Joint sensing method, and communication apparatus

Abstract

Provided in the present application is a joint sensing method. The method comprises: receiving at least two first range profiles and at least two first range profile signal-to-noise ratios, wherein each of the at least two first range profile signal-to-noise ratios is determined on the basis of signal energy and noise energy, and the at least two first range profiles correspond to the at least two first range profile signal-to-noise ratios on a one-to-one basis; and determining a joint sensing result on the basis of the at least two first range profiles and the at least two first range profile signal-to-noise ratios, wherein the weight of each of the first range profiles corresponding to the first range image signal-to-noise ratios is determined on the basis of each of the at least two first range profile signal-to-noise ratios, and the at least two first range profiles are then combined on the basis of the at least two weights respectively corresponding to the at least two first range profiles, so as to obtain the joint sensing result, thereby improving the sensing performance and quality.

Description

Joint sensing method and communication device

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on March 4, 2024, with application number 202410247011.3 and invention name “Joint Perception Method and Communication Device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of communications, and in particular, to a joint sensing method and a communication device. Background Art

[0003] With the development and progress of communication technology, in future cellular networks, base stations will not only be able to connect people and things, but will also have perception capabilities. The enabling technology that realizes the coexistence, mutual assistance, and reciprocity of communication and perception functions is called integrated sensing and communication (ISAC).

[0004] Currently, wireless sensing systems often perceive targets by receiving echo signals from sensing reference signals. To reduce uncertainty in target perception, multi-node joint sensing has been proposed. In this scenario, multiple wireless nodes perform distributed sensing of the target and then combine their perception results to generate a perception result, thereby reducing uncertainty in target perception.

[0005] In practical applications, parameters such as device noise floor, transmit power, and location may vary among the multiple wireless nodes performing multi-node joint sensing. This can lead to differences in the signal-to-noise ratio (SNR) of the echo signals received by different wireless nodes when facing the same sensing target. For example, if a node receives an echo signal with a low SNR, the sensing result determined by the node based on the received echo signal may introduce noise, affecting sensing performance.

[0006] Therefore, in the scenario of multi-node joint perception, how to improve perception performance has become a hot topic of current research. Summary of the Invention

[0007] The present application provides a joint perception method and apparatus for improving perception performance.

[0008] In the first aspect, a joint perception method is provided, which can be executed by a first node, or can also be executed by a module (such as a chip or circuit) of the first node, without limitation. The first node can be a terminal device or a network device, without limitation.

[0009] The method may include: receiving at least two first range images and at least two first range image signal-to-noise ratios, the at least two first range images corresponding to the at least two first range image signal-to-noise ratios one-to-one; and determining a joint perception result based on the at least two first range images and the at least two first range image signal-to-noise ratios, each of the at least two first range image signal-to-noise ratios being determined based on signal energy and noise energy.

[0010] Optionally, each range image signal-to-noise ratio of the at least two first range image signal-to-noise ratios is used to determine a weight of the first range image corresponding to the first range image signal-to-noise ratio in the joint perception result.

[0011] According to the method provided in the present application, the first node determines a joint perception result based on the received signal-to-noise ratios of at least two first range images and at least two first range images. The at least two first range image signal-to-noise ratios correspond one-to-one to the at least two first range images. The first node determines the weight of the first range image corresponding to the first range image signal-to-noise ratio in the joint perception result based on each first range image signal-to-noise ratio in the at least two first range image signal-to-noise ratios, so that the first node merges the at least two first range images according to at least two weights corresponding to the at least two first range images. This method avoids the problem that the first node directly performs equal-gain merging of the at least two received first range images according to the same weight, resulting in a decrease in perception performance. The first node determines the weight of the at least two first range images in the joint perception result according to the at least two first range image signal-to-noise ratios and merges the at least two first range images, which can improve perception performance and quality.

[0012] In combination with the first aspect, in some possible implementation methods, before receiving at least two first range images and at least two first range image signal-to-noise ratios, the method also includes: sending a first perception mode, where the first perception mode is used to indicate the sending time and silent time of a perception reference signal, the perception reference signal is transmitted during the sending time, and the perception reference signal is not transmitted during the silent time, wherein during the sending time, the average energy of the echo signal within the perception distance range is the signal energy, and during the silent time, the average energy of the echo signal within the distance range is the noise energy.

[0013] It should be understood that the echo signal of the perception reference signal in the present application may be simply referred to as the echo signal.

[0014] Based on the above technical solution, the first node indicates the transmission time and silent period of a sensing reference signal using a first sensing mode. The signal energy and noise energy used to determine each of the at least two range profile signal-to-noise ratios are related to the transmission time and silent period. This method uses the first sensing mode and sensing distance range to determine which echo signal average energies can be used as signal energy and which echo signal average energies can be used as noise energy, thereby further ensuring the accuracy of the first range profile signal-to-noise ratio and improving the performance and quality of joint sensing.

[0015] In combination with the first aspect, in some possible implementations, the average energy of the echo signal within the perception distance range is the signal energy, and the average energy of the echo signal outside the perception distance range is the noise energy.

[0016] Based on the above technical solution, the signal energy and noise energy used to determine each of the at least two range profile signal-to-noise ratios are related to the perception range. Each of the at least two second nodes determines the perception range corresponding to its own location using the corresponding perception range, and then determines the signal energy and noise energy based on the perception range to obtain its corresponding first range profile signal-to-noise ratio. This method ensures the accuracy of each of the at least two first range profile signal-to-noise ratios, improving the performance and quality of joint perception.

[0017] In combination with the first aspect, in some possible implementation methods, the signal energy is the energy of the instantaneous energy of the echo signal within the perception distance range that is greater than or equal to the first threshold, and the noise energy is the energy of the instantaneous energy of the echo signal within the perception distance range that is less than the first threshold.

[0018] It should be understood that the instantaneous energy in the embodiments of the present application can be represented by the amplitude of the echo signal corresponding to any sensing distance, or by the amplitude of the echo signal corresponding to any time, where sensing distance = time * speed of light.

[0019] Optionally, before receiving the at least two first range images and the at least two first range image signal-to-noise ratios, the method further includes: sending a first threshold.

[0020] It should be understood that the first threshold may be sent by the first node, or pre-configured by the system, or pre-defined by the protocol, etc., and this application does not limit this.

[0021] Based on the above technical solution, the energy of the echo signal within the perception distance range is determined as signal energy or noise energy through a first threshold, thereby ensuring the accuracy of the signal-to-noise ratio of each first range image in at least two first range image signal-to-noise ratios, and improving the performance and quality of joint perception.

[0022] In combination with the first aspect, in some possible implementations, before receiving the at least two first range images and the signal-to-noise ratios of the at least two first range images, the method further includes: sending first information, where the first information is used to indicate a perception distance range.

[0023] In combination with the first aspect, in some possible implementations, the first information includes one or more of the following: a distance interval set, a time interval set, and longitude and latitude information.

[0024] Optionally, each range image of the at least two first range images is determined according to an echo signal of the perceived reference signal within the perceived distance range.

[0025] It should be understood that the perception distance range is used to determine each first range image of the at least two first range images and each first range image signal-to-noise ratio of the at least two first range image signal-to-noise ratios.

[0026] With reference to the first aspect, in some possible implementations, the distance interval set includes at least one distance interval, the time interval set includes at least one time interval, and the at least one time interval is used to determine the at least one distance interval.

[0027] In conjunction with the first aspect, in some possible implementations, the first range profile signal-to-noise ratio satisfies:

[0028] Among them, snr R represents the signal-to-noise ratio of the first range image, represents the signal energy, represents the noise energy.

[0029] Optionally, before receiving the at least two first range images and the at least two first range image signal-to-noise ratios, the method further includes: sending a perception reference signal, where an echo signal corresponding to the perception reference signal is used to determine the at least two first range images and the at least two first range image signal-to-noise ratios.

[0030] It should be understood that the perception reference signal may be sent by the first node, or may be sent by other nodes with a sending function, and this application does not limit this.

[0031] With reference to the first aspect, in some possible implementations, each of the at least two first range image signal-to-noise ratios is greater than or equal to a second threshold.

[0032] Optionally, before receiving the at least two first range images and the at least two first range image signal-to-noise ratios, the method further includes: sending a second threshold.

[0033] It should be understood that the second threshold may be sent by the first node, or pre-configured by the system, or pre-defined by the protocol, etc., which is not limited in this application.

[0034] Based on the above technical solution, the first range image signal-to-noise ratio is selected using a second threshold to ensure that the signal-to-noise ratios of the at least two first range images received by the first node are both greater than or equal to the second threshold. The first node then determines a joint sensing result based on the at least two first range images corresponding to the received signal-to-noise ratios. This prevents the first node from introducing some range images corresponding to range image signal-to-noise ratios that do not meet the second threshold when determining the joint sensing result, thereby reducing sensing performance and affecting the quality and performance of the joint sensing result.

[0035] In combination with one aspect, in some possible implementations, before receiving the at least two first range images and the signal-to-noise ratios of the at least two first range images, the method further includes: receiving at least two second range image signal-to-noise ratios, the at least two second range image signal-to-noise ratios including the at least two first range image signal-to-noise ratios; and, if the at least two first range image signal-to-noise ratios among the at least two second range image signal-to-noise ratios meet a first condition, sending a first request message to a node corresponding to the at least two first range image signal-to-noise ratios, the first request message being used to request acquisition of the at least two first range images corresponding to the at least two first range image signal-to-noise ratios.

[0036] Based on the above technical solution, the first node sends a first request message to at least two second nodes corresponding to the at least two first range image signal-noise ratios that meet the first condition from the received at least two second range image signal-noise ratios, requesting to obtain at least two first range images corresponding to the at least two first range image signal-noise ratios, thereby avoiding the first node receiving a range image corresponding to a range image signal-noise ratio that does not meet the first condition, reducing perception performance, and affecting the quality and performance of the joint perception result.

[0037] On the second aspect, a joint perception method is provided, which can be executed by a second node, or can also be executed by a module of the second node (such as a chip or circuit), without limitation. The second node can be a terminal device or a network device, without limitation.

[0038] The method includes: determining a first range image and a first range image signal-to-noise ratio; sending the first range image and the first range image signal-to-noise ratio, wherein the first range image and the first range image signal-to-noise ratio are used to determine a joint perception result, and the first range image signal-to-noise ratio is determined based on signal energy and noise energy.

[0039] Optionally, each range image signal-to-noise ratio of the at least two first range image signal-to-noise ratios is used to determine a weight of the first range image corresponding to the first range image signal-to-noise ratio in the joint perception result.

[0040] According to the method provided in the present application, the second node determines and sends the first range image signal-to-noise ratio and the first range image, and the first range image signal-to-noise ratio and the first range image are used to determine the joint perception result. The first range image signal-to-noise ratio corresponds to the first range image. The first range image signal-to-noise ratio is used to determine the weight of the first range image in the joint perception result. This method avoids the problem that when at least two second nodes perform joint perception, at least two first range images corresponding to the at least two second nodes are combined with equal gains according to the same weight, resulting in a decrease in perception performance. In this method, each first range image signal-to-noise ratio of the at least two first range image signal-to-noise ratios can determine the weight of the first range image corresponding to the first range image signal-to-noise ratio in the joint perception result, thereby improving perception quality and performance.

