Collaborative perception method and apparatus, system, terminal, storage medium, and program product

Abstract

The present application relates to the technical field of communications, and provides a collaborative perception method and apparatus, a system, a terminal, a storage medium, and a program product. The method comprises: a first terminal sending a first request message to a second terminal; the second terminal, in response to the first request message, determining whether a target object is capable of being effectively perceived, and sending a first response message; and the first terminal sending a second request message to a collaborating terminal on the basis of the first response message, so as to request that the collaborating terminal execute perception measurement of the target object, the collaborating terminal being determined from among second terminals. Correspondingly, after receiving the second request message, the collaborating terminal performs perception measurement of the target object. In the present solution, before perception measurement is performed on the target object, the first request message is first sent to the second terminal, and then the second terminal performs perception measurement on the target object. This helps to increase a success rate of perception measurement of the target object, and can improve perception accuracy of the target object.

Description

Cooperative sensing method, device, system, terminal, storage medium and program product

[0001] The present application claims priority from the Chinese patent application No. 202410918603.3, filed on July 5, 2024, and entitled "Cooperative sensing method, device, system, terminal, storage medium and program product", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of communication technology, and more particularly, to a cooperative sensing method, device, system, terminal, storage medium and program product. BACKGROUND

[0003] Wireless sensing is a technology for sensing, identifying or monitoring objects, events or features in the surrounding environment through wireless signals (i.e., sensing signals). For example, a terminal can send a sensing signal, which will interact with the surrounding environment during propagation, such as being reflected, refracted, etc., thereby forming a return signal. The terminal obtains objects, events or features in the surrounding environment by receiving and analyzing the return signal.

[0004] In actual applications, the process of the terminal sensing the target object can be affected by factors such as the propagation distance of the sensing signal and whether the sensing signal is blocked. For example, when the target object is beyond the sensing range of the terminal, or when there is an obstacle between the terminal and the target object, the signal strength of the return signal received by the terminal is weak, or even the terminal cannot receive the return signal. In this case, the sensing accuracy of the terminal for the target object will decrease or the terminal cannot sense the target object. SUMMARY

[0005] The present application provides a cooperative sensing method, device, system, terminal, storage medium and program product, which helps to improve the success rate of sensing measurement to the target object.

[0006] To achieve the above object, the present application adopts the following technical solutions:

[0007] In a first aspect, a cooperative sensing method is provided, and is applied to a first terminal. The method comprises: sending a first request message to a second terminal, the first request message carrying motion state information of the first terminal and / or motion state information and attribute information of a target object, the first request message being used to request the second terminal to determine whether the second terminal can perform sensing measurement on the target object, the second terminal being a terminal discovered by the first terminal; receiving a first response message, the first response message indicating to the first terminal whether the second terminal can perform sensing measurement on the target object; and sending a second request message to a cooperative terminal according to the first response message, the second request message being used to request the cooperative terminal to perform sensing measurement on the target object, the cooperative terminal being a terminal of the second terminal that can perform sensing measurement on the target object.

[0008] In the scheme, before performing sensing measurement on the target object, the first request message is sent to the second terminal to determine whether the second terminal can perform sensing measurement on the target object, and then the cooperative terminal is determined from the second terminal that can perform sensing measurement on the target object, and the cooperative terminal is requested to perform sensing measurement on the target object, which helps to improve the success rate of sensing measurement on the target object and improve the sensing accuracy on the target object.

[0009] When the target object is far away from the first terminal or there is an obstacle between the target object and the first terminal, the sensing capability of the first terminal on the target object will decrease, and the first terminal may even be unable to sense the target object. In this case, the first terminal can find other cooperative terminals with sensing capability, and perform sensing measurement on the target object through the cooperative terminals. In this way, the first terminal can track and identify the target object outside the coverage range.

[0010] The cooperative terminal performs sensing measurement on the target object by using its own rich sensing capability, and therefore the scheme can improve the sensing capability of the cooperative sensing network.

[0011] In the cooperative sensing scheme provided by the embodiments of the present application, the first terminal and the second terminal (cooperative terminal) perform sidelink communication, and the first terminal configures the second terminal based on the hardware capability of the second terminal, so that the second terminal can better perform cooperative sensing, which helps to improve the sensing capability and coverage range of the cooperative sensing network.

[0012] In a possible implementation manner of the first aspect, the second request message carries sensing resource configuration information, and the sensing resource configuration information is used to indicate resources used by the cooperative terminal to perform sensing measurement.

[0013] The second request message is used to configure resources for the cooperative terminal, and by configuring different sensing resources for different cooperative terminals, mutual interference between the different cooperative terminals can be avoided.

[0014] In a possible implementation of the first aspect, the second request message carries cooperation task configuration information, and the cooperation task configuration information is used to indicate that the cooperation terminal is a sending terminal of the sensing signal, a receiving terminal of the echo signal, or both a sending terminal of the sensing signal and a receiving terminal of the echo signal. Before the second request message is sent to the cooperation terminal, the method further includes: determining a change of a sensing link between the cooperation terminal and the target object according to motion state information of the cooperation terminal and motion state information of the target object, and the change of the sensing link between the cooperation terminal and the target object is used to determine the cooperation task configuration information.

[0015] In the embodiments of the present application, the cooperation task configuration information is mainly used to configure the roles of the cooperation terminal, so that different cooperation terminals can cooperate with each other to complete the sensing measurement of the target object.

[0016] In a possible implementation of the first aspect, when the change of the sensing link between the cooperation terminal and the target object is higher than a change threshold, the cooperation task configuration information indicates that the cooperation terminal is both a sending terminal of the sensing signal and a receiving terminal of the echo signal; and when the change of the sensing link between the cooperation terminal and the target object is lower than the change threshold, the cooperation task configuration information indicates that the cooperation terminal is a sending terminal of the sensing signal or a receiving terminal of the echo signal.

[0017] In the embodiments of the present application, when the cooperation terminal and the target object move at a relatively fast speed, the change of the sensing link between them is relatively fast, which is not conducive to time synchronization and beam alignment. Therefore, the cooperation terminal can be preferentially configured to be both a sending terminal of the sensing signal and a receiving terminal of the echo signal. When the cooperation terminal and the target object move at a relatively slow speed or are relatively static, the change of the sensing link between them is relatively slow. In this case, in order to reduce the requirement of the hardware system on self-interference cancellation of the sensing transmitting and receiving signals, the cooperation terminal can be preferentially configured to be a sending terminal of the sensing signal or a receiving terminal of the echo signal.

[0018] In a possible implementation of the first aspect, the second request message further carries at least one of sensing waveform type configuration information, sensing measurement quantity configuration information, and sensing measurement reporting configuration information.

[0019] The sensing waveform type configuration information is used to configure the waveform of the sensing signal. For example, the waveform of the sensing signal can be configured as orthogonal frequency division multiplexing, frequency modulation continuous wave, radar pulse, etc.

[0020] The sensing measurement quantity configuration information includes an indirect result of sensing or a direct result of sensing. The indirect result of sensing includes distance, speed, and angle domain information of the sensing measurement. The direct result of sensing includes position, speed, and direction information of the sensing target.

[0021] The perception measurement report configuration information includes: a perception measurement result of the perception measurement report and a measurement report period, wherein the perception measurement result corresponds to a perception measurement quantity, and the measurement report period can be periodic or aperiodic.

[0022] In a possible implementation of the first aspect, the method further includes: obtaining terminal capability and motion state information of the second terminal; and sending, according to the first response message, a second request message to the cooperative terminal, including: sending, according to the terminal capability and the motion state information of the second terminal and the first response message, the second request message to the cooperative terminal.

[0023] In the scheme, the first terminal determines the second terminal capable of performing the perception measurement on the target object from the plurality of second terminals according to the first response message, and then determines the cooperative terminal from the second terminal capable of performing the perception measurement on the target object according to the terminal capability and the motion state information of the second terminal, so as to ensure that the cooperative terminal can participate in the perception measurement on the target object, thereby helping to improve the success rate of the perception measurement on the target object by the cooperative terminal.

[0024] In a possible implementation of the first aspect, the first response message carries an effective perception time window of the target object, and the effective perception time window includes a perception coverage time window between the second terminal and the target object and / or a communication coverage time window between the second terminal and the first terminal.

[0025] When the first response message carries the determination result of whether the second terminal can perform the perception measurement on the target object, the effective perception time window serves to assist the first terminal in verifying whether the second terminal can perform the perception measurement on the target object. The first terminal can verify the determination result carried in the first response message based on the effective perception time window.

[0026] When the first response message does not carry the determination result of whether the second terminal can perform the perception measurement on the target object, the effective perception time window serves to enable the first terminal to determine whether the second terminal can perform the perception measurement on the target object.

[0027] When the first response message does not carry the communication coverage time window of the second terminal, the second terminal needs to transmit the motion state information of the second terminal to the first terminal, so as to enable the first terminal to determine the communication coverage time window of the second terminal.

[0028] In a possible implementation of the first aspect, the communication coverage time window is determined according to the motion state information of the first terminal and the motion state information of the second terminal; the perception coverage time window is determined according to the motion state information of the target object, the motion state information of the second terminal, and the terminal capability of the second terminal; and the second terminal determines whether the perception measurement on the target object can be performed according to the communication coverage time window and the perception coverage time window.

[0029] Since the process of the perception measurement on the target object performed by the first terminal and the second terminal in cooperation includes processes such as sending a perception signal to the target object, receiving a return signal from the target object, processing the return signal to obtain perception data, and transmitting the perception data to the first terminal, the second terminal determines whether the perception measurement on the target object can be performed from the aspects of communication and perception. The communication coverage time window indicates the duration during which the first terminal and the second terminal can maintain effective communication, and the perception coverage time window indicates the duration during which the second terminal can effectively perceive the target object.

[0030] In a possible implementation of the first aspect, the second terminal determines that the perception measurement on the target object can be performed when the communication coverage time window and the perception coverage time window both satisfy the signal coverage requirement or one of the communication coverage time window and the perception coverage time window satisfies the signal coverage requirement.

[0031] The communication coverage time window and the perception coverage time window both satisfying the signal coverage requirement indicates that the duration during which the second terminal maintains communication with the first terminal is long, and it can be understood that the second terminal has a long time to report the perception data to the first terminal. Meanwhile, the second terminal has a long duration to perceive the target object, and it can be understood that the second terminal has a long time to perform the perception measurement on the target object.

[0032] In a possible implementation of the first aspect, before the first request message is sent to the second terminal, the method further includes broadcasting a discovery message, the discovery message being used to discover the second terminal; and receiving a second response message from the second terminal, the second response message carrying the terminal capability and / or the motion state information of the second terminal.

[0033] In this application, the first terminal needs to discover the second terminal before requesting the second terminal to confirm whether the second terminal has the capability to perform the perception measurement on the target object.

[0034] All candidate terminals in the signal coverage range of the first terminal can receive the discovery message, and the candidate terminal feeds back the second response message to the first terminal when the candidate terminal determines that the candidate terminal meets the requirements of the terminal discovered by the discovery message, and the candidate terminal sending the second response message is the second terminal.

[0035] In a possible implementation of the first aspect, the second response message further carries target sensing resources corresponding to the second terminal, the target sensing resources being determined according to the sensing resource set indicated by the first terminal to the second terminal, and the second terminal being in an idle state on the target sensing resources.

[0036] In this solution, the second terminal finds the target sensing resource set in which the second terminal is in an idle state from the sensing resource set provided by the first terminal, and reports the target sensing resource set to the first terminal, so that the first terminal configures resources used by the second terminal to perform sensing measurement according to the target sensing resource.

[0037] In a possible implementation of the first aspect, the second request message carries sensing resource configuration information, and resources used by the cooperative terminal to perform sensing measurement are determined according to target sensing resources corresponding to the cooperative terminal.

[0038] In this solution, the target sensing resource is a resource in which the second terminal is in an idle state, that is, the second terminal can perform a cooperative sensing task on the target sensing resource. Based on this, the first terminal configures resources used by the second terminal to perform sensing measurement through the sensing resource configuration information, so as to ensure that resources used by different cooperative terminals are not repeated and interference is avoided.

[0039] In a possible implementation of the first aspect, the terminal capability of the second terminal includes multiple or all of a sensing waveform, a sensing distance resolution, a sensing speed resolution, a sensing angle resolution, a maximum unambiguous distance, a maximum unambiguous speed, a maximum unambiguous angle, and a sensing signal processing delay.

[0040] In a possible implementation of the first aspect, the discovery message carries at least one of a sensing task type, a sensing capability requirement, a sensing start and end time window, and a sensing resource set, wherein the sensing task type is one of an estimation type, a detection type, and an identification type, the sensing capability requirement includes at least one of a radio frequency capability requirement, a signal processing capability requirement, and a sensing performance requirement, the sensing start and end time window includes a start time and an end time of performing sensing measurement, and the sensing resource set includes multiple sensing resources for sensing measurement.

[0041] In this solution, the sensing task type carried in the discovery message is used to screen the second terminal capable of performing a certain type of sensing task, and the sensing capability requirement is used to screen the second terminal having a basic capability of performing sensing measurement on a target object. The sensing start and end time window indicates a time period in which the second terminal performs sensing measurement, and the sensing resource set indicates sensing resources that can be used by the second terminal to perform sensing measurement.

[0042] The purpose of the discovery message is to find a second terminal that meets the requirements for subsequent perception measurement.

[0043] In a possible implementation of the first aspect, before broadcasting the discovery message, the method further includes: obtaining historical perception data of the target object; determining a perception task type according to the historical perception data of the target object, and determining the perception capability requirement according to the perception task type.

[0044] In this solution, the target object has been perceived before, so the historical perception data can be obtained, and a preliminary judgment can be made on the current situation of the target object through the historical perception data. The perception task type and the capability requirement of the second terminal for the perception measurement of the target object are set based on the preliminary judgment.

