Sensing node selection method, apparatus, storage medium and program product

Abstract

A sensing node selection method, an apparatus, a storage medium and a program product. The method comprises: determining a candidate sensing node set, the candidate sensing node set comprising M sensing nodes, and M being a positive integer; and separately sending sensing-related information to K sensing nodes among the M sensing nodes, K≤M, K being a positive integer, and the sensing-related information indicating that the sensing nodes are selected for sensing a sensing target. The solution of the present disclosure can determine the sensing nodes comprised in the candidate sensing node set, and select from the candidate sensing node set the nodes used for sensing the sensing target, thereby selecting the sensing nodes from the plurality of sensing nodes, and achieving sensing node selection.

Description

Method, device, storage medium and program product for sensing node selection

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 202411069293.9, filed August 5, 2024, entitled "Method, Device, Storage Medium and Program Product for Sensing Node Selection", which is incorporated by reference herein in its entirety. TECHNICAL FIELD

[0003] The present application relates to the field of communication technology, in particular to a method, device, storage medium and program product for sensing node selection. BACKGROUND

[0004] In a system of the 6th Generation (6G) mobile communication technology, the Integrated Sensing And Communications (ISAC) technology has a wide application prospect, and can provide sensing and communication services simultaneously using one device.

[0005] In the ISAC scenario, there can be multiple sensing nodes around the target to be sensed. Therefore, how to select a sensing node from the multiple sensing nodes becomes a technical problem to be solved at present. SUMMARY

[0006] The problem solved by the embodiments of the present application is how to select a sensing node from multiple sensing nodes.

[0007] The embodiments of the present application provide a method for sensing node selection, which comprises:

[0008] determining a candidate sensing node set, the candidate sensing node set comprising M sensing nodes, the M being a positive integer;

[0009] sending sensing-related information to K sensing nodes in the M sensing nodes, the K being less than or equal to M, and the K being a positive integer; the sensing-related information indicating that the sensing nodes are selected for sensing a sensing target.

[0010] In this implementation, the sensing nodes included in the candidate sensing node set are determined, and the nodes for sensing the sensing target are selected from the candidate sensing node set, so that the sensing nodes are selected from the multiple sensing nodes, and the selection of the sensing nodes is realized.

[0011] Optionally, the determining the candidate sensing node set comprises:

[0012] The candidate set of sensing nodes is determined based on one or more of the received signal-to-interference-and-noise ratio, the capability of the sensing node, the state of the sensing node, the geographic position of the sensing target, the moving direction of the sensing target, a speed accuracy attenuation factor, a position accuracy attenuation factor, a line-of-sight ratio of the sensing node, and a position relationship between the sensing node and the sensing target. The speed accuracy attenuation factor is used to represent an influence degree of a first parameter on a speed estimation result of the sensing target. The position accuracy attenuation factor is used to represent an influence degree of a second parameter on a position estimation result of the sensing target. The first parameter is related to the speed estimation result of the sensing target. The second parameter is related to the position estimation result of the sensing target. The line-of-sight ratio of the sensing node is a ratio between an amount of signals received by the sensing node through a line-of-sight between the sensing node and the sensing target and a total amount of signals received by the sensing node.

[0013] In this implementation, the sensing nodes included in the candidate set of sensing nodes are determined based on one or more of the received signal-to-interference-and-noise ratio, the capability of the sensing node, the state of the sensing node, the geographic position of the sensing target, the moving direction of the sensing target, the speed accuracy attenuation factor, the position accuracy attenuation factor, the line-of-sight ratio of the sensing node, and the position relationship between the sensing node and the sensing target, thereby improving the reliability of the selected sensing nodes and enabling the selected sensing nodes to accurately sense the sensing target.

[0014] Optionally, the M sensing nodes are sensing nodes whose received signal-to-interference-and-noise ratios are arranged in the first M positions in descending order and are greater than or equal to a first received signal-to-interference-and-noise ratio threshold, and a number of the sensing nodes whose received signal-to-interference-and-noise ratios are greater than or equal to the first received signal-to-interference-and-noise ratio threshold is greater than or equal to the M.

[0015] The M sensing nodes are sensing nodes whose received signal-to-interference-and-noise ratios are arranged in the first M positions in descending order and are greater than or equal to a second received signal-to-interference-and-noise ratio threshold, and a number of the sensing nodes whose received signal-to-interference-and-noise ratios are greater than or equal to the first received signal-to-interference-and-noise ratio threshold is less than the M. The second received signal-to-interference-and-noise ratio threshold is obtained by reducing the first received signal-to-interference-and-noise ratio threshold by at least one first step length.

[0016] In this implementation, the sensing nodes in the candidate set of sensing nodes are sensing nodes whose received signal-to-interference-and-noise ratios are arranged in the first M positions in descending order, so that the M sensing nodes in the candidate set of sensing nodes are sensing nodes with relatively large received signal-to-interference-and-noise ratios relative to sensing nodes outside the candidate set of sensing nodes, thereby obtaining sensing nodes with stronger anti-interference performance and relatively stable, and reducing the bit error rate when sensing the sensing target.

[0017] Optionally, a position distance between each of the M perception nodes and the perception target is less than a first distance threshold; or,

[0018] a position distance between each of the M perception nodes and the perception target is less than a second distance threshold, wherein a number of perception nodes with a position distance less than the first distance threshold from the perception target is less than the M, and the second distance threshold is a sum of the first distance threshold and at least one second step length;

[0019] wherein the number of perception nodes with a position distance less than the first distance threshold from the perception target is determined based on a geographic position of the perception target.

[0020] In this implementation, since the perception nodes in the candidate perception node set are perception nodes with a position distance less than the first distance threshold or the second distance threshold from the perception target, the M perception nodes in the candidate perception node set are perception nodes with a smaller position distance from the perception target relative to perception nodes outside the candidate perception node set, thereby reducing data delay in the perception process of the perception nodes and improving perception efficiency.

[0021] Optionally, the position distance of each of the M perception nodes from the perception target is an actual distance between the perception node and the perception target; or,

[0022] the position distance of the i-th perception node from the perception target is Di; wherein Di is a shortest distance from the perception target to a line connecting the i-th perception node and a corresponding perception node; one of the i-th perception node and the corresponding perception node is configured to receive a perception signal from the perception target, and the other is configured to send a perception signal to the perception target, so as to accurately determine the position distance between the perception target and the perception node.

[0023] Optionally, an included angle of each of the M perception nodes is within a first angle range; or,

[0024] an included angle of each of the M perception nodes is within a second angle range, wherein a number of perception nodes with an included angle within the first angle range is less than the M, and the second angle range is a sum of the first angle range and at least one angle compensation range;

[0025] wherein the included angle of the perception node is an included angle between a line connecting the perception node and a corresponding perception node and a motion direction of the perception target; or, the included angle of the perception node is an included angle between a line connecting the perception node and the perception target and a line connecting a corresponding perception node and the perception target;

[0026] One of the perception nodes and the corresponding perception node is configured to receive a perception signal from the perception target, and the other perception node is configured to send a perception signal to the perception node.

[0027] In this implementation, the perception nodes in the candidate perception node set are removed from the perception nodes whose included angles are in the first angle range or the second angle range, so that the M perception nodes in the candidate perception node set have higher accuracy in perceiving the perception target relative to the perception nodes outside the candidate perception node set, the influence of the included angles of the perception nodes on the accuracy of the perception result is reduced, and the accuracy of the perception result is improved.

[0028] Optionally, each of the M perception nodes has a perception capability; and / or,

[0029] Each of the M perception nodes has a hardware capability that meets the perception requirement; and / or,

[0030] Each of the M perception nodes has a perception result calculation capability. In this way, the perception nodes in the candidate perception node set have the capability of perceiving the perception target, and the perception nodes in the candidate perception node set that cannot perceive the perception target are avoided.

[0031] Optionally, the states of the M perception nodes are all idle states; and / or,

[0032] The bandwidth used for perception of each of the M perception nodes meets the perception requirement; and / or,

[0033] Each of the M perception nodes has a perception capability; and / or,

[0034] The hardware capability of each of the M perception nodes meets the perception requirement; and / or,

[0035] Each of the M perception nodes has a perception result calculation capability; and / or,

[0036] The received signal-to-interference-and-noise ratio of the M perception nodes is greater than or equal to a received signal-to-interference-and-noise ratio threshold; and / or,

[0037] The position distance between each of the M perception nodes and the perception target is less than or equal to a distance threshold. In this way, the perception nodes in the candidate perception node set have the capability of perceiving the perception target, and / or the current state allows the perception target to be perceived, and the perception nodes in the candidate perception node set that cannot perceive the perception target or the current state does not allow the perception target to be perceived are avoided.

[0038] Optionally, at least one of the M sensing nodes is time-synchronized with a corresponding sensing node; wherein the at least one sensing node is configured to receive the sensing signal from the sensing target, and the corresponding sensing node is configured to send the sensing signal to the sensing target; or the at least one sensing node is configured to send the sensing signal to the sensing target, and the corresponding sensing node is configured to receive the sensing signal from the sensing target; or,

[0039] There are at least one group of sensing nodes in the M sensing nodes, the sensing nodes belonging to a group are time-synchronized, at least one of the sensing nodes belonging to the group is configured to send the sensing signal to the sensing target, and the other sensing nodes belonging to the group except the at least one sensing node are configured to receive the sensing signal from the sensing target. This avoids errors caused by time difference of the sensing nodes in the same group, and ensures the accuracy and reliability of the data obtained when the sensing target is sensed.

[0040] Optionally, the M sensing nodes are the sensing nodes whose speed accuracy decay factors are arranged in the first M positions in ascending order; or,

[0041] The M sensing nodes are the sensing nodes whose position accuracy decay factors are arranged in the first M positions in ascending order. This makes the sensing nodes in the candidate sensing node set have higher accuracy than the sensing nodes outside the candidate sensing node set, and improves the accuracy and reliability of the data obtained when the sensing target is sensed subsequently.

[0042] Optionally, the M sensing nodes are the sensing nodes whose line-of-sight ratios are arranged in the first M positions in descending order. Since the larger the line-of-sight ratio is, the more accurate the signal obtained by the sensing node is, the sensing nodes in the candidate sensing node set can obtain more accurate signals than the sensing nodes outside the candidate sensing node set, and the accuracy and reliability of the signals obtained when the sensing target is sensed subsequently are improved.

[0043] Optionally, at least one of the M sensing nodes adopts a self-generating and self-receiving mode for sensing.

[0044] Optionally, the method further comprises:

[0045] According to at least one of the sensing task, the sensing requirement, or the device capability for sending the sensing signal, the number of the sensing nodes included in the candidate sensing node set is determined to be M. This determines the number of the sensing nodes to be selected, avoids the sensing task from failing due to the number of the sensing nodes to be selected being less than the number of the sensing nodes required for performing the sensing task, and improves the reliability of the sensing task execution.