[0041] In combination with the second aspect, in some possible implementation methods, before determining the first range image and the signal-to-noise ratio of the first range image, the method also includes: receiving a first perception mode, where the first perception mode is used to indicate the sending time and silent time of the perception reference signal, the perception reference signal is transmitted during the sending time, and the perception reference signal is not transmitted during the silent time, wherein during the sending time, the average energy of the echo signal within the perception distance range is the signal energy, and during the silent time, the average energy of the echo signal within the distance range is the noise energy.

[0042] Based on the above technical solution, the second node determines the signal energy and noise energy of the first range profile signal-to-noise ratio (SNR) based on the transmission time and silence time of the sensing reference signal indicated by the first sensing mode. Based on the first sensing mode and sensing distance range, the second node determines which echo signal average energies can be used as signal energy and which echo signal average energies can be used as noise energy, thereby further ensuring the accuracy of the first range profile SNR and improving the performance and quality of joint sensing.

[0043] Combining the two aspects, in some possible implementations, the average energy of the echo signal within the perception distance range is the signal energy, and the average energy of the echo signal outside the perception distance range is the noise energy.

[0044] Based on the above technical solution, the signal energy and noise energy used to determine the signal-to-noise ratio of the first range profile are related to the perception range. The second node uses the corresponding perception range to determine the perception range corresponding to its own position, and then uses the signal energy and noise energy within the perception range to obtain the first range profile signal-to-noise ratio. This ensures the accuracy of the first range profile signal-to-noise ratio and improves the performance and quality of joint perception.

[0045] Combining the two aspects, in some possible implementation methods, the signal energy is the energy of the instantaneous energy of the echo signal within the perception distance range that is greater than or equal to the first threshold, and the noise energy is the energy of the instantaneous energy of the echo signal within the perception distance range that is less than the first threshold.

[0046] Optionally, before sending the first range image and the first range image signal-to-noise ratio, the method further includes: receiving the first threshold.

[0047] Based on the above technical solution, the energy of the echo signal within the perception distance range is determined as signal energy or noise energy through the first threshold, thereby ensuring the accuracy of the signal-to-noise ratio of the first range image and improving the performance and quality of joint perception.

[0048] In combination with the second aspect, in some possible implementations, before determining the first range image and the signal-to-noise ratio of the first range image, the method further includes: receiving first information, where the first information is used to indicate a perception distance range.

[0049] It should be understood that the perception distance range is used to determine each first range image of the at least two first range images and each first range image signal-to-noise ratio of the at least two first range image signal-to-noise ratios.

[0050] In combination with the second aspect, in some possible implementations, the first information includes one or more of the following: a distance interval set, a time interval set, and longitude and latitude information.

[0051] Optionally, the first distance image is determined according to an echo signal of the perception reference signal within the perception distance range.

[0052] In combination with the second aspect, in some possible implementations, the distance interval set includes at least one distance interval, the time interval set includes at least one time interval, and the at least one time interval is used to determine the at least one distance interval.

[0053] In combination with the two aspects, in some possible implementations, the signal-to-noise ratio of the first range profile satisfies:

[0054] Among them, snr R represents the signal-to-noise ratio of the first range image, represents the signal energy, represents the noise energy.

[0055] Optionally, before determining the first range image and the first range image signal-to-noise ratio, the method further includes: sending a sensing reference signal, where an echo signal corresponding to the sensing reference signal is used to determine the first range image and the first range image signal-to-noise ratio.

[0056] It should be understood that the perception reference signal may be sent by the first node, or may be sent by another node (eg, the second node), and this application does not limit this.

[0057] In combination with the second aspect, in some possible implementations, the signal-to-noise ratio of the first range profile is greater than or equal to a second threshold.

[0058] Optionally, before sending the first range image and the first range image signal-to-noise ratio, the method further includes: receiving the second threshold.

[0059] Based on the above technical solution, the first range image signal-to-noise ratio is selected by a second threshold. When the first range image signal-to-noise ratio determined by the second node is greater than or equal to the second threshold, the second node sends the first range image signal-to-noise ratio, thereby avoiding the influence of the range image corresponding to the range image signal-to-noise ratio that does not meet the second threshold on the perception result, thereby improving the performance and quality of joint perception.

[0060] In combination with the two aspects, in some possible implementations, sending the first range image and the first range image signal-to-noise ratio includes: sending the first range image signal-to-noise ratio; when the first range image signal-to-noise ratio satisfies a first condition, receiving first request information, the first request information being used to obtain the first range image corresponding to the first range image signal-to-noise ratio; and sending the first range image.

[0061] Based on the above technical solution, the second node first sends the first range image signal-to-noise ratio. When the second node receives the first request information, it sends the first range image corresponding to the first range image signal-to-noise ratio. When the first range image signal-to-noise ratio meets a certain condition (the first condition), the first node requests to obtain the first range image corresponding to the first range image signal-to-noise ratio. This prevents the first node from receiving a range image corresponding to a range image signal-to-noise ratio that does not meet the first condition, thereby reducing perception performance and affecting the quality and performance of the joint perception result.

[0062] According to a third aspect, a communication device is provided, comprising a transceiver unit and a processing unit, wherein the transceiver unit is configured to receive at least two first range images and at least two first range image signal-to-noise ratios, where the at least two first range images correspond one-to-one to the at least two first range image signal-to-noise ratios; and the processing unit is configured to determine a joint perception result based on the at least two first range images and the at least two first range image signal-to-noise ratios, where each of the at least two first range image signal-to-noise ratios is determined based on signal energy and noise energy.

[0063] In some possible implementations, the transceiver unit is further used to perform the receiving and / or sending operations in the above-mentioned first aspect, and the processing unit is further used to perform other processing operations except receiving and sending in the above-mentioned first aspect.

[0064] In a fourth aspect, a communication device is provided, comprising a transceiver unit and a processing unit, the processing unit being configured to determine a first range image and a first range image signal-to-noise ratio; and the transceiver unit being configured to send the first range image and the first range image signal-to-noise ratio, the first range image and the first range image signal-to-noise ratio being used to determine a joint perception result, the first range image signal-to-noise ratio being determined based on signal energy and noise energy.

[0065] In some possible implementations, the transceiver unit is further used to perform the receiving and / or sending operations in the above-mentioned second aspect, and the processing unit is further used to perform other processing operations in addition to receiving and sending in the above-mentioned second aspect.

[0066] In a fifth aspect, a communication device is provided, comprising modules or units for executing the method in the first aspect or any possible implementation of the first aspect.

[0067] In a sixth aspect, a communication device is provided, comprising modules or units for executing the method in the second aspect or any possible implementation of the second aspect.

[0068] In a seventh aspect, a communication device is provided, comprising a processor coupled to a memory, and configured to execute the method of any possible implementation of the first aspect. In one possible implementation, the memory is included in the communication device. In another possible implementation, the communication device further comprises a communication interface, and the processor is coupled to the communication interface.

[0069] In one implementation, the communication device is a transmitting node. When the communication device is a transmitting node, the communication interface may be a transceiver or an input / output interface. In one possible implementation, the transceiver may be a transceiver circuit. In one possible implementation, the input / output interface may be an input / output circuit.

[0070] In another implementation, the communication device is a chip or a chip system. When the communication device is a chip or a chip system, the communication interface can be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip or chip system. The processor can also be embodied as a processing circuit or a logic circuit.

[0071] In an eighth aspect, a communication device is provided, comprising a processor coupled to a memory, and configured to execute the method of any possible implementation of the second aspect. In one possible implementation, the memory is included in the communication device. In another possible implementation, the communication device further comprises a communication interface, and the processor is coupled to the communication interface.

[0072] In one implementation, the communication device is a receiving node or a measuring node. When the communication device is a receiving node or a measuring node, the communication interface may be a transceiver or an input / output interface. In one possible implementation, the transceiver may be a transceiver circuit. In another possible implementation, the input / output interface may be an input / output circuit.

[0073] In another implementation, the communication device is a chip or a chip system. When the communication device is a chip or a chip system, the communication interface can be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip or chip system. The processor can also be embodied as a processing circuit or a logic circuit.

[0074] In a ninth aspect, a communication device is provided, comprising: an input circuit, an output circuit, and a processing circuit. The processing circuit is configured to receive a signal via the input circuit and transmit a signal via the output circuit, so that the method of any of the first and second aspects, and any possible implementation of the aforementioned aspects, is implemented.

[0075] In a specific implementation, the communication device may be a chip, the input circuit may be an input pin, the output circuit may be an output pin, and the processing circuit may be a transistor, a gate circuit, a trigger, or various logic circuits. The input signal received by the input circuit may be, for example, but not limited to, received and input by a receiver, and the signal output by the output circuit may be, for example, but not limited to, output to a transmitter and transmitted by the transmitter. The input circuit and the output circuit may be different circuits or the same circuit, in which case the circuit functions as an input circuit and an output circuit at different times. The embodiments of the present application do not limit the specific implementation of the processor and various circuits.

[0076] In a tenth aspect, a processing device is provided, comprising a processor and a memory. The processor is configured to read instructions stored in the memory and to receive signals via a receiver and transmit signals via a transmitter to execute the method of any one of the first and second aspects, and any possible implementation of the aforementioned aspects.

[0077] In a possible implementation, there are one or more processors and one or more memories.

[0078] In a possible implementation, the memory may be integrated with the processor, or the memory may be provided separately from the processor.

[0079] In the specific implementation process, the memory can be a non-transitory memory, such as a read-only memory (ROM), which can be integrated with the processor on the same chip or can be set on different chips. The embodiments of the present application do not limit the type of memory and the setting method of the memory and the processor.

[0080] It should be understood that related data interaction processes, such as sending indication information, can be the process of outputting indication information from the processor, and receiving capability information can be the process of receiving input capability information from the processor. Specifically, the output data of the processing can be output to the transmitter, and the input data received by the processor can come from the receiver. The transmitter and receiver can be collectively referred to as a transceiver.

[0081] The processor in the above aspects can be a chip, which can be implemented by hardware or software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc.; when implemented by software, the processor can be a general-purpose processor, which is implemented by reading the software code stored in the memory. The memory can be integrated in the processor or located outside the processor and exist independently.

[0082] In the eleventh aspect, a computer program product is provided, which includes: a computer program (also referred to as code, or instructions), which, when run, enables a computer to execute any one of the first to second aspects, as well as any possible implementation method of the above aspects.

[0083] In the twelfth aspect, a computer-readable storage medium is provided, which stores a computer program (also referred to as code, or instructions). When the computer program is run on a computer, the computer executes any one of the first to second aspects above, as well as any possible implementation of the above aspects.

[0084] In the thirteenth aspect, a chip system is provided, comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that a communication device equipped with the chip system executes any one of the first to second aspects above, as well as a method in any possible implementation of the above aspects.

[0085] Among them, the chip system may include an input circuit or interface for sending information or data, and an output circuit or interface for receiving information or data.

[0086] In a fourteenth aspect, a communication system is provided, comprising at least one of the aforementioned sending node, receiving node and processing node. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] FIG1 is a schematic diagram of an example of a communication system to which the present application is applied.

[0088] FIG2 is a schematic diagram of a joint perception scenario provided in an embodiment of the present application.

[0089] FIG3 is a schematic diagram of a scenario provided in an embodiment of the present application.

[0090] FIG4 is a schematic diagram of a communication system provided in an embodiment of the present application.

