, m times of static clutter request can correspond to n times of static clutter feedback.

[0242] In some exemplary embodiments, multiple perception objects correspond to one static clutter. When reporting measurements, it only needs to be reported once, and the associated indication is applicable to multiple perception objects, or multiple reporting values. For example, there is one static clutter report in a measurement instance, which corresponds to the reporting of multiple perception objects.

[0243] In some examples, eight measurement elements may include multiple path reference signal received power (RSRP) / path / AOA, three of which represent static clutter types. Signaling is required to distinguish these from other measurements. In another example, static clutter may not be reported; alternatively, it may be reported as a perception attribute. This consideration of static clutter allows for more accurate perception, while sharing static clutter measurements can reduce perception latency.

[0244] Reporting of dynamic / static clutter data: The sensing receiving end and core network elements measure and report dynamic / static clutter vectors. The dynamic / static clutter vectors are timestamped during the reporting process.

[0245] Measurement of dynamic / static clutter data: Dynamic / static clutter is transmitted as perception attribute information between the perception transceiver and the core network element. The granularity of the transmitted dynamic / static clutter data includes at least one of the following:

[0246] Dynamic / static clutter data for the entire range: A set of dynamic / static clutter data for sensing measurements can be applied to the entire range of the sensing and can also be used to measure other sensing objects within the range;

[0247] Dynamic / static clutter data for a Transmit / Receive Point (TRP), antenna unit, antenna transmit / receive unit (TXRU), or antenna reference point (ARP): A set of dynamic / static clutter based on sensing measurements that can be applied to the sensing service performed by the sensing transmitter / sensing receiver. That is, the dynamic / static clutter measured for a particular TRP is also applicable to other sensing objects or other sensing modes (sent or received based on the TRP);

[0248] Dynamic / static clutter data for frequency layers: The static clutter measured by a set of sensing pairs can be applied to the entire frequency layer range of the sensing pair, that is, within the frequency layer range, it can also be applied to other sensing objects;

[0249] Dynamic / static clutter data for time windows: A set of perceptions, dynamic / static clutter measured at time t, can be applied to the time range [t+t0, t+t1].

[0250] Dynamic / static clutter data for a beam, resource, or spatial filter: Dynamic / static clutter measured for one beam, resource, or spatial filter can be applied to other sensing objects of that beam, resource, or spatial filter.

[0251] For the measurement of dynamic / static clutter data, for dynamic / static clutter data of different granularities, only the measurement results of the dynamic / static clutter data of the corresponding granularity are counted during statistics to perform dynamic / static clutter data processing.

[0252] Regarding the grouping of dynamic / static clutter data, dynamic / static clutter data of different granularities can correspond to different dynamic / static clutter data reports. For example, the measurement results of different ranges, different TRPs, different frequency layers, different time windows, different beams, different resources or different spatial filters correspond to different dynamic / static clutter data reports. That is, dynamic / static clutter data of different granularities adopt different groupings for dynamic / static clutter data reporting.

[0253] Figure 12 is a schematic diagram of the structure of a target sensing device provided in an embodiment of the present application. The device can execute the target sensing 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 Figure 12, the device provided in an embodiment of the present application specifically includes:

[0254] The information acquisition module 210 is used to acquire perception attribute information, which is used for perception services.

[0255] The information association module 220 is used to associate the perception attribute information with the perception object.

[0256] In some application embodiments, the attribute parameters of the perceived attribute information include at least one of the following:

[0257] Absolute position, relative position, speed, direction of motion, angle, distance, Doppler, micro-Doppler, multi-scattering point combination, material, shape, target size, scattering point / body joint relationship, speed signaling, speed range signaling, speed list signaling, angle signaling, angle range signaling, angle list signaling, distance signaling, time signaling, reference time difference signaling, distance range signaling, distance list signaling, Doppler signaling, Doppler range signaling, Doppler list signaling, multi-scatterer joint signaling, multi-scatterer joint range signaling, multi-scatterer joint list signaling, RCS signaling, RCS range signaling, RCS list signaling, capability / power / reference signal received power / path reference signal received power signaling, capability / power / reference signal received power / path reference signal received power range signaling, capability / power / reference signal received power / path reference signal received power list signaling; phase / phase difference signaling, phase / phase difference range signaling, phase / phase difference list signaling.

[0258] In some application embodiments, the scatter point / volume association relationship includes at least one of the following:

[0259] The number of scattering points corresponding to the scatterer;

[0260] The positional relationship between the scatterer and the scattering point;

[0261] The radar cross section of the scatterer corresponding to the scattering point.