[0045] It should be noted that when the target object has never been perceived, that is, there is no historical perception data for reference, in this case, the first terminal determines the perception task type and the perception capability requirement based on pre-set rules.

[0046] For example, the pre-set rules can be a perception task type and a perception capability requirement triggered by an application layer. For another example, the pre-set rules can be a perception task type randomly selected by the first terminal, and a perception capability requirement determined according to the perception task type.

[0047] In a possible implementation of the first aspect, before sending the first request message to the second terminal, the method further includes: obtaining motion state information and attribute information of the target object from the historical perception data of the target object.

[0048] In a possible implementation of the first aspect, the motion state information of the first terminal includes reference signal received power, beam pointing, coordinates, moving speed and moving direction of the first terminal relative to the second terminal; the motion state information of the target object includes distance, beam pointing, coordinates, moving speed and moving direction of the target object relative to the first terminal; and the attribute information of the target object includes electromagnetic wave characteristics, material and type of the target object.

[0049] In a possible implementation of the first aspect, the method further includes: receiving a third response message, the third response message being sent by a cooperative terminal when the cooperative terminal does not detect the target object within a preset time length, the third response message indicating that the target object is lost, and the third response message including a lost direction of the target object and a distance of the target object to the cooperative terminal.

[0050] In the scheme, when the moving speed of the target object is too fast, or the moving speed of the target object suddenly becomes fast, the cooperative terminal can report a third response message, and the direction of loss of the target object and the distance of the target object to the cooperative terminal included in the third response message can be used by the first terminal to determine new motion state information of the target object, which helps the first terminal to initiate sensing of the target object again.

[0051] In a possible implementation of the first aspect, the method further includes: broadcasting the discovery message in a case where the current sensing accuracy does not meet the sensing accuracy requirement or in a case where the cooperative instruction is acquired.

[0052] In a possible implementation of the first aspect, the method further includes:

[0053] In a case where the first condition is met, it is determined that the sensing accuracy does not meet the sensing accuracy requirement, and the first condition includes at least one of the following: the strength of the echo signal corresponding to the target object is lower than a first threshold value, the distance between the target object and the first terminal exceeds a second threshold value, the radar cross section area of the echo signal corresponding to the target object is smaller than a third threshold value, the resolution of the sensing measurement quantity corresponding to the target object is smaller than a fourth threshold value, and the sensed speed of the target object is greater than a fifth threshold value.

[0054] The fifth threshold value is a speed threshold value that can be sensed by the first terminal.

[0055] In a second aspect, a cooperative sensing method is provided, applied to a second terminal, and the method includes: receiving a first request message from a first terminal, the first request message carrying motion state information of the first terminal and / or motion state information and attribute information of a target object, the first request message being used to request the second terminal to determine whether to perform sensing measurement on the target object; determining whether to perform sensing measurement on the target object in response to the first request message, and sending a first response message, the first response message indicating to the first terminal whether the second terminal can perform sensing measurement on the target object; receiving a second request message, the second request message being used to request the cooperative terminal to perform sensing measurement on the target object, wherein the second request message is sent in a case where the second terminal is the cooperative terminal; and performing sensing measurement on the target object according to the second request message.

[0056] In a possible implementation of the second aspect, in response to the first request message, determining whether to perform sensing measurement on the target object includes: determining a communication coverage time window between the first terminal and the second terminal according to the motion state information of the first terminal and the motion state information of the second terminal; determining a sensing coverage time window between the second terminal and the target object according to the motion state information of the target object, the motion state information of the second terminal, and the terminal capability of the second terminal; and determining whether to perform sensing measurement on the target object according to the communication coverage time window and the sensing coverage time window.

[0057] In a possible implementation of the second aspect, the determining whether the sensing measurement on the target object can be performed according to the communication coverage time window and the sensing coverage time window comprises: determining that the sensing measurement on the target object can be performed when the communication coverage time window and the sensing coverage time window both satisfy the signal coverage requirement, or when one of the communication coverage time window and the sensing coverage time window satisfies the signal coverage requirement.

[0058] In a possible implementation of the second aspect, the second request message carries sensing resource configuration information, and the sensing resource configuration information is used to indicate resources used by the cooperative terminal when performing the sensing measurement.

[0059] In a possible implementation of the second aspect, the second request message carries cooperative task configuration information, the cooperative task configuration information is used to indicate that the cooperative terminal is a sending end of the sensing signal, a receiving end of the echo signal, or both the sending end of the sensing signal and the receiving end of the echo signal, and the cooperative task configuration information is determined by the first terminal based on a change of a sensing link between the cooperative terminal and the target object, and the change of the sensing link between the cooperative terminal and the target object is determined by the first terminal according to motion state information of the cooperative terminal and motion state information of the target object.

[0060] In a possible implementation of the second aspect, when the change of the sensing link between the cooperative terminal and the target object is higher than a change threshold, the cooperative task configuration information indicates that the cooperative terminal is both the sending end of the sensing signal and the receiving end of the echo signal; and when the change of the sensing link between the cooperative terminal and the target object is lower than the change threshold, the cooperative task configuration information indicates that the cooperative terminal is the sending end of the sensing signal or the receiving end of the echo signal.

[0061] In a possible implementation of the second aspect, the second request message further carries at least one of sensing waveform type configuration information, sensing measurement quantity configuration information, and sensing measurement reporting configuration information.

[0062] In a possible implementation of the second aspect, the second request message is sent by the first terminal to the cooperative terminal according to terminal capability, motion state information of the second terminal, and the first response message.

[0063] In a possible implementation of the second aspect, the terminal capability of the second terminal comprises multiple or all of a sensing waveform, a sensing distance resolution, a sensing speed resolution, a sensing angle resolution, a maximum unambiguous distance, a maximum unambiguous speed, a maximum unambiguous angle, and a sensing signal processing delay.

[0064] In a possible implementation manner of the second aspect, the first response message carries an effective sensing time window of the target object, and the effective sensing time window includes a sensing coverage time window between the second terminal and the target object and / or a communication coverage time window between the second terminal and the first terminal.

[0065] In a possible implementation manner of the second aspect, before receiving the first request message from the first terminal, the method further includes: receiving a discovery message, the discovery message being sent by the first terminal and used for discovering the second terminal; and sending a second response message to the first terminal in response to the discovery message, the second response message carrying terminal capability and / or motion state information of the second terminal.

[0066] In a possible implementation manner of the second aspect, the second response message further carries a target sensing resource corresponding to the second terminal, and the target sensing resource is determined according to a set of sensing resources indicated by the first terminal to the second terminal, and the second terminal is in an idle state on the target sensing resource.

[0067] In a possible implementation manner of the second aspect, the second request message carries sensing resource configuration information, and a resource used by the cooperative terminal to perform the sensing measurement according to the sensing resource configuration information is determined according to a target sensing resource corresponding to the cooperative terminal.

[0068] In a possible implementation manner of the second aspect, the discovery message carries at least one of a sensing task type, a sensing capability requirement, a sensing start-stop time window, and a set of sensing resources, wherein the sensing task type is one of an estimation type, a detection type, and an identification type, the sensing capability requirement includes at least one of a radio frequency capability requirement, a signal processing capability requirement, and a sensing performance requirement, the sensing start-stop time window includes a start time and an end time of performing the sensing measurement, and the set of sensing resources includes a plurality of sensing resources used for the sensing measurement.

[0069] In a possible implementation manner of the second aspect, the sensing task type is determined by the first terminal according to historical sensing data of the target object, and the sensing capability requirement is determined by the first terminal according to the sensing task type.

[0070] In a possible implementation manner of the second aspect, the motion state information and the attribute information of the target object are obtained by the first terminal from the historical sensing data of the target object.

[0071] In a possible implementation of the second aspect, the motion state information of the first terminal includes reference signal received power of the first terminal relative to the second terminal, beam pointing, coordinates of the first terminal, moving speed, and moving direction; the motion state information of the target object includes distance of the target object relative to the first terminal, beam pointing, coordinates of the target object, moving speed, and moving direction; and the attribute information of the target object includes electromagnetic wave characteristics of the target object, material of the target object, and type of the target object.

[0072] In a possible implementation of the second aspect, the method further includes: when the target object is not detected within a preset time length, sending a third response message, the third response message indicating that the target object is lost, and the third response message including a direction of the loss of the target object and a distance of the target object to the cooperative terminal.

[0073] In a possible implementation of the second aspect, the discovery message is sent by the first terminal when a current sensing accuracy does not meet a sensing accuracy requirement or when a cooperative instruction is acquired.

[0074] In a possible implementation of the second aspect, the method further includes: determining, by the first terminal, that the sensing accuracy does not meet the sensing accuracy requirement when a first condition is met, the first condition including at least one of the following: an intensity of a return signal corresponding to the target object being lower than a first threshold, a distance between the target object and the first terminal exceeding a second threshold, a radar cross section of the return signal corresponding to the target object being smaller than a third threshold, a resolution of a sensing measurement corresponding to the target object being smaller than a fourth threshold, and a speed of the target object sensed being greater than a fifth threshold.

[0075] In a third aspect, a cooperative sensing apparatus is provided, including a module for performing the method of any of the first aspects or a module for performing the method of any of the second aspects.

[0076] In a fourth aspect, a cooperative sensing system is provided, including a first terminal and a second terminal, wherein,

[0077] The first terminal is configured to perform the method of any of the first aspects.

[0078] The second terminal is configured to perform the method of any of the second aspects.

[0079] In a fifth aspect, a terminal is provided, including a processor and a memory, the memory being configured to store program instructions, and the processor being configured to invoke the program instructions to perform the method of any of the second aspects.

[0080] In a sixth aspect, a computer readable storage medium stores a computer program or instructions which, when executed, implement the steps of any of the methods of the second aspect, or implement the steps of any of the methods of the second aspect.

[0081] In a seventh aspect, a computer program product comprises instructions which, when executed on a computer, cause the computer to perform the steps of any of the methods of the second aspect, or perform the steps of any of the methods of the second aspect.

[0082] On the basis of the implementation manners of the above aspects, the present application can be further combined to provide more implementation manners. The technical effects obtained by the second aspect, the third aspect, the fourth aspect, the fifth aspect, the sixth aspect and the seventh aspect are similar to the technical effects obtained by the corresponding technical means of the first aspect, and thus will not be described herein. BRIEF DESCRIPTION OF DRAWINGS

[0083] FIG. 1 shows a schematic diagram of sensing a target object;

[0084] FIG. 2 shows another schematic diagram of sensing a target object;

[0085] FIG. 3 shows a schematic diagram of an architecture of a cooperative sensing system according to an embodiment of the present application;

[0086] FIG. 4 shows a schematic interaction diagram of a cooperative sensing method according to an embodiment of the present application;

[0087] FIG. 5 shows a schematic interaction diagram of another cooperative sensing method according to an embodiment of the present application;

[0088] FIG. 6 shows a schematic diagram of cooperative sensing of a target object based on a spontaneous-hear cooperative mode;

[0089] FIG. 7 shows a signaling flow diagram of a cooperative sensing method;

[0090] FIG. 8 shows a schematic diagram of cooperative sensing of a target object based on a spontaneous-hear cooperative mode;

[0091] FIG. 9 shows a signaling flow diagram of a cooperative sensing method;

[0092] FIG. 10 shows a structural block diagram of a cooperative sensing apparatus;

[0093] FIG. 11 shows a structural schematic diagram of a terminal. DETAILED DESCRIPTION

[0094] The technical solutions in the present application will be described below with reference to the accompanying drawings.

[0095] In order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", etc. are used to distinguish the same or similar items with basically the same function and role. For example, the first chip and the second chip are only used to distinguish different chips, and do not limit the sequence. Those skilled in the art can understand that the words "first", "second", etc. do not limit the quantity and execution sequence, and the words "first", "second", etc. also do not limit to be different.

[0096] It should be noted that in the embodiments of the present application, the words "exemplary" or "for example" are used to represent as an example, illustration or description. Any embodiment or design scheme described as "exemplary" or "for example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words "exemplary" or "for example" are intended to present the relevant concept in a specific manner.

[0097] In the embodiments of the present application, "at least one" means one or more, and "multiple" means two or more. The "and / or" describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it. "At least one of the following" or similar expressions means any combination of these items, including any combination of single item or multiple items. For example, at least one of a, b, or c can represent a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0098] In the present application, "indication" can include direct indication and indirect indication. For example, when describing an information indicating information I, the information can directly indicate I or indirectly indicate I, but it does not necessarily indicate that the information carries I.

[0099] The related art proposes a technology of communication and sensing integration, that is, communication and perception integration, aiming to integrate communication and perception functions in the same system.

[0100] Specifically, wireless communication is a communication method that exchanges information by utilizing the characteristics of electromagnetic wave signals propagating in free space. For example, in a ground cellular communication network, the sending end modulates and encodes the sensing signal (i.e., electromagnetic wave signal) to be sent, and the receiving end demodulates and decodes the echo signal to recover the echo signal, thereby realizing data transmission. Wireless sensing is a technology that obtains objects, events or features in free space by analyzing electromagnetic wave signals in free space. For example, phased array radar sensing, that is, extracting channel features based on radar echo signals, completes target detection, tracking and imaging, etc. based on channel features. It can be seen that electromagnetic wave signals are naturally suitable for sensing and communication.

[0101] In related technologies, the integration of sensing and communication is realized based on the 5th Generation Mobile Communication Technology (5G), and generally uses the positioning reference signal (PRS) and the signaling reference signal (SRS) exchanged between the user equipment (UE) and the network side to realize the positioning and sensing of the UE. However, the positioning and sensing accuracy realized by the existing 5G technology is limited and cannot be applied to industries with high requirements for sensing capabilities.