[0091] FIG5 is a schematic flowchart of a joint perception method provided in an embodiment of the present application.

[0092] FIG6 is a schematic diagram of a perception distance range provided in an embodiment of the present application.

[0093] FIG7 is a schematic flowchart of another joint perception method provided in an embodiment of the present application.

[0094] FIG8 is a schematic flowchart of another joint perception method provided in an embodiment of the present application.

[0095] FIG9 is a schematic flowchart of another joint perception method provided in an embodiment of the present application.

[0096] FIG10 is a schematic flowchart of another joint perception method provided in an embodiment of the present application.

[0097] FIG11 is a schematic flowchart of another joint perception method provided in an embodiment of the present application.

[0098] FIG12 is a schematic flowchart of another joint perception method provided in an embodiment of the present application.

[0099] FIG13 is a schematic block diagram of a communication device provided in an embodiment of the present application.

[0100] FIG14 is a schematic block diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0101] The technical solution in this application will be described below with reference to the accompanying drawings.

[0102] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as: long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD) system, universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) communication system, fifth generation (5G) system or new radio (NR) and future communication systems, vehicle-to-other devices (V2X), where V2X may include vehicle to network (V2N), vehicle to vehicle (V2V), vehicle to infrastructure (V2I), vehicle to pedestrian (V2P), etc., long term evolution-vehicle (LTE-V), Internet of Vehicles, machine type communication (MTC), Internet of Things (IoT), etc. things, IoT), long term evolution-machine (LTE-M), machine to machine (M2M), etc.

[0103] Figure 1 is a schematic diagram of a communication system applicable to an embodiment of the present application. As shown in Figure 1, the communication system includes a radio access network (RAN) 100 and a core network (CN) 200. The RAN 100 includes at least one RAN node (such as 110a and 110b, collectively referred to as 110) and at least one terminal device (such as 120a-120j, collectively referred to as 120). The RAN 100 may also include other RAN nodes, such as wireless relay devices and / or wireless backhaul devices (not shown in Figure 1). The terminal device 120 is connected to the RAN node 110 wirelessly. The RAN node 110 is connected to the core network 200 wirelessly or by wire. The core network devices in the core network 200 and the RAN node 110 in the RAN 100 can be different physical devices, or they can be the same physical device that integrates the core network logical functions and the radio access network logical functions.

[0104] The RAN 100 may be a 3GPP-related cellular system, such as a 4G or 5G mobile communication system, or a future-oriented evolutionary system (such as a 6G mobile communication system). The RAN 100 may also be an open access network (O-RAN or ORAN), a cloud RAN (CRAN), or a wireless fidelity (WiFi) system. The RAN 100 may also be a communication system that integrates two or more of the above systems.

[0105] RAN node 110, sometimes also referred to as access network equipment, RAN entity, or access node, constitutes part of a communication system and facilitates wireless access for terminal devices. Multiple RAN nodes 110 in the communication system can be of the same type or different types. In some scenarios, the roles of RAN node 110 and terminal device 120 are relative. For example, network element 120i can be a helicopter or drone configured as a mobile base station. For terminal device 120j accessing RAN 100 via network element 120i, network element 120i is a base station; however, for base station 110a, network element 120i is a terminal device. RAN node 110 and terminal 120 are sometimes referred to as communication devices. For example, network elements 110a and 110b can be understood as communication devices with base station functionality, and network elements 120a-120j can be understood as communication devices with terminal functionality.

[0106] In one possible scenario, a RAN node may be a base station (BS), an eNodeB, an access point (AP), a Transmitter Relay (TRP), a gNB, a next-generation base station in a 6G mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system. A RAN node may be a macro base station (such as 110a in Figure 1 ), a micro base station or an indoor station (such as 110b in Figure 1 ), a relay node or a donor node, or a wireless controller in a CRAN scenario.

[0107] Optionally, the RAN node may also be a server, a wearable device, a vehicle or an on-board device, etc. For example, the access network device in the V2X technology may be a road-side unit (RSU) or a base station. All or part of the functions of the RAN node in this application may also be implemented by software functions running on hardware, or by virtualization functions instantiated on a platform (such as a cloud platform). The RAN node in this application may also be a logical node, a logical module or software that can implement all or part of the functions of the RAN node.

[0108] In another possible scenario, multiple RAN nodes collaborate to assist terminal devices in achieving wireless access, and different RAN nodes respectively implement part of the functions of the base station. For example, the RAN node can be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and DU can be set separately, or they can be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0109] In different communication systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, CU may also be called O-CU (Open CU), DU may also be called O-DU, CU-CP may also be called O-CU-CP, CU-UP may also be called O-CU-UP, and RU may also be called O-RU. For the convenience of description, this application uses CU, CU-CP, CU-UP, DU and RU as examples for description. Any unit of CU (or CU-CP, CU-UP), DU and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0110] It should be understood that the number of each device in the above-mentioned communication system is only for illustration and is not limited thereto. In actual applications, the communication system may further include more terminal devices, more RAN devices, and other devices.

[0111] It should be understood that Figure 1 is a simplified schematic diagram for ease of understanding, and the communication system may also include a larger number of network devices or terminal devices. In addition, the embodiments of the present application may be applicable to any communication scenario in which a transmitting device and a receiving device communicate with each other.

[0112] A network device is a network-side device with wireless transceiver functions. A network device may be a device in a radio access network (RAN) that provides wireless communication functions for terminal devices, and is called a RAN device. For example, the network device may be a base station, an evolved NodeB (eNodeB), a next-generation NodeB (gNB) in a 5G mobile communication system, a base station that has been subsequently evolved by 3GPP, a transmission reception point (TRP), an access node in a WiFi system, a wireless relay node, a wireless backhaul node, etc. In communication systems using different radio access technologies (RAT), the names of devices with base station functions may be different. For example, in an LTE system, it may be called an eNB or eNodeB, and in a 5G system or NR system, it may be called a gNB. This application does not limit the specific name of the base station. The network device may include one or more co-located or non-co-located transmission and reception points. For another example, the network device may include at least one of the following items: one or more centralized units (CU), one or more distributed units (DU), and one or more radio units (RU). In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, the radio access network may also be an open radio access network (O-RAN) architecture. In the ORAN system, CU may also be called O-CU (open CU), DU may also be called O-DU, CU-CP may also be called O-CU-CP, CU-UP may also be called O-CU-UP, and RU may also be called O-RU. Any of the CU (or CU-CP, CU-UP), DU and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module. Exemplarily, the functions of the CU may be implemented by one entity or different entities. For example, the functions of the CU are further divided, that is, the control plane and the user plane are separated and implemented through different entities, namely the control plane CU entity (i.e., CU-CP entity) and the user plane CU entity (i.e., CU-UP entity). The CU-CP entity and the CU-UP entity can be coupled with the DU to jointly complete the functions of the access network device.For example, the CU is responsible for processing non-real-time protocols and services, implementing the functions of the radio resource control (RRC) and packet data convergence protocol (PDCP) layers. The DU is responsible for processing physical layer protocols and real-time services, implementing the functions of the radio link control (RLC), media access control (MAC), and physical (PHY) layers. In this way, some functions of the wireless access network device can be implemented through multiple network function entities. These network function entities can be network elements in hardware devices, software functions running on dedicated hardware, or virtualized functions instantiated on a platform (for example, a cloud platform). The network device may also include an active antenna unit (AAU). The AAU implements some physical layer processing functions, RF processing, and related functions of the active antenna. Since RRC layer information will eventually become PHY layer information, or be converted from PHY layer information, in this architecture, high-layer signaling, such as RRC layer signaling, can also be considered to be sent by the DU, or by the DU+AAU. It can be understood that the network device can be a device including one or more of a CU node, a DU node, and an AAU node. In addition, the CU can be divided into a network device in the access network (radio access network, RAN), or the CU can be divided into a network device in the core network (core network, CN), and this application does not limit this. For example, in the vehicle to everything (V2X) technology, the access network device can be a road side unit (RSU). The multiple access network devices in the communication system can be base stations of the same type or different types. The base station can communicate with the terminal device or communicate with the terminal device through a relay station. In an embodiment of the present application, the device for realizing the function of the network device can be the network device itself, or it can be a device that can support the network device to realize the function, such as a chip system or a combination device or component that can realize the function of the access network device, and the device can be installed in the network device. In an embodiment of the present application, the chip system can be composed of chips, or it can include chips and other discrete devices.

[0113] A terminal device is a user-side device with wireless transceiver capabilities. It can be a fixed device, mobile device, handheld device (such as a mobile phone), wearable device, in-vehicle device, or a wireless device built into any of the above devices (such as a communication module, modem, or chip system). Terminal devices are used to connect people, objects, and machines, and can be used in a wide range of scenarios, such as cellular communications, device-to-device (D2D) communications, vehicle-to-everything (V2X) communications, machine-to-machine / machine-type communications (M2M / MTC) communications, the Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical care, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, drones, robots, and other scenarios. Exemplarily, the terminal device can be a handheld terminal in cellular communication, a communication device in D2D, an IoT device in MTC, a surveillance camera in intelligent transportation and smart cities, or a communication device on a drone, etc. The terminal device may sometimes be referred to as user equipment (UE), user terminal, user device, user unit, user station, terminal, access terminal, access station, UE station, remote station, mobile device or wireless communication device, etc. The terminal device may also be a terminal device in an IoT system. IoT is an important part of the future development of information technology. Its main technical feature is to connect objects to the network through communication technology, thereby realizing an intelligent network of human-machine interconnection and object-to-object interconnection. In an embodiment of the present application, IoT technology can achieve massive connections, deep coverage, and terminal power saving through, for example, narrowband (NB) technology. In an embodiment of the present application, the device for realizing the function of the terminal device may be a terminal device, or a device that can support the terminal device to realize the function, such as a chip system or a combination device or component that can realize the function of the terminal device. The device can be installed in the terminal device.

[0114] The network equipment and terminal devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; they can also be deployed in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the scenarios in which the network equipment and terminal devices are located.

[0115] For example, the communication system 100 may further include an application function (AF) network element, which is a control plane network function provided by the operator network and is used to provide application layer information; the communication system 100 may further include a session management function (SMF) network element, which is a control plane network function provided by the operator network. In the embodiment of the present application, when the communication system 100 includes the AF network element and the SMF network element, the AF can send service-related information to the network device via the SMF.

[0116] The following introduces the technical problems to be solved by this application and the technical solutions adopted.

[0117] Wireless sensing systems perceive targets by receiving their echo signals. Multi-node joint sensing technology, on the other hand, involves distributed sensing across multiple wireless nodes, followed by fusion of these sensing results. This reduces uncertainty in the perception of targets and improves sensing performance.

[0118] Figure 2 shows a schematic diagram of multi-node joint perception. Figure 2 includes node 1, node 2 to node N, target 1 to target N, and a central node. Target 1 to target N are perception targets; node 1, node 2 to node N are perception nodes, and the perception nodes perceive the perception targets by receiving the echo signals of the perception reference signals scattered / reflected by the perception targets; the central node is used to fuse the perception results of the multiple perception nodes on the perception targets and determine the joint perception results. The perception reference signal can be sent by a node with a sending function among the perception nodes, or the perception reference signal can be sent by the central node, which is not limited in this application.