[0046] Optionally, Kmin≤M≤Kmax; the Kmin is the minimum number of nodes, and the Kmax is the maximum number of nodes. Thus, the number of the required selected sensing nodes is limited, the sensing task execution failure is avoided, and too many sensing nodes are prevented from being occupied by the same sensing task, thereby causing resource waste.

[0047] The embodiment of the present application further provides a sensing node selection device, and the device comprises:

[0048] A determination module is configured to determine a candidate sensing node set, wherein the candidate sensing node set comprises M sensing nodes, and the M is a positive integer.

[0049] A sending module is configured to send sensing related information to K sensing nodes in the M sensing nodes respectively, wherein the K≤M, the K is a positive integer, and the sensing related information indicates that the sensing nodes are selected to sense a sensing target.

[0050] The embodiment of the present application further provides a computer readable storage medium, which is a nonvolatile storage medium or a non-transitory storage medium, and a computer program is stored in the computer readable storage medium. When the computer program is run by a processor, the steps of the above method are executed.

[0051] The embodiment of the present application further provides a computer program product, which comprises computer programs / instructions. When the computer programs / instructions are executed by a processor, the steps of the above method are implemented.

[0052] The embodiment of the present application further provides a sensing node selection device, which comprises a memory and a processor. The memory stores a computer program which can be run on the processor. When the processor runs the computer program, the steps of the above method are executed. BRIEF DESCRIPTION OF DRAWINGS

[0053] FIG. 1 is a flowchart of a sensing node selection method according to an embodiment of the present application;

[0054] FIG. 2 is a diagram of a selection range of a sensing node according to an embodiment of the present application;

[0055] FIG. 3 is a flowchart of an interaction between a sensing network element and a sensing node according to an embodiment of the present application;

[0056] FIG. 4 is another flowchart of an interaction between a sensing network element and a sensing node according to an embodiment of the present application;

[0057] FIG. 5 is a diagram of an execution of a sensing task according to an embodiment of the present application;

[0058] Fig. 6 is a flow diagram of selecting a sensing node based on a signal-to-interference-and-noise ratio according to an embodiment of the present application;

[0059] Fig. 7 is a flow diagram of selecting a sensing node based on a distance according to an embodiment of the present application;

[0060] Fig. 8 is a diagram of an angle of a sensing node when a moving direction is upward according to an embodiment of the present application;

[0061] Fig. 9 is a diagram of an angle of a sensing node when a moving direction is downward according to an embodiment of the present application;

[0062] Fig. 10 is a diagram of an angle of a sensing node when a moving direction is opposite to a positive direction of a horizontal line according to an embodiment of the present application;

[0063] Fig. 11 is a diagram of an angle of a sensing node according to an embodiment of the present application;

[0064] Fig. 12 is a diagram of a first angle range according to an embodiment of the present application;

[0065] Fig. 13 is a diagram of a relative position relationship among a sensing target, a sensing sending node and a sensing receiving node according to an embodiment of the present application;

[0066] Fig. 14 is a diagram of a relative position relationship among a sensing target, a sensing sending node and a sensing receiving node according to an embodiment of the present application;

[0067] Fig. 15 is a flow diagram of determining a sensing node meeting a state condition according to an embodiment of the present application;

[0068] Fig. 16 is a flow diagram of determining a sensing node meeting a capability condition according to an embodiment of the present application;

[0069] Fig. 17 is a diagram of a selection range of a sensing node according to an embodiment of the present application;

[0070] Fig. 18 is a diagram of a structure of a sensing node selection apparatus according to an embodiment of the present application. DETAILED DESCRIPTION

[0071] As mentioned in the background, there is no solution in the prior art on how to select a sensing node from multiple sensing nodes at a standardization level.

[0072] The present inventors have found, through analysis, that current research and discussion on the ISAC topic gradually evolves from point-to-point sensing and performance evaluation to multi-node network cooperation.

[0073] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0074] The sensing node in the embodiment can be any one or more of a sensing function (SF), a sensing-capable base station (gNodeB, gNB), and a sensing-capable terminal (User Equipment, UE). The sensing function is a core network element.

[0075] In the embodiment, a new core network element SF is introduced to implement the sensing function in the integrated communication and sensing. The SF has functions related to processing sensing tasks, which can include at least one or more of the following: triggering a sensing service, terminating a sensing service, controlling a base station or a terminal to perform sensing according to the requirements of the sensing service, processing sensing measurement data, providing an open sensing result, and converting Quality of Service (QoS) parameters.

[0076] The following scenarios of selecting a sensing node are included in the integrated communication and sensing network:

[0077] 1. The sensing function selects a base station;

[0078] 2. The sensing function informs a base station of sensing task requirements, and the base station selects a terminal;

[0079] 3. The sensing function selects a terminal;

[0080] 4. The base station directly selects a terminal.

[0081] The method of selecting a sensing node in the embodiment is applicable to any of the above scenarios.

[0082] In the embodiment, the sensing node that receives a sensing signal from a sensing target is a sensing receiving node, and the sensing node that sends a sensing signal to a sensing target is a sensing sending node. Selecting different sensing nodes as sensing receiving nodes and selecting different sensing nodes as sensing sending nodes will form different sensing modes, such as: base station self-receiving, base station a1 for sending, base station a2 for receiving, base station sending terminal receiving, terminal sending base station receiving, terminal self-receiving, and terminal a3 for sending, terminal a4 for receiving.

[0083] The base station self-transmission and self-reception and the terminal self-transmission and self-reception are single-base sensing modes, which are performed by one node and are similar to the traditional single-base radar. Since the transmitter and the receiver are located at the same position, the sensing signal of the single-base sensing mode does not have to be a dedicated pilot signal, and the communication signal carrying data can also be used for single-base sensing. In addition, since the transmitter and the receiver share the same hardware platform, the transmitter and the receiver can be easily clock-synchronized. However, the base station or the terminal needs to have full-duplex capability in the single-base mode to counteract the interference between the sensing transmission signal and the sensing echo signal.

[0084] One base station a1 is used for transmission, and the other base station a2 is used for reception, which corresponds to the case that one base station transmits a sensing signal and the other base station receives the sensing signal for sensing. This mode is similar to the working mode of the traditional double-base radar. Since the transmitter and the receiver are separated in space, this mode does not require the transmitter and the receiver to have full-duplex capability, but the position error and synchronization error of the transmitter and the receiver will also affect the sensing result.

[0085] The base station transmission and terminal reception and the terminal transmission and base station reception are another form of double-base working mode, in which one of the transmitter and the receiver is a base station, and the other is a terminal. The clock synchronization of the transceivers of the base station transmission and terminal reception and the terminal transmission and base station reception is also a challenge. The terminal a3 is used for transmission, and the terminal a4 is used for reception, which also has the characteristics of the base station transmission and terminal reception and the terminal transmission and base station reception. In the terminal self-transmission and self-reception and the terminal a3 is used for transmission and the terminal a4 is used for reception, the sensing function is relatively independent of the wireless communication network, and even the sensing can be performed outside the coverage of the wireless communication network. However, in the terminal self-transmission and self-reception and the terminal a3 is used for transmission and the terminal a4 is used for reception, due to the limitation of the terminal transmission power, the sensing range is smaller than that of the other sensing modes described above, and in addition, the position error caused by the mobility of the terminal will affect the sensing result.

[0086] Specifically, with reference to FIG. 1, the method for selecting a sensing node in the embodiment can include the following steps:

[0087] Step S101: determining a candidate sensing node set, the candidate sensing node set including M sensing nodes, M being a positive integer.

[0088] The sensing network element performing the sensing node selection, or the sensing device, or the combination of the sensing network element and the sensing device, or the combination of the sensing devices, determines the candidate sensing node set. The sensing device can be a base station or a terminal. The embodiment of the present application takes the sensing network element performing the sensing node selection as an example for illustration.

[0089] The sensing nodes in the candidate sensing node set can be sensing transmitting nodes or sensing receiving nodes. For example, when it is necessary to determine sensing receiving nodes, the sensing nodes in the candidate sensing node set are all sensing receiving nodes. For example, when it is necessary to determine sensing transmitting nodes, the sensing nodes in the candidate sensing node set are all sensing transmitting nodes. For example, when it is necessary to determine both sensing transmitting nodes and sensing receiving nodes, the sensing nodes in the candidate sensing node set include both sensing receiving nodes and sensing transmitting nodes.

[0090] Before determining the candidate sensing node set, the number of sensing nodes included in the candidate sensing node set can be determined as M according to at least one of the sensing task, the sensing requirement, or the device capability for transmitting the sensing signal. For example, the value range of M is determined based on at least one of the sensing task, the sensing requirement, or the device capability for transmitting the sensing signal, and then the value of M is determined from the value range of M. For example, the value range of M can be [Kmin, Kmax], Kmin is the minimum number of nodes, and Kmax is the maximum number of nodes. Kmin and Kmax are configured by the cognitive network based on the type of the sensing task, the sensing requirement, and the device capability for transmitting the sensing signal.

[0091] For example, when the sensing task is to perform distance sensing, the sensing requirement is coarse-precision sensing, and the device for transmitting the sensing signal has full-duplex capability, the device for transmitting the sensing signal can perform self-transmitting and self-receiving without the need to select a sensing receiving node from other sensing nodes. At this time, at least one of the M sensing nodes adopts a self-transmitting and self-receiving mode to perform sensing. When the type of the sensing task is to perform speed, size, and motion direction sensing on a sensing target, at least two sensing receiving nodes are required, so Kmin is 2. Since the sensing accuracy does not always improve with the increase in the number of sensing nodes, and too many sensing nodes will cause a large network burden, Kmax needs to be set, and the value of Kmax can be selected based on actual requirements. For example, when the sensing requirement is high-precision sensing and the sensing task is to perform positioning on a sensing target, the value of Kmax can be the number of sensing nodes required when the sensing accuracy is the highest.

[0092] The embodiments of the present application can select the specific value of M in the value range corresponding to M based on actual requirements. For example, when the actual requirement is to achieve the highest sensing accuracy, the value of M is Kmax, and when the actual requirement is to achieve the lowest sensing accuracy, the value of M is Kmin.

[0093] It should be noted that the above examples are only one embodiment of the present application, and the present application does not limit the value of M and the number of M. Embodiments of the present application design a node selection scheme in a multi-sensing node cooperation scenario, as follows: In some embodiments of the present application, a candidate sensing node set can be determined based on node selection reference data, and the reference data is data that affects the completion quality of the sensing task by the sensing node. Further, the node selection reference data can include at least one of the following: received signal-to-interference-and-noise ratio, sensing node capability, sensing node state, geographic location of the sensing target, motion direction of the sensing target, speed accuracy decay factor, position accuracy decay factor, sensing node line-of-sight ratio, or position relationship between the sensing node and the sensing target.