[0102] The 6th Generation Mobile Communication Technology (6G) is a further evolution of the 5G technology, and the 6G technology can realize functions such as centimeter-level high-precision positioning, posture recognition, heart rate detection, environment reconstruction, and network digital twin. On the one hand, the 6G technology provides new development possibilities for industries with high requirements for sensing capabilities. On the other hand, the demand for high-precision and high-efficiency sensing capabilities in industrial Internet of Things, autonomous driving, medical health, and public safety also promotes the 6G technology to further improve the sensing capabilities of the network.

[0103] Therefore, the application of the communication and sensing integration technology based on the 6G technology is a research hotspot in the field. Related technologies propose a communication and sensing method, in which a single UE sends a sensing signal (i.e., an electromagnetic wave signal), the sensing signal interacts with the surrounding environment during propagation, is reflected, refracted, etc. by a target object, and forms an echo signal. The UE analyzes the received echo signal to obtain the sensing result of the target object.

[0104] Among them, the sensing capability of a single UE is limited by the hardware and software capabilities of the UE, which may result in the situation that the target object cannot be sensed or the sensing accuracy of the target object does not meet the requirements when a single UE senses and measures the target object.

[0105] Please refer to FIG. 1, which shows a schematic diagram of perceiving a target object, wherein the perceiving coverage distance of UE1 is short, and the target object is located outside the perceiving coverage distance of UE1, which can result in a reduced perceiving accuracy of UE1 to the target object or UE1 cannot perceive the target object.

[0106] Please refer to FIG. 2, which shows another schematic diagram of perceiving a target object, wherein there is an obstacle between UE1 and the target object, which can shield the perceiving signal and the echo signal, resulting in a weakened signal strength of the echo signal received by UE1, and thus the perceiving accuracy of UE1 to the target object can be reduced or cannot meet the accuracy requirement or UE1 cannot perceive the target object.

[0107] In addition, when a UE is located in a blind area of a base station network coverage, it is difficult for the UE to identify and track a target object.

[0108] To realize perceiving, tracking and identifying a target object outside the coverage range or a target object blocked by an obstacle and solve the problem of limited perceiving capability of a single UE, the embodiment of the present application provides a cooperative perceiving method, in which a source UE needs to cooperate with other UEs with perceiving capability in the vicinity to utilize the surplus perceiving capability of the cooperative UEs to perform perceiving measurement on the target object, thereby improving the perceiving capability of the cooperative perceiving network and expanding the perceiving range of the source UE.

[0109] Please refer to FIG. 3, which shows a schematic diagram of an architecture of a cooperative perceiving system provided by the embodiment of the present application. As shown in FIG. 3, the cooperative perceiving system includes a plurality of terminals and a target object, wherein the plurality of terminals includes a first terminal and a second terminal.

[0110] FIG. 3 shows one target object, one first terminal 301 and two second terminals, i.e., a second terminal 302 and a second terminal 303. When the first terminal 301 cannot perceive the target object, the first terminal 301 can request other terminals (i.e., the second terminals) to assist the first terminal 301 to acquire the perceiving information of the target object.

[0111] In the embodiment of the present application, from the perspective of the attributes of the target object, the target object of wireless perceiving can be divided into passive targets or active targets according to whether a signal receiving / transmitting device is installed on the target object, wherein the passive targets are, for example, pedestrians, animals, passive tags, etc. The active targets are, for example, vehicles, unmanned aerial vehicles, etc. Correspondingly, wireless perceiving can be divided into perceiving passive targets and perceiving active targets. In fact, in order to enhance the perceiving capability to passive targets, a low-cost, low-power and small-size tag device, such as an RFID passive tag or a backscatter tag, can be installed on the passive targets.

[0112] It should be noted that, compared with the passive object which can only reflect the electromagnetic wave signal, the active object can also send and receive the electromagnetic wave signal, and provide sensing auxiliary information. In addition, the target object in the embodiment of the present application can be an object with a physical form, and can also refer to an object such as a region and an environment space.

[0113] In the embodiment of the present application, the terminal in the cooperative perception system can also be referred to as a user equipment (UE), an access terminal, a user unit, a user station, a mobile station, a mobile station, a remote station, a remote terminal, a mobile device, a user terminal, a terminal, a wireless communication device, a user agent or a user device, etc. The terminal in the embodiment of the present application can be a mobile phone, a smart television, a wearable device, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, a communication device in vehicle, etc. The embodiment of the present application does not limit the application scenario.

[0114] In the embodiment of the present application, the communication protocol used between the first terminal and the second terminal can be a Sidelink (SL) protocol of 3GPP LTE-A (4G), NR (5G), 6G or a short-range communication protocol such as Bluetooth, Wi-Fi, etc. In the SL, the data transmission between terminals does not pass through the network device for transfer. The network device does not participate in the data sending and receiving of the sidelink, but only provides related configuration of the sidelink for terminals within the coverage. The resource used by the terminal for data transmission can be based on network device scheduling, or can also be automatically detected (sensing) by the terminal. When the terminal determines the resource in the automatic detection manner, the terminal usually judges the detected resource according to certain rules, for example, judges whether the signal strength of the received signal detected on the resource meets a certain signal strength requirement, and if it is judged that the signal strength of the received signal detected on the resource meets the signal strength requirement, it is determined that the detected resource can be used.

[0115] It should be noted that when the target object is a relatively wide environment space, the target object can be perceived and measured by cooperative perception among multiple base stations. In this case, the terminal in the cooperative perception system can also be understood as a base station. In the embodiments of the present application, the base stations that can be applied to the cooperative perception system include but are not limited to: base station (base station, BS), evolved Node B (evolved Node B, eNB), radio network controller (radio network controller, RNC), Node B (Node B, NB), base station controller (base station controller, BSC), base transceiver station (base transceiver station, BTS), home base station (for example, home evolved NodeB, or home Node B, HNB), baseband unit (baseband unit, BBU), access point (access point, AP) in wireless fidelity (wireless fidelity, WIFI) system, wireless relay node, wireless backhaul node, transmission point (transmission point, TP) or transmission and reception point (transmission and reception point, TRP), etc., and can also be gNB or transmission point (TRP or TP) in 5G, such as NR, system, one or a group of (including multiple antenna panels) antenna panels of the base station in the 5G system, or network nodes constituting the gNB or transmission point, such as baseband unit (BBU) or distributed unit (distributed unit, DU) and the like.

[0116] It should be noted that when the terminal in the embodiments of the present application appears in the form of a base station, the terminals complete data transmission based on a communication protocol.

[0117] It should be understood that the architecture of the cooperative perception system shown in FIG. 3 should not constitute any limitation on the present application, and the cooperative perception system can also include a larger number of network devices and a larger or smaller number of terminals, which are not limited by the present application.

[0118] The cooperative perception method in the embodiments of the present application can be applied to various application scenarios.

[0119] For example, in a traffic scenario, the source terminal (Source UE) is driving, and the target area in front (such as a road construction area) is blocked by the vehicle driving in front, so the target area cannot be detected by the perception ability of the source UE. The source UE can request other UEs (candidate UEs) to assist the source UE to obtain the perception information of the target area.

[0120] It should be noted that the distance between the source UE and the candidate UE affects the direction in which the candidate UE performs the perception measurement. For example, if the target area is located behind the candidate UE, the candidate UE needs to send the perception information behind the vehicle to the source UE, and if the target area is located in front of the candidate UE, the candidate UE needs to send the perception information in front of the vehicle to the source UE. The source UE determines the perception information of the target area based on the perception data of the candidate UE.

[0121] For example, in the application scenario of warehouse management, a large number of materials are stored in the warehouse, and a tag device is arranged on each material. The source UE can perceive the tag device on the material to realize the warehouse management of the materials in and out of the warehouse. Since the warehouse range is large, a single source UE cannot perceive all the materials. In this case, the source UE can request other UEs (candidate UEs) to assist the source UE in perceiving the materials in the warehouse.

[0122] Hereinafter, the cooperative perception method provided by the embodiments of the present application will be described in detail in combination with the drawings.

[0123] Please refer to FIG. 4, which shows a schematic interaction diagram of a cooperative perception method 400 provided by an embodiment of the present application. Hereinafter, each step of the method will be described in detail.

[0124] In the embodiments of the present application, the first terminal and the second terminal are the execution subjects of the method 400, and the method 400 will be described. As an example but not limitation, the execution subject of the method 400 can also be a chip or circuit corresponding to the first terminal and the second terminal.

[0125] Step 401, the first terminal sends a first request message to the second terminal.

[0126] In the embodiments of the present application, the second terminal is a terminal supporting cooperative perception.

[0127] The first request message carries the motion state information of the first terminal and / or the motion state information and attribute information of the target object, and the first request message is used to request the second terminal to determine whether to perform the perception measurement on the target object.

[0128] Optionally, in the embodiments of the present application, the motion state information of the first terminal includes indirect information and direct information, wherein the indirect information includes the reference signal received power and the beam pointing of the first terminal relative to the second terminal; and the direct information includes the coordinates, the moving speed and the moving direction of the first terminal.

[0129] Optionally, the motion state information of the target object includes direct information and indirect information, wherein the indirect information includes the distance and the beam pointing of the target object relative to the first terminal; and the direct information includes the coordinates, the moving speed and the moving direction of the target object.

[0130] Optionally, the attribute information of the target object includes electromagnetic wave characteristics of the target object, material of the target object, and type of the target object. The electromagnetic wave characteristics are, for example, electromagnetic wave reflection characteristics, electromagnetic wave scattering characteristics, etc. The electromagnetic wave characteristics are, for example, the number of multiple scattering centers. The material of the target object is, for example, metal, wood, biological body, etc. The type of the target object can be active target and passive target.

[0131] In the embodiments of the present application, the motion state information and the attribute information of the target object are obtained by the first terminal from historical perception data of the target object.

[0132] It should be noted that, in the embodiments of the present application, the motion state information and the attribute information of the target object are coarse information of the target object. In some cases, the first terminal can not be able to obtain the motion state information and the attribute information of the target object. For example, in the case where there is no historical perception data. Correspondingly, the first request message can only carry the motion state information of the first terminal.

[0133] It should be noted that, when the first terminal first perceives the target object, there is no historical data in this case, and the first terminal can determine the possible motion state information and the attribute information of the target object based on its own algorithm.

[0134] Optionally, the first terminal can also determine the motion state information and the attribute information of the target object based on the instruction of an upper application.

[0135] Optionally, the first terminal can also determine the motion state information and the attribute information of the target object based on the signaling indication of other devices.

[0136] In one implementation mode, the first terminal can select the second terminals by itself and send the first request message to each second terminal.

[0137] In another implementation mode, the first terminal can select part of the second terminals from a plurality of second terminals based on the information provided by the second terminals, and send the first request message to the selected second terminals. The information provided by the second terminals can be actively reported by the second terminals, or sent by the second terminals in response to the request of the first terminal.

[0138] Optionally, the information provided by the second terminal is, for example, a second response message, and the description of the second response message is described below.

[0139] In some cases, the first terminal only needs a small number of second terminals to perform cooperative sensing to complete the sensing measurement on the target object. In this case, if the first request message is sent to all second terminals, it will cause resource waste and increase the computational burden of the first terminal. Therefore, the first terminal only needs to send the first request message to the selected second terminal, which can not only achieve sensing measurement on the target object by the second terminal, but also reduce the management redundancy of the first terminal to the second terminal.

[0140] Optionally, the first terminal can obtain the terminal capability and motion state information of the second terminal, select the second terminal with stronger terminal capability, and then send the first request message to the selected second terminal.

[0141] In the embodiment of the application, the first terminal sends the first request message to the second terminal with stronger terminal capability, that is, performs sensing measurement on the target object through the second terminal with stronger capability, which is conducive to improving the success rate of sensing measurement on the target object and improving the sensing accuracy of the target object.

[0142] Optionally, the first terminal can select the second terminal that is relatively close to the target object, has good sensing performance, is relatively stationary or moves slowly, and then send the first request message to the selected second terminal.

[0143] In the embodiment of the application, the first terminal can send the first request message in a broadcast manner.

[0144] Correspondingly, the first request message carries the identity of the second terminal, and after each second terminal receives the first request message, if the identity corresponding to itself is parsed, it means that the first request message is received. The identity of each second terminal can be reported to the first terminal in advance by the second terminal.

[0145] It should be noted that when the second terminal receives the first request message but does not parse the identity corresponding to itself, the second terminal determines that the first request message is not received.

[0146] It should be noted that in the embodiment of the application, the candidate terminal can determine whether to respond to the first request message in combination with its own communication state, and when it is determined not to respond, the candidate terminal can ignore the first request message and not parse the first request message.

[0147] Step 402, the second terminal determines whether to perform sensing measurement on the target object in response to the first request message.

[0148] Step 403, the second terminal sends a first response message to the first terminal.

[0149] The first request message is used to request the second terminal to determine whether to perform sensing measurement on the target object.

[0150] In the embodiment of the present application, the second terminal parses the first request message to determine the instruction carried by the first request message. The instruction carried by the first request message indicates or requests the second terminal to determine whether the sensing measurement on the target object can be performed.

[0151] In an implementation manner, if the second terminal parses the identity corresponding to the second terminal from the first request message, it indicates that the second terminal is selected by the first terminal, and then the second terminal determines whether the sensing measurement on the target object can be performed according to the instruction carried by the first request message.

[0152] If the second terminal parses the identity corresponding to the second terminal from the first request message, it indicates that the second terminal is not selected by the first terminal, and then the second terminal ignores the first request message, and the second terminal does not occupy the sensing resource in the sensing resource set within the sensing start and end time window.

[0153] The first response message indicates to the first terminal whether the second terminal can perform the sensing measurement on the target object.

[0154] In the embodiment of the present application, the process of performing the sensing measurement on the target object includes two parts, one part is sending the sensing signal, and the other part is receiving the echo signal and extracting the sensing data from the echo signal, and sending the sensing data to the first terminal. One of the two parts can be considered as being able to perform the sensing measurement on the target object.