[0119] In the embodiments of the present application, the method provided by the present application is described by taking the first node as the central node to send the sensing reference signal as an example. Of course, the sensing reference signal can also be sent by a node with a sending function among the sensing nodes, and the method provided by the embodiments of the present application is also applicable.

[0120] In the scenario of multi-node joint perception, the sending node first sends a perception reference signal, which is scattered by the perceived target; the receiving node includes multiple receiving arrays or a virtual receiving array formed by movement, and the array of the receiving node receives the echo signal. Then, the receiving node / receiving array performs pulse compression on the received echo signal of the perceived target to obtain the corresponding range image. The receiving node / receiving array sends the obtained range image to the central node, and the central node superimposes all the received range images to obtain the joint perception result.

[0121] It should be understood that a range image is a one-dimensional distribution image of target scattering points within a specific viewing angle. For example, a transmitting node sends a perception reference signal, and the perception target area (or perception range) is divided into multiple range cells along the line of sight. The echo signals of the scattering points (or perception targets) in a range cell are received, and the echo signals within the range cell are used to determine the range image corresponding to the range cell. For example, the sum of the echo signals within the range cell is the range image corresponding to the range cell.

[0122] It should also be understood that since the device background noise, transmission power and position of the nodes (referred to as receiving nodes / receiving arrays) that receive the echo signals of the perception reference signals may be different, when facing the same perception target area, the signal-to-noise ratio (SNR) of the echo signals of different receiving nodes / receiving arrays may be different.

[0123] Figure 3 shows a schematic diagram of a scenario. Node 1 and node 2 in Figure 3 are located at different locations, and the distances between node 1 and node 2 and the perception area are also different. Node 1 and node 2 are at different distances from the perception area, and the transmission attenuation of the echo signals received by node 1 and node 2 is different, resulting in differences in the SNRs of the echo signals received by node 1 and node 2. Among them, the SNRs of different receiving nodes / arrays are different, and receiving nodes / arrays with lower SNRs will introduce a lot of noise. At this time, the central node merges the perception results of different receiving nodes / arrays according to the same weight (or equal gain), resulting in a decrease in perception performance and difficulty in focusing on the real perception target.

[0124] To address the above issues, this application proposes a method for multi-node joint perception. Specifically, the method provided in this application performs weighted merging of range images corresponding to the range image signal-to-noise ratio based on the range image signal-to-noise ratio, rather than simply performing equal-gain merging on each range image. This reduces the impact of low signal-to-noise ratio on perception results, obtains high-quality perception results, and improves perception quality and performance in multi-node joint perception scenarios.

[0125] The following describes the sensing method, communication device, and system according to the embodiments of the present application in conjunction with the accompanying drawings.

[0126] For ease of understanding and explanation, the following describes the joint perception method provided in the embodiment of the present application by taking the interaction between the first node and at least two second nodes (second node #1 and second node #2) as an example, but this should not constitute any limitation on the execution subject of the perception method in the embodiment of the present application. For example, the method performed by the first node can also be performed by a module (such as a circuit, a chip or a chip system, etc.) of the first node, and can also be implemented by a logical node, a logical module or software that can realize all or part of the function of the first node. The method performed by the second node can also be performed by a module (such as a circuit, a chip or a chip system, etc.) of the second node, and can also be implemented by a logical node, a logical module or software that can realize all or part of the function of the second node.

[0127] In which, the first node can be used as a sending node for sending a perception reference signal, or one of the at least two second nodes (for example, the second node #1) can be used as a sending node for sending a perception reference signal. As shown in (1) of Figure 4, assuming that the first node is used as a sending node for the perception reference signal, the second node included in the at least two second nodes can be used as a receiving node, and the at least two second nodes respectively send the perception information obtained by themselves based on the echo signal of the perception reference signal to the first node, and the first node performs joint perception on the perception information of the at least two second nodes to obtain a perception result. As shown in (2) of Figure 4, assuming that the second node #1 is used as a sending node for the perception reference signal, and the other second nodes among the at least two second nodes are used as receiving nodes for the echo signal of the perception reference signal, the at least two second nodes respectively send the perception information obtained by themselves based on the echo signal of the perception reference signal to the first node, and the first node performs joint perception on the perception information of the at least two second nodes to obtain a perception result.

[0128] The first node and the second node may be terminal devices or network devices, or modules (such as circuits, chips or chip systems, etc.) of terminal devices or network devices.

[0129] In summary, the following describes the perception method of an embodiment of the present application using the first node and the second node as examples, but does not limit the devices or apparatuses (such as terminal devices or network devices, etc.) corresponding to the first node and the second node respectively.

[0130] FIG5 is a schematic diagram of a process of a perception method provided in an embodiment of the present application. As shown in FIG4 , the method includes the following steps:

[0131] 501. At least two second nodes send at least two first range images and at least two first range image signal-to-noise ratios to a first node.

[0132] Accordingly, the first node receives at least two first range images and at least two first range image signal-to-noise ratios from at least two second nodes.

[0133] As shown in FIG5 , the at least two second nodes include a second node #1 to a second node #N, where N is a positive integer greater than or equal to 2.

[0134] The range image signal-to-noise ratio (R-SNR) is a metric used to describe the quality of perception results. R-SNR can be used to describe the generation and imaging quality of the perception reference signal echo signal by a node (e.g., a second node) receiving the perception reference signal echo signal. Alternatively, R-SNR can be used to describe the quality of the range image corresponding to the R-SNR. R-SNR is determined by the signal energy and noise energy.

[0135] It should be understood that signal energy and noise energy are related to the perception distance range.

[0136] For example, R-SNR is calculated by snr R To express, snr R The following formula (1) can be satisfied:

[0137] in, represents the signal energy, represents the noise energy.

[0138] It should be understood that the above formula (1) is only a calculation method of R-SNR proposed in the embodiment of the present application. R-SNR can also be determined by other calculation methods combined with signal energy and noise energy, and this application does not limit it.

[0139] It should also be understood that the signal energy and noise energy are determined based on the perception distance range. A detailed description of how to determine the signal energy and noise energy based on the perception distance range and obtain R-SNR can be found in the subsequent exemplary descriptions of Figures 7 to 9. To avoid redundancy, this description is omitted here.

[0140] It should also be understood that the sensing distance range may be configured by the first node, or configured by other devices, or predefined or preconfigured by a protocol / system, etc.

[0141] It should also be understood that at least two second nodes respectively send at least two first range images and at least two first R-SNRs corresponding to at least two second nodes to the first node. The at least two second nodes can send them to the first node simultaneously or one after another, which is not limited in this application.

[0142] Next, the example of the sensing distance range being configured by the first node is introduced. As shown in FIG5 , before step 501 , the method may further include:

[0143] 500. The first node sends first information to at least two second nodes.

[0144] Accordingly, at least two second nodes receive the first information from the first node.

[0145] The first information is used to indicate the perception distance range.

[0146] Optionally, the first information includes one or more of a distance interval set, a time interval set, and longitude and latitude information.

[0147] The distance interval set includes at least one distance interval, and the time interval set includes at least one time interval. The at least one time interval is used to determine at least one distance interval. For example, if the time in the time interval multiplied by the speed of light equals the distance, the distance is the distance in the distance interval.

[0148] As an example, when the distance interval set includes a distance interval, the distance interval may be: [D min , D max ], when the time interval set includes a time interval, the time interval can be expressed as: [T min , T max ]. Among them, T min *c=D min , T max *c=D max , c Represents the speed of light.

[0149] As another example, when the distance interval set includes multiple distance intervals, the multiple distance intervals are: [D 1,min , D 1,max ]、[D 2,min , D 2,max ],…,[D N,min , D N,max ]The distance interval set can be expressed as: [D 1,min , D 1,max ] ∪ [D 2,min , D 2,max ] ∪ … ∪ [D N,min , D N,max ]. Each distance interval in the multiple distance intervals does not intersect. When the time interval set includes multiple time intervals, the multiple time intervals are: [T 1,min , T 1,max ]、[T 2,min , T 2,max ],…,[T N,min , T N,max]The time interval set can be expressed as: [T 1,min , T 1,max ] ∪ [T 2,min , T 2,max ] ∪ … ∪ [T N,min , T N,max ]. Each time interval in the multiple time intervals does not intersect.

[0150] When the distance interval set includes at least two distance intervals and / or the time interval set includes at least two time intervals, each of the at least two distance intervals corresponds to at least one second node, and each of the at least two time intervals corresponds to at least one second node. The at least one second node determines a perception distance range corresponding to the node based on the distance interval and / or time interval corresponding to the node itself.

[0151] It should be understood that after receiving the first information, at least two second nodes determine the sensing distance range according to the first information. For example, the sensing distance range is shown in FIG6 and can be expressed as [D min , D max ].

[0152] It should also be understood that the above step 400 is an optional step. The sensing distance range may also be pre-configured by the system, pre-defined by the protocol, or determined by the second node itself, etc., which is not limited in this application.

[0153] 502. The first node determines a joint sensing result according to at least two first range images and at least two first range image signal-to-noise ratios (R-SNRs).

[0154] For example, after the first node receives at least two first range images and at least two first R-SNRs from at least two second nodes, the first node determines the weight of the first range image in the joint perception result based on the first R-SNR corresponding to each first range image in the at least two first range images, so that the first node can merge the weights corresponding to each first range image to obtain the joint perception result.

[0155] There is a one-to-one correspondence between the at least two first range images and the at least two first R-SNRs.

[0156] It should be understood that the first node determines the weight of each first range image in the joint perception result according to the first R-SNR corresponding to the at least two first range images. The first node may perform weighted merging on the at least two first range images in the following manner:

[0157] Method 1: Maximum ratio combining.

[0158] The first node may determine the weight of the range profile corresponding to the first R-SNR in the joint perception result according to the size of each first R-SNR of the at least two first R-SNRs. The larger the value of the first R-SNR, the greater the weight of the first range profile corresponding to the first R-SNR in the joint perception result, and the smaller the first R-SNR, the smaller the weight of the first range profile corresponding to the first R-SNR in the joint perception result.

[0159] Method 2: Selective merging.

[0160] Among them, the first node can select the first range images corresponding to the larger multiple first R-SNRs according to the size of each first R-SNR in at least two first R-SNRs, and determine the weights of each first range image in the joint perception result for merging.

[0161] Method 3: Equal gain merging.

[0162] When the magnitude of each of the at least two first R-SNRs received by the first node is the same, the first node may perform equal-gain merging on the at least two first range images corresponding to the at least two first R-SNRs according to the same weight. Alternatively, when the magnitude difference between the magnitudes of each of the at least two first R-SNRs received by the first node is less than a certain threshold, the first node may perform equal-gain merging on the at least two first range images corresponding to the at least two first R-SNRs according to the same weight.

[0163] It should be understood that when the difference in size of each first R-SNR in at least two first R-SNRs is less than a certain threshold, the threshold may be predefined, preconfigured, or indicated by other devices, and the size of the threshold is not limited in this application.

[0164] It should be understood that the first node may perform weighted combination of the at least two first range images according to at least two first R-SNRs based on at least one of the above three methods to obtain a joint perception result.