[0094] In one specific embodiment, the M sensing nodes included in the candidate sensing node set are determined in the following manner: the candidate sensing node set is determined according to one or more of the received signal-to-interference-and-noise ratio, the sensing node capability, the sensing node state, the geographic location of the sensing target, the motion direction of the sensing target, the speed accuracy decay factor, the position accuracy decay factor, the sensing node line-of-sight ratio, and the position relationship between the sensing node and the sensing target.

[0095] More specifically, the speed accuracy decay factor is used to indicate the degree of influence of the first parameter on the speed estimate of the sensing target. The position accuracy decay factor is used to indicate the degree of influence of the second parameter on the position estimate of the sensing target. The first parameter is related to the speed estimate result of the sensing target, and the second parameter is related to the position estimate result of the sensing target. The sensing node line-of-sight ratio is the ratio between the amount of signal received by the sensing node through the line-of-sight between the sensing node and the sensing target and the total amount of signal received by the sensing node. For example, the first parameter can indicate one or more of the motion direction of the sensing target or the geographic location of the sensing target, and the second parameter can indicate the geographic location of the sensing target.

[0096] It should be noted that the sensing nodes in the candidate sensing node set in the embodiments of the present application are sensing nodes located around the sensing target. The sensing nodes located around the sensing target can be selected based on actual needs, such as sensing nodes that can communicate with the sensing target, or sensing nodes with a straight-line distance from the sensing target less than a certain preset distance, etc. For ease of understanding, the embodiments of the present application take the sensing nodes located around the sensing target as an example, which are the sensing nodes with a straight-line distance from the sensing target less than a certain preset distance, and are illustrated as follows:

[0097] For example, when the preset distance is 500 m, the sensing nodes located around the sensing target can be the sensing nodes included in a circle with the location of the sensing target as the center and a first radius as the radius. As shown in FIG. 2, the sensing target is taken as the center and 500 m is taken as the first radius r1, and then the sensing nodes located around the sensing target are the first sensing node, the second sensing node and the third sensing node.

[0098] Further, when the candidate sensing node set is determined by selecting the received signal-to-interference-and-noise ratio, the capability of the sensing node, the state of the sensing node, the geographical position of the sensing target, the motion direction of the sensing target, the speed accuracy attenuation factor, the position accuracy attenuation factor, the line-of-sight ratio of the signal transmission between the sensing node and the sensing target, and the position relationship between the sensing node and the sensing target, the execution relationship between the execution steps corresponding to each item can be selected according to the actual scene, and the execution steps corresponding to each item can be arranged and combined in multiple ways. The application embodiments do not limit the order of the above-mentioned multiple execution steps. The above-mentioned multiple factors will be illustrated in subsequent embodiments.

[0099] Step S102: respectively sending sensing-related information to K sensing nodes in the M sensing nodes, K≤M, and K is a positive integer; the sensing-related information indicates that the sensing nodes are selected to sense the sensing target.

[0100] When the sensing mode is base station multi-transmission and multi-reception, the sensing network element determines the base stations included in the candidate sensing node set and sends the sensing-related information to the base stations selected from the candidate sensing node set. When the sensing mode is base station transmission and terminal reception, the sensing network element determines the base stations included in the candidate sensing node set, and the sensing-related information is sent by the base station to the multiple terminals.

[0101] Specifically, the application embodiments can send the same indication information containing sensing-related information to the K sensing nodes, or send indication information containing different sensing-related information to the K sensing nodes respectively. The sensing-related information can include information for informing the sensing nodes that they are selected, information for informing the sensing nodes to perform sensing transmission and / or sensing reception tasks, information for configuring the transmission and / or reception of sensing reference signals, and sensing reporting configuration.

[0102] For example, the same indication information containing sensing related information is sent to K sensing nodes. As shown in FIG. 3, when K = 2, sensing node 1 is selected to send sensing signals to the sensing target, and sensing node 2 is selected to receive sensing signals from the sensing target, first sensing related information is sent to sensing node 1 and sensing node 2. The first sensing related information includes information for informing sensing node 1 and sensing node 2 that they are selected, information for informing sensing node 1 to perform a sensing sending task, information for informing sensing node 2 to perform a sensing receiving task, information for configuring sensing node 1 to send sensing signals, information for configuring sensing node 2 to receive sensing signals, and sensing reporting configuration of sensing node 1 and sensing node 2.

[0103] For example, indication information containing different sensing related information is sent to K sensing nodes respectively. As shown in FIG. 4, when K = 2, sensing node 1 is selected to send sensing signals to the sensing target, and sensing node 2 is selected to receive sensing signals from the sensing target, second sensing related information is sent to sensing node 1, and third sensing related information is sent to sensing node 2. The second sensing related information includes information for informing sensing node 1 that it is selected, information for informing sensing node 1 to perform a sensing sending task, information for configuring sensing node 1 to send sensing signals, and sensing reporting configuration of sensing node 1. The third sensing related information includes information for informing sensing node 2 that it is selected, information for informing sensing node 2 to perform a sensing receiving task, information for configuring sensing node 2 to receive sensing signals, and sensing reporting configuration of sensing node 2.

[0104] For example, after the candidate sensing node set is determined, if K = M, the sensing related information is sent to the M sensing nodes in the candidate sensing node set. If K < M, K sensing nodes are selected from the M sensing nodes included in the candidate sensing node set to send the sensing related information, so that the sensing nodes receiving the sensing related information perform sensing on the sensing target. It should be noted that when K < M, K sensing nodes can be randomly selected from the M sensing nodes to send the sensing related information.

[0105] When the sensing node receives the sensing related information, the sensing node determines the sensing signals received from the sensing target or the sensing signals to be sent to the sensing target based on the information for informing the sensing node that it is selected, the information for informing the sensing node to perform a sensing sending or sensing receiving task, and the information for configuring the sensing reference signal sending or receiving included in the sensing related information. And based on the sensing reporting configuration, the sensing content or sensing result is reported.

[0106] As shown in FIG. 5, the surrounding of the sensing target Q0 includes sensing nodes Q1-Q5. When the sensing nodes Q1 and Q2 receive sensing-related information including receiving a sensing signal from the sensing target Q0, and the sensing node Q3 receives sensing-related information including sending a sensing signal to the sensing target Q0, the sensing task is performed by Q1, Q2 and Q3 together.

[0107] In one embodiment, the sensing nodes in the candidate sensing node set are specifically M sensing nodes whose received signal-to-interference-and-noise ratios satisfy the quality condition. The received signal-to-interference-and-noise ratio of a sensing node is the ratio of the useful signal power of the sensing node to the total power of the interference signal and noise.

[0108] It should be noted that the quality condition can be set based on actual needs. For example, the M sensing nodes whose received signal-to-interference-and-noise ratios satisfy the quality condition can be M sensing nodes whose received signal-to-interference-and-noise ratios are greater than a received signal-to-interference-and-noise ratio threshold, or the sensing nodes are sorted in descending order of received signal-to-interference-and-noise ratio, and the top M sensing nodes are selected.

[0109] For example, when the candidate sensing node set is determined according to the received signal-to-interference-and-noise ratio, the M sensing nodes are the top M sensing nodes in descending order of received signal-to-interference-and-noise ratio, and greater than or equal to a first received signal-to-interference-and-noise ratio threshold, wherein the number of sensing nodes whose received signal-to-interference-and-noise ratios are greater than or equal to the first received signal-to-interference-and-noise ratio threshold is greater than or equal to M; or,

[0110] The M sensing nodes are the top M sensing nodes in descending order of received signal-to-interference-and-noise ratio, and greater than or equal to a second received signal-to-interference-and-noise ratio threshold, wherein the number of sensing nodes whose received signal-to-interference-and-noise ratios are greater than or equal to the first received signal-to-interference-and-noise ratio threshold is less than M, and the second received signal-to-interference-and-noise ratio threshold is obtained by reducing the first received signal-to-interference-and-noise ratio threshold by at least one first step.

[0111] Specifically, as shown in FIG. 6, FIG. 6 is a flowchart of a method for determining a candidate sensing node set, which specifically includes the following steps:

[0112] S601: Obtain the signal-to-interference-and-noise ratios of the sensing nodes.

[0113] S602: Determine whether the number of sensing nodes whose received signal-to-interference-and-noise ratios are greater than a first received signal-to-interference-and-noise ratio threshold is greater than or equal to M.

[0114] S603: If the number of sensing nodes whose received signal-to-interference-and-noise ratios are greater than the first received signal-to-interference-and-noise ratio threshold is greater than or equal to M, it means that the number of sensing nodes whose received signal-to-interference-and-noise ratios satisfy the condition is greater than or equal to the number of sensing nodes required to be used. The sensing nodes whose received signal-to-interference-and-noise ratios are greater than the first received signal-to-interference-and-noise ratio threshold are sorted in descending order of received signal-to-interference-and-noise ratio, and the top M sensing nodes are selected to construct the candidate sensing node set.

[0115] S604: If the number of the sensing nodes whose reception signal-to-interference-and-noise ratio is greater than the first reception signal-to-interference-and-noise ratio threshold is less than M, it indicates that the number of the sensing nodes whose reception signal-to-interference-and-noise ratio meets the condition is less than the number of the sensing nodes required to be used. Therefore, in order to obtain a sufficient number of sensing nodes, the first reception signal-to-interference-and-noise ratio threshold is reduced by n1 first steps to obtain a second reception signal-to-interference-and-noise ratio threshold. n1 is the number of first steps required to be reduced from the first reception signal-to-interference-and-noise ratio threshold when the number of the sensing nodes whose reception signal-to-interference-and-noise ratio is greater than or equal to the second reception signal-to-interference-and-noise ratio threshold is first greater than or equal to M, or when the number of the sensing nodes whose reception signal-to-interference-and-noise ratio is greater than or equal to the second reception signal-to-interference-and-noise ratio threshold is greater than or equal to M.

[0116] For example, when the number of the sensing nodes whose reception signal-to-interference-and-noise ratio is greater than the first reception signal-to-interference-and-noise ratio threshold is less than M, if the number of the sensing nodes whose reception signal-to-interference-and-noise ratio is greater than the first reception signal-to-interference-and-noise ratio threshold reduced by 1 first step is still less than M, and the number of the sensing nodes whose reception signal-to-interference-and-noise ratio is greater than the first reception signal-to-interference-and-noise ratio threshold reduced by 2 first steps is greater than M, n1 can be 2. Thus, the number of the sensing nodes whose reception signal-to-interference-and-noise ratio is greater than the second reception signal-to-interference-and-noise ratio threshold obtained is greater than the number of the sensing nodes required to be used.

[0117] S605: After determining the sensing nodes whose reception signal-to-interference-and-noise ratio is greater than or equal to the second reception signal-to-interference-and-noise ratio threshold, the sensing nodes whose reception signal-to-interference-and-noise ratio is greater than or equal to the second reception signal-to-interference-and-noise ratio threshold are sorted in descending order of the reception signal-to-interference-and-noise ratio, and the first M sensing nodes are taken to construct a candidate sensing node set.