[0155] In an implementation manner, the second terminal can determine whether the sensing target is in the effective coverage range based on the time window in which the second terminal is in the communication coverage range of the first terminal.

[0156] For example, the second terminal can determine the distance, the moving direction and the moving speed between the second terminal and the first terminal based on the motion state information of the second terminal and the motion state information of the first terminal, and then calculate the time length in which the second terminal and the first terminal can maintain effective communication, that is, the time window in which the second terminal is in the communication coverage range of the first terminal (communication coverage time window).

[0157] It should be noted that in the embodiment of the present application, the communication coverage time window can also be determined by the first terminal based on the motion state information of the second terminal and the motion state information of the first terminal.

[0158] In some cases, when the first request message sent by the first terminal only carries the motion state information and attribute information of the target object, the second terminal cannot obtain the motion state information of the first terminal. In this case, the second terminal can only determine the perception coverage time window. Then, after receiving the first response message, the first terminal determines the communication coverage time window based on the motion state information of the second terminal carried in the first response message and the motion state information of the first terminal.

[0159] The first terminal and the second terminal can be in a moving state or a stationary state, and the communication coverage time window between the two terminals is affected by the moving speed and moving direction of the two terminals. For example, the first terminal and the second terminal move away from each other, in which case the communication coverage time window is generally short. When the first terminal and the second terminal move towards each other, or one of the first terminal and the second terminal is in a stationary state, the communication coverage time window is generally long.

[0160] In the embodiments of the present application, when the communication coverage time window is less than the communication coverage time window threshold, it indicates that the second terminal cannot maintain effective communication with the first terminal. In this case, the second terminal can report to the first terminal that the target object is not in the effective coverage range after the second terminal perceives the target object.

[0161] When the communication coverage time window is greater than or equal to the communication coverage time window threshold, it indicates that the second terminal can maintain effective communication with the first terminal within the communication coverage time window. In this case, the second terminal can at least implement the function of sending the perception data extracted from the echo signal to the first terminal. For example, the second terminal can report the perception data to the first terminal after perceiving the target object. Alternatively, the second terminal can act as a receiving end of the echo signal, receive the echo signal corresponding to the target object, and report the perception data parsed from the echo signal to the first terminal. Therefore, the second terminal can determine that it can perform perception measurement on the target object.

[0162] In another implementation manner, the second terminal can determine whether the perception target is in the effective coverage range based on a time window in which the second terminal covers the target object.

[0163] For example, the second terminal can determine the coverage range of the second terminal based on the terminal capability of the second terminal, and then determine the distance between the second terminal and the target object, the moving direction and moving speed of each of the two, and the like based on the motion state information of the second terminal and / or the motion state information of the target object, so as to calculate the time length in which the target object is in the coverage range of the second terminal, i.e., the time window (perception coverage time window) in which the target object is in the perception coverage range of the second terminal.

[0164] The second terminal and the target object can be in a moving state or a stationary state, and the perception coverage time window between the two is affected by the moving speed and direction of the two. For example, the second terminal and the target object move away from each other, and in this case, the perception coverage time window is generally short. When the second terminal and the target object move towards each other, or one of the second terminal and the target object is in a stationary state, the perception coverage time window is generally long.

[0165] In the embodiment of the application, when the perception coverage time window is less than the perception coverage time window threshold, it indicates that the target object cannot be effectively perceived by the second terminal. In this case, the second terminal can sense the target object, but the sensing result cannot be successfully reported to the first terminal. Therefore, the second terminal can report to the first terminal that the target object is not in the effective coverage range.

[0166] When the perception coverage time window is greater than or equal to the perception coverage time window threshold, it indicates that the target object can be effectively perceived by the second terminal. In this case, the second terminal can at least implement the function of the sending end of the perception signal, for sending the perception signal to the target object, and the perception signal can reach the target object. Therefore, the second terminal can determine that the perception measurement on the target object can be performed.

[0167] In another implementation, the process of determining whether the perception measurement on the target object can be performed by the second terminal in response to the first request message includes:

[0168] S1, the second terminal determines a communication coverage time window between the first terminal and the second terminal according to the motion state information of the first terminal and the motion state information of the second terminal.

[0169] S2, the second terminal determines a perception coverage time window between the second terminal and the target object according to the motion state information of the target object, the motion state information of the second terminal, and the terminal capability of the second terminal.

[0170] S3, the second terminal determines whether the perception measurement on the target object can be performed according to the communication coverage time window and the perception coverage time window.

[0171] The communication coverage time window and the perception coverage time window both satisfy the signal coverage requirement, or one of the communication coverage time window and the perception coverage time window satisfies the signal coverage requirement, and it is determined that the perception measurement on the target object can be performed.

[0172] In the embodiment of the application, when the communication coverage time window is less than the communication coverage time window threshold, and the perception coverage time window is less than the perception coverage time window threshold, the second terminal determines that the target object is not in the effective coverage range, that is, the perception measurement on the target object cannot be performed.

[0173] In the embodiment of the present application, when the communication coverage time window is greater than or equal to the communication coverage time window threshold and the sensing coverage time window is greater than or equal to the sensing coverage time window threshold, the second terminal can be both a sending terminal of the sensing signal and a receiving terminal of the echo signal. In this case, the second terminal can send the sensing signal to the target object and receive the echo signal in the sensing coverage time window, and the second terminal can report the sensing data corresponding to the echo signal to the first terminal in the communication coverage time window. Therefore, it can be seen that the second terminal can perform sensing measurement on the target object.

[0174] In the embodiment of the present application, when the communication coverage time window is greater than or equal to the communication coverage time window threshold, but the sensing coverage time window is less than the sensing coverage time window threshold, the target object will be away from the second terminal, that is, the sensing signal sent by the second terminal can not reach the target object, so that the second terminal as the sending terminal of the sensing signal can not sense the target object. Correspondingly, the second terminal can be a receiving terminal of the echo signal, and since the communication coverage time window is greater than or equal to the communication coverage time window threshold, the second terminal can always send the sensing data corresponding to the echo signal to the first terminal.

[0175] In the embodiment of the present application, when the communication coverage time window is less than the communication coverage time window threshold, but the sensing coverage time window is greater than or equal to the sensing coverage time window threshold, the second terminal will be away from the first terminal so as to be unable to communicate with the first terminal. In this case, the second terminal can not be able to send the sensing data to the first terminal, and therefore is not suitable as the receiving terminal of the echo signal. Correspondingly, the second terminal can send the sensing signal, and the sensing signal can effectively reach the target object.

[0176] In the embodiment of the present application, after the second terminal determines that it can perform sensing measurement on the target object, the second terminal can generate a first response message, wherein the first response message indicates to the first terminal whether the second terminal can perform sensing measurement on the target object.

[0177] In the embodiment of the present application, the first response message carries a determination result of whether the second terminal can perform sensing measurement on the target object. The determination result includes that the second terminal can perform sensing measurement on the target object, or includes that the second terminal cannot perform sensing measurement on the target object.

[0178] It should be noted that in the embodiment of the present application, when the first response message indicates to the first terminal that the second terminal cannot perform sensing measurement on the target object, the second terminal does not occupy the sensing resource in the sensing resource set in the sensing task start-stop time window, so as to avoid interference when other second terminals perform sensing measurement on the target object.

[0179] Optionally, in the embodiments of the present application, the first response message can also carry an effective sensing time window for the target object, and the effective sensing time window comprises a communication coverage time window between the second terminal and the first terminal and / or a sensing coverage time window between the second terminal and the target object.

[0180] The effective sensing time window is used to assist the first terminal to verify whether the second terminal can perform the sensing measurement on the target object. The first terminal can verify the determination result carried in the first response message based on the effective sensing time window.

[0181] Optionally, when the first response message does not carry the determination result of whether the second terminal can perform the sensing measurement on the target object, the effective sensing time window is used for the first terminal to determine whether the second terminal can perform the sensing measurement on the target object.

[0182] In an implementation manner, the effective sensing time window is the smaller one of the communication coverage time window and the sensing coverage time window.

[0183] In another implementation manner, the effective sensing time window comprises a time window greater than a corresponding threshold.

[0184] For example, when the communication coverage time window is greater than or equal to a communication coverage time window threshold, and the sensing coverage time window is greater than or equal to a sensing coverage time window threshold, the effective sensing time window comprises the communication coverage time window and the sensing coverage time window.

[0185] When the communication coverage time window is greater than or equal to the communication coverage time window threshold, but the sensing coverage time window is less than the sensing coverage time window threshold, the effective sensing time window comprises the communication coverage time window.

[0186] When the communication coverage time window is less than the communication coverage time window threshold, but the sensing coverage time window is greater than or equal to the sensing coverage time window threshold, the effective sensing time window comprises the sensing coverage time window.

[0187] If the communication coverage time window is less than the communication coverage time window threshold, and the sensing coverage time window is less than the sensing coverage time window threshold, the effective sensing time window is empty.

[0188] In step 404, the first terminal sends a second request message to the cooperative terminal according to the first response message.

[0189] The first response message indicates to the first terminal whether the second terminal can perform the sensing measurement on the target object.

[0190] In the embodiments of the present application, the first terminal can receive a plurality of first response messages sent by a plurality of second terminals respectively, and then the first terminal can determine M second terminals capable of performing the sensing measurement on the target object according to the first response messages. M is greater than or equal to 1.

[0191] For example, when a certain first reply message indicates that the second terminal sending the first reply message is unable to perform the sensing measurement on the target object, the first terminal does not send the second request message to the second terminal corresponding to the first reply message. When a certain first reply message indicates that the second terminal sending the first reply message is able to perform the sensing measurement on the target object, the first terminal can take the second terminal corresponding to the first reply message as a cooperative terminal and send the second request message.

[0192] In fact, in the cooperative sensing process, only a small number of second terminals can be needed to complete the sensing measurement on the target object, in which case, in order to save the resource consumption of the first terminal, the first terminal can not necessarily send the second request message to all the second terminals that are able to perform the sensing measurement on the target object.

[0193] In the embodiments of the present application, after determining the M second terminals that are able to perform the sensing measurement on the target object, the first terminal can select N second terminals from the M second terminals as cooperative terminals, and then send the second request message to the cooperative terminals, where N is less than or equal to M.

[0194] The second terminals that are not selected will not receive the second request message.

[0195] Optionally, in the embodiments of the present application, the first terminal can also select N second terminals located between the first terminal and the target object from the M second terminals, and take the N second terminals as cooperative terminals.

[0196] Optionally, in the embodiments of the present application, the first terminal can obtain the terminal capability and motion state information of the second terminals, and select N second terminals with stronger terminal capability from the M second terminals as cooperative terminals. The terminal capability and motion state information of the second terminals can be actively reported by the second terminals, or reported in response to the request of the first terminal.

[0197] Optionally, the first terminal can obtain the effective sensing time window based on the first reply message, and then the first terminal can select N second terminals with larger effective sensing time window from the M second terminals as cooperative terminals.

[0198] Optionally, in the embodiments of the present application, the first terminal can also obtain the terminal capability and motion state information of the second terminals, and obtain the effective sensing time window, and select N second terminals with stronger terminal capability and larger effective sensing time window from the M second terminals as cooperative terminals.

[0199] Optionally, the first terminal can select N second terminals, which are close to the target object, have good sensing performance, are relatively static or move slowly, from M second terminals as the cooperative terminals.

[0200] In the embodiments of the present application, the implementation manner of the first terminal selecting the cooperative terminals from the second terminals is not exhausted.

[0201] In the embodiments of the present application, after the first terminal determines the cooperative terminals, the first terminal can generate a second request message, and the second request message is used to request the cooperative terminals to perform sensing measurement on the target object, and the cooperative terminals are the terminals in the second terminals which can perform sensing measurement on the target object.

[0202] After the second terminal receives the second request message, the second terminal can perform sensing measurement on the target object.

[0203] In an implementation manner, in order to improve the success rate of the sensing measurement on the target object, the first terminal can also control the sensing measurement process of the second terminal.

[0204] Optionally, the first terminal can control the sensing measurement process of the second terminal through the second request message.

[0205] Optionally, the second request message carries sensing resource configuration information, and the sensing resource configuration information is used to indicate the resource used by the cooperative terminal when performing sensing measurement.

[0206] In an implementation manner, the sensing resource configuration information is configured by the first terminal for the cooperative terminal. The sensing resource configuration information includes the resource used by the cooperative terminal when performing sensing measurement.

[0207] In another implementation manner, the first terminal can also configure the sensing resource for the cooperative terminal based on the terminal capability of the cooperative terminal.

[0208] For example, the sensing resource which is easy to be interfered is configured for the cooperative terminal with stronger terminal capability, and the sensing resource which is not easy to be interfered is configured for the cooperative terminal with weaker terminal capability.

[0209] In the embodiments of the present application, the first terminal configures different sensing resource configuration information for different cooperative terminals, so that each cooperative terminal can use different sensing resources to perform sensing measurement on the target object, thereby avoiding interference between each other.

[0210] In another implementation manner, the first terminal can obtain the target sensing resource corresponding to the cooperative terminal, and then determine the sensing resource configuration information according to the target sensing resource corresponding to the cooperative terminal.

[0211] For example, the target sensing resource includes sensing resource 1 and sensing resource 3, the first terminal can select sensing resource 1 as the resource used by the cooperative terminal to perform the sensing measurement, and generate the sensing resource configuration information based on sensing resource 1.

[0212] It should be noted that the target sensing resources corresponding to different cooperative terminals can overlap, for example, the target sensing resource corresponding to cooperative terminal 1 is sensing resource 1 and sensing resource 3, the target sensing resource corresponding to cooperative terminal 2 is sensing resource 2, sensing resource 3 and sensing resource 4, and the target sensing resource corresponding to cooperative terminal 3 is sensing resource 1, sensing resource 2, sensing resource 4 and sensing resource 5. In this case, the first terminal needs to comprehensively consider the target sensing resources corresponding to each cooperative terminal to configure the sensing resources for each cooperative terminal, and can avoid mutual interference of each cooperative terminal.