[0165] Based on the method shown in FIG5 above, the first node determines the joint perception result based on the at least two first R-SNRs and at least two first distance images received. Among them, the at least two first R-SNRs correspond one to one to the at least two first distance images. The first node determines the weight of the first distance image corresponding to the first R-SNR in the joint perception result based on each first distance image in the at least two first R-SNRs, and further merges the at least two first distance images according to at least two weights corresponding to the at least two first distance images. This method avoids the problem that the first node directly performs equal gain merging of the at least two first distance images received according to the same weight, resulting in a decrease in perception performance. At the same time, the first node determines the weights of the at least two first distance images in the joint perception result according to the at least two first R-SNRs, and merges the at least two first distance images, which can improve perception quality and performance.

[0166] Next, in combination with the method shown in Figure 7 above, the joint perception method provided in this application will be further introduced as an example through Figures 7 to 9 respectively.

[0167] FIG7 is another joint perception method provided in an embodiment of the present application.

[0168] It should be understood that in the method shown in FIG7 , the first node is exemplified by the central node in FIG4 , and the second node #1 and the second node #2 are exemplified by the sensing nodes in FIG4 . As shown in FIG7 , the method may include the following steps:

[0169] 701. The first node sends perception joint request information to the second node #1 and the second node #2.

[0170] Accordingly, the second node #1 and the second node #2 receive the sensing joint request information from the first node.

[0171] 702. The second node #1 and the second node #2 respectively send their own location information to the first node.

[0172] Correspondingly, the first node receives the location information of the respective nodes sent from the second node #1 and the second node #2.

[0173] For example, after the second node #1 and the second node #2 receive the perception joint request information from the first node, the second node #1 and the second node #2 respectively send their own node location information to the first node based on the perception joint request information.

[0174] The location information may be the longitude and latitude information of the nodes (second node #1, second node #2), or the location information may be the distance information between the nodes (second node #1, second node #2) and the first node.

[0175] 703. The first node sends first information to the second node #1 and the second node #2.

[0176] Accordingly, the second node #1 and the second node #2 receive the first information from the first node.

[0177] For example, after the first node receives the location information from the second node #1 and the second node #2, the first node determines the first information based on the location information received in step 702 and sends the first information to the second node #1 and the second node #2.

[0178] It should be understood that the first information is similar to the first information introduced in step 500 in FIG. 5 above, and will not be described in detail here.

[0179] 704. The first node sends a first perception pattern to the second node #1 and the second node #2.

[0180] Accordingly, the second node #1 and the second node #2 receive the first sensing pattern from the first node.

[0181] It should be understood that the first sensing pattern is used to indicate the transmission time and silent time of the sensing reference signal, wherein the sensing reference signal is transmitted during the transmission time indicated by the first sensing pattern, and the sensing reference signal is not transmitted during the silent time indicated by the first sensing pattern.

[0182] It should also be understood that the order of step 703 and step 704 is not limited in this application. The first information in step 703 and the first perception mode in step 704 can be carried in the same signaling for transmission, or carried in different signaling for transmission. When the first information and the first perception mode are carried in different signaling for transmission, step 703 and step 704 can be performed simultaneously, or step 703 can be performed before step 704, or step 704 can be performed before step 703.

[0183] 705. The first node sends a perception reference signal.

[0184] It should be understood that the first node sends the sensing reference signal according to the first sensing mode in step 704, and the sensing reference signal is used to perform wireless sensing on the sensing target within the sensing distance range.

[0185] It should also be understood that in the method shown in FIG7 , the first node is used as the node that sends the perception reference signal for exemplary description. Of course, the node that sends the perception reference signal may also be another node, such as a node with a sending function among the perception nodes (e.g., second node #2). As shown in (2) in FIG4 , assuming that when second node #2 sends the perception reference signal, after receiving the first perception pattern of the first node, the second node #2 sends the perception reference signal according to the sending time and silent time indicated by the first perception pattern.

[0186] 706. The second node #1 determines a range profile #1 and an R-SNR #1 according to the echo signal of the perception reference signal, and the second node #2 determines a range profile #2 and an R-SNR #2 according to the echo signal of the perception reference signal.

[0187] It should be understood that the method by which the second node #1 and the second node #2 respectively determine the range image #1 and the range image #2 based on the echo signal of the perceived reference signal is similar to the existing calculation method and will not be elaborated here.

[0188] It should be understood that when the second node #1 and the second node #2 respectively determine R-SNR#1 and R-SNR#2 based on the echo signals of the perception reference signal, the signal energy and noise energy can be determined in combination with the first information and the first perception mode.

[0189] For example, taking the example of second node #1 determining R-SNR#1, second node #1 determines signal energy and noise energy based on the first information and the first perception mode, wherein second node #1 can determine the average energy of the echo signal of the perception reference signal within the perception distance range based on the perception distance range indicated by the first information. Second node #1 determines the average energy of the echo signal of the perception reference signal within the perception distance range during the transmission time indicated by the first perception mode as the signal energy; second node #1 determines the average energy of the echo signal of the perception reference signal within the perception distance range during the silence time indicated by the first perception mode as the noise energy. Second node #1 determines R-SNR#1 based on the above signal energy and noise energy. The above method is also applicable to second node #2 to determine R-SNR#2. The above description is illustrative using second node #1 as an example and is not restrictive.

[0190] 707 , the second node #1 sends the range profile #1 and R-SNR #1 to the first node, and the second node #2 sends the range profile #2 and R-SNR #2 to the first node.

[0191] Accordingly, the first node receives the range image #1 and R-SNR #1 from the second node #1, and the first node receives the range image #2 and R-SNR #2 from the second node #2.

[0192] It should be understood that the second node #1 and the second node #2 send the range image #1 and R-SNR #1, and the range image #2 and R-SNR #2 to the first node respectively. The second node #1 and the second node #2 can send to the first node at the same time, or send them one after another, which is not limited in this application.

[0193] 708. The first node performs weighted combination of range image #1 and range image #2 according to R-SNR #1 and R-SNR #2 to obtain a joint perception result.

[0194] It should be understood that after the first node receives the range image #1 and R-SNR #1 from the second node #1, and the range image #2 and R-SNR #2 from the second node #2, the first node determines the weight of the range image #1 in the joint perception result (e.g., weight #1) based on the R-SNR #1, and determines the weight of the range image #2 in the joint perception result (e.g., weight #2) based on the R-SNR #2. The first node combines the range image #1 and the range image #2 according to the weight #1 corresponding to the range image #1 and the weight #2 corresponding to the range image #2 to obtain the joint perception result.

[0195] The specific manner in which the first node determines weight #1 according to R-SNR #1 and determines weight #2 according to R-SNR #2 can be found in the introduction of step 502 in FIG. 5 above and will not be repeated here.

[0196] Based on the method shown in FIG. 7 , the first node indicates the transmission time and silent period of the sensing reference signal using the first sensing mode, wherein the signal energy and noise energy used to determine each of the at least two range profile signal-to-noise ratios are related to the transmission time and silent period. The method shown in FIG. 7 uses the first sensing mode and the sensing distance range to determine which echo signal average energies can be used as signal energy and which echo signal average energies can be used as noise energy, thereby ensuring the accuracy of R-SNR#1 and R-SNR#2 and improving the performance and quality of joint sensing.

[0197] FIG8 is a schematic flowchart of another joint perception method provided in an embodiment of the present application.

[0198] It should be understood that in the method shown in FIG8 , the first node is exemplified by the central node in FIG4 , and the second node #1 and the second node #2 are exemplified by the sensing nodes in FIG4 . As shown in FIG8 , the method may include the following steps:

[0199] 801. The first node sends perception joint request information to the second node #1 and the second node #2.

[0200] Accordingly, the second node #1 and the second node #2 receive the sensing joint request information from the first node.

[0201] 802. The second node #1 and the second node #2 respectively send their own location information to the first node.

[0202] Correspondingly, the first node receives the location information of the respective nodes sent from the second node #1 and the second node #2.

[0203] 803. The first node sends first information to the second node #1 and the second node #2.

[0204] Accordingly, the second node #1 and the second node #2 receive the first information from the first node.

[0205] It should be understood that the above steps 801 to 803 are similar to steps 701 to 703 in FIG. 7 . For details, please refer to the detailed description in FIG. 7 .

[0206] 804. The first node sends a perception reference signal.

[0207] It should be understood that in the method shown in FIG8 , the first node is used as the node that sends the perception reference signal for exemplary description. Of course, the node that sends the perception reference signal may also be another node, such as a perception node with a sending function (e.g., second node #2). Assume that step 804 may be that the second node #2 sends the perception reference signal.

[0208] 805 , the second node #1 determines a range profile #1 and an R-SNR #1 according to the echo signal of the perception reference signal, and the second node #2 determines a range profile #2 and an R-SNR #2 according to the echo signal of the perception reference signal.

[0209] It should be understood that the method by which the second node #1 and the second node #2 respectively determine the range image #1 and the range image #2 based on the echo signal of the perceived reference signal is similar to the existing calculation method and will not be elaborated here.

[0210] It should be understood that when the second node #1 and the second node #2 respectively determine R-SNR#1 and R-SNR#2 based on the echo signals of the perception reference signal, the signal energy and noise energy can be determined in combination with the first information.

[0211] For example, taking the second node #1 determining R-SNR#1 as an example, the second node #1 determines the signal energy and noise energy based on the first information, wherein the second node #1 can determine the average energy of the echo signal of the perception reference signal within the perception distance range, and the average energy of the echo signal of the perception reference signal outside the perception distance range based on the perception distance range indicated by the first information. The second node #1 determines the average energy of the echo signal of the perception reference signal within the perception distance range as the signal energy; the second node #1 determines the average energy of the echo signal of the perception reference signal outside the perception distance range as the noise energy. The second node #1 determines R-SNR#1 based on the above signal energy and noise energy. The second node #2 is also applicable to the above method to determine R-SNR#2. The above description is illustrative using the second node #1 as an example and is not restrictive.

[0212] 806. The second node #1 sends the range image #1 and R-SNR #1 to the first node, and the second node #2 sends the range image #2 and R-SNR #2 to the first node.

[0213] Accordingly, the first node receives the range image #1 and R-SNR #1 from the second node #1, and the range image #2 and R-SNR #2 from the second node #2.

[0214] 807 , the first node performs weighted combination of range image #1 and range image #2 according to R-SNR#1 and R-SNR#2 to obtain a joint perception result.

[0215] It should be understood that step 806 and step 807 are similar to step 707 and step 708 in FIG. 7 . For details, please refer to the detailed description in FIG. 7 .

[0216] Based on the method shown in Figure 8 above, the signal energy and noise energy used to determine R-SNR#1 and R-SNR#2 are related to the perception distance range. Each of the at least two second nodes (e.g., second node #1) determines the perception distance range corresponding to its own location using the corresponding perception distance range, and then determines the signal energy and noise energy based on the perception distance range to obtain the signal-to-noise ratio of the range profile corresponding to the second node. This method can ensure the accuracy of the signal-to-noise ratio of each range profile, improving the performance and quality of joint perception.

[0217] FIG9 is a schematic flowchart of another joint perception method provided in an embodiment of the present application.

[0218] It should be understood that in the method shown in FIG9 , the first node is exemplified by the central node in FIG4 , and the second node #1 and the second node #2 are exemplified by the sensing nodes in FIG4 . As shown in FIG9 , the method may include the following steps:

[0219] 901. The first node sends perception joint request information to the second node #1 and the second node #2.

[0220] Accordingly, the second node #1 and the second node #2 receive the sensing joint request information from the first node.