[0118] It should be noted that the first step can be a default value, or can be configured through the network.

[0119] In one specific embodiment, the sensing nodes in the candidate sensing node set are specifically M sensing nodes whose distance between the sensing nodes and the sensing target meets a distance condition. The distance condition can be set based on actual needs, for example, the M sensing nodes whose distance between the sensing nodes and the sensing target meets the distance condition can be M sensing nodes whose distance between the sensing nodes and the sensing target is greater than or equal to a distance threshold, or the sensing nodes are sorted in descending order of the distance between the sensing nodes and the sensing target, and the first M sensing nodes are taken.

[0120] For the convenience of understanding, the sensing nodes in the candidate sensing node set are specifically M sensing nodes whose distance between the sensing nodes and the sensing target meets a distance condition, which is illustrated as follows:

[0121] In determining the candidate set of perception nodes according to the geographic position of the perception target, the position distance between each of the M perception nodes and the perception target is less than a first distance threshold; or

[0122] The position distance between each of the M perception nodes and the perception target is less than a second distance threshold, wherein the number of perception nodes with a position distance less than the first distance threshold is less than M, and the second distance threshold is the sum of the first distance threshold and at least one second step length.

[0123] The number of perception nodes with a position distance less than the first distance threshold is determined based on the geographic position of the perception target.

[0124] Specifically, as shown in FIG. 7, FIG. 7 is a flowchart of a method for determining a candidate set of perception nodes, which specifically includes the following steps:

[0125] S701: Calculate the position distance between the perception target and the perception nodes.

[0126] Further, the position distance between each of the M perception nodes and the perception target is the actual distance between the perception nodes and the perception target; or

[0127] The position distance between the i-th perception node and the perception target is Di; wherein Di is the shortest distance from the perception target to the line connecting the i-th perception node and the corresponding perception node; one of the i-th perception node and the corresponding perception node is used to receive the perception signal from the perception target, and the other is used to send the perception signal to the perception target.

[0128] One of the i-th perception node and the corresponding perception node is used to receive the perception signal from the perception target, and the other is used to send the perception signal to the perception target. That is, when the i-th perception node is the perception node used to receive the perception signal from the perception target, the corresponding perception node is the perception node used to send the perception signal to the perception target, and when the i-th perception node is the perception node used to send the perception signal to the perception target, the corresponding perception node is the perception node used to receive the perception signal from the perception target. Moreover, the corresponding perception node can be one of the perception nodes in the candidate set of perception nodes, or a perception node outside the candidate set of perception nodes.

[0129] S702: Determine whether the number of perception nodes with a position distance less than the first distance threshold is greater than or equal to M.

[0130] S703: If the number of the perception nodes with the position distance less than the first distance threshold to the perception target is greater than or equal to M, the perception nodes with the position distance less than the first distance threshold to the perception target are sorted in the order of the position distance from small to large, and the first M perception nodes are taken as the candidate perception node set.

[0131] The first threshold corresponding to the position distance as the actual distance between the perception node and the perception target can be different from the first threshold corresponding to the position distance Di. For example, when the first threshold corresponding to the position distance as the actual distance between the perception node and the perception target is 200 m, if the number of the perception nodes with the position distance less than 200 m to the perception target is greater than or equal to M, the first M perception nodes are selected from the perception nodes with the position distance less than 200 m to the perception target in the order of the position distance from small to large. When the position distance is Di, the first threshold can be 100 m, and if the number of the perception nodes with the position distance less than 100 m to the perception target is greater than or equal to M, the first M perception nodes are selected from the perception nodes with the position distance less than 100 m to the perception target in the order of the position distance from small to large.

[0132] S704: If the number of the perception nodes with the position distance less than the first distance threshold to the perception target is less than M, a second distance threshold is determined. The second distance threshold is obtained by adding the first distance threshold and n2 second steps, where n2 is the number of the second steps that the first distance threshold needs to be added when the number of the perception nodes with the position distance less than the second distance threshold to the perception target is first greater than or equal to M, or the number of the perception nodes with the position distance less than the second distance threshold to the perception target is greater than or equal to M.

[0133] S705: The first M perception nodes are selected from the perception nodes with the position distance less than the second distance threshold to the perception target in the order of the position distance from small to large to construct the candidate perception node set.

[0134] For example, when the first threshold is 200 m, if the number of the perception nodes with the distance less than 200 m to the perception target is less than M, the second step is 20 m, and the number of the perception nodes with the distance less than 220 m to the perception target is greater than M, n2 is 1. 220 m is taken as the second distance threshold, and the first M perception nodes are selected from the perception nodes with the position distance less than 220 m to the perception target in the order of the position distance from small to large.

[0135] In one embodiment, the sensing nodes in the candidate sensing node set are specifically M sensing nodes whose included angles with the corresponding sensing nodes satisfy an angle condition. The angle condition can be set according to actual requirements, for example, the M sensing nodes whose included angles with the corresponding sensing nodes satisfy the angle condition can be M sensing nodes whose included angles are within a preset angle range.

[0136] The included angle of the sensing node is either an included angle between a line connecting the sensing node and the corresponding sensing node and a movement direction of the sensing target, or an included angle between a line connecting the sensing node and the sensing target and a line connecting the corresponding sensing node and the sensing target. One of the sensing node and the corresponding sensing node is configured to receive a sensing signal from the sensing target, and the other is configured to send a sensing signal to the sensing node.

[0137] When the included angle of the sensing node is the included angle between the line connecting the sensing node and the corresponding sensing node and the movement direction of the sensing target, the line connecting the sensing node and the corresponding sensing node is established, and the line connecting the sensing node and the corresponding sensing node is taken as a horizontal line. The direction from the sensing node configured to send a sensing signal to the sensing node configured to receive a sensing signal from the sensing target is a positive direction. That is, the direction in which the sensing sending node points to the sensing receiving node is a positive direction. If the straight line where the movement direction is located is parallel to the horizontal line, the rotation step is entered. If the straight line where the movement direction is located is parallel to the horizontal line, the intersection of the straight line where the movement direction is located and the horizontal line is taken as a vertex. The horizontal line is counterclockwise rotated until the horizontal line coincides with or is parallel to the straight line where the movement direction is located, and the positive direction of the horizontal line is consistent with the movement direction. The angle by which the horizontal line is counterclockwise rotated is taken as the included angle of the sensing node.

[0138] As shown in FIG. 8, when the movement direction of the sensing target is moving upwards to the horizontal line, the intersection of the horizontal line and the straight line where the movement direction is located is taken as the vertex of the included angle, and the horizontal line is counterclockwise rotated. When the horizontal line coincides with the straight line where the movement direction is located for the first time, the positive direction of the horizontal line is consistent with the movement direction, and the angle by which the horizontal line is rotated is θa. Therefore, the included angle of the sensing node corresponding to FIG. 8 is θa.

[0139] As shown in FIG. 9, when the movement direction of the sensing target is moving downwards to the horizontal line, the intersection of the horizontal line and the straight line where the movement direction is located is taken as the vertex of the included angle, and the horizontal line is counterclockwise rotated. When the horizontal line coincides with the straight line where the movement direction is located for the first time, the positive direction of the horizontal line is opposite to the movement direction, so the horizontal line needs to be continued to be counterclockwise rotated. When the horizontal line coincides with the straight line where the movement direction is located for the second time, the positive direction of the horizontal line is consistent with the movement direction, and the angle by which the horizontal line is rotated is θb. Therefore, the included angle of the sensing node corresponding to FIG. 9 is θb.

[0140] When the straight line in which the motion direction of the sensing target lies is parallel to the horizontal line, if the motion direction is consistent with the positive direction of the horizontal line, the horizontal line does not need to be rotated to be parallel and consistent with the motion direction, so the included angle of the sensing node is 0°. As shown in FIG. 10, if the motion direction is opposite to the positive direction of the horizontal line, the horizontal line is rotated by 180° to be parallel and consistent with the motion direction, so the included angle of the sensing node is θc, which is 180°.

[0141] When the included angle of the sensing node is the included angle between the line connecting the sensing node and the sensing target and the line connecting the corresponding sensing node and the sensing target, the sensing target is taken as a vertex of the included angle, the line connecting the sensing node and the sensing target and the line connecting the corresponding sensing node and the sensing target are taken as two included angle sides, and the included angle less than 180 degrees formed by the two included angle sides and the vertex is the included angle of the sensing node.

[0142] As shown in FIG. 11, FIG. 11 includes a sensing node and a corresponding sensing node, the sensing node is a sensing node Rx for receiving a sensing signal from a sensing target, the corresponding sensing node is a sensing node Tx for sending a sensing signal to the sensing node, and the sensing target is O. The included angle of the sensing node is the included angle <RxOTx> formed by the included angle sides RxO and TxO and the vertex O, that is, θd.

[0143] It should be noted that the line connecting the sensing node and the corresponding sensing node, the line connecting the sensing node and the sensing target, and the line connecting the corresponding sensing node and the sensing target are all virtual lines drawn for the convenience of understanding the scheme. In actual use, there is no line between the sensing node, the corresponding sensing node and the sensing target. When the sensing node for receiving a sensing signal from a sensing target and the sensing node for sending a sensing signal to the sensing node are the same sensing node, since there is no corresponding sensing node, the sensing node that spontaneously sends and receives does not have an included angle.

[0144] For example, the sensing nodes in the candidate sensing node set are specifically M sensing nodes whose included angles satisfy the angle condition, including:

[0145] The included angle of each sensing node in the M sensing nodes is located in the first angle range; or,

[0146] The included angle of each sensing node in the M sensing nodes is located in the second angle range; the number of sensing nodes whose included angles are located in the first angle range is less than M, and the second angle range is the sum of the first angle range and at least one angle compensation range.

[0147] Specifically, the first angle range corresponding to the angle between the sensing node and the corresponding sensing node and the moving direction of the sensing target is different from the first angle range corresponding to the angle between the sensing node and the corresponding sensing node and the line connecting the sensing node and the sensing target.

[0148] Since when the angle between the sensing node and the corresponding sensing node and the moving direction of the sensing target is the angle between the line connecting the sensing node and the corresponding sensing node and the moving direction of the sensing target, the accuracy of the angle estimation is poor if the moving direction of the sensing target is parallel to the line connecting the sensing node and the corresponding sensing node, and the accuracy of the speed estimation is poor if the moving direction of the sensing target is perpendicular to the line connecting the sensing node and the corresponding sensing node, the first angle range corresponding to the angle between the sensing node and the corresponding sensing node and the moving direction of the sensing target can be an angle range other than [0°-ε1, 0°+ε2], [90°-ε1, 90°+ε2], [180°-ε1, 180°+ε2], and [270°-ε1, 270°+ε2].