[0262] In some application embodiments, the perceptual attribute information includes at least one of the following:

[0263] Information range, information list, information set, and information relative value.

[0264] In some application embodiments, the perceptual attribute information includes at least one of the following:

[0265] Measurement information, estimation information, and prediction information.

[0266] In some application embodiments, the signaling related to the attribute parameter includes at least one of the following: signaling related to positioning; and signaling related to perception.

[0267] In some application embodiments, the signaling includes at least one of the following: horizontal velocity signaling, vertical velocity signaling, velocity horizontal uncertainty signaling, velocity vertical uncertainty signaling, velocity quality signaling, velocity confidence signaling, and velocity timestamp signaling.

[0268] In some application embodiments, the type of signaling includes at least one of the following: measurement signaling, estimation signaling, auxiliary information signaling, reporting signaling, device capability signaling, request signaling, and recommendation signaling.

[0269] In some application embodiments, the perceived attribute information includes at least one of the following: auxiliary information, capability information, and request information.

[0270] In some application embodiments, the auxiliary information includes at least one of the following:

[0271] Desired speed signaling, desired speed range signaling, desired speed list signaling, undesired speed signaling;

[0272] Desired angle signaling, desired angle range signaling, desired angle list signaling, undesired angle signaling;

[0273] Expected distance / time / reference signal time difference signaling, expected distance range signaling, expected distance list signaling, unexpected distance signaling;

[0274] Desired Doppler signaling, desired Doppler range signaling, desired Doppler list signaling, undesired Doppler signaling;

[0275] Desired multi-scatterer joint signaling, desired multi-scatterer joint range signaling, desired multi-scatterer joint list signaling, undesired multi-scatterer joint signaling;

[0276] Expected RCS signaling, expected RCS range signaling, expected RCS list signaling, and unexpected RCS signaling;

[0277] Expected capability / power / reference signal received power / path reference signal received power signaling, expected capability / power / reference signal received power / path reference signal received power range signaling, expected capability / power / reference signal received power / path reference signal received power list signaling, unexpected capability / power / reference signal received power / path reference signal received power signaling;

[0278] Expected phase / phase difference signaling, expected phase / phase difference range signaling, expected phase / phase difference list signaling, and unexpected phase / phase difference signaling.

[0279] In some application embodiments, the perceived attribute information includes auxiliary information, and obtaining the perceived attribute information includes at least one of the following:

[0280] Obtaining a positioning measurement result of the positioning measurement, and using the positioning measurement result as auxiliary information for locating the perception object;

[0281] Acquire a positioning measurement result of the positioning measurement, and use the positioning measurement result as auxiliary information for perceiving the perception object;

[0282] Acquire a perception measurement result of the perception measurement, and use the perception measurement result as auxiliary information for locating the perception object;

[0283] A perception measurement result of the perception measurement is obtained, and the perception measurement result is used as auxiliary information for perceiving the perception object.

[0284] In some application embodiments, the perceptual attribute information includes at least one of an information set, an information list, or an information group;

[0285] The information set, information list or information group includes measurement related information;

[0286] The information collection, information list or information group includes auxiliary related information;

[0287] The information collection, information list or information group includes capability-related information;

[0288] The information collection, information list or information group includes the request related information.

[0289] In some application embodiments, the information list, information set, or information group includes at least one of the following:

[0290] Historical measurement information and current measurement information; current measurement information and estimated measurement information; predicted measurement information and estimated measurement information;

[0291] Historical auxiliary information and current auxiliary information; current auxiliary information and estimated auxiliary information; predicted auxiliary information and estimated auxiliary information;

[0292] Historical capability information and current capability information; current capability information and estimated capability information; predicted capability information and estimated capability information;

[0293] Historical request information and current request information; current request information and estimated request information; predicted request information and estimated request information.

[0294] In some application embodiments, the interaction of perceived attribute information includes at least one of the following:

[0295] Send request message / receive request message;

[0296] Reporting messages / receiving reporting messages; measuring messages;

[0297] Send recommendation messages / receive recommendation messages;

[0298] Send capability message / receive capability message;

[0299] Termination message;

[0300] Indicates message error;

[0301] The message includes at least one of the perception attribute information at a historical moment, the current perception attribute information, and the perception attribute information predicted at a future moment.

[0302] In some application embodiments, the quantitative correspondence between different attribute parameters in the perception attribute information, or between the same attribute parameter and different types of signaling, includes at least one of the following:

[0303] One-to-one; m-to-n; n-to-m; wherein n and m are integers greater than 1, and m is greater than or equal to n.

[0304] In some application embodiments, the information acquisition module 210 is specifically used for at least one of the following: acquiring the perception attribute information periodically; acquiring the perception attribute information semi-continuously; and acquiring the perception attribute information aperiodically.