[0213] For example, in this case, the first terminal can configure sensing resource 3 for cooperative terminal 1, configure sensing resource 4 for cooperative terminal 2, and configure sensing resource 5 for cooperative terminal 3. The above is only an example and does not limit the present solution.

[0214] Optionally, the second request message carries cooperative task configuration information. The cooperative task configuration information is used to indicate that the cooperative terminal is a sending terminal of the sensing signal, a receiving terminal of the echo signal, or both a sending terminal of the sensing signal and a receiving terminal of the echo signal. The essence of the cooperative task configuration information is to determine the role of different cooperative terminals.

[0215] When the cooperative task configuration information indicates that the cooperative terminal is a sending terminal of the sensing signal, the cooperative terminal transmits the sensing signal when performing the sensing measurement, and does not need to receive the echo signal. That is, the cooperative terminal adopts the self-transmission and other-reception cooperative mode when performing the sensing measurement.

[0216] It should be noted that when the cooperative terminal is configured as a sending terminal of the Kth sensing signal, there is another cooperative terminal configured as a receiving terminal of the Kth echo signal. The sensing measurement on the target object is completed by the two cooperative terminals in the one-transmission and the other-reception manner.

[0217] Optionally, in the embodiment of the present application, one cooperative terminal can be configured as a receiving terminal corresponding to multiple sending terminals. For example, cooperative terminal 1 is configured as a sending terminal of the Kth sensing signal, and cooperative terminal 2 is configured as a receiving terminal of the Kth echo signal. At the same time, cooperative terminal 3 is configured as a sending terminal of the K+1th sensing signal, and cooperative terminal 2 is configured as a receiving terminal of the K+1th echo signal. That is, cooperative terminal 2 is configured as a receiving terminal of cooperative terminal 1 and cooperative terminal 3.

[0218] Optionally, in the embodiments of the present application, one cooperative terminal can also be configured as a sending terminal corresponding to multiple receiving terminals. For example, cooperative terminal 1 is configured as a sending terminal of the Kth perception signal and a sending terminal of the K+1th perception signal, cooperative terminal 2 is configured as a receiving terminal of the Kth echo signal, and cooperative terminal 3 is configured as a receiving terminal of the K+1th echo signal.

[0219] The cooperative task configuration information indicates that the cooperative terminal is a receiving terminal of the echo signal, which means that the cooperative terminal receives the echo signal when performing the perception measurement and sends the perception data corresponding to the echo signal to the first terminal. That is, the cooperative terminal adopts the self-receiving and receiving mode when performing the perception measurement.

[0220] It should be noted that when the cooperative terminal is configured as a receiving terminal of the Hth echo signal, there must be another cooperative terminal configured as a sending terminal of the Hth perception signal. The perception measurement of the target object is completed by the two cooperative terminals in the one-sending and one-receiving mode.

[0221] The cooperative task configuration information indicates that the cooperative terminal is both a sending terminal of the perception signal and a receiving terminal of the echo signal, which means that the cooperative terminal sends the perception signal and receives the echo signal when performing the perception measurement, and sends the perception data corresponding to the echo signal to the first terminal. That is, the cooperative terminal adopts the self-sending and self-receiving mode when performing the perception measurement. This scheme is to use one cooperative terminal to independently complete the perception measurement of the target object.

[0222] For example, there are cooperative terminal 1, cooperative terminal 2, and cooperative terminal 3. The first terminal can configure different cooperative task configuration information for the three cooperative terminals, for example, cooperative terminal 1 is configured as a receiving terminal of the echo signal, cooperative terminal 2 is configured as a sending terminal of the perception signal, and cooperative terminal 3 is configured as both a sending terminal of the perception signal and a receiving terminal of the echo signal.

[0223] Optionally, in the embodiments of the present application, the first terminal obtains the communication coverage time window and / or the perception coverage time window corresponding to the cooperative terminal from the first response message, and then the first terminal can configure the cooperative task configuration information for the cooperative terminal based on the communication coverage time window and / or the perception coverage time window corresponding to the cooperative terminal.

[0224] For example, when the communication coverage time window is greater than or equal to the communication coverage time window threshold and the perception coverage time window is greater than or equal to the perception coverage time window threshold, the cooperative task configuration information configured by the first terminal for the cooperative terminal indicates that the cooperative terminal can be both a sending terminal of the perception signal and a receiving terminal of the echo signal.

[0225] When the communication coverage time window is greater than or equal to the communication coverage time window threshold, but the perception coverage time window is less than the perception coverage time window threshold, the cooperation task configuration information configured by the first terminal for the cooperation terminal can indicate that the cooperation terminal is a receiving end of the echo signal.

[0226] When the communication coverage time window is less than the communication coverage time window threshold, but the perception coverage time window is greater than or equal to the perception coverage time window threshold, the cooperation task configuration information configured by the first terminal for the cooperation terminal can indicate that the cooperation terminal is a sending end of the perception signal.

[0227] Optionally, in the embodiments of the present application, the first terminal can configure the cooperation terminal with cooperation task configuration information according to the change of the perception link between the cooperation terminal and the target object.

[0228] When the cooperation terminal independently completes the perception measurement, the perception link refers to the link between the target object and the cooperation terminal.

[0229] When the cooperation terminal adopts the cooperation mode of self-to-other reception or other-to-self transmission, the perception link refers to the link between the sending end and the target object and the link between the target object and the receiving end.

[0230] In the embodiments of the present application, the first terminal can determine the change of the perception link between the cooperation terminal and the target object according to the motion state information of the cooperation terminal and the motion state information of the target object.

[0231] The first terminal can establish the perception link according to the position of the cooperation terminal and the position of the target object, and then determine the change of the perception link according to the moving speed and moving direction of the cooperation terminal and the moving speed and moving direction of the target object. The first terminal can configure the cooperation terminal with cooperation task configuration information according to the fast or slow degree of the change of the perception link.

[0232] When the change of the perception link between the cooperation terminal and the target object is higher than the change threshold, the cooperation task configuration information indicates that the cooperation terminal is both a sending end of the perception signal and a receiving end of the echo signal.

[0233] For example, in an indoor scene, the moving speed of the cooperation terminal and the target object is generally slow, in which case, the cooperation task configuration information configured by the first terminal for the cooperation terminal indicates that the cooperation terminal can be both a sending end of the perception signal and a receiving end of the echo signal. This mode can reduce the signaling overhead of the first terminal and save resources.

[0234] Further, in order to avoid the influence of self-interference and reduce the hardware burden, the cooperation task configuration information configured by the first terminal for the cooperation terminal can also indicate that the cooperation terminal is a sending end of the perception signal or a receiving end of the echo signal.

[0235] It should be noted that in the implementation process, time synchronization and beam alignment need to be performed by the sending end and the receiving end.

[0236] When the change of the sensing link between the cooperative terminal and the target object is lower than the change threshold, the cooperative task configuration information indicates that the cooperative terminal is the sending end of the sensing signal or the receiving end of the echo signal or both.

[0237] For example, in an outdoor scene, the cooperative terminal and the target object move at a relatively high speed. In this case, the cooperative task configuration information configured by the first terminal for the cooperative terminal indicates that the cooperative terminal can be both the sending end of the sensing signal and the receiving end of the echo signal.

[0238] The cooperative terminal uses the self-sending and self-receiving mode, which can reduce the requirement for time synchronization and beam alignment between the sending end and the receiving end, and is more suitable for a scene in which the sensing link changes rapidly.

[0239] It should be noted that in the embodiments of the present application, the time-frequency-space resources of different sensing links are orthogonal, so that the different sensing links do not interfere with each other.

[0240] Optionally, the first terminal can configure the cooperative task configuration information for the cooperative terminal according to the distance between the cooperative terminal and the target object.

[0241] For example, considering that the cooperative terminal closer to the target object can receive a stronger echo signal, the cooperative terminal closer to the target object can be preferentially configured as the receiving end of the echo signal, that is, the task configuration information is configured to indicate that the cooperative terminal is the receiving end of the echo signal.

[0242] Optionally, the first terminal can configure the cooperative task configuration information for the cooperative terminal according to the terminal capability of the cooperative terminal.

[0243] For example, considering that the receiving end needs to process the echo signal and extract the sensing measurement, the cooperative terminal with strong sensing signal processing capability should be preferentially selected as the receiving end of the echo signal, that is, the task configuration information is configured to indicate that the cooperative terminal is the receiving end of the echo signal.

[0244] Optionally, in the embodiments of the present application, the second request message can carry sensing resource configuration information and cooperative task configuration information.

[0245] The sensing resource configuration information is used to indicate the resource used by the cooperative terminal when performing sensing measurement. The cooperative task configuration information is used to indicate that the cooperative terminal is the sending end of the sensing signal, the receiving end of the echo signal, or both.

[0246] The first terminal can configure the sensing resource for the cooperative terminal and determine the role of different cooperative terminals through the second request message. The implementation process can refer to the content disclosed above, and will not be described here.

[0247] It should be noted that when the cooperative terminal is configured as the receiving end of the echo signal, the cooperative terminal can not be configured with a sensing resource. Thus, the sensing resource occupation can be reduced, and the signaling overhead of the first terminal can be reduced.

[0248] Optionally, on the basis of the above-mentioned embodiments, in the embodiments of the present application, the second request message can also carry at least one of sensing waveform type configuration information, sensing measurement quantity configuration information, and sensing measurement reporting configuration information.

[0249] The sensing waveform type configuration information is used to configure the waveform of the sensing signal. For example, the waveform of the sensing signal can be configured as orthogonal frequency division multiplexing, frequency modulation continuous wave, radar pulse, etc.

[0250] The sensing measurement quantity configuration information includes an indirect result of sensing or a direct result of sensing. The indirect result of sensing includes distance, speed, and angle domain information of the sensing measurement. The direct result of sensing includes position, speed, and direction information of the sensing target.

[0251] The sensing measurement reporting configuration information includes a sensing measurement result of the sensing measurement reporting and a measurement reporting period. The sensing measurement result corresponds to the sensing measurement quantity. The measurement reporting period can be periodic or aperiodic.

[0252] In step 405, the second terminal performs sensing measurement on the target object according to the second request message.

[0253] In the embodiments of the present application, the second terminal that receives the second request message is the cooperative terminal determined by the first terminal, and the second request message is sent in the case that the second terminal is the cooperative terminal.

[0254] The second terminal that does not receive the second request message is not the cooperative terminal, and does not occupy the sensing resource in the sensing resource set within the sensing task start and end time window, so as to avoid interference when other second terminals perform sensing measurement on the target object.

[0255] Optionally, the second request message includes the identifier of the cooperative terminal. The second terminal can parse the received second request message. If the identifier of the second terminal is found from the parsing result, it indicates that the second terminal is the cooperative terminal.

[0256] In an implementation manner, the second terminal can send a sensing signal, receive an echo signal, and calculate sensing data. The sensing data is fed back to the first terminal.

[0257] Optionally, the second request message carries sensing resource configuration information, and the second terminal can transmit the sensing signal using the sensing resource indicated by the sensing resource configuration information.

[0258] Optionally, the second request message carries cooperation task configuration information. If the cooperation task configuration information indicates that the second terminal is a transmission end of the sensing signal, the second terminal is only responsible for transmitting the sensing signal. If the cooperation task configuration information indicates that the second terminal is a reception end of the echo signal, the second terminal is responsible for receiving the echo signal, calculating the sensing data, and feeding back the sensing data to the first terminal. If the cooperation task configuration information indicates that the second terminal is a transmission end of the sensing signal and a reception end of the echo signal, the second terminal transmits the sensing signal, receives the echo signal, calculates the sensing data, and feeds back the sensing data to the first terminal.

[0259] Optionally, the second request message carries sensing resource configuration information and cooperation task configuration information. In this case, if the cooperation task configuration information indicates that the second terminal is a transmission end of the sensing signal, the second terminal transmits the sensing signal using the sensing resource indicated by the sensing resource configuration information. If the cooperation task configuration information indicates that the second terminal is a transmission end of the sensing signal and a reception end of the echo signal, the second terminal transmits the sensing signal using the sensing resource indicated by the sensing resource configuration information, receives the echo signal, calculates the sensing data, and feeds back the sensing data to the first terminal.

[0260] In the embodiment of the application, the second terminal can determine an initial sensing beam based on the position in the acquired motion state information of the target object and the position of the second terminal, and transmit the sensing signal using the initial sensing beam.

[0261] It should be noted that in the embodiment of the application, when the cooperative terminal performs sensing measurement, it can obtain echo signals reflected by multiple objects in the surrounding environment. In this case, the cooperative terminal can analyze the echo signals to obtain sensing data, and then determine the sensing data corresponding to the target object from the sensing data corresponding to the echo signals based on the attribute information of the target object.

[0262] Optionally, if the cooperative terminal detects multiple target objects satisfying the attribute information, the cooperative terminal can report the multiple sensing data to the first terminal.

[0263] It should be noted that in the embodiment of the application, when no target object is detected within the preset time length, the second terminal transmits a third response message to the first terminal.

[0264] When the second terminal does not detect the target object for a period of time, for example, if the moving speed of the target object is very fast, the second terminal is likely to change from being able to perceive the target object to losing the target object. In this case, the second terminal reports a third response message. The third response message indicates that the target object is lost, and the third response message includes the direction of the loss of the target object and the distance of the target object to the cooperative terminal.

[0265] The cooperative perception method provided in the embodiments of the present application first sends a first request message to the second terminal before performing the perception measurement on the target object, to determine whether the second terminal can perform the perception measurement on the target object, and then requests the cooperative terminal capable of performing the perception measurement on the target object to perform the perception measurement, which helps to improve the success rate of the perception measurement on the target object and improve the perception accuracy on the target object.