[0149] As shown in FIG. 12, when ε1 and ε2 are both 5°, the first angle range is an angle range other than [355°, 5°], [85°, 95°], [175°, 185°], and [265°, 275°]. Thus, by selecting the sensing node located in the first angle range, the accuracy of the estimation result is avoided to be low due to the sensing target being on the line connecting the sensing node and the corresponding sensing node or the sensing target being on the perpendicular line of the line connecting the sensing node and the corresponding sensing node when the speed of the sensing target is estimated.

[0150] Since when the angle between the sensing node and the corresponding sensing node and the moving direction of the sensing target is the angle between the line connecting the sensing node and the sensing target and the line connecting the corresponding sensing node and the sensing target, the accuracy of the position estimation of the sensing target is low if the sensing target is on the line connecting the sensing node and the corresponding sensing node. Thus, the first angle range corresponding to the angle between the sensing node and the corresponding sensing node and the moving direction of the sensing target can be an angle range other than less than 30 degrees or less than 150 degrees, so that when the position of the sensing target is estimated, the line connecting the sensing node and the corresponding sensing node in the candidate sensing node set determined is avoided to be close to or far away from the sensing target.

[0151] It should be noted that the second angle range is the sum of the first angle range and n3 angle compensation ranges, and n3 is greater than or equal to 1. The specific value of n3 can be that the number of perception nodes with an included angle in the second angle range is greater than or equal to M, or the number of perception nodes with an included angle in the second angle range is first greater than or equal to M, and the number of angle compensation ranges required to be added to the first angle range.

[0152] Taking n3 as an example, the number of angle compensation ranges required to be added to the first angle range when the number of perception nodes with an included angle in the second angle range is first greater than or equal to M, when the first angle range is [0°, 100°], if the number of perception nodes with an included angle in the first angle range is less than M, the angle compensation range is 2 degrees, and the number of perception nodes with an included angle in the range [0°, 105°] is less than M, the number of perception nodes with an included angle in the range [0°, 106°] is greater than M, then the first angle range needs to be added to 3 angle compensation ranges, and the second angle range [0°, 106°] is obtained, so n3 is equal to 3. From the perception nodes with an included angle in [0°, 106°], M perception nodes are randomly selected, or the perception nodes with an included angle in the first angle range are preferentially selected, and then the remaining perception nodes with an included angle in [0°, 106°] are selected in the order of the angle from the boundary from large to small, until the number of selected perception nodes reaches M.

[0153] In a specific embodiment, the perception nodes in the candidate perception node set are specifically M perception nodes that meet the capability requirements. For example, the capability requirements are at least one of having perception capability, hardware capability meeting perception demand, and having perception result calculation capability.

[0154] For example, each of the M perception nodes has perception capability; and / or,

[0155] The hardware capability of each of the M perception nodes meets the perception demand; and / or,

[0156] Each of the M perception nodes has perception result calculation capability.

[0157] Specifically, the perception capability is one or more of the perception node being capable of sending, receiving and measuring a perception signal, and perception data processing and perception reporting. The reporting signaling of the perception node is acquired, and the reporting signaling carries the perception capability, hardware capability and whether the perception result calculation capability of the perception node is possessed. When the capability of the perception node meets at least one of having perception capability, hardware capability meeting perception demand, and having perception result calculation capability, the perception node meets the capability requirements. The M perception nodes that meet the capability requirements are used as the perception nodes in the candidate perception node set.

[0158] Further, selecting M sensing nodes as sensing nodes in the candidate sensing node set comprises:

[0159] Determining the number of items of capability met by each sensing node meeting the capability requirement, and selecting M sensing nodes in order from most to least number of items of capability met to form the candidate sensing node set.

[0160] The number of items of capability met by a sensing node is the number of items of the three requirements that the sensing node meets, i.e., having sensing capability, hardware capability meeting sensing requirement, and having sensing result calculation capability. For example, when M is 3, if there are two sensing nodes each meeting 2 items of capability, one sensing node meeting 1 item of capability, and one sensing node meeting 3 items of capability, the sensing node meeting 3 items of capability and the two sensing nodes each meeting 2 items of capability are selected as sensing nodes included in the candidate sensing node set.

[0161] In one specific embodiment, at least one sensing node in the M sensing nodes is time-synchronized with a corresponding sensing node; wherein the at least one sensing node is configured to receive sensing signals from the sensing target, and the corresponding sensing node is configured to send sensing signals to the sensing target; or the at least one sensing node is configured to send sensing signals to the sensing target, and the corresponding sensing node is configured to receive sensing signals from the sensing target; or

[0162] There is at least one group of sensing nodes in the M sensing nodes, and the sensing nodes in the group are time-synchronized, at least one sensing node in the group is configured to send sensing signals to the sensing target, and the other sensing nodes in the group, except the at least one sensing node, are configured to receive sensing signals from the sensing target.

[0163] Specifically, when a sensing node is in the candidate sensing node set and a corresponding sensing node is not in the candidate sensing node set, at least one sensing node in the sensing node set is time-synchronized with the corresponding sensing node. When both the sensing node and the corresponding sensing node are in the candidate sensing node set, at least one group of sensing nodes in the sensing node set is time-synchronized.

[0164] For example, when the candidate set of perception nodes includes perception node A1, the corresponding perception node A2 of A1, perception node A3, and the corresponding perception node A4 of A3, the perception node A1 is time-synchronized with the corresponding perception node A2, and the perception node A3 is time-synchronized with the corresponding perception node A4. At this time, there are two groups of perception nodes in the selected set of perception nodes, which are time-synchronized within the respective groups, and the two groups can be time-synchronized or not. When the candidate set of perception nodes includes perception node B1 and perception node B2, and the corresponding perception node B3 of B1 is located outside the candidate set of perception nodes, the perception node B1 is time-synchronized with the corresponding perception node B3 outside the candidate set of perception nodes. At this time, there is one perception node in the selected set of perception nodes that is time-synchronized with the corresponding perception node.

[0165] In one specific embodiment, the perception nodes in the candidate set of perception nodes are specifically M perception nodes that meet the accuracy condition. The accuracy condition can be set based on actual needs, for example, perception nodes with smaller accuracy decay factors.

[0166] For example, the perception nodes in the candidate set of perception nodes are specifically:

[0167] The M perception nodes are the perception nodes whose speed accuracy decay factors are arranged in the first M positions in ascending order; or,

[0168] The M perception nodes are the perception nodes whose position accuracy decay factors are arranged in the first M positions in ascending order.

[0169] Specifically, determining the candidate set of perception nodes according to the speed accuracy decay factor includes: calculating the speed accuracy decay factor of each perception node, sorting each perception node in ascending order of the speed accuracy decay factor, and selecting the first M perception nodes as the perception nodes in the candidate set of perception nodes.

[0170] Further, calculating the speed accuracy decay factor of the perception node specifically includes, taking FIG. 13 as an example, Tx is a perception node for sending a perception signal to a perception target, and Rx is a perception node for receiving a perception signal from the perception target. The speed is calculated according to the Doppler shift value, and the expression of the Doppler shift value is

[0171] wherein f D represents the Doppler shift value, v represents the speed of the perception target, f0 is the transmission frequency, c is the speed of light, θ is the included angle formed by the line connecting Tx and Rx and the motion direction of the perception target, α R is the included angle formed by the line connecting the perception target and Rx and the line connecting Tx and Rx, that is, α R is the angle of arrival (AOA), and αT is the angle between the line connecting the target and the Tx and the line connecting the Tx and the Rx, i.e., a T is the angle of departure (AoD).

[0172] From the Doppler shift value expression, it can be seen that f D is a variable related to a R and a T In order to determine the influence of the geographical position of the sensing target on the speed size estimation result, the derivative of the speed with respect to f D is calculated:

[0173] In the above formula, the definition is a speed accuracy attenuation factor. By adjusting the values of a R , a T , the size of a is determined to measure the influence of the geographical position of different sensing targets on the accuracy of speed estimation. As can be seen from the term a in the expression, when the sensing target is located at either end of the line connecting the Tx and the Rx, or when the sensing target is infinitely far away from the Tx and the Rx, the absolute value of a is maximized. When the sensing target is on the LoS between the Tx and the Rx, the absolute value of a is minimized.

[0174] Specifically, the candidate sensing node set is determined according to the position accuracy attenuation factor, comprising:

[0175] The position accuracy attenuation factor of each sensing node is calculated, each sensing node is sorted in ascending order of the position accuracy attenuation factor, and the first M sensing nodes are selected as the sensing nodes in the candidate sensing node set.

[0176] Further, the calculation of the position accuracy attenuation factor of the sensing node specifically includes, taking FIG. 14 as an example, the sensing node for sending the sensing signal to the sensing target is N1, the sensing node for receiving the sensing signal from the sensing target is N2, the coordinates of N1 are (x1, y1), the coordinates of N2 are (x2, y2), the length of the line between N1 and N2 is L, the coordinates corresponding to the geographical position N3 of the sensing target are (x, y), the distance between the sensing target and N1 is R1, and the distance between the sensing target and N2 is R2.

[0177] First, the time-difference of arrival (TDOA) algorithm is used for calculation to obtain the time difference of arrival AT,

[0178] where c is the speed of light. Then, the AOA angle θ2 is estimated by N2, and the distance from N2 to the sensing target is calculated by combining the AOA angle θ2 and the TDOA The estimated value corresponding to the coordinates (x, y) of the sensing target is (x2-R2sinθ2, y2+R2cosθ2).

[0179] The Position Dilution Of Precision (PDOP) represents the sensitivity of the position estimate of the sensing target to measurement errors, and the higher the PDOP, the greater the position estimate difference from the actual position caused by smaller estimation errors.

[0180] The TDOA and AOA estimates can be expressed in coordinate form as follows:

[0181] where i is 1 and 2 for the measurements at the sensing nodes N1 and N2, respectively.

[0182] To evaluate the sensitivity of the estimation errors to the positions of N1, N2, and the sensing target, respectively, the partial derivatives of ΔT and θ i with respect to x, y, x1, y1, x2, and y2 are obtained as follows:

[0183] Let

[0184] When the errors are small, the differential values of the sensing target position (dx, dy), TDOA (dΔT), AOA (dθ1, dθ2), and the transceiver node positions (dx1, dy2) and (dx1, dy2) can be approximated as the estimation error values. Let the position error vector of the sensing target be dp=[dx dy] T , and the position vectors of the sensing nodes for receiving and transmitting be dX=[dx1, dx2, dy1, dy2] T The measurement estimates at the sensing nodes for receiving are Z=[ΔT, θ2] T : dZ=C1dp+C2dX.

[0185] Therefore, dp=(C1 T C1) -1 C1 T (dZ-C2dX). P dp =E[dpdp T ]=B{E[dZdZ T ]+C2E[dXdX T ]C2 T}B T ;

[0186] wherein T denotes transposition, B = (C1 T C1) -1 C1 T , E[.] denotes an operation of taking an average, C1 is a first operation factor matrix, and C2 is a second operation factor matrix.

[0187] In one specific embodiment, the M perception nodes are the perception nodes whose line-of-sight ratios are in the top M positions in descending order.

