Sensing method and apparatus, and readable storage medium, chip and program product

Abstract

The embodiments of the present application relate to the technical field of communications. Disclosed are a sensing method and apparatus, and a readable storage medium, a chip and a program product, by means of which, priorities can be assigned to sensing nodes, so as to realize the hierarchical management of the sensing nodes, thereby improving the management efficiency for the sensing nodes, and improving sensing results of the sensing nodes. The method comprises: receiving first indication information from a sensing center device, wherein the first indication information is used for indicating the priority of a first sensing node, and the priority includes first priority; and on the basis of the priority of the first sensing node, performing sensing. The embodiments of the present application are applied to a sensing process.

Description

Perception method, device, readable storage medium, chip and program product

[0001] The present application claims priority from the Chinese patent application No. 202411304165.8 filed on September 18, 2024, and entitled "Perception method, device, readable storage medium, chip and program product", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of communication technology, in particular to a perception method, device, readable storage medium, chip and program product. BACKGROUND

[0003] In a cooperative perception scenario, a plurality of perception nodes are usually managed by a perception center device. However, due to different perception capabilities of different perception nodes and different perception environments, the management manner of managing the plurality of perception nodes by the perception center device is low in efficiency, and the perception result is unstable. SUMMARY

[0004] To solve the above technical problems, the embodiments of the present application provide a perception method, device, readable storage medium, chip and program product, which can divide the priority of the perception node, realize the hierarchical management of the perception node, improve the management efficiency of the perception node, and further improve the perception result of the perception node.

[0005] In a first aspect, a perception method is provided. The method can be executed by a first perception node, or by a component of the first perception node, such as a processor, a chip, or a chip system of the first perception node, or by a logic module or software that can realize all or part of the function of the first perception node. Hereinafter, the method is taken as an example to be executed by the first perception node. The perception method comprises: receiving first indication information from a perception center device; the first indication information is used to indicate a priority of the first perception node; the priority comprises a first priority; and performing perception based on the priority of the first perception node.

[0006] In the embodiments of the present application, the perception center device indicates the priority of the first perception node for the first perception node, and the first perception node performs perception based on its own priority. In this way, different priorities can be divided for perception nodes with different perception capabilities or in different perception environments, so that the perception nodes can be managed differently, the management efficiency of the perception nodes is improved, and the perception result of the perception nodes is improved.

[0007] In a possible implementation manner, the first indication information is carried in a perception measurement request frame or a perception configuration frame.

[0008] Based on this, the perception center device sends first indication information to the first perception node through a perception measurement request frame or a perception configuration frame. Therefore, the first perception node can determine the priority of the first perception node before perception measurement, and thus can enable the first perception node to perform perception according to its own priority.

[0009] In a possible implementation, the priority is used to distinguish a perception node management function of the perception node or whether the perception node reports a perception device state.

[0010] Based on this, the perception center device can divide different priorities for the perception nodes, so that the perception nodes with different priorities have different perception node management functions, for example, a high-priority node has a function of managing a low-priority node. Or different perception nodes can or can not report a perception device state, for example, a high-priority node reports a perception device state and a low-priority node does not report a perception device state. In this way, the perception center device can effectively manage the perception nodes in a hierarchical manner and guarantee the perception performance of the high-priority node.

[0011] In a possible implementation, the method further includes: sending second indication information to a second perception node; and the second indication information is used to indicate management of the second perception node, wherein the second perception node has a second priority, and the second priority is lower than the first priority.

[0012] Based on this, a high-priority perception node can manage a low-priority perception node based on its own measurement accuracy requirement, for example, by instructing the low-priority perception node to adjust configuration or terminate perception, to avoid interference of the low-priority node on the high-priority node; or for example, by instructing the low-priority node to initiate perception, so that the low-priority node and the high-priority node jointly perform perception, thereby improving the perception accuracy of the high-priority perception node. In addition, the high-priority perception node can also share the management work of the perception center device on the perception nodes, thereby reducing the management burden of the perception center device and reducing the resource consumption of the perception center device. Since the high-priority perception node can manage the low-priority perception node, when the low-priority perception node performs abnormal reporting, it can report to the high-priority node instead of the perception center device, which can reduce the probability of multiple perception nodes simultaneously reporting to the perception center device, thereby avoiding information loss caused by abnormal reporting conflicts.

[0013] In a possible implementation, the management of the second perception node includes at least one of the following: configuration change on the second perception node, instruction to the second perception node to terminate perception, or instruction to the second perception node to initiate perception.

[0014] Based on this, the first sensing node can perform configuration change on the second sensing node, instruct the second sensing node to terminate sensing, or instruct the second sensing node to initiate sensing, and the like. In this way, during the sensing measurement, the first sensing node can manage the second sensing node based on the sensing situation of the first sensing node, so as to improve the sensing accuracy of the first sensing node.

[0015] In a possible implementation, in the case that the sensing measurement of the first sensing node is disturbed, the management of the second sensing node includes: performing configuration change on the second sensing node; and / or in the case that the sensing measurement of the first sensing node is disturbed, the second sensing node signal is abnormal, the second sensing node moves, the second sensing node leaves the first preset area, the environment to which the second sensing node belongs does not meet the sensing measurement condition, or the second sensing node loses connection, the management of the second sensing node includes: instructing the second sensing node to terminate sensing; and / or in the case that the first sensing node has a sensing blind area, the first sensing node needs to expand the sensing range, the first sensing node needs to increase the sensing data of different sensing nodes, the second sensing node enters the second preset area, or the sensing target moves to the third preset area, the management of the second sensing node includes: instructing the second sensing node to initiate sensing.