[0266] It should be noted that, in the embodiments of the present application, in the process of initiating the perception request by the first terminal, the first terminal finds the surrounding terminals (evaluates the signal strength of the neighbor terminals) through the device discovery of the D2D communication. A new perception service indication bit (1 bit) is added to indicate the purpose of the discovery message. The perception capability request, the perception task type, the perception start and end time, the perception resource set, the motion state information and attribute information of the target object, and the motion state information of the first terminal are transmitted on the PSCCH PC5-RRC. The perception start and end time window is configured with the perception start and end time (4 bits), and the unit is 1 OFDM symbol.

[0267] The second terminal feeds back the terminal capability and the motion state information of the second terminal to the first terminal. The motion state information is transmitted on the PSSCH.

[0268] The first terminal performs the perception configuration on the second terminal. In the perception configuration, a cooperative perception mode and the role of the second terminal are added. The cooperative perception mode includes self-initiated self-reception and self-initiated other-reception or other-initiated self-reception. The role of the second terminal has two types of sending end and receiving end in the case of self-initiated other-reception.

[0269] When the second terminal performs the cooperative perception, the second terminal performs based on the perception configuration of the first terminal. In the self-initiated other-reception cooperative perception mode, the second terminal as the sending end and the second terminal as the receiving end adopt the same resource configuration. In the self-initiated self-reception cooperative perception mode, different second terminals adopt orthogonal transmission resource sets, for example, the second terminal 1 adopts odd time slots and the second terminal 2 adopts even time slots.

[0270] Please refer to FIG. 5, which shows a schematic interaction diagram of another cooperative perception method 500 provided in the embodiments of the present application. Next, each step of the method is described in detail.

[0271] In the embodiments of the present application, the first terminal and the second terminal are the execution subjects of the method 500, and the method 500 is described. As an example but not limitation, the execution subject of the method 500 can also be a chip or a circuit corresponding to the first terminal and the second terminal.

[0272] In step 501, the first terminal broadcasts a discovery message.

[0273] In the embodiments of the present application, the first terminal can enter the cooperative perception mode in response to a user-triggered cooperative instruction, or can autonomously switch to enter the cooperative perception mode. The broadcast discovery message is the first step for the first terminal to switch from the normal perception mode to the cooperative perception mode. The discovery message is used to discover the second terminal, which is a terminal supporting cooperative perception.

[0274] 1. Application layer triggering.

[0275] That is, the user selects cooperative perception in the upper layer application, or selects to enhance the perception ability of the first terminal, and then the first terminal broadcasts the discovery message in response to the cooperative instruction sent by the upper layer application.

[0276] For example, the user can discover a lost device through the first terminal, and then select the lost device as a target object, and trigger a cooperative instruction of cooperative perception or enhanced perception in the upper layer application. The first terminal generates a discovery message and broadcasts it in response to the cooperative instruction.

[0277] 2. First terminal autonomous triggering.

[0278] The first terminal can perceive multiple target objects and obtain perception results.

[0279] In one implementation mode, when the perception accuracy of the perception result of one or more target objects cannot meet the perception accuracy requirement of the perception task, the first terminal can switch to the cooperative perception mode to improve the perception ability of the first terminal.

[0280] In another implementation mode, when the first terminal suddenly enters a complex electromagnetic environment and the perception accuracy decreases, the first terminal will automatically switch to the cooperative perception mode in this case to perceive the surrounding environment or the target object by using the cooperative terminal.

[0281] In another implementation mode, when the first terminal can perceive a target object historically, but cannot perceive the target object again in the current ongoing perception process, the first terminal can automatically switch to the cooperative perception mode to re-perceive the target object through cooperative perception.

[0282] In the embodiments of the present application, the specific process of the first terminal autonomously triggering to enter the cooperative perception mode includes:

[0283] The first terminal measures the echo signal, and if the first condition is met, the first terminal determines that the perception accuracy does not meet the perception accuracy requirement, and enters the cooperative perception mode.

[0284] The first condition includes at least one of the following: the intensity of the echo signal corresponding to the target object is lower than a first threshold, the distance between the target object and the first terminal exceeds a second threshold, the radar cross-section (RCS) of the echo signal corresponding to the target object is less than a third threshold, the resolution of the perception measurement quantity corresponding to the target object is less than a fourth threshold, and the speed of the perceived target object is greater than a fifth threshold.

[0285] The radar cross-section refers to the radar reflection cross-section. The principle of radar detection is to emit electromagnetic waves to the surface of an object and then reflect them back to the receiving antenna. The smaller the ratio of the received reflected and scattered electromagnetic waves to the transmitted electromagnetic waves, the smaller the radar reflection cross-section. In addition, the farther the distance, the smaller the radar reflection cross-section. The radar reflection cross-section is related to the shape, material, structure, distance of the target object, and the frequency, polarization direction, and incident angle of the incident electromagnetic wave.

[0286] In the embodiments of the present application, the first threshold is a signal intensity threshold, the second threshold is a coverage distance threshold of the first terminal, the third threshold is a radar reflection cross-section threshold, and the fourth threshold is a resolution threshold. The resolution threshold includes thresholds corresponding to each perception measurement quantity, such as a speed resolution threshold, a distance resolution threshold, and an angle resolution threshold. The fifth threshold is a speed limit (speed threshold) that can be perceived by the first terminal.

[0287] In the embodiments of the present application, after the first terminal enters the cooperative perception mode, it can broadcast a discovery message. The first terminal can broadcast the discovery message through a physical sidelink shared channel (PSSCH). The discovery message carries a device discovery instruction. The first terminal can initiate a perception cooperation request signaling through the device discovery instruction. The purpose of the perception cooperation request signaling is to discover a second terminal with perception capability,

[0288] Optionally, in the embodiments of the present application, the discovery message (perception cooperation request signaling) carries at least one of the following: a perception task type, a perception capability requirement, a perception start and end time window, and a perception resource set.

[0289] In the embodiments of the present application, according to the processing manner of the perception measurement data, the types of the perception task can be divided into three types of perception, namely, detection type, estimation type and identification type. The detection type refers to making a binary / multivariate judgment on the state of the perceived object based on the perception measurement data, and the state usually includes whether the target exists or not or whether the event has occurred, etc. For example, intrusion detection, vehicle detection, pedestrian detection, and unmanned aerial vehicle detection. The estimation type refers to estimating the parameters (including distance, speed, angle, position, etc.) of the perceived object based on the perception measurement data, and the estimation performance can be measured by mean square error, root mean square error, angle error, distance error, and speed error. The identification type refers to identifying what the target object is based on the perception measurement data, which can include target identification and human activity / event identification, and the performance is evaluated by the identification accuracy.

[0290] Optionally, in the embodiments of the present application, the perception task type can also be divided into tracking type task and environment reconstruction type task according to different scenes.

[0291] The perception capability requirement is related to the perception task type, which can be understood as the capability required to perform the task corresponding to the perception task type, and different perception tasks correspond to different perception capability requirements. The perception capability requirement includes at least one of radio frequency capability requirement, signal processing capability requirement, and perception performance requirement.

[0292] The perception start and end time window includes the start time and the end time of performing the perception measurement. The first terminal indicates the time slot of starting and ending the perception task through the perception start and end time window, and the cooperative terminal performs the perception measurement on the target object within the perception start and end time window.

[0293] The perception resource set includes a plurality of perception resources for perception measurement. In the embodiments of the present application, the perception resource set defines a set of time slot and frequency band positions occupied by the perception signal. Through the given perception resource set, the time-frequency resource position of the perception signal transmission and reception is determined to meet the requirements of the perception task and avoid interference between the perception signals.

[0294] The first terminal determines the perception resource in the perception resource set in the following two ways:

[0295] The first way is that the network device configures and schedules Sidelink resources to the first terminal for perception.

[0296] The second way is that the first terminal autonomously selects Sidelink resources, the first terminal assists the cooperative terminal to select Sidelink resources, and the first terminal schedules the cooperative terminal to select Sidelink resources.

[0297] Optionally, before broadcasting the discovery message, the first terminal can obtain historical perception data of the target object, and determine the perception task type according to the historical perception data of the target object, and determine the perception capability requirement according to the perception task type.

[0298] For example, if the historical data of the target object reflects the identification result of the target object, the first terminal can determine that the perception task type of the perception task for the target object is an identification task. Then, the first terminal determines the requirement to be met for performing the perception task based on the identification task.

[0299] Optionally, before broadcasting the discovery message, the first terminal can determine the perception task type and the perception capability requirement corresponding to the perception task type based on an algorithm of the first terminal.

[0300] Optionally, when the first terminal determines that there is no historical perception data, the first terminal can determine the perception task type and the perception capability requirement corresponding to the perception task type based on a preset rule.

[0301] Optionally, in the embodiments of the present application, the first terminal can also determine the perception task, the perception task type and the perception capability requirement based on an instruction of an upper application or an instruction of another device. That is, the perception capability requirement can not be determined only according to the perception task type.

[0302] In step 502, the second terminal sends a second response message to the first terminal in response to the discovery message.

[0303] The second response message carries the terminal capability and the motion state information of the second terminal.

[0304] In the embodiments of the present application, after receiving the discovery message, the second terminal responds to the discovery message, and sends the second response message to the first terminal when it is determined that the second terminal can perform cooperative perception.

[0305] In the embodiments of the present application, each terminal (referred to as a candidate terminal) within the coverage of the first terminal can receive the discovery message sent by the first terminal. After receiving the discovery message, the candidate terminal can parse the discovery message to obtain the perception task type, the perception capability requirement, the perception time window and the perception resource set carried in the discovery message.

[0306] Then, the candidate terminal can determine whether the following conditions are met, and feed back the second response message to the first terminal in the case that the following conditions are met. The candidate terminal feeding back the second response message to the first terminal is the second terminal.

[0307] 1. Support the perception task type and meet the perception capability requirement.

[0308] 2. there exists a target sensing resource, the target sensing resource is one or more of the plurality of sensing resources included in the sensing resource set, and the second terminal is in an idle state on the target sensing resource.

[0309] The sensing resource refers to a time domain resource, a frequency domain resource, and a space domain resource.

[0310] For example, the sensing resource set includes five sensing resources, namely, sensing resource 1, sensing resource 2, sensing resource 3, sensing resource 4, and sensing resource 5, wherein the candidate terminal is in an occupied state on the sensing resource 2, the sensing resource 4, and the sensing resource 5, wherein the occupied state means that there is another sensing / communication task on the sensing resources. The sensing resource 1 and the sensing resource 3 are in an idle state, which means that there exists a target sensing resource, and the target sensing resource is the sensing resource 1 and the sensing resource 3.

[0311] For another example, the sensing resource set includes five sensing resources, namely, sensing resource 1, sensing resource 2, sensing resource 3, sensing resource 4, and sensing resource 5, wherein the candidate terminal is in an occupied state on the sensing resources 1-5, which means that there is no target sensing resource.

[0312] 3. there is no other sensing task or communication task in the sensing start and end time window.

[0313] In the embodiment of the present application, as shown in FIG. 5, if the candidate terminal does not meet one or more of the above conditions or the candidate terminal determines not to perform cooperative sensing, the second response message is not fed back or information indicating not to perform cooperative sensing, such as NACK information, is fed back. In addition, the sensing resources in the sensing resource set are not occupied in the sensing start and end time window to avoid interference with the second terminal.

[0314] Optionally, in the embodiment of the present application, the second response message carries terminal capability and / or motion state information of the second terminal. The terminal capability of the second terminal refers to the capability of the second terminal when performing sensing measurement.

[0315] The terminal capability of the second terminal includes one or all of sensing waveform, sensing distance resolution and accuracy, sensing speed resolution and accuracy, sensing angle resolution and accuracy, maximum unambiguous distance, maximum unambiguous speed, maximum unambiguous angle, and sensing signal processing delay. The sensing waveform is, for example, frequency modulation continuous wave, radar pulse, orthogonal frequency division multiplexing, etc. Optionally, the terminal capability of the second terminal further includes duty cycle, pulse duration, maximum bandwidth, pulse transmission frequency, etc.

[0316] The motion state information of the second terminal includes reference signal received power, beam pointing of the second terminal relative to the first terminal, coordinates, moving speed, and moving direction of the second terminal.

[0317] In the embodiment of the present application, the second terminal feeds back the second response message to the first terminal, which indicates that the second terminal supports the cooperative sensing task and meets the conditions in the discovery message, and also informs the first terminal of the terminal capability of the second terminal, so as to select a more suitable cooperative terminal for the first terminal to perform the sensing measurement.

[0318] Optionally, in the embodiment of the present application, the second response message also carries the target sensing resource corresponding to the second terminal.

[0319] The target sensing resource is determined according to the sensing resource set indicated by the first terminal to the second terminal, and the second terminal is in an idle state on the target sensing resource.

[0320] Taking the above example, the target sensing resource is sensing resource 1 and sensing resource 3, and in the embodiment of the present application, the second response message can include a field indicating the sensing resource number to inform the first terminal of the sensing resource available for the second terminal.

[0321] Step 503, the first terminal sends a first request message to the second terminal.

[0322] In one implementation mode, after receiving the second response messages sent by the plurality of second terminals, the first terminal can send the first request message to each second terminal.

[0323] In another implementation mode, after receiving the second response messages sent by the plurality of second terminals, the first terminal can select some second terminals from the plurality of second terminals, and send the first request message to the selected second terminals.

[0324] Step 504, the second terminal determines whether to perform the sensing measurement on the target object in response to the first request message.

[0325] Step 505, the second terminal sends a first response message to the first terminal.

[0326] Step 506, the first terminal sends a second request message to the cooperative terminal according to the first response message.

[0327] Step 507, the second terminal performs the sensing measurement on the target object according to the second request message.

[0328] In the embodiment of the present application, the description of steps 503 to 507 can refer to the content disclosed in the above embodiments, which will not be repeated here.

[0329] Step 508, the second terminal sends sensing data to the first terminal.