[0188] The line-of-sight ratio of each perception node is obtained by calculation, measurement or other information-based methods. Other methods include determining the distance between the perception node and the perception target based on the geographic location of the perception target, and then obtaining the line-of-sight ratio of the perception node based on the distance between the perception node and the perception target. Each perception node is sorted in descending order of line-of-sight ratio, and the top M perception nodes are taken as the perception nodes in the candidate perception node set.

[0189] In one specific embodiment, the perception nodes in the candidate perception node set are specifically the M perception nodes that meet the state requirement, the capability requirement, the distance condition and the quality condition.

[0190] For example, the states of the M perception nodes are all idle states; and / or,

[0191] The bandwidths of the M perception nodes for sensing meet the sensing requirement; and / or,

[0192] Each of the M perception nodes has a sensing capability; and / or,

[0193] The hardware capabilities of each of the M perception nodes meet the sensing requirement; and / or,

[0194] Each of the M perception nodes has a sensing result calculation capability; and / or,

[0195] The received signal-to-interference-and-noise ratios of the M perception nodes are greater than or equal to a received signal-to-interference-and-noise ratio threshold; and / or,

[0196] The position distances between each of the M perception nodes and the perception target are less than or equal to a distance threshold.

[0197] Specifically, the resource configuration information of the perception device corresponding to the perception node reported by the core network or reported by the perception node is obtained to determine the state of the perception node and the bandwidth available for sensing.

[0198] In determining the candidate set of sensing nodes according to the capability of the sensing node, the state of the sensing node, the received signal-to-interference-and-noise ratio, and the geographic location of the sensing target, the sensing nodes whose state is the idle state and / or whose bandwidth for sensing meets the sensing requirement are first screened out as sensing nodes meeting the state condition. Then, from the sensing nodes meeting the state condition, the sensing nodes that have the capability for sensing and / or hardware capability meeting the sensing requirement and / or have the capability for computing the sensing result are screened out as sensing nodes meeting the state condition and the capability condition.

[0199] Then, from the sensing nodes meeting the state condition and the capability condition, the sensing nodes whose received signal-to-interference-and-noise ratio is greater than or equal to the received signal-to-interference-and-noise ratio threshold value are determined as sensing nodes meeting the state condition, the capability condition, and the received signal-to-interference-and-noise ratio greater than or equal to the received signal-to-interference-and-noise ratio threshold value. Finally, from the sensing nodes meeting the state condition, the capability condition, and the received signal-to-interference-and-noise ratio greater than or equal to the received signal-to-interference-and-noise ratio threshold value, the sensing nodes whose location distance is less than or equal to the distance threshold value are screened out as sensing nodes in the candidate set of sensing nodes. The received signal-to-interference-and-noise ratio threshold value can be the first received signal-to-interference-and-noise ratio threshold value or the second received signal-to-interference-and-noise ratio threshold value, and the distance threshold value can be the first distance threshold value or the second distance threshold value. The specific value of the received signal-to-interference-and-noise ratio threshold value and the distance threshold value can refer to the following embodiments.

[0200] As shown in FIG. 15, FIG. 15 is a flowchart for selecting the sensing nodes meeting the state condition with the state of the sensing node being the idle state and / or the bandwidth for sensing meeting the sensing requirement as the state condition. The specific steps include the following steps:

[0201] S1501: Obtain the state of all sensing nodes.

[0202] S1502: Take whether the bandwidth for sensing meets the sensing requirement as the main judgment condition of the state. When the bandwidth for sensing meets the sensing requirement, the state of the sensing node meets the requirement. The bandwidth for sensing meeting the sensing requirement specifically refers to the bandwidth available for sensing of the sensing node being greater than the bandwidth required for sensing the sensing target based on the sensing requirement.

[0203] S1503: Determine whether the number of the sensing nodes whose bandwidth for sensing meets the sensing requirement is greater than or equal to M.

[0204] S1504: If the number of the sensing nodes whose bandwidth for sensing meets the sensing requirement is greater than or equal to M, the sensing nodes whose bandwidth for sensing meets the sensing requirement are taken as the sensing nodes meeting the state condition.

[0205] S1505: If the number of the sensing nodes satisfying the sensing requirement with the bandwidth used for sensing is less than M, further determine whether the number of the sensing nodes in an idle state among the sensing nodes not satisfying the sensing requirement and the sum of the number of the sensing nodes satisfying the sensing requirement is greater than or equal to M. The determination of whether the state of the sensing node is the idle state includes determining whether the sensing node currently has a communication service and other sensing services. If the sensing node currently has no communication service and other sensing services, the sensing node is currently in the idle state, and the state of the sensing node meets the requirement.

[0206] S1506: If the number of the sensing nodes in the idle state among the sensing nodes not satisfying the sensing requirement and the sum of the number of the sensing nodes satisfying the sensing requirement is greater than or equal to M, the sensing nodes in the idle state among the sensing nodes not satisfying the sensing requirement and the sensing nodes satisfying the sensing requirement with the bandwidth used for sensing are taken as the sensing nodes meeting the state condition.

[0207] S1507: If the number of the sensing nodes in the idle state among the sensing nodes not satisfying the sensing requirement and the sum of the number of the sensing nodes satisfying the sensing requirement is less than M, at least one sensing node in a non-idle state can be further selected from the sensing nodes in the non-idle state in the order of waiting time from small to large, so that the sum of the number of the sensing nodes in the idle state, the number of the sensing nodes satisfying the sensing requirement with the bandwidth used for sensing, and the number of the selected sensing nodes in the non-idle state is greater than or equal to M, to obtain the sensing nodes meeting the state condition. The waiting time is the time required for the sensing node in the non-idle state to complete the currently allocated communication service and other sensing services.

[0208] S1508: Based on the sensing nodes meeting the state condition, a candidate sensing node set is further determined according to the capability of the sensing node, the received signal-to-interference-and-noise ratio, and the geographical position of the sensing target.

[0209] As shown in FIG. 16, FIG. 16 is a flowchart of selecting the sensing nodes meeting the capability condition from the sensing nodes meeting the state condition, with the capability condition being that the sensing capability and / or the hardware capability satisfy the sensing requirement and / or the sensing result calculation capability, to obtain the sensing nodes meeting both the state condition and the capability condition, specifically including the following steps:

[0210] S1601: Obtain the sensing capability, the hardware capability, and the sensing result calculation capability of the sensing nodes meeting the state condition.

[0211] S1602: Take the sensing capability and the hardware capability satisfying the sensing requirement as the main judgment condition of the capability.

[0212] S1603: Determine whether the number of the sensing nodes with sensing capability and hardware capability satisfying the sensing requirement among the sensing nodes meeting the state condition is greater than or equal to M.

[0213] S1604: If the number of the sensing nodes with sensing capability and hardware capability satisfying the sensing requirement among the sensing nodes meeting the state condition is greater than or equal to M, the sensing nodes with sensing capability and hardware capability satisfying the sensing requirement are taken as the sensing nodes meeting both the state condition and the capability condition.

[0214] S1605: If the number of the sensing nodes with sensing capability and hardware capability satisfying the sensing requirement among the sensing nodes meeting the state condition is less than M, the sensing nodes with sensing capability and hardware capability satisfying the sensing requirement and the sensing nodes with sensing result calculation capability are taken as the sensing nodes meeting both the state condition and the capability condition. Thus, the sensing nodes meeting both the state condition and the capability condition are determined.

[0215] S1606: Based on the sensing nodes meeting both the state condition and the capability condition, the candidate sensing node set is further determined according to the received signal-to-interference-and-noise ratio and the geographic position of the sensing target.

[0216] It should be noted that the number of the sensing nodes meeting both the state condition and the capability condition needs to be greater than or equal to M. When the number of the sensing nodes meeting both the state condition and the capability condition is less than M, the selection range of the sensing nodes can be expanded. As shown in FIG. 17, the radius is increased from the first radius r1 to the second radius r2 with the sensing target as the center. Thus, the number of the sensing nodes located around the sensing target is increased by expanding the selection range of the sensing nodes, so as to ensure that the number of the sensing nodes meeting both the state condition and the capability condition is greater than or equal to M. The second radius is the radius corresponding to the case that the number of the sensing nodes meeting both the state condition and the capability condition is greater than or equal to M.

[0217] After the sensing nodes meeting both the state condition and the capability condition are determined, the received signal-to-interference-and-noise ratio of each sensing node among the sensing nodes meeting both the state condition and the capability condition is obtained. The sensing nodes with the received signal-to-interference-and-noise ratio greater than or equal to a received signal-to-interference-and-noise ratio threshold value are determined from the sensing nodes meeting both the state condition and the capability condition. When the number of the sensing nodes with the received signal-to-interference-and-noise ratio greater than a first received signal-to-interference-and-noise ratio threshold value among the sensing nodes meeting both the state condition and the capability condition is greater than or equal to M, the received signal-to-interference-and-noise ratio threshold value is the first received signal-to-interference-and-noise ratio threshold value. When the number of the sensing nodes with the received signal-to-interference-and-noise ratio greater than the first received signal-to-interference-and-noise ratio threshold value is less than M, the received signal-to-interference-and-noise ratio threshold value is a second received signal-to-interference-and-noise ratio threshold value. Thus, the sensing nodes meeting the state condition, the capability condition and the received signal-to-interference-and-noise ratio greater than or equal to the received signal-to-interference-and-noise ratio threshold value are obtained.

[0218] The location distance of each sensing node and the sensing target that meets the state condition, the capability condition, and the received signal-to-interference-and-noise ratio is greater than or equal to the received signal-to-interference-and-noise ratio threshold is determined, and a sensing node with a location distance less than or equal to a distance threshold is selected. When the number of sensing nodes with a location distance less than a first distance threshold among the sensing nodes that meet the state condition, the capability condition, and the received signal-to-interference-and-noise ratio greater than or equal to the received signal-to-interference-and-noise ratio threshold is greater than or equal to M, the distance threshold is the first distance threshold. When the number of sensing nodes with a location distance less than the first distance threshold is less than M, the distance threshold is a second distance threshold.

[0219] When the number of sensing nodes that meet the state condition, the capability condition, the received signal-to-interference-and-noise ratio greater than the received signal-to-interference-and-noise ratio threshold, and the location distance less than the distance threshold is equal to M, the sensing nodes that meet the state condition, the capability condition, the received signal-to-interference-and-noise ratio greater than the received signal-to-interference-and-noise ratio threshold, and the location distance less than the distance threshold are included as the sensing nodes included in the candidate sensing node set. When the number of sensing nodes that meet the state condition, the capability condition, the received signal-to-interference-and-noise ratio greater than the received signal-to-interference-and-noise ratio threshold, and the location distance less than the distance threshold is greater than M, M sensing nodes are randomly selected from the sensing nodes that meet the state condition, the capability condition, the received signal-to-interference-and-noise ratio greater than the received signal-to-interference-and-noise ratio threshold, and the location distance less than the distance threshold as the sensing nodes included in the candidate sensing node set.