[0221] 902. The second node #1 and the second node #2 respectively send their own location information to the first node.

[0222] Correspondingly, the first node receives the location information of the respective nodes sent from the second node #1 and the second node #2.

[0223] 903. The first node sends first information to the second node #1 and the second node #2.

[0224] Accordingly, the second node #1 and the second node #2 receive the first information from the first node.

[0225] It should be understood that the above steps 901 to 903 are similar to steps 701 to 703 in FIG. 7 . For details, please refer to the detailed description in FIG. 7 .

[0226] 904. The first node sends a first threshold to the second node #1 and the second node #2.

[0227] Accordingly, the second node #1 and the second node #2 receive the first threshold value from the first node.

[0228] It should be understood that the first threshold may be configured by the first node for the second node #1 and the second node #2, as shown in step 904. Step 904 is optional, and the first threshold may also be predefined by a protocol or preconfigured by the system, which is not limited in this application. When the first threshold is predetermined by a protocol or configured by a system preconfiguration, step 904 is not required.

[0229] It should also be understood that the first threshold is used to determine the signal energy and noise energy for calculating R-SNR#1 and R-SNR#2. The size of the first threshold is not limited in this application.

[0230] 905. The first node sends a perception reference signal.

[0231] It should be understood that in the method shown in FIG9 , the first node is used as the node that transmits the perception reference signal for illustrative purposes. Of course, the node that transmits the perception reference signal may also be another node, such as a sensing node with a transmitting function (e.g., second node #2). Assuming that when second node #2 transmits the perception reference signal, after receiving the first sensing pattern from the first node, second node #2 transmits the perception reference signal according to the transmit time and silent time indicated by the first sensing pattern.

[0232] 906. The second node #1 determines a range profile #1 and an R-SNR #1 according to the echo signal of the perception reference signal, and the second node #2 determines a range profile #2 and an R-SNR #2 according to the echo signal of the perception reference signal.

[0233] It should be understood that the method by which the second node #1 and the second node #2 respectively determine the range image #1 and the range image #2 based on the echo signal of the perceived reference signal is similar to the existing calculation method and will not be elaborated here.

[0234] It should be understood that when the second node #1 and the second node #2 respectively determine R-SNR#1 and R-SNR#2 based on the echo signals of the perception reference signal, the signal energy and noise energy can be determined in combination with the first information in step 903 and the first threshold in step 904.

[0235] For example, taking the determination of R-SNR#1 by second node #1 as an example, second node #1 determines signal energy and noise energy based on the first information and the first threshold. Second node #1 can determine the instantaneous energy of the echo signal of the perceptual reference signal within the perceptual distance range based on the perceptual distance range indicated by the first information. Second node #1 determines the instantaneous energy of the echo signal of the perceptual reference signal within the perceptual distance range as signal energy if it is greater than or equal to the first threshold; and determines the instantaneous energy of the echo signal of the perceptual reference signal within the perceptual distance range as noise energy if it is less than the first threshold. As shown in Figure 10, the instantaneous energy of the echo signal can represent the amplitude of the echo signal corresponding to a certain distance. Within the perceptual distance range, the instantaneous energy of the echo signal is greater than or equal to the first threshold as signal energy, and within the perceptual distance range, the instantaneous energy of the echo signal is less than the first threshold as noise energy. Second node #1 determines R-SNR#1 based on the aforementioned signal energy and noise energy. The second node #2 is also applicable to the above method for determining R-SNR#2. The above description is made by taking the second node #1 as an example and is not restrictive.

[0236] 907 , the second node #1 sends the range image #1 and R-SNR #1 to the first node, and the second node #2 sends the range image #2 and R-SNR #2 to the first node.

[0237] Accordingly, the first node receives the range image #1 and R-SNR #1 from the second node #1, and the range image #2 and R-SNR #2 from the second node #2.

[0238] 908. The first node performs weighted combination of range image #1 and range image #2 according to R-SNR #1 and R-SNR #2 to obtain a joint perception result.

[0239] It should be understood that step 907 and step 908 are similar to step 707 and step 708 in FIG. 7 . For details, please refer to the detailed description in FIG. 7 .

[0240] Based on the method shown in Figure 9 above, this method determines the instantaneous energy of the echo signal within the perception distance range as signal energy or noise energy through a first threshold, thereby ensuring the accuracy of each R-SNR in R-SNR#1 and R-SNR#2 and improving the performance and quality of joint perception.

[0241] FIG11 is a schematic flowchart of another joint perception method provided in an embodiment of the present application.

[0242] It should be understood that in the method shown in FIG11, the first node is the central node in FIG4, and the second node #1 and the second node #2 are the sensing nodes in FIG4. As shown in FIG11, the method may include the following steps:

[0243] 1101. The first node sends perception joint request information to the second node #1 and the second node #2.

[0244] Accordingly, the second node #1 and the second node #2 receive the sensing joint request information from the first node.

[0245] 1102. The second node #1 and the second node #2 respectively send their own location information to the first node.

[0246] Correspondingly, the first node receives the location information of the respective nodes sent from the second node #1 and the second node #2.

[0247] 1103. The first node sends first information to the second node #1 and the second node #2.

[0248] Accordingly, the second node #1 and the second node #2 receive the first information from the first node.

[0249] It should be understood that the above steps 1101 to 1103 are similar to steps 701 to 703 in FIG. 7 . For details, please refer to the detailed description in FIG. 7 .

[0250] 1104. The first node sends a second threshold to the second node #1 and the second node #2.

[0251] Accordingly, the second node #1 and the second node #2 receive the second threshold value from the first node.

[0252] It should be understood that the second threshold value may be configured by the first node for the second node #1 and the second node #2, as shown in step 1104. Step 1104 is optional, and the second threshold value may also be predefined by a protocol or preconfigured by the system, which is not limited in this application. When the second threshold value is predetermined by a protocol or configured by a system preconfiguration, step 1104 is not required.

[0253] It should also be understood that the second threshold is used by the second node #1 and the second node #2 to determine whether to execute subsequent steps such as step 1107. The size of the second threshold is not limited in this application.

[0254] It should be understood that the order of step 1103 and step 1104 is not limited in this application. The first information in step 1103 and the second threshold in step 1104 can be carried in the same signaling for transmission, or carried in different signaling for transmission. When the first information and the second threshold are carried in different signaling for transmission, step 1103 and step 1104 can be performed simultaneously, or step 1103 can be performed before step 1104, or step 1104 can be performed before step 1103.

[0255] 1105. The first node sends a perception reference signal.

[0256] It should be understood that the method shown in FIG11 is described illustratively using the first node as the node that transmits the perception reference signal. Of course, the node that transmits the perception reference signal may also be another node, such as a sensing node with a transmitting function (e.g., second node #2). Assuming that second node #2 transmits the perception reference signal, after receiving the first sensing pattern from the first node, second node #2 transmits the perception reference signal according to the transmit time and silent time indicated by the first sensing pattern.

[0257] 1106. The second node #1 determines a range profile #1 and an R-SNR #1 according to the echo signal of the perception reference signal, and the second node #2 determines a range profile #2 and an R-SNR #2 according to the echo signal of the perception reference signal.

[0258] It should be understood that the method by which the second node #1 and the second node #2 respectively determine the range image #1 and the range image #2 based on the echo signal of the perceived reference signal is similar to the existing calculation method and will not be elaborated here.

[0259] It should be understood that the method by which the second node #1 and the second node #2 respectively determine R-SNR#1 and R-SNR#2 based on the echo signals of the perceived reference signal is similar to the method shown in Figures 7 to 9 above. For details, please refer to the detailed introduction in Figures 7 to 9 above, which will not be elaborated here.

[0260] It should be understood that after the second node #1 and the second node #2 determine the range image #1 and R-SNR #1, the range image #2, and R-SNR #2 in step 906, the second node #1 and the second node #2 determine whether to send the R-SNR of the range image determined by themselves to the first node based on the second threshold in step 1104. The following will introduce different situations through Examples 1 and 2 respectively:

[0261] Example 1

[0262] 1107. The second node #1 sends the range image #1 and R-SNR #1 to the first node.

[0263] Accordingly, the first node receives the range image #1 and R-SNR #1 from the second node #1.

[0264] It should be understood that after the second node #1 and the second node #2 determine the range profile #1 and R-SNR#1, range profile #2, and R-SNR#2 based on the echo signal of the perception reference signal in step 1106, the second node #1 and the second node #2 each determine whether to send the range profile and R-SNR determined by themselves to the first node based on the second threshold. When the R-SNR#1 determined by the second node #1 is greater than or equal to the second threshold, the second node #1 sends the range profile #1 and R-SNR#1 determined by the second node #1 to the first node; when the R-SNR#2 determined by the second node #2 is less than the second threshold, the second node #2 does not send the range profile #2 and R-SNR#2 determined by the second node #2 to the first node.

[0265] 1108. The first node determines the perception result according to the distance image #1.

[0266] It should be understood that when the first node only receives the distance image #1 from the second node #1, the first node determines the perception result based on the distance image #1.

[0267] Example 2

[0268] 1107 ′, the second node #1 sends the range image #1 and R-SNR #1 to the first node, and the second node #2 sends the range image #2 and R-SNR #2 to the first node.

[0269] Accordingly, the first node receives the range image #1 and R-SNR #1 from the second node #1, and the range image #2 and R-SNR #2 from the second node #2.

[0270] It should be understood that after the second node #1 and the second node #2 determine the range profile #1 and R-SNR#1, range profile #2, and R-SNR#2 based on the echo signal of the perception reference signal in step 1106, the second node #1 and the second node #2 each determine whether to send the range profile and R-SNR determined by themselves to the first node based on the second threshold. When the R-SNR#1 determined by the second node #1 is greater than or equal to the second threshold, the second node #1 sends the range profile #1 and R-SNR#1 determined by the second node #1 to the first node; when the R-SNR#2 determined by the second node #2 is greater than or equal to the second threshold, the second node #2 sends the range profile #2 and R-SNR#2 determined by the second node #2 to the first node.

[0271] It should also be understood that when the second node #1 and the second node #2 respectively send their respective determined distance image #1 and R-SNR #1, distance image #2 and R-SNR #2 to the first node, the second node #1 and the second node #2 can send them to the first node simultaneously, or one after another.

[0272] 1108', the first node performs weighted combination of range image #1 and range image #2 according to R-SNR#1 and R-SNR#2 to obtain a joint perception result.

[0273] It should be understood that step 1108' is similar to step 708 in FIG. 7 , and for details, please refer to the detailed description in FIG. 7 .

[0274] Based on the method shown in FIG11 above, this method filters the range image signal-to-noise ratios (SNRs) determined by the sensing nodes (e.g., second node #1 and second node #2) using a second threshold. If the SNRs of the range images received by the first node are all greater than or equal to the second threshold, the first node determines the joint sensing result based on the range images corresponding to the received SNRs. This prevents the first node from introducing some range images corresponding to SNRs that do not meet the second threshold when determining the joint sensing result, thereby reducing sensing performance and affecting the quality and performance of the joint sensing result.

[0275] FIG12 is a schematic flowchart of another joint perception method provided in an embodiment of the present application.

[0276] It should be understood that in the method shown in FIG12, the first node is the central node in FIG4, and the second node #1 and the second node #2 are the sensing nodes in FIG4. As shown in FIG12, the method may include the following steps:

[0277] 1201. The first node sends perception joint request information to the second node #1 and the second node #2.