[0330] At step 509, the first terminal fuses the perception data sent by the plurality of second terminals to obtain a final perception result.

[0331] In the embodiment of the application, the first terminal collects the perception data of the target object sent by the plurality of second terminals, and the perception data includes a plurality of perception measurement quantities. Then, the first terminal can fuse the perception measurement quantities in the plurality of perception data to obtain a final perception result.

[0332] The final perception result includes the motion state information and the attribute information of the target object perceived this time.

[0333] In an implementation manner, the perception data is indirect information of the perception task, and the indirect information includes a) distance, speed, and angle domain information of the target object in a period of time; and b) perception signal RSRP, signal round trip time, and radar reflection cross-sectional area of a plurality of perception links.

[0334] The first terminal can calculate the motion state information and the attribute information of the target object by using a machine learning algorithm or an artificial intelligence algorithm.

[0335] In another implementation manner, the perception result is direct information of the perception task.

[0336] For example, if the perception task is a detection task, the perception result is whether the target object is detected or not. If the perception task is a tracking task, the perception result is a moving track of the target object. If the perception task is an identification task, the perception result includes a coordinate position, a moving speed, a moving direction, a color, a material, an attribute, and the like of the target object.

[0337] In the embodiment of the application, the first terminal can fit the perception data reported by the plurality of second terminals by using a machine learning algorithm or an artificial intelligence algorithm to obtain a final perception result.

[0338] The collaborative perception method provided in the embodiment of the application finds a terminal supporting collaborative perception through a discovery message, and then determines a cooperative terminal capable of performing perception measurement on the target object from the terminal supporting collaborative perception. This kind of selection is helpful to improve the success rate of perception measurement on the target object and improve the perception accuracy on the target object.

[0339] The collaborative perception method provided in the embodiment of the application is described in detail in the following scenes.

[0340] Please refer to FIG. 6 and FIG. 7. FIG. 6 shows a schematic diagram of collaborative perception on a target object based on a self-initiated collaborative mode, and FIG. 7 shows a signaling flowchart of a collaborative perception method.

[0341] As shown in FIG. 6, UE1 is a first terminal, the target object is a person, and UE2 and UE3 are cooperative terminals. The cooperative terminals adopt a self-initiated and other-received cooperative mode. For example, UE2 is a sensing signal sending terminal, and UE3 is a backwave signal receiving terminal. UE1 can configure the corresponding roles of UE2 and UE3 through cooperative task configuration information. The configuration implementation process can refer to the content disclosed in the above embodiments, and will not be described here. The cooperative sensing method includes the following steps.

[0342] In step 701, UE1 broadcasts a discovery message.

[0343] The discovery message carries a sensing task type, a sensing capability requirement, a sensing start and end time window, and a sensing resource set.

[0344] In step 702, UE2 feeds back a second response message, and UE3 feeds back a second response message.

[0345] The second response message fed back by UE2 includes terminal capability, motion state information, and corresponding target sensing resources of UE2.

[0346] The second response message fed back by UE3 includes terminal capability, motion state information, and corresponding target sensing resources of UE3.

[0347] It should be noted that if UE2 does not match the sensing capability requirement or does not agree to cooperative sensing, UE2 can not feed back, and UE2 does not apply the sensing resources in the sensing resource set within the sensing start and end time window.

[0348] The processing logic of UE3 is the same as that of UE2, and will not be described here.

[0349] In step 703, UE1 sends a second request message to UE2 and UE3, respectively.

[0350] The second request message is used to configure UE2 and UE3 for sensing, and specifically includes the roles of UE2 and UE3.

[0351] For example, the role of UE2 is a sensing signal sending terminal, and the role of UE3 is a backwave signal receiving terminal.

[0352] In step 704, UE2 sends a sensing signal.

[0353] In step 705, UE3 receives a backwave signal and extracts sensing data.

[0354] In step 706, UE3 sends the sensing data to UE1.

[0355] In step 707, UE1 fuses the sensing data to obtain a final sensing result.

[0356] In the embodiment of the present application, the self-to-receiving cooperation mode is adopted, the self-interference cancellation capability requirement of the hardware of the cooperation terminal is low, the resource utilization rate is high, and the implementation is convenient. However, UE 2 and UE 3 need to realize fine synchronization. Therefore, the scheme is suitable for the scenario that the relative positions of UE 2 and UE 3 are fixed, and the Doppler shift caused by movement is avoided. It should be noted that UE 2 and UE 3 adopt the same time slot configuration and share the same sensing resource.

[0357] Please refer to FIG. 8 and FIG. 9, FIG. 8 shows a schematic diagram of cooperative sensing of a target object based on a self-to-receiving cooperation mode, and FIG. 9 shows a signaling flowchart of a cooperative sensing method.

[0358] As shown in FIG. 8, UE1 is a first terminal, the target object is a person, and UE2 and UE3 are cooperation terminals. The cooperation terminals adopt the self-to-receiving cooperation mode. For example, UE2 and UE3 are both the sending end of the sensing signal and the receiving end of the echo signal. UE1 can configure the corresponding roles of UE2 and UE3 through the cooperation task configuration information. The configuration implementation process can refer to the content disclosed in the above embodiment, and will not be described here. The cooperative sensing method includes the following steps:

[0359] Step 901, UE1 broadcasts a discovery message.

[0360] The discovery message carries the sensing task type, the sensing capability requirement, the sensing start and end time window, and the sensing resource set.

[0361] Step 902, UE2 feeds back a second response message, and UE3 feeds back a second response message.

[0362] The second response message fed back by UE2 includes the terminal capability, the motion state information, and the corresponding target sensing resource of UE2.

[0363] The second response message fed back by UE3 includes the terminal capability, the motion state information, and the corresponding target sensing resource of UE3.

[0364] It should be noted that if UE2 does not match the sensing capability requirement or does not agree to cooperative sensing, UE2 can not feed back, and UE2 does not apply the sensing resource in the sensing resource set within the sensing start and end time window.

[0365] The processing logic of UE3 is the same as that of UE2, and will not be described here.

[0366] Step 903, UE1 sends a second request message to UE2 and UE3 respectively.

[0367] The second request message is used for sensing configuration of UE2 and UE3, and specifically includes the roles of UE2 and UE3.

[0368] For example, UE2 is both a sensing signal sending terminal and an echo signal receiving terminal, and UE3 is both a sensing signal sending terminal and an echo signal receiving terminal.

[0369] It should be noted that in the self-sending and self-receiving mode, the time-frequency domains of UE2 and UE3 need to be orthogonal. For example, the same frequency domain resource is used, UE2 sends in even time slots, and UE3 sends in odd time slots. Alternatively, UE2 and UE3 use different frequency domain resources, and a guard band is reserved between the frequency domain resources. At this time, UE2 and UE3 can use any time slot configuration.

[0370] In step 904, UE2 and UE3 each perform sensing measurement on the target object to obtain sensing data.

[0371] In step 905, UE2 sends the sensing data to UE1, and UE3 sends the sensing data to UE1.

[0372] In step 906, UE1 fuses the sensing data sent by UE2 and UE3 respectively to obtain the final sensing result.

[0373] In the embodiments of the present application, UE2 and UE3 each independently use the self-sending and self-receiving mode to sense the target object. The advantage is that it does not need the cooperation of other UEs, avoiding fine synchronization. However, the self-sending and self-receiving sensing mode has a relatively shorter coverage distance than the self-sending and other-receiving sensing mode. More importantly, the self-sending and self-receiving mode requires the cooperative terminal to have self-interference cancellation capability, which has a high requirement on hardware performance. It is preferentially applicable to scenarios where the cooperative terminal moves at a high speed.

[0374] It can be understood that, in order to implement the functions in the above embodiments, the first terminal and the second terminal include the corresponding hardware structure and / or software modules for executing each function. Those skilled in the art should easily realize that, in combination with the units and method steps of the examples described in the embodiments disclosed in the present application, the present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in hardware or computer software driven hardware depends on the specific application scenario and design constraints of the technical solution.

[0375] It should be noted that the various steps shown in FIG. 4 or FIG. 5 in the embodiments of the present application do not have a certain sequence relationship, and the various steps can be freely combined to form various implementation manners of sensing measurement on the target object, and the embodiments of the present application do not limit various combination manners.

[0376] The above describes the cooperative sensing method provided by the embodiments of the present application in combination with FIG. 1 to FIG. 9. The device for executing the above method provided by the embodiments of the present application is described below.

[0377] FIG. 10 to FIG. 11 are structural diagrams of possible cooperative perception devices provided by the embodiments of the present application. These cooperative perception devices can be used to implement the functions of the first terminal or the second terminal in the above-mentioned method embodiments, and thus can also achieve the beneficial effects possessed by the above-mentioned method embodiments. In the embodiments of the present application, the cooperative perception device can be the first terminal or the second terminal as shown in FIG. 4 or FIG. 5, or can be a module (such as a chip) applied to the first terminal or the second terminal.

[0378] As shown in FIG. 10, FIG. 10 shows a structural block diagram of a cooperative perception device. The cooperative perception device 1000 includes a processing unit 1001 and a transceiver unit 1002. The cooperative perception device 1000 is used to implement the functions of the first terminal or the second terminal in the above-mentioned method embodiments shown in FIG. 4 or FIG. 5.

[0379] When the cooperative perception device 1000 is used to implement the functions of the first terminal in the method embodiments shown in FIG. 4 or FIG. 5: the processing unit 1001 generates a first request message, and the transceiver unit 1002 sends the first request message to a second terminal, the first request message carrying motion state information of the first terminal and motion state information and attribute information of a target object, the first request message being used to request the second terminal to determine whether to perform perception measurement on the target object, the second terminal being a terminal discovered by the first terminal; a first response message is received, the first response message indicating to the first terminal whether the second terminal can perform perception measurement on the target object; the processing unit 1001 determines a cooperative terminal according to the first response message, and generates a second request message, and the transceiver unit 1002 sends the second request message to the cooperative terminal, the second request message being used to request the cooperative terminal to perform perception measurement on the target object, the cooperative terminal being a terminal in the second terminal that can perform perception measurement on the target object.

[0380] When the cooperative perception device 1000 is used to implement the functions of the second terminal in the method embodiments shown in FIG. 4 or FIG. 5: the transceiver unit 1002 receives a first request message from a first terminal, the first request message carrying motion state information of the first terminal and motion state information and attribute information of a target object, the first request message being used to request the second terminal to determine whether to perform perception measurement on the target object; the processing unit 1001 determines whether to perform perception measurement on the target object in response to the first request message, generates a first response message, and the transceiver unit 1002 sends the first response message, the first response message indicating to the first terminal whether the second terminal can perform perception measurement on the target object; a second request message is received, the second request message being used to request a cooperative terminal to perform perception measurement on the target object, wherein the second request message is sent in the case that the second terminal is the cooperative terminal; the processing unit 1001 performs perception measurement on the target object according to the second request message.

[0381] More detailed description of the processing unit 1001 and the transceiver unit 1002 can be directly obtained by referring to the related description in the method embodiments shown in FIG. 4 or FIG. 5, which will not be repeated here.

[0382] When the above-mentioned cooperative perception device is a terminal chip, the terminal chip implements the functions of the terminal in the above-mentioned method embodiments. The terminal chip can receive information from other modules (such as a radio frequency module or an antenna) in the terminal; or the terminal chip can send information to other modules (such as a radio frequency module or an antenna) in the terminal.

[0383] As shown in FIG. 11, FIG. 11 shows a structural diagram of a terminal, which can be a first terminal or a second terminal. The terminal 1100 includes a processor 1111 and an interface circuit 1120. The processor 1111 and the interface circuit 1120 are coupled to each other. It can be understood that the interface circuit 1120 can be a transceiver or an input / output interface. The interface circuit 1120 is configured to receive a signal from another terminal outside the terminal and transmit the signal to the processor 1111, or transmit a signal from the processor 1111 to another terminal outside the terminal.

[0384] Optionally, the terminal 1100 can further include a memory 1130, configured to store instructions executed by the processor 1111, or store input data required by the processor 1111 to run instructions, or store data generated after the processor 1111 runs instructions.

[0385] When the terminal 1100 is used to implement the method shown in FIG. 4 or FIG. 5, the processor 1111 is configured to perform the functions of the above-mentioned processing unit 1001, and the interface circuit 1120 is configured to perform the functions of the above-mentioned transceiver unit 1002.

[0386] The present application also provides a cooperative perception system, including a first terminal and a second terminal, wherein the first terminal is configured to implement the method shown in FIG. 4, and the second terminal is configured to implement the method shown in FIG. 4.

[0387] The present application also provides a computer readable storage medium, which stores a computer program, and the computer program includes program instructions, when the program instructions are executed, the method shown in FIG. 4 is implemented.

[0388] The present application also provides a computer program product, which includes computer program code, when the computer program code is run on a computer, the computer program code makes the computer execute the method shown in FIG. 4.

[0389] It can be understood that the processor in the embodiments of the present application can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor can be a microprocessor or any conventional processor.

[0390] The method steps in the embodiments of the present application can be implemented in the form of hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory (RAM), a flash memory, a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM), a register, a hard disk, a mobile hard disk, a CD-ROM or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor, so that the processor can read information from and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device or a terminal. Of course, the processor and the storage medium can also exist as discrete components in the network device or the terminal.

[0391] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer programs or instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are performed. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer programs or instructions can be stored in or transmitted by a computer readable storage medium. The computer readable storage medium can be any available medium accessible by a computer or a data storage device such as a server integrating one or more available media. The available medium can be a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape; an optical medium, such as a DVD; or a semiconductor medium, such as a solid state disk (SSD).

[0392] In various embodiments of the present application, the terms and / or descriptions between different embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0393] In the present application, "at least one" means one or more, and "multiple" means two or more. The "and / or" describes the association relationship between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. In the literal description of the present application, the character " / ", generally represents that the front and rear associated objects are in an "or" relationship; in the formula of the present application, the character " / ", represents that the front and rear associated objects are in a "division" relationship.