[0220] It should be noted that the above examples are only one of the examples of determining the candidate sensing node set according to the capability of the sensing node, the state of the sensing node, the received signal-to-interference-and-noise ratio, and the geographical position of the sensing target, and the execution order of each step is not limited in the embodiments of the present application. For example, the sensing nodes meeting the requirements can be determined based on the received signal-to-interference-and-noise ratio and the geographical position of the sensing target, and then the sensing nodes meeting the state and capability are selected from the determined sensing nodes according to the capability of the sensing node and the state of the sensing node.

[0221] Further, the influencing factors required for determining the candidate sensing node set are not limited in the embodiments of the present application. For example, the candidate sensing node set can also be determined according to the capability of the sensing node, the state of the sensing node, the motion direction of the sensing target, and the speed accuracy attenuation factor.

[0222] When the candidate sensing node set is determined according to the capability of the sensing node, the state of the sensing node, the motion direction of the sensing target, and the speed accuracy attenuation factor, the contents in steps S1501 to S1508 and steps S1601 to S1606 in the above examples can be referred to, and the sensing nodes meeting the state condition and the capability condition are determined first.

[0223] The speed accuracy attenuation factor corresponding to each perception node satisfying both the state condition and the capability condition is determined again, and at least the first M perception nodes are selected from the perception nodes satisfying both the state condition and the capability condition in the order of the speed accuracy attenuation factor from small to large.

[0224] Finally, the included angle between the line connecting each perception node in the selected at least the first M perception nodes and the corresponding perception node and the motion direction of the perception target is determined. It is determined whether the number of perception nodes with the included angle in the first angle range is less than M. If it is greater than or equal to M, the first M perception nodes in the order of the speed accuracy attenuation factor from small to large are taken as the perception nodes in the candidate perception node set from the perception nodes with the included angle in the first angle range.

[0225] If it is less than M, the first angle range is added with at least one angle compensation range to obtain a second angle range, so as to expand the angle range used for judging the included angle, so that the number of perception nodes with the included angle in the second angle range is greater than or equal to M. The number of angle compensation ranges required to be added by the first angle range is the number of angle compensation ranges required to be increased when the number of perception nodes with the included angle in the second angle range is greater than or equal to M. When the number of perception nodes with the included angle in the second angle range is greater than M, the first M perception nodes in the order of the speed accuracy attenuation factor from small to large are taken as the perception nodes in the candidate perception node set from the perception nodes with the included angle in the second angle range. When the number of perception nodes with the included angle in the second angle range is equal to M, the perception nodes with the included angle in the second angle range are taken as the perception nodes in the candidate perception node set.

[0226] Further, the embodiment of the present application can determine the candidate perception node set from any three of the received signal-to-interference-and-noise ratio, the capability of the perception node, the state of the perception node, the geographic position of the perception target, the motion direction of the perception target, the speed accuracy attenuation factor, the position accuracy attenuation factor, the distance ratio of the perception node, and the position relationship between the perception node and the perception target.

[0227] For example, when the candidate perception node set is determined according to the speed accuracy attenuation factor, the position accuracy attenuation factor and the distance ratio of the perception node, the speed accuracy attenuation factor corresponding to each perception node can be calculated according to the geographic position of the perception node, the geographic position of the perception target, the motion direction of the perception target and other information, and at least the first M perception nodes are selected as the perception nodes satisfying the speed accuracy attenuation factor requirement in the order of the speed accuracy attenuation factor from small to large.

[0228] The position accuracy attenuation factors corresponding to the perception nodes meeting the velocity accuracy attenuation factor requirement are calculated, and at least the first M perception nodes are selected in the order of the position accuracy attenuation factors from small to large as the perception nodes meeting both the velocity accuracy attenuation factor requirement and the velocity accuracy attenuation factor requirement. The line-of-sight ratios of the perception nodes meeting both the velocity accuracy attenuation factor requirement and the velocity accuracy attenuation factor requirement are obtained, and the first M perception nodes are selected in the order of the line-of-sight ratios from large to small as the perception nodes included in the candidate perception node set.

[0229] It should be noted that when the number of the perception nodes determined according to the velocity accuracy attenuation factor, the position accuracy attenuation factor and the line-of-sight ratio of the perception node is less than M in the above manner, the velocity accuracy attenuation factor can be arranged in the first M positions in the order from small to large, the position accuracy attenuation factor can be arranged in the first M positions in the order from small to large, and the line-of-sight ratio of the perception node can be arranged in the first M positions in the order from large to small as the main judgment condition. The number of the perception nodes meeting the main condition is determined, and if the number of the perception nodes meeting the main judgment condition is less than M, any two of the velocity accuracy attenuation factor arranged in the first M positions in the order from small to large, the position accuracy attenuation factor arranged in the first M positions in the order from small to large, and the line-of-sight ratio of the perception node arranged in the first M positions in the order from large to small are taken as the secondary judgment condition, and the number of the perception nodes meeting the secondary condition is determined.

[0230] If the sum of the number of the perception nodes meeting the main judgment condition and the number of the perception nodes meeting the secondary judgment condition is greater than M, the perception nodes meeting the main judgment condition are taken as the perception nodes in the candidate perception node set, and the perception nodes meeting the secondary judgment condition are randomly selected as the perception nodes in the candidate perception node set until the number of the perception nodes in the candidate perception node set is equal to M. If the sum of the number of the perception nodes meeting the main judgment condition and the number of the perception nodes meeting the secondary judgment condition is equal to M, the perception nodes meeting the main judgment condition and the perception nodes meeting the secondary judgment condition are both taken as the perception nodes in the candidate perception node set.

[0231] If the sum of the number of the perception nodes meeting the main judgment condition and the number of the perception nodes meeting the secondary judgment condition is less than M, any one of the velocity accuracy attenuation factor arranged in the first M positions in the order from small to large, the position accuracy attenuation factor arranged in the first M positions in the order from small to large, and the line-of-sight ratio of the perception node arranged in the first M positions in the order from large to small is taken as the lowest judgment condition. The perception nodes meeting the main judgment condition and the perception nodes meeting the secondary judgment condition are both taken as the perception nodes in the candidate perception node set, and the perception nodes meeting the lowest judgment condition are randomly selected as the perception nodes in the candidate perception node set until the number of the perception nodes in the candidate perception node set is M.

[0232] For example, when determining the candidate set of sensing nodes according to the capability of the sensing node, the state of the sensing node, and the position accuracy decay factor, the contents in steps S1501 to S1508 and steps S1601 to S1606 in the above examples can be referred to, and the sensing nodes that meet both the state condition and the capability condition are determined first. Then, the position accuracy decay factors corresponding to the sensing nodes that meet both the state condition and the capability condition are obtained, and the first M sensing nodes are selected in the order of the position accuracy decay factors from small to large to generate the candidate set of sensing nodes.

[0233] By determining the candidate set of sensing nodes according to one or more of the received signal-to-interference-and-noise ratio, the capability of the sensing node, the state of the sensing node, the geographic position of the sensing target, the motion direction of the sensing target, the speed accuracy decay factor, the position accuracy decay factor, the line-of-sight ratio of the sensing node, and the position relationship between the sensing node and the sensing target, the sensing nodes that can meet the current sensing demand and can perform the current sensing service can be determined through one or more reference data that affect the completion quality of the sensing node for the sensing task. When the sensing-related information is sent to the K sensing nodes in the M sensing nodes, each sensing node that receives the sensing-related information can complete the corresponding sensing task, and the reliability of the selected sensing node that can complete the corresponding sensing task is improved.

[0234] FIG. 18 is a structural schematic diagram of a sensing node selection device according to an embodiment of the present application. Those skilled in the art understand that the sensing node selection device described in the embodiment can be used to implement the method technical solutions described in the above embodiments.

[0235] Specifically, referring to FIG. 18, the sensing node selection device described in the embodiment can include:

[0236] The determining module 1801 is configured to determine a candidate set of sensing nodes, and the candidate set of sensing nodes includes M sensing nodes, and M is a positive integer.

[0237] The sending module 1802 is configured to send sensing-related information to K sensing nodes in the M sensing nodes respectively, K≤M, and K is a positive integer; and the sensing-related information indicates that the sensing node is selected to sense the sensing target.

[0238] For more details about the working principle and working mode of the sensing node selection device, please refer to the related description in the above embodiments, which will not be repeated here.

[0239] In specific implementations, the apparatus for selecting a perception node described above can correspond to a chip with a communication function in the UE, or a chip with a data processing function, such as a System-On-a-Chip (SOC), a baseband chip, or the like; or a chip module including a chip with a communication function in the UE; or a chip module including a chip with a data processing function, or the UE.

[0240] In specific implementations, each module / unit contained in each apparatus and product described in the above embodiments can be a software module / unit, or a hardware module / unit, or part of a software module / unit and part of a hardware module / unit.

[0241] For example, for each apparatus and product applied to or integrated into a chip, each module / unit contained therein can be implemented in the form of hardware such as a circuit, or at least part of the modules / units can be implemented in the form of a software program running on a processor integrated in the chip, and the remaining (if any) part of the modules / units can be implemented in the form of hardware such as a circuit; for each apparatus and product applied to or integrated into a chip module, each module / unit contained therein can be implemented in the form of hardware such as a circuit, and different modules / units can be located in the same component (e.g., a chip, a circuit module, etc.) or different components of the chip module, or at least part of the modules / units can be implemented in the form of a software program running on a processor integrated in the chip module, and the remaining (if any) part of the modules / units can be implemented in the form of hardware such as a circuit; for each apparatus and product applied to or integrated into a terminal, each module / unit contained therein can be implemented in the form of hardware such as a circuit, and different modules / units can be located in the same component (e.g., a chip, a circuit module, etc.) or different components of the terminal, or at least part of the modules / units can be implemented in the form of a software program running on a processor integrated in the terminal, and the remaining (if any) part of the modules / units can be implemented in the form of hardware such as a circuit.

[0242] The embodiments of the present application also provide a computer readable storage medium, which is a non-volatile storage medium or a non-transitory storage medium, and has a computer program stored thereon. When the computer program is run by a processor, the steps of the method for selecting a perception node provided by any of the above embodiments are executed. Preferably, the storage medium can include a computer readable storage medium such as a non-volatile memory or a non-transitory memory. The storage medium can include a ROM, a RAM, a magnetic disk, or an optical disk, etc.

[0243] The embodiment of the present application further provides another device for sensing node selection, comprising a memory and a processor, wherein the memory stores a computer program which can be run on the processor, and the processor executes the steps of the method for sensing node selection provided by the above-mentioned embodiment when running the computer program. The communication device can be integrated into a UE / network device, or the communication device can be, for example, a UE / network device.

[0244] The embodiment of the present application further provides a computer program product, comprising computer programs / instructions, which, when executed by a processor, implement the steps of the method for sensing node selection provided by the above-mentioned embodiment.