[0016] Based on this, the first sensing node can select the management operation performed on the second sensing node based on the current scene requirement, so that the second sensing node can cooperate with the sensing measurement of the first sensing node, or does not cause disturbance to the sensing measurement of the first sensing node, thereby making the sensing result of the sensing target more accurate.

[0017] In a possible implementation, the configuration change performed on the second sensing node includes at least one of the following: changing the frequency or channel of the second sensing node, changing the signal sending time of the second sensing node, or changing the sequence used by the second sensing node.

[0018] Based on this, when the first sensing node performs configuration change on the second sensing node, the configuration change can be performed on the second sensing node based on frequency division, time division, or code division respectively. This makes the second sensing node not cause disturbance to the first sensing node, or makes the first sensing node and the second sensing node can simultaneously perform effective sensing.

[0019] In a possible implementation, in the case that the management of the second sensing node includes: performing configuration change on the second sensing node, the second indication information is carried in a sensing measurement request frame or a sensing configuration frame; in the case that the management of the second sensing node includes: instructing the second sensing node to terminate sensing, the second indication information is carried in a sensing measurement termination frame or a sensing termination frame; or in the case that the management of the second sensing node includes: instructing the second sensing node to initiate sensing, the second indication information is carried in a sensing measurement request frame or a sensing configuration frame.

[0020] Based on this, in the case that the second indication information indicates different management operations (such as indicating configuration change, initiating sensing, and terminating sensing), the second indication information can be carried in different frames, and in addition, the second indication information can also be carried in other frames, which are not limited by the present application.

[0021] In a possible implementation, the sending of the second indication information to the second sensing node comprises: in the case that there is a transmission link between the first sensing node and the second sensing node, sending the second indication information to the second sensing node based on the transmission link; in the case that there is no transmission link between the first sensing node and the second sensing node, establishing a transmission link between the first sensing node and the second sensing node, and sending the second indication information to the second sensing node based on the transmission link.

[0022] Based on this, the first sensing node can not only manage the sensing nodes that have established transmission links with the first sensing node, but also manage the sensing nodes that have not established transmission links with the first sensing node.

[0023] In a possible implementation, the method further comprises: sending third indication information to the sensing center device; the third indication information is used to indicate the management of the second sensing node by the first sensing node.

[0024] Based on this, after the first sensing node performs configuration change, initiates sensing, or terminates sensing on the second sensing node, the first sensing node reports the configuration change, the initiation of sensing, or the termination of sensing on the second sensing node to the sensing center device, which can make the state of each sensing node determined by the sensing center device consistent with the actual state of the sensing node, thereby enabling the sensing center device to overall coordinate the cooperative sensing.

[0025] In a possible implementation, the third indication information is carried in a sensing measurement report frame or a sensing information report frame sent by the first sensing node to the sensing center device. In addition, the third indication information can also be carried in other frames, which are not limited by the present application.

[0026] Based on this, the first sensing node can report the management of the second sensing node at the same time when reporting the sensing measurement result to the sensing center device, thereby saving the transmission resources between the first sensing node and the sensing center device.

[0027] In a possible implementation, the method further comprises: sending fourth indication information to the sensing center device; the fourth indication information is used to indicate whether the first sensing node accepts the priority of the first sensing node.

[0028] Based on this, after the first sensing node receives the priority configured by the sensing center device, the first sensing node can autonomously select whether to accept the priority, so that the first sensing node can autonomously select whether to perform sensing based on the priority configured by the sensing center device.

[0029] In a possible implementation, the fourth indication information is carried in a sensing measurement request response frame or a sensing configuration feedback frame.

[0030] Based on this, the first sensing node can send the fourth indication information to the sensing center device through the sensing measurement request response frame or the sensing configuration feedback frame.

[0031] In a possible implementation, before receiving the first indication information from the sensing center device, the method further includes: sending, to the sensing center device, a sensing capability parameter of the first sensing node, the sensing capability parameter of the first sensing node being used to determine the priority of the first sensing node.

[0032] Based on this, the first sensing node can pre-report the sensing capability parameter of the first sensing node to the sensing center device, so that the sensing center device determines the priority of the first sensing node based on the sensing capability parameter of the first sensing node. The sensing center device can configure a higher priority for a sensing node with stronger sensing capability and / or a more suitable measurement location, thereby improving the sensing accuracy of the sensing node with stronger sensing capability and / or the more suitable measurement location, and further improving the overall sensing accuracy of the sensing target.

[0033] In a possible implementation, the sensing capability parameter includes at least one of the following: a sensing signal parameter, used to represent a bandwidth or a refresh rate supported by the sensing node; a multi-antenna capability, used to represent a number of transceiving antennas supported by the sensing node; a power supply type, including at least one of the following: a constant power supply, a charging power supply, or a battery power supply; a safety support, used to represent whether the sensing node supports sensing safety; a node location, used to represent whether the node location is fixed and / or a node installation location; a historical performance, used to represent a measurement accuracy and / or a measurement stability of the sensing node in a historical measurement task; a movement probability, used to represent a probability of movement of the sensing node; or an environmental interference detection capability, used to represent an environmental interference detection capability of the sensing node.

[0034] Based on this, the sensing center device can determine the priority of the sensing node from different dimensions according to the above parameters.

[0035] In a possible implementation, in a case that the sensing capability parameter of the first sensing node satisfies at least one of the following conditions: the bandwidth supported by the first sensing node is greater than a preset bandwidth, and / or the refresh rate supported by the first sensing node is greater than a preset refresh rate; the bandwidth supported by the first sensing node belongs to K largest bandwidths in bandwidths supported by N sensing nodes; N and K are positive integers, and N is greater than or equal to K, and the N sensing nodes are sensing nodes managed