[0305] In some application embodiments, the information association module 220 is specifically configured to perform at least one of the following:

[0306] The motion attribute of the perception sending end and / or the perception receiving end of the perception attribute information is in a motion state, and at least one of all stationary perception objects, all moving perception objects, perception objects not moving at the speed or the speed range, and perception objects moving at the speed or the speed range is eliminated from the perception result corresponding to the perception attribute information based on the relativity of the perception attribute information;

[0307] The motion attributes of the perception sending end and the perception receiving end of the perception attribute information are in a stationary state, and at least one of all stationary perception objects, all moving perception objects, perception objects not moving at the speed or the speed range, and perception objects at the speed or the speed range in the perception results corresponding to the perception attribute information is eliminated.

[0308] In some application embodiments, the signaling indicating the attribute parameter includes at least one of the following:

[0309] Absolute signaling, relative signaling, local signaling, global signaling and coordinate transformation signaling.

[0310] In some application embodiments, the attribute parameters of the perceived attribute information further include:

[0311] The location-related information of the sensing station includes absolute location information or relative location information.

[0312] In some application embodiments, the information association module 220 is specifically configured to perform coordinate conversion based on the location-related information of the sensing station indicated by the signaling, wherein the signaling includes at least one of the following:

[0313] Signaling of absolute coordinate conversion to relative coordinate;

[0314] Signaling of local coordinate conversion to global coordinate;

[0315] Signaling of global coordinate conversion to local coordinate;

[0316] Signaling of the transformation of the first local coordinates into the second local coordinates.

[0317] In some application embodiments, the information association module 220 is specifically used to: process the perception attribute information, wherein the processing includes at least one of the following: measurement collection, clustering, deduplication, compression, determining the target position of the perception object perceived by different perception nodes at the same time, determining the motion state of the perception object perceived by different perception nodes at the same time, and determining the radar scattering cross-section of the perception object perceived by different perception nodes at the same time.

[0318] In some application embodiments, the attribute parameters of the perception attribute information also include: wireless access technology-independent data, which includes at least one of physical sensor data, camera data, radar data, infrared device data, Bluetooth data, ultra-wideband wireless communication data, wireless communication data, and global navigation satellite system data.

[0319] In some application embodiments, the attribute parameters of the perceptual attribute information further include: RS, waveform, or at least one of the following.

[0320] In some application embodiments, the attribute parameters of the perception attribute information also include: Cluster map filtering data, wherein the Cluster map filtering data includes at least one of the number of filtering times configuration, each measurement resource location configuration, period index configuration, and filtering time window.

[0321] In some application embodiments, the attribute parameters of the perceived attribute information also include: dynamic / static clutter related data, wherein the dynamic / static clutter related data includes at least one of a dynamic / static clutter vector, a dynamic / static clutter I value, a dynamic / static clutter Q value, a dynamic / static clutter delay, a dynamic / static clutter angle, a dynamic / static clutter coordinate, a dynamic / static clutter position, a dynamic / static clutter propagation path, a dynamic / static clutter arrival angle ranging, and a dynamic / static clutter RCS.

[0322] In some application embodiments, the dynamic / static clutter data includes at least one of the following:

[0323] For full range of dynamic / static clutter data;

[0324] Dynamic / static clutter data for the transmit / receive point, antenna unit, antenna transmit / receive unit, or antenna reference point;

[0325] Dynamic / static clutter data for frequency layer;

[0326] Dynamic / static clutter data for time windows;

[0327] Dynamic / static clutter data for beam, resource, or spatial filters.

[0328] Figure 13 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 13 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 13 takes connection via a bus as an example.

[0329] 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 target sensing device in the embodiment of the present application (information acquisition module 210 and information association module 220). The processor 10 executes the software programs, instructions, and modules stored in the memory 11 to execute various functional applications and data processing of the electronic device, that is, to implement the above-mentioned method.

[0330] 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.

[0331] 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.

[0332] 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:

[0333] Acquiring perception attribute information, where the perception attribute information is used for perception services;

[0334] The perception attribute information is associated with the perception object.

[0335] 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.

[0336] 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.

[0337] 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.

[0338] 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.

[0339] 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 target perception method, comprising: Obtaining perception attribute information, where the perception attribute information is used for business perception; Associating the perception attribute information with a perception object.