[0394] It can be understood that the various numbers involved in the embodiments of the present application are only distinguished for convenience of description, and are not used to limit the scope of the embodiments of the present application. The size of the serial number of the above processes does not mean the execution order, and the execution order of the processes should be determined according to its function and inherent logic.

Claims

1. A method of cooperative perception, the method comprising: Applied to a first terminal, the method comprises: sending a first request message to a second terminal, the first request message carrying motion state information of the first terminal and / or motion state information and attribute information of a target object, the first request message being used for requesting the second terminal to determine whether to perform sensing measurement on the target object, the second terminal being a terminal discovered by the first terminal; receiving a first response message, the first response message indicating to the first terminal whether the second terminal can perform sensing measurement on the target object; according to the first response message, sending a second request message to a cooperative terminal, the second request message being used for requesting the cooperative terminal to perform sensing measurement on the target object, the cooperative terminal being a terminal in the second terminal that can perform sensing measurement on the target object.

2. The method of claim 1, wherein, The second request message carries sensing resource configuration information, the sensing resource configuration information being used for indicating resources used by the cooperative terminal when performing sensing measurement.

3. The method according to claim 1 or 2, characterized in that, The second request message carries cooperative task configuration information, the cooperative task configuration information being used for indicating that the cooperative terminal is a sending end of a sensing signal, a receiving end of a echo signal, or both a sending end of a sensing signal and a receiving end of a echo signal, and before the step of sending the second request message to the cooperative terminal, the method further comprises: determining a change of a sensing link between the cooperative terminal and the target object according to motion state information of the cooperative terminal and motion state information of the target object, the change of the sensing link between the cooperative terminal and the target object being used for determining the cooperative task configuration information.

4. The method of claim 3, wherein: when the change of the sensing link between the cooperative terminal and the target object is higher than a change threshold, the cooperative task configuration information indicates that the cooperative terminal is both a sending end of a sensing signal and a receiving end of a echo signal; when the change of the sensing link between the cooperative terminal and the target object is lower than the change threshold, the cooperative task configuration information indicates that the cooperative terminal is a sending end of a sensing signal or a receiving end of a echo signal.

5. The method according to any one of claims 1-4, characterized in that, The second request message further carries at least one of sensing waveform type configuration information, sensing measurement quantity configuration information, and sensing measurement reporting configuration information.

6. The method according to any one of claims 1-5, characterized in that, The method further comprises: obtaining terminal capability and motion state information of the second terminal; The step of sending the second request message to the cooperative terminal according to the first response message comprises: sending the second request message to the cooperative terminal according to the terminal capability and motion state information of the second terminal and the first response message.

7. The method according to any one of claims 1 to 6, characterized in that, The first response message carries an effective sensing time window of the target object, the effective sensing time window comprising a sensing coverage time window between the second terminal and the target object and / or a communication coverage time window between the second terminal and the first terminal.

8. The method of claim 7, wherein, The communication coverage time window is determined according to motion state information of the first terminal and motion state information of the second terminal. The perception coverage time window is determined according to the motion state information of the target object, the motion state information of the second terminal, and terminal capability of the second terminal; The second terminal determines whether to perform the perception measurement on the target object according to the communication coverage time window and the perception coverage time window.

9. The method of claim 8, wherein, When the communication coverage time window and the perception coverage time window both satisfy the signal coverage requirement, or one of the communication coverage time window and the perception coverage time window satisfies the signal coverage requirement, the second terminal determines to be able to perform the perception measurement on the target object.

10. The method of claim 6, wherein, Before the first terminal sends the first request message to the second terminal, the method further comprises: broadcasting a discovery message, the discovery message being used for discovering the second terminal; receiving a second response message from the second terminal, the second response message carrying terminal capability and / or motion state information of the second terminal.

11. The method of claim 10, wherein, The second response message further carries target perception resources corresponding to the second terminal, the target perception resources being determined according to a perception resource set indicated by the first terminal to the second terminal, and the second terminal being in an idle state on the target perception resources.

12. The method of claim 11, wherein, The second request message carries perception resource configuration information, and resources used by the cooperative terminal to perform the perception measurement are determined according to target perception resources corresponding to the cooperative terminal.

13. The method of claim 10, wherein, The terminal capability of the second terminal comprises multiple or all of a perception waveform, a perception distance resolution, a perception speed resolution, a perception angle resolution, a maximum unambiguous distance, a maximum unambiguous speed, a maximum unambiguous angle, and a perception signal processing delay.

14. The method of any one of claims 10-13, wherein: The discovery message carries at least one of a perception task type, a perception capability requirement, a perception start-stop time window, and a perception resource set, The perception task type is one of an estimation type, a detection type, and an identification type, the perception capability requirement comprises at least one of a radio frequency capability requirement, a signal processing capability requirement, and a perception performance requirement, the perception start-stop time window comprises a start time and an end time of performing the perception measurement, and the perception resource set comprises multiple perception resources used for the perception measurement.

15. The method of claim 14, wherein, Before the discovery message is broadcasted, the method further comprises: obtaining historical perception data of the target object; determining the perception task type according to the historical perception data of the target object, and determining the perception capability requirement according to the perception task type.

16. The method of claim 15, wherein, Before the first terminal sends the first request message to the second terminal, the method further comprises: obtaining motion state information and attribute information of the target object from the historical perception data of the target object.

17. The method of any one of claims 1-16, wherein: The motion state information of the first terminal comprises a reference signal received power, a beam pointing direction, a coordinate, a moving speed, and a moving direction of the first terminal relative to the second terminal. The motion state information of the target object includes a distance of the target object relative to the first terminal, a beam pointing direction, a coordinate of the target object, a moving speed, and a moving direction. The attribute information of the target object includes an electromagnetic wave characteristic of the target object, a material of the target object, and a type of the target object.

18. The method of any one of claims 1-17, wherein, The method further includes: receiving a third response message, the third response message being sent by the cooperative terminal when the target object is not detected within a preset time length, the third response message indicating that the target object is lost, and the third response message including a lost direction of the target object and a distance of the target object to the cooperative terminal.

19. The method according to any one of claims 10-16, characterized in that, The broadcast discovery message includes: In a case where the current perception accuracy does not meet the perception accuracy requirement or in a case where a cooperative instruction is obtained, the discovery message is broadcasted.

20. The method of claim 19, wherein, The method further includes: In a case where a first condition is met, it is determined that the perception accuracy does not meet the perception accuracy requirement, and the first condition includes at least one of the following: an intensity of a return signal corresponding to the target object being lower than a first threshold, a distance between the target object and the first terminal exceeding a second threshold, a radar cross section area of the return signal corresponding to the target object being smaller than a third threshold, a resolution of a perception measurement quantity corresponding to the target object being smaller than a fourth threshold, and a speed of the target object perceived being greater than a fifth threshold.

21. A method of cooperative perception, comprising: The method applied to a second terminal includes: receiving a first request message from a first terminal, the first request message carrying motion state information of the first terminal and / or motion state information and attribute information of a target object, the first request message being used to request the second terminal to determine whether the second terminal can perform a perception measurement on the target object; determining whether the second terminal can perform the perception measurement on the target object in response to the first request message, and sending a first response message, the first response message indicating to the first terminal whether the second terminal can perform the perception measurement on the target object; receiving a second request message, the second request message being used to request a cooperative terminal to perform the perception measurement on the target object, wherein the second request message is sent in a case where the second terminal is the cooperative terminal; performing the perception measurement on the target object according to the second request message.

22. The method of claim 21, wherein, The determining whether the second terminal can perform the perception measurement on the target object in response to the first request message includes: determining a communication coverage time window between the first terminal and the second terminal according to the motion state information of the first terminal and motion state information of the second terminal; determining a perception coverage time window between the second terminal and the target object according to the motion state information of the target object, the motion state information of the second terminal, and a terminal capability of the second terminal; determining whether the perception measurement on the target object can be performed according to the communication coverage time window and the perception coverage time window.

23. The method of claim 22, wherein, The determining whether the perception measurement on the target object can be performed according to the communication coverage time window and the perception coverage time window includes: The method further comprises:

24. The method of any one of claims 21-23, wherein, The second request message carries sensing resource configuration information, which is used to indicate resources used by the cooperative terminal when performing sensing measurement.

25. The method of any one of claims 21-24, wherein, The second request message carries cooperative task configuration information, which is used to indicate that the cooperative terminal is a sending end of a sensing signal, a receiving end of a echo signal, or both a sending end of a sensing signal and a receiving end of a echo signal, and the cooperative task configuration information is determined by the first terminal based on a change of a sensing link between the cooperative terminal and the target object, which is determined by the first terminal according to motion state information of the cooperative terminal and motion state information of the target object.

26. The method of claim 25, wherein: when the change of the sensing link between the cooperative terminal and the target object is higher than a change threshold, the cooperative task configuration information indicates that the cooperative terminal is both a sending end of a sensing signal and a receiving end of a echo signal; when the change of the sensing link between the cooperative terminal and the target object is lower than the change threshold, the cooperative task configuration information indicates that the cooperative terminal is a sending end of a sensing signal or a receiving end of a echo signal.

27. The method of any one of claims 21-26, wherein, The second request message further carries at least one of sensing waveform type configuration information, sensing measurement quantity configuration information, and sensing measurement reporting configuration information.

28. The method of any one of claims 21-27, wherein, The second request message is sent by the first terminal to the cooperative terminal according to terminal capability and motion state information of the second terminal and the first response message.

29. The method of claim 28, wherein, The terminal capability of the second terminal includes multiple or all of a sensing waveform, a sensing distance resolution, a sensing speed resolution, a sensing angle resolution, a maximum unambiguous distance, a maximum unambiguous speed, a maximum unambiguous angle, and a sensing signal processing delay.

30. The method of any one of claims 21-29, wherein, The first response message carries an effective sensing time window of the target object, which includes a sensing coverage time window between the second terminal and the target object and / or a communication coverage time window between the second terminal and the first terminal.

31. The method of claim 28, wherein, Before the receiving the first request message from the first terminal, the method further comprises: receiving a discovery message sent by the first terminal, which is used to discover the second terminal; sending a second response message to the first terminal in response to the discovery message, the second response message carrying terminal capability and / or motion state information of the second terminal.

32. The method of claim 31, wherein, The second response message further carries target sensing resources corresponding to the second terminal, which are determined according to a sensing resource set indicated by the first terminal to the second terminal, and the second terminal is in an idle state on the target sensing resources.

33. The method of claim 32, wherein, The second request message carries sensing resource configuration information, and resources used by the cooperative terminal when performing sensing measurement are determined according to target sensing resources corresponding to the cooperative terminal.

34. The method of any one of claims 31-33, wherein, The discovery message carries at least one of a sensing task type, a sensing capability requirement, a sensing start and end time window, and a sensing resource set, wherein the sensing task type is one of an estimation type, a detection type, and an identification type, the sensing capability requirement includes at least one of a radio frequency capability requirement, a signal processing capability requirement, and a sensing performance requirement, the sensing start and end time window includes a start time and an end time of performing sensing measurement, and the sensing resource set includes a plurality of sensing resources for sensing measurement.

35. The method of claim 34, wherein, The sensing task type is determined by the first terminal according to historical sensing data of the target object. The sensing capability requirement is determined by the first terminal according to the sensing task type.

36. The method of claim 35, wherein, The motion state information and the attribute information of the target object are obtained by the first terminal from the historical sensing data of the target object.

37. The method of any one of claims 21-36, wherein, The motion state information of the first terminal includes a reference signal received power, a beam pointing, a coordinate, a moving speed, and a moving direction of the first terminal relative to the second terminal. The motion state information of the target object includes a distance, a beam pointing, a coordinate, a moving speed, and a moving direction of the target object relative to the first terminal. The attribute information of the target object includes an electromagnetic wave characteristic, a material, and a type of the target object.

38. The method of any one of claims 21-37, wherein, The method further includes: When the target object is not detected within a preset time length, a third response message is sent, the third response message indicating that the target object is lost, and the third response message including a lost direction of the target object and a distance of the target object to the cooperative terminal.

39. The method of any one of claims 31-36, wherein, The discovery message is sent by the first terminal when a current sensing accuracy does not meet a sensing accuracy requirement or when a cooperation instruction is obtained.

40. The method of claim 39, wherein, The method further includes: The first terminal determines that the sensing accuracy does not meet the sensing accuracy requirement when a first condition is met, and the first condition includes at least one of the strength of the echo signal corresponding to the target object being lower than a first threshold, the distance between the target object and the first terminal exceeding a second threshold, the radar cross section area of the echo signal corresponding to the target object being smaller than a third threshold, the resolution of the sensing measurement quantity corresponding to the target object being smaller than a fourth threshold, and the speed of the sensed target object being greater than a fifth threshold.

41. A cooperative perception apparatus, comprising: comprising means for performing the method of any one of claims 1 to 20, or comprising means for performing the method of any one of claims 21 to 40.

42. A cooperative perception system, comprising: comprising a first terminal and a second terminal, wherein the first terminal is configured to perform the method of any one of claims 1 to 20; the second terminal is configured to perform the method of any one of claims 21 to 40.

43. A terminal, characterized by comprising a processor and a memory, the memory being configured to store program instructions, the processor being configured to invoke the program instructions to perform the method of any one of claims 1 to 20, or the processor being configured to invoke the program instructions to perform the method of any one of claims 21 to 40.

44. A computer-readable storage medium, comprising: the storage medium has stored therein computer programs or instructions which, when executed, implement the steps of the method of any one of claims 1 to 20, or implement the steps of the method of any one of claims 21 to 40.

45. A computer program product comprising instructions, wherein: when executed on a computer, cause the computer to perform the steps of the method of any one of claims 1 to 20, or cause the computer to perform the steps of the method of any one of claims 21 to 40.

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