[0278] Accordingly, the second node #1 and the second node #2 receive the sensing joint request information from the first node.

[0279] 1202. The second node #1 and the second node #2 respectively send their own location information to the first node.

[0280] Correspondingly, the first node receives the location information of the respective nodes sent from the second node #1 and the second node #2.

[0281] 1203. The first node sends first information to the second node #1 and the second node #2.

[0282] Accordingly, the second node #1 and the second node #2 receive the first information from the first node.

[0283] It should be understood that the above steps 1201 to 1203 are similar to steps 701 to 703 in FIG. 7 . For details, please refer to the detailed description in FIG. 5 .

[0284] 1204. The first node sends a perception reference signal.

[0285] It should be understood that in the method shown in FIG12 , the first node is used as the node that sends the perception reference signal for illustrative purposes. Of course, the node that sends the perception reference signal may also be another node, such as a perception node with a sending function (e.g., second node #2). Assume that step 1204 may be that the second node #2 sends the perception reference signal.

[0286] 1205. The second node #1 and the second node #2 send R-SNR #1 and R-SNR #2 to the first node.

[0287] Accordingly, the first node receives R-SNR#1 and R-SNR#2 from the second node#1 and the second node#2.

[0288] It should be understood that after the second node #1 and the second node #2 receive the first information from the first node, the second node #1 and the second node #2 respectively determine R-SNR#1 and R-SNR#2 based on the perception distance range indicated by the first information and the echo signal of the perception reference signal, and send the determined R-SNR#1 and R-SNR#2 to the first node.

[0289] It should also be understood that the method for the second node #1 and the second node #2 to determine R-SNR#1 and R-SNR#2 can be specifically referred to the method shown in Figures 7 to 9 above, and will not be repeated here.

[0290] It should also be understood that when the second node #1 and the second node #2 send R-SNR#1 and R-SNR#2 to the first node, the second node #1 and the second node #2 may send R-SNR#1 and R-SNR#2 to the first node at the same time, or send R-SNR#1 and R-SNR#2 to the first node one after another.

[0291] It should also be understood that after the first node receives R-SNR#1 and R-SNR#2 from the second node #1 and the second node #2, the first node determines whether to request the range profile of the second node corresponding to R-SNR#1 and / or R-SNR#2 based on whether R-SNR#1 and R-SNR#2 meet the first condition. The following will introduce different situations in combination with Example 3 and Example 4:

[0292] Example 3

[0293] 1206. The first node sends first request information to the second node #1.

[0294] Accordingly, the second node #1 receives the first request information from the first node.

[0295] The first request information is used to request acquisition of a range image.

[0296] It should be understood that after the first node receives R-SNR#1 from the second node #1 and R-SNR#2 from the second node #2, the first node determines whether to send the first request information to the second node #1 corresponding to R-SNR#1, and / or to the second node #2 corresponding to R-SNR#2 based on the relationship between the first condition and R-SNR#1 and R-SNR#2 respectively.

[0297] For example, if R-SNR#1 satisfies the first condition, the first node sends the first request information to the second node #1 corresponding to R-SNR#1.

[0298] The first condition may be a threshold (e.g., the second threshold in FIG11 ) or a rule, and the rule is related to the R-SNR. When the R-SNR received by the first node satisfies the first condition, the first node sends a first request message to the node corresponding to the R-SNR that satisfies the first condition, where the first request message is used to request acquisition of a range image corresponding to the node.

[0299] 1207. The second node #1 sends the distance image #1 to the first node.

[0300] Accordingly, the first node receives the range image #1 from the second node #1.

[0301] For example, after the second node #1 receives the first request information from the first node, the second node #1 determines the distance image #1 and sends the distance image #1 to the first node; or, the second node #1 determines the distance image #1 based on the echo signal of the perception reference signal before step 1206, and after the second node #1 receives the first request information, the second node #1 sends the distance image #1 to the first node through step 1207.

[0302] 1208. The first node determines the perception result according to the distance image #1.

[0303] It should be understood that when the first node only receives the distance image #1 from the second node #1, the first node determines the perception result based on the distance image #1.

[0304] Example 4

[0305] 1206', the first node sends first request information to the second node #1 and the second node #2.

[0306] Accordingly, the second node #1 and the second node #2 receive the first request information from the first node.

[0307] The first request information is used to request acquisition of a range image.

[0308] It should be understood that after the first node receives R-SNR#1 from the second node #1 and R-SNR#2 from the second node #2, the first node determines whether to send the first request information to the second node #1 corresponding to R-SNR#1, and / or to the second node #2 corresponding to R-SNR#2 based on the relationship between the first condition and R-SNR#1 and R-SNR#2 respectively.

[0309] For example, R-SNR#1 and R-SNR#2 both meet the first condition, the first node sends the first request information to the second node #1 corresponding to R-SNR#1, and the first node sends the first request information to the second node #2 corresponding to R-SNR#2.

[0310] 1207 ′, the second node #1 sends the distance image #1 to the first node, and the second node #2 sends the distance image #2 to the first node.

[0311] Accordingly, the first node receives the range image #1 from the second node #1, and receives the range image #2 from the second node #2.

[0312] For example, after the second node #1 and the second node #2 receive the first request information from the first node, the second node #1 determines the distance image #1 and sends the distance image #1 to the first node, and the second node #2 determines the distance image #2 and sends the distance image #2 to the first node; or, the second node #1 and the second node #2 respectively determine the distance image #1 and the distance image #2 based on the echo signal of the perception reference signal before step 1206', and after the second node #1 and the second node #2 receive the first request information, they send the distance image #1 and the distance image #2 to the first node through step 1207'.

[0313] 1208', the first node performs weighted combination of range image #1 and range image #2 according to R-SNR#1 and R-SNR#2 to obtain a joint perception result.

[0314] It should be understood that step 1208' is similar to step 708 in FIG. 7 , and for details, please refer to the detailed description in FIG. 7 .

[0315] It should be understood that the method shown in Figure 12 is described by taking two nodes (second node #1 and second node #2) as an example for at least two second nodes. Of course, the at least two second nodes can also include three nodes, four nodes, or even more nodes. For example, when the at least two second nodes include three nodes (e.g., second node #1, second node #2, and second node #3), based on the method shown in Figure 10 above, the first node receives R-SNR#1 from second node #1, R-SNR#2 from second node #2, and R-SNR#3 from second node #3. When R-SNR#1 and R-SNR#2 meet the first condition and R-SNR#3 does not meet the first condition, the first node sends a first request message to the second node #1 and the second node #2, and obtains the range image #1 and range image #2 corresponding to the second node #1 and the second node #2. The first node weightedly combines range image #1 and range image #2 according to R-SNR#1 and R-SNR#2 to obtain a joint perception result. When R-SNR#1, R-SNR#2, and R-SNR#3 all meet the first condition, the first node sends a first request message to the second node #1, second node #2, and second node #3, and obtains the range image #1, range image #2, and range image #3 corresponding to the second node #1, second node #2, and second node #3. The first node weightedly combines range image #1, range image #2, and range image #3 according to R-SNR#1, R-SNR#2, and R-SNR#3 to obtain a joint perception result.

[0316] Based on the method shown in FIG. 12 , the method involves the first node sending a first request message to a node corresponding to an R-SNR that satisfies the first condition, requesting the acquisition of a range profile corresponding to the node, based on whether at least two received R-SNRs meet the first condition. If the R-SNRs corresponding to the range profiles received by the first node all meet the first condition, the first node selectively acquires the range profiles corresponding to the R-SNRs that meet the first condition, thereby preventing the range profiles corresponding to the R-SNRs that do not meet the first condition from degrading the perception performance.

[0317] The communication method embodiment of the present application is described in detail above in conjunction with Figures 1 to 12. The communication device embodiment of the present application will be described in detail below in conjunction with Figures 13 and 14. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment. Therefore, for portions not described in detail, reference can be made to the above method embodiment.

[0318] FIG13 is a schematic diagram of a communication device provided in accordance with an embodiment of the present application. As shown in FIG13 , a communication device 1300 includes a processing module 1310 and a communication module 1320. The communication device 1300 may be a terminal device, or a communication device applied to a terminal device or used in conjunction with a terminal device and capable of implementing a method executed by the terminal device, such as a chip, a chip system, or a circuit; or the communication device 1300 may be a network device, or a communication device applied to a network device or used in conjunction with a network device and capable of implementing a method executed by the network device, such as a chip, a chip system, or a circuit;

[0319] The communication module may also be referred to as a transceiver module, transceiver, transceiver, or transceiver device. The processing module may also be referred to as a processor, processing board, processing unit, or processing device. Optionally, the communication module is used to perform the sending and receiving operations of the terminal device and network device in the above method. The device used to implement the receiving function in the communication module can be considered a receiving unit, and the device used to implement the sending function in the communication module can be considered a sending unit. That is, the communication module includes a receiving unit and a sending unit.

[0320] When the communication device 1300 is applied to the first node, the processing module 1310 can be used to implement the processing function of the first node in the above embodiments, and the communication module 1320 can be used to implement the transceiver function of the first node in the above embodiments.

[0321] When the communication device 1300 is applied to the second node, the processing module 1310 can be used to implement the processing function of the second node in the above embodiments, and the communication module 1320 can be used to implement the transceiver function of the second node in the above embodiments.

[0322] In addition, it should be noted that the aforementioned communication module and / or processing module can be implemented by a virtual module, for example, the processing module can be implemented by a software functional unit or a virtual device, and the communication module can be implemented by a software function or a virtual device. Alternatively, the processing module or the communication module can also be implemented by a physical device, for example, if the device is implemented using a chip / circuit (such as an integrated circuit or a logic circuit, etc.). The communication module can be an input and output circuit and / or a communication interface, performing input operations (corresponding to the aforementioned receiving operations) and output operations (corresponding to the aforementioned sending operations); the processing module is an integrated processor or microprocessor or circuit (such as an integrated circuit or a logic circuit, etc.).

[0323] The division of modules in this application is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional modules in the examples of this application may be integrated into a single processor, exist physically as separate modules, or two or more modules may be integrated into a single module. The aforementioned integrated modules may be implemented in either hardware or software functional modules.

[0324] FIG14 is a schematic diagram of another communication device provided in accordance with an embodiment of the present application. As shown in FIG14 , communication device 1400 may optionally be a chip or a chip system. Optionally, in the present application, a chip system may consist of a chip or may include a chip and other discrete components.

[0325] The communication device 1400 can be used to implement the functions of any node (e.g., the first node, the second node) in the communication system described in the above examples. The communication device 1400 may include at least one processor 1410. Optionally, the processor 1410 is coupled to a memory, and the memory may be located within the device, or the memory may be integrated with the processor, or the memory may be located outside the device. For example, the communication device 1400 may also include at least one memory 1420. The memory 1420 stores the necessary computer programs, computer programs or instructions and / or data for implementing any of the above examples; the processor 1410 may execute the computer program stored in the memory 1420 to complete the method in any of the above examples.

[0326] The communication device 1400 may further include a communication interface 1430, through which the communication device 1400 can exchange information with other devices. Exemplarily, the communication interface 1430 may be a transceiver, circuit, bus, module, pin, or other type of communication interface. When the communication device 1400 is a chip-type device or circuit, the communication interface 1430 in the device 1400 may also be an input / output circuit that can input information (or receive information) and output information (or send information). The processor 1410 is an integrated processor, microprocessor, integrated circuit, or logic circuit, etc., and the processor can determine output information based on input information.