2. The method according to claim 1, wherein, The attribute parameters related to the perception attribute information include at least one of the following: Absolute position, relative position, speed, direction of motion, angle, distance, Doppler, micro-Doppler, multi-scattering point combination, material, shape, target size, scatterer / scattering body joint relationship, speed signaling, speed range signaling, speed list signaling, angle signaling, angle range signaling, angle list signaling, distance signaling, time signaling, reference time difference signaling, distance range signaling, distance list signaling, Doppler signaling, Doppler range signaling, Doppler list signaling, multi-scattering body joint signaling, multi-scattering body joint range signaling, multi-scattering body joint list signaling, radar cross-section signaling, radar cross-section range signaling, radar cross-section list signaling, ability / power / reference signal received power / radiation reference signal received power signaling, ability / power / reference signal received power / radiation reference signal received power range signaling, ability / power / reference signal received power / radiation reference signal received power list signaling; phase / phase difference signaling, phase / phase difference range signaling, phase / phase difference list signaling.

3. The method according to claim 2, wherein, The scatterer / scattering body joint relationship includes at least one of the following: The number of scatter points corresponding to a scatterer; The speed of the scatter points corresponding to a scatterer; The positional relationship of the scatter points corresponding to a scatterer; The radar cross-section of the scatter points corresponding to a scatterer.

4. The method according to claim 1, wherein The perception attribute information includes at least one of the following: Information range, information list, information set, information relative value, information difference.

5. According to the method of claim 1, wherein The perception attribute information includes at least one of the following: Measurement information, estimation information, prediction information.

6. The method according to claim 2, wherein The signaling related to the attribute parameters includes at least one of the following: signaling related to positioning; signaling related to perception.

7. The method according to claim 2, wherein The signaling related to the attribute parameters includes at least one of the following: horizontal speed signaling, vertical speed signaling, horizontal speed uncertainty signaling, vertical speed uncertainty signaling, speed quality signaling, speed confidence signaling, speed timestamp signaling.

8. The method according to claim 2, wherein The types of signaling related to the attribute parameters include at least one of the following: measurement signaling, estimation signaling, auxiliary information signaling, reporting signaling, device ability signaling, request signaling, recommendation signaling.

9. According to the method of claim 1, wherein, The perception attribute information includes at least one of the following: auxiliary information, ability information, and request information.

10. According to the method of claim 9, wherein The auxiliary information includes at least one of the following: Expected speed signaling, expected speed range signaling, expected speed list signaling, unexpected speed signaling; Expected angle signaling, expected angle range signaling, expected angle list signaling, unexpected angle signaling; Expected distance / time / reference signal time difference signaling, expected distance range signaling, expected distance list signaling, unexpected distance signaling; Expected Doppler signaling, expected Doppler range signaling, expected Doppler list signaling, unexpected Doppler signaling; Expected multi-scattering body joint signaling, expected multi-scattering body joint range signaling, expected multi-scattering body joint list signaling, unexpected multi-scattering body joint signaling; Desired radar cross - section signaling, desired radar cross - section range signaling, desired radar cross - section list signaling, undesired radar cross - section signaling; Desired capability / power / reference signal received power / radius reference signal received power signaling, desired capability / power / reference signal received power / radius reference signal received power range signaling, desired capability / power / reference signal received power / radius reference signal received power list signaling, undesired capability / power / reference signal received power / radius reference signal received power signaling; Desired phase / phase difference signaling, desired phase / phase difference range signaling, desired phase / phase difference list signaling, undesired phase / phase difference signaling.

11. According to the method of claim 9, wherein The perceived attribute information includes auxiliary information, and obtaining the perceived attribute information includes at least one of the following: Obtaining the positioning measurement result of positioning measurement and using the positioning measurement result as the auxiliary information for positioning the perceived object; Obtaining the positioning measurement result of positioning measurement and using the positioning measurement result as the auxiliary information for perceiving the perceived object; Obtaining the perception measurement result of perception measurement and using the perception measurement result as the auxiliary information for positioning the perceived object; Obtaining the perception measurement result of perception measurement and using the perception measurement result as the auxiliary information for perceiving the perceived object.

12. The method according to claim 1, wherein The perceived attribute information includes at least one of an information set, an information list, or an information group; The information set, the information list, or the information group includes measurement - related information; The information set, the information list, or the information group includes auxiliary - related information; The information set, the information list, or the information group includes capability - related information; The information set, the information list, or the information group includes request - related information.

13. The method according to claim 12, wherein The information list, the information set, or the information group includes at least one of the following: Historical measurement information and current measurement information; current measurement information and estimated measurement information; predicted measurement information and estimated measurement information; historical auxiliary information and current auxiliary information; current auxiliary information and estimated auxiliary information; predicted auxiliary information and estimated auxiliary information; historical capability information and current capability information; Current capability information and estimated capability information; predicted capability information and estimated capability information; historical request information and current request information; Current request information and estimated request information; Predicted request information and estimated request information.