[0245] Those skilled in the art can understand that all or part of the steps of the various methods of the above-mentioned embodiments can be completed by a program instructing related hardware, and the program can be stored in a computer readable storage medium, which can include ROM, RAM, magnetic disk or optical disk, etc.

[0246] The technical solution of the present application is also applicable to different network architectures, including but not limited to relay network architecture, dual link architecture, Vehicle-to-Everything (vehicle-to-anything communication) architecture.

[0247] The UE of the embodiment of the present application is a device with wireless communication function, which can be referred to as a terminal

[0248] A UE can also be referred to as terminal, terminal device, mobile station (MS), mobile terminal (MT), access terminal device, vehicle-mounted terminal device, industrial control terminal device, UE unit, UE station, mobile station, remote station, remote terminal device, mobile device, UE terminal device, wireless communication device, UE agent, or UE apparatus, etc. The UE can be fixed or mobile. It should be noted that the UE can support at least one wireless communication technology, such as Long Term Evolution (LTE), new radio (NR), etc. For example, the UE can be a mobile phone, a pad, a desktop computer, a notebook computer, an all-in-one machine, a vehicle-mounted terminal, 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 surgery, 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 cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a wearable device, a terminal device in a future mobile communication network, or a terminal device in a future evolved public land mobile network (PLMN), etc. In some embodiments of the present application, the terminal device can also be a device with transceiver function, such as a chip system. The chip system can include a chip and can also include other discrete devices.

[0249] The network device in the embodiments of the present application is a device providing wireless communication function for a UE, which can also be referred to as an access network device, a radio access network (RAN) device, or an access network network element, etc. The network device can support at least one wireless communication technology, such as LTE, NR, etc. For example, the network device includes, but is not limited to, a generation nodeB (gNB) in a 5th-generation (5G) system, an evolved node B (eNB), a radio network controller (RNC), a node B (NB), a base station controller (BSC), a base transceiver station (BTS), a home base station (such as a home evolved node B or a home node B, HNB), a baseband unit (BBU), a transmitting and receiving point (TRP), a transmitting point (TP), a mobile switching center, etc. The network device can also be a radio controller, a centralized unit (CU), and / or a distributed unit (DU) in a cloud radio access network (CRAN) scenario, or the access network device can be a relay station, an access point, a vehicle-mounted device, a terminal device, a wearable device, and a network device in future mobile communication, or a network device in future evolved PLMN, etc. In some embodiments, the network device can also be a chip system having a function of providing wireless communication for a UE. For example, the chip system can include a chip and can also include other discrete devices.

[0250] It should be understood that the term "and / or" herein only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent three cases of A alone, A and B together, and B alone. In addition, the character " / " herein represents that the front and rear associated objects are in an "or" relationship.

[0251] The "multiple" appearing in the embodiments of the present application means two or more.

[0252] The first, second and the like appearing in the embodiments of the present application are only for indicating and distinguishing the described objects, and do not have sequence, and do not represent special limitation of the number of devices in the embodiments of the present application, and cannot constitute any limitation on the embodiments of the present application.

[0253] The "connection" appearing in the embodiments of the present application refers to various connection modes such as direct connection or indirect connection, so as to realize the communication between devices, and the embodiments of the present application do not make any limitation on this. The "network" and "system" appearing in the embodiments of the present application represent the same concept, and the communication system is the communication network.

[0254] It should be understood that in the embodiments of the present application, the processor can be a central processing unit (CPU), and the processor 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, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0255] It should also be understood that the memory in the embodiments of the present application can be a volatile memory or a nonvolatile memory, or can include both volatile and nonvolatile memory. Among them, the nonvolatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example, and not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0256] The above-described embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, the above-described embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are wholly or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center through wired (for example, infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. containing one or more available medium collections. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state disk.

[0257] It should be understood that the size of the sequence number of each process described above in various embodiments of the present application does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0258] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the scope of the present application, therefore the scope of protection of the present application should be limited by the scope defined by the claims.

Claims

1. A method for sensing node selection, the method comprising: determining a candidate sensing node set, the candidate sensing node set comprising M sensing nodes, M being a positive integer; sending sensing related information to K sensing nodes of the M sensing nodes respectively, K≤M, and K being a positive integer; the sensing related information indicating that a sensing node is selected for sensing a sensing target.

2. The method of claim 1, wherein, The determining the candidate sensing node set comprises: determining the candidate sensing node set according to one or more of a received signal-to-interference-and-noise ratio, a capability of a sensing node, a state of a sensing node, a geographical position of the sensing target, a moving direction of the sensing target, a speed accuracy decay factor, a position accuracy decay factor, a line-of-sight ratio of a sensing node, and a position relationship between a sensing node and the sensing target; the speed accuracy decay factor being used to represent a degree of influence of a first parameter on a speed estimation of the sensing target; the position accuracy decay factor being used to represent a degree of influence of a second parameter on a position estimation of the sensing target, the first parameter being related to a speed estimation result of the sensing target, the second parameter being related to a position estimation result of the sensing target, and the line-of-sight ratio of the sensing node being a ratio between an amount of signals received by the sensing node through a line-of-sight between the sensing node and the sensing target and a total amount of signals received by the sensing node.

3. The method of claim 2, wherein, The M sensing nodes are sensing nodes whose received signal-to-interference-and-noise ratios are arranged in a descending order and are greater than or equal to a first received signal-to-interference-and-noise ratio threshold, wherein a number of sensing nodes whose received signal-to-interference-and-noise ratios are greater than or equal to the first received signal-to-interference-and-noise ratio threshold is greater than or equal to M; or The M sensing nodes are sensing nodes whose received signal-to-interference-and-noise ratios are arranged in a descending order and are greater than or equal to a second received signal-to-interference-and-noise ratio threshold, wherein a number of sensing nodes whose received signal-to-interference-and-noise ratios are greater than or equal to the first received signal-to-interference-and-noise ratio threshold is less than M, and the second received signal-to-interference-and-noise ratio threshold is obtained by reducing the first received signal-to-interference-and-noise ratio threshold by at least one first step length.

4. The method of claim 2, wherein, A position distance between each of the M sensing nodes and the sensing target is less than a first distance threshold; or A position distance between each of the M sensing nodes and the sensing target is less than a second distance threshold, wherein a number of sensing nodes whose position distances from the sensing target are less than the first distance threshold is less than M, and the second distance threshold is a sum of the first distance threshold and at least one second step length; wherein the number of sensing nodes whose position distances from the sensing target are less than the first distance threshold is determined based on a geographical position of the sensing target.

5. The method of claim 4, wherein, The position distance between each of the M sensing nodes and the sensing target is an actual distance between the sensing node and the sensing target; or ​ A distance between the i-th sensing node and the sensing target is Di; wherein Di is the shortest distance between the sensing target and a line connecting the i-th sensing node and a corresponding sensing node; one of the i-th sensing node and the corresponding sensing node is configured to receive a sensing signal from the sensing target, and the other is configured to send a sensing signal to the sensing target.

6. The method of claim 2, wherein, An included angle of each of the M sensing nodes is within a first angle range; or, An included angle of each of the M sensing nodes is within a second angle range; a number of sensing nodes with an included angle within the first angle range is less than M, and the second angle range is a sum of the first angle range and at least one angle compensation range; The included angle of the sensing node is an included angle between a line connecting the sensing node and a corresponding sensing node and a movement direction of the sensing target; or, the included angle of the sensing node is an included angle between a line connecting the sensing node and the sensing target and a line connecting a corresponding sensing node and the sensing target; One of the sensing node and the corresponding sensing node is configured to receive a sensing signal from the sensing target, and the other is configured to send a sensing signal to the sensing node.

7. The method of claim 2, wherein, Each of the M sensing nodes has a sensing capability; and / or, A hardware capability of each of the M sensing nodes meets a sensing requirement; and / or, Each of the M sensing nodes has a sensing result calculation capability.

8. The method of claim 2, wherein, The M sensing nodes are all in an idle state; and / or, A bandwidth used for sensing of each of the M sensing nodes meets a sensing requirement; and / or, Each of the M sensing nodes has a sensing capability; and / or, A hardware capability of each of the M sensing nodes meets a sensing requirement; and / or, Each of the M sensing nodes has a sensing result calculation capability; and / or, A received signal-to-interference-and-noise ratio of the M sensing nodes is greater than or equal to a received signal-to-interference-and-noise ratio threshold; and / or, A distance between each of the M sensing nodes and the sensing target is less than or equal to a distance threshold. At least one of the M sensing nodes is time-synchronized with a corresponding sensing node; wherein the at least one sensing node is configured to receive a sensing signal from the sensing target, and the corresponding sensing node is configured to send a sensing signal to the sensing target; or, the at least one sensing node is configured to send a sensing signal to the sensing target, and the corresponding sensing node is configured to receive a sensing signal from the sensing target; or, 9. The method of claim 2 or 8, wherein, There are at least one group of sensing nodes in the M sensing nodes; sensing nodes belonging to a group are time-synchronized; at least one of the sensing nodes belonging to the group is configured to send a sensing signal to the sensing target, and other sensing nodes of the group, except for the at least one sensing node, are configured to receive a sensing signal from the sensing target. ​ 10. The method of claim 2, wherein, The M perception nodes are the perception nodes whose speed accuracy attenuation factors are arranged in the first M positions in ascending order. The M perception nodes are the perception nodes whose position accuracy attenuation factors are arranged in the first M positions in ascending order.

11. The method of claim 2, wherein, The M perception nodes are the perception nodes whose line-of-sight ratios are arranged in the first M positions in descending order.

12. The method of claim 1 or 2, wherein, At least one of the M perception nodes adopts a self-generation and self-reception mode for perception.

13. The method of claim 1, wherein, The method further comprises: Determining the number of perception nodes included in the candidate perception node set as M according to at least one of a perception task, a perception requirement, or a device capability for sending a perception signal.

14. The method of claim 13, wherein, Kmin≤M≤Kmax; the Kmin is a minimum node number, and the Kmax is a maximum node number.

15. An apparatus for perception node selection, the apparatus comprising: a determining module configured to determine a candidate perception node set, the candidate perception node set including M perception nodes, the M being a positive integer; a sending module configured to send perception-related information to K perception nodes in the M perception nodes respectively, the K≤M, and the K being a positive integer; the perception-related information indicating that the perception nodes are selected for perceiving a perception target.

16. A computer-readable storage medium, which is a non-volatile storage medium or a non-transitory storage medium, on which a computer program is stored, wherein, The computer program is run by the processor to perform the steps of the method of any one of claims 1 to 14.

17. A computer program product comprising computer programs / instructions, wherein, The computer program / instruction is executed by the processor to implement the steps of the method of any one of claims 1 to 14. 18.An apparatus for perception node selection, comprising a memory and a processor, the memory having stored thereon a computer program executable by the processor, wherein, The processor runs the computer program to perform the steps of the method of any one of claims 1 to 14.

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