[0327] Coupling in this application refers to an indirect coupling or communication connection between devices, units, or modules, which can be electrical, mechanical, or other forms, and is used for information exchange between devices, units, or modules. Processor 1410 may operate in conjunction with memory 1420 and communication interface 1430. This application does not limit the specific connection medium between the processor 1410, memory 1420, and communication interface 1430.

[0328] Optionally, as shown in FIG14 , the processor 1410, the memory 1420, and the communication interface 1430 are interconnected via a bus 1440. Optionally, the bus may include an address bus, a data bus, a control bus, or other types of buses. Furthermore, for ease of illustration, FIG14 shows one bus 1440, but this does not mean that there is only one bus or only one type of bus.

[0329] It should be understood that the processors mentioned in the embodiments of the present application may be the following devices or the circuit portions of the following devices used for processing functions: a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0330] It should also be understood that the memory mentioned in the embodiments of the present application may be a volatile memory and / or a non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0331] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated into the processor.

[0332] It should also be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0333] In combination with the communication device shown in FIG. 14 , as an example, the communication device 1400 can implement the operations performed by the first node and the second node in the above-mentioned various method embodiments.

[0334] For example, the processor 1410 is used to implement the processing-related operations performed by the first node and the second node in the above method embodiment; the input / communication interface 1430 is used to implement the sending and / or receiving-related operations performed by the first node and the second node in the above method embodiment.

[0335] An embodiment of the present application further provides a computer-readable storage medium on which computer instructions for implementing the methods executed by the first node and the second node in the above-mentioned method embodiments are stored.

[0336] For example, when the computer program is executed by a computer, the computer can implement the methods performed by the first node and the second node in each embodiment of the above method.

[0337] An embodiment of the present application further provides a computer program product comprising instructions, which, when executed by a computer, implement the methods performed by the first node and the second node in the above-mentioned method embodiments.

[0338] An embodiment of the present application further provides a communication system, including the aforementioned first node and second node, where the first node and the second node are configured to execute the related operations performed by the first node and the second node in the above method embodiment.

[0339] The explanation of the relevant contents and beneficial effects of any of the above-mentioned devices can be referred to the corresponding method embodiments provided above, which will not be repeated here.

[0340] To facilitate understanding of the above embodiments provided in this application, the following points are explained:

[0341] 1) In this application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0342] 2) In this application, "at least one" means one or more, "more than one" and "at least two" mean two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of this application, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can mean: a, or b, or c, or a and b, or a and c, or b and c, or a, b and c. Where a, b and c can be single or multiple, respectively.

[0343] 3) The ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the size, content, order, timing, priority or importance of multiple objects.

[0344] 4) In this application, descriptions such as "when...", "in the case of...", and "if" all mean that the device will perform corresponding processing under certain objective circumstances. They do not limit the time, nor do they require the device to perform judgment actions when implementing them, nor do they mean that there are other limitations.

[0345] 5) In this application, "indicate" or "used to indicate" can include being used for direct indication and being used for indirect indication. When describing that a certain indication information is used to indicate A, it can include that the indication information directly indicates A or indirectly indicates A, and does not necessarily mean that the indication information carries A.

[0346] The indication methods involved in the embodiments of this application should be understood to encompass various methods that enable the party to be indicated to obtain information about the information to be indicated. The information to be indicated can be sent as a whole or divided into multiple sub-information and sent separately. The transmission period and / or timing of these sub-information can be the same or different. This application does not limit the transmission method, for example.

[0347] In the embodiments of the present application, the "indication information" may be an explicit indication, i.e., a direct indication via signaling, or may be obtained based on parameters indicated by the signaling, in combination with other rules, other parameters, or by deduction. It may also be an implicit indication, i.e., based on a rule or relationship, or based on other parameters, or by deduction. This application does not impose specific limitations on this.

[0348] 6) The “protocol” referred to in this application may refer to a standard protocol in the field of communications, such as the fourth generation (4G) th generation, 4G) network, fifth generation (5 th generation, 5G) network protocol, NR protocol, 5.5G network protocol, sixth generation (6 th generation, 6G) network protocols and related protocols used in future communication systems, which are not limited in this application.

[0349] 7) In this application, "communication" may also be described as "data transmission", "information transmission", "data processing", etc. "Transmission" includes "sending" and "receiving".

[0350] 8) In this application, "sending information to XX (device / node)" can be understood as the destination of the information being the device. This can include sending information to the device directly or indirectly. "Receiving information from XX (device / node)" can be understood as the source of the information being the device, which can include receiving information from the device directly or indirectly. The information may undergo necessary processing between the source and destination, such as format changes, but the destination can still understand the valid information from the source.

[0351] 9) The terms "comprise," "include," and "have," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0352] In various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0353] In this application, under the premise of no logical contradiction, the examples can reference each other, for example, the methods and / or terms between method embodiments can reference each other, for example, the functions and / or terms between device embodiments can reference each other, for example, the functions and / or terms between device examples and method examples can reference each other.

[0354] It should be understood that in some of the above embodiments, the devices in the existing network architecture are mainly used as examples for illustrative description, and the specific form of the devices is not limited in the embodiments of the present application. For example, devices that can achieve the same functions in the future are applicable to the embodiments of the present application.

[0355] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0356] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be described again here.

[0357] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0358] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0359] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0360] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0361] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A joint perception method, characterized in that: include: receiving at least two first range images and at least two first range image signal-to-noise ratios, wherein the at least two first range images and the at least two first range image signal-to-noise ratios correspond one to one; A joint perception result is determined according to the at least two first range images and the at least two first range image signal-to-noise ratios, wherein each first range image signal-to-noise ratio of the at least two first range image signal-to-noise ratios is determined according to signal energy and noise energy.

2. The method according to claim 1, characterized in that Before receiving the at least two first range images and the signal-to-noise ratios of the at least two first range images, the method further includes: sending a first sensing pattern, where the first sensing pattern is used to indicate a transmission time and a silent time of a sensing reference signal, the sensing reference signal being transmitted during the transmission time and the sensing reference signal being not transmitted during the silent time; The signal energy is the average energy of the echo signal within the sensing distance range during the transmission time, and the noise energy is the average energy of the echo signal within the sensing distance range during the silence time.

3. The method according to claim 1, characterized in that The signal energy is the average energy of the echo signal within the sensing distance range, and the noise energy is the average energy of the echo signal outside the sensing distance range.

4. The method according to claim 1, wherein The signal energy is the energy of the instantaneous energy of the echo signal within the perception distance range being greater than or equal to a first threshold, and the noise energy is the energy of the instantaneous energy of the echo signal within the perception distance range being less than the first threshold.

5. The method according to any one of claims 1 to 4, characterized in that Before receiving the at least two first range images and the signal-to-noise ratios of the at least two first range images, the method further includes: First information is sent, where the first information is used to indicate the sensing distance range.

6. The method according to claim 5, characterized in that The first information includes one or more of the following: Distance interval set, time interval set, longitude and latitude information.

7. The method according to claim 5, characterized in that The distance interval set includes at least one distance interval, and the time interval set includes at least one time interval, where the at least one time interval is used to determine the at least one distance interval.

8. The method according to any one of claims 1 to 7, characterized in that The signal-to-noise ratio of the first range image satisfies: Among them, snr R represents the signal-to-noise ratio of the first range image, represents the signal energy, represents the noise energy.

9. The method according to any one of claims 1 to 8, characterized in that Each of the at least two first range image signal-to-noise ratios is greater than or equal to a second threshold.

10. The method according to any one of claims 1 to 8, characterized in that Before receiving the at least two first range images and the signal-to-noise ratios of the at least two first range images, the method further includes: receiving at least two second range image signal-to-noise ratios, where the at least two second range image signal-to-noise ratios include the at least two first range image signal-to-noise ratios; When the at least two first range image signal-to-noise ratios in the at least two second range image signal-to-noise ratios meet a first condition, a first request message is sent to nodes corresponding to the at least two first range image signal-to-noise ratios, where the first request message is used to request acquisition of the at least two first range images corresponding to the at least two first range image signal-to-noise ratios.

11. A joint perception method, characterized in that: include: determining a first range image and a signal-to-noise ratio of the first range image; The first range image and the first range image signal-to-noise ratio are sent, where the first range image and the first range image signal-to-noise ratio are used to determine a joint perception result, and the first range image signal-to-noise ratio is determined according to signal energy and noise energy.

12. The method according to claim 11, characterized in that Before determining the first range image and the signal-to-noise ratio of the first range image, the method further includes: receiving a first sensing pattern, where the first sensing pattern is used to indicate a transmission time and a silent time of the sensing reference signal, the sensing reference signal being transmitted during the transmission time and not being transmitted during the silent time; The signal energy is the average energy of the echo signal within the sensing distance range during the transmission time, and the noise energy is the average energy of the echo signal within the distance range during the silence time.

13. The method according to claim 11, characterized in that The signal energy is the average energy of the echo signal within the sensing distance range, and the noise energy is the average energy of the echo signal outside the sensing distance range.

14. The method according to claim 11, characterized in that The signal energy is the energy of the instantaneous energy of the echo signal within the perception distance range being greater than or equal to a first threshold, and the noise energy is the energy of the instantaneous energy of the echo signal within the perception distance range being less than the first threshold.

15. The method according to any one of claims 11 to 14, characterized in that Before determining the first range image and the signal-to-noise ratio of the first range image, the method further includes: First information is received, where the first information is used to indicate a perception distance range.

16. The method according to claim 15, characterized in that The first information includes one or more of the following: Distance interval set, time interval set, longitude and latitude information.

17. The method according to claim 16, characterized in that The distance interval set includes at least one distance interval, and the time interval set includes at least one time interval, where the at least one time interval is used to determine the at least one distance interval.

18. The method according to any one of claims 11 to 17, characterized in that The signal-to-noise ratio of the first range image satisfies: Among them, snr R represents the signal-to-noise ratio of the first range image, represents the signal energy, represents the noise energy.

19. The method according to any one of claims 11 to 18, characterized in that The signal-to-noise ratio of the first range profile is greater than or equal to a second threshold.

20. The method according to any one of claims 11 to 18, characterized in that The sending the first range image and the first range image signal-to-noise ratio includes: Sending the first range profile signal-to-noise ratio; When the signal-to-noise ratio of the first range image satisfies a first condition, receiving first request information for acquiring the first range image corresponding to the signal-to-noise ratio of the first range image; The first range image is sent.

21. A communication device, characterized in that: include: A unit for implementing the method of any one of claims 1 to 10; or a unit for implementing the method of any one of claims 11 to 20.

22. A computer-readable storage medium, characterized in that The computer readable storage medium stores a computer program or instruction. When the computer program or instruction is executed, Performing the method according to any one of claims 1 to 10, or Perform the method according to any one of claims 11 to 20.

23. A communication system, characterized in that: The method comprises at least one of a first node and a second node, wherein the first node is configured to execute the method according to any one of claims 1 to 10, and the second node is configured to execute the method according to any one of claims 11 to 20.

24. A computer program product, characterized in that The computer program product comprises a computer program or instructions for performing the method according to any one of claims 1 to 20.

Images