14. The method according to claim 1, wherein The interaction of the perceived attribute information includes at least one of the following: Sending a request message / receiving a request message; Reporting a message / receiving a reported message; Measurement message; Sending a recommendation message / receiving a recommendation message; Sending a capability message / receiving a capability message; Termination message; Indicating a message error; Among them, the message includes at least one of the perceived attribute information at a historical moment, the current perceived attribute information, and the predicted perceived attribute information at a future moment.

15. According to the method of claim 14, wherein The quantity correspondence relationships between different attribute parameters in the perceived attribute information, or between the same attribute parameter and different types of signaling, include at least one of the following: One - to - one; m - to - n; n - to - m; where n and m are integers greater than 1, and m is greater than or equal to n.

16. The method according to claim 14, wherein, The obtaining of the sensed attribute information includes at least one of the following: Obtaining the sensed attribute information periodically; Obtaining the sensed attribute information semi - persistently; Obtaining the sensed attribute information aperiodically.

17. The method according to claim 1, wherein The associating of the sensed attribute information with a sensed object includes at least one of the following: When at least one of the motion attributes of the sensing transmitter and the sensing receiver of the sensed attribute information is in a moving state, based on the relativity of the sensed attribute information, eliminating at least one of all stationary sensed objects, all moving sensed objects, sensed objects with a motion speed or speed range different from the specified one, and sensed objects with the specified motion speed or speed range in the sensing result corresponding to the sensed attribute information; When the motion attributes of the sensing transmitter and the sensing receiver of the sensed attribute information are in a stationary state, eliminating at least one of all stationary sensed objects, all moving sensed objects, sensed objects with a motion speed or speed range different from the specified one, and sensed objects with the specified motion speed or speed range in the sensing result corresponding to the sensed attribute information.

18. The method according to claim 2, wherein, The signaling indicating the attribute parameter includes at least one of the following: Absolute signaling, relative signaling, local signaling, global signaling, and coordinate conversion signaling.

19. The method according to claim 1, wherein The attribute parameters related to the sensed attribute information include: Information related to the position of the sensing station, where the position - related information includes absolute position information or relative position information.

20. The method according to claim 19, wherein The associating of the sensed attribute information with a sensed object includes: Performing coordinate conversion according to the signaling indicating the position - related information of the sensing station, where the signaling includes at least one of the following: Signaling for converting absolute coordinates to relative coordinates; Signaling for converting local coordinates to global coordinates; Signaling for converting global coordinates to local coordinates; Signaling for converting the first local coordinates to the second local coordinates.

21. The method according to claim 1, wherein The associating of the sensed attribute information with a sensed object includes: Processing the sensed attribute information, where the processing includes at least one of the following: measurement collection, clustering, duplicate removal, compression, determining the target position of the sensed object sensed by different sensing nodes at the same moment, determining the motion state of the sensed object sensed by different sensing nodes at the same moment, and determining the radar cross - section of the sensed object sensed by different sensing nodes at the same moment.

22. The method according to claim 1, wherein, The attribute parameters related to the sensed attribute information include: radio access technology - independent data, where the radio access technology - independent data includes at least one of physical sensor data, camera data, radar data, infrared device data, Bluetooth data, ultra - wideband wireless communication data, wireless communication data, and global navigation satellite system data.

23. The method according to claim 1, wherein The attribute parameters related to the sensed attribute information include at least one of: reference signal, waveform.

24. The method according to claim 1, wherein The attribute parameters related to the sensed attribute information include: Cluster map filtering data, where the Cluster map filtering data includes at least one of filtering times configuration, resource position configuration for each measurement, cycle index configuration, and filtering time window.

25. The method according to claim 1, wherein The attribute parameters related to the sensed attribute information include: Moving / static clutter related data, where the moving / static clutter related data includes at least one of a moving / static clutter vector, a moving / static clutter I value, a moving / static clutter Q value, a moving / static clutter time delay, a moving / static clutter angle, a moving / static clutter coordinate, a moving / static clutter position, a moving / static clutter propagation path, a moving / static clutter angle of arrival ranging, and a moving / static clutter radar cross section.

26. The method according to claim 25, wherein, The moving / static clutter data includes at least one of the following: Moving / static clutter data for the full range; Moving / static clutter data for a transmit / receive point, an antenna element, an antenna transmit / receive unit, or an antenna reference point; Moving / static clutter data for a frequency layer; Moving / static clutter data for a time window; Moving / static clutter data for a beam, a resource, or a spatial domain filter.

27. 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 1-26.

28. 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 1-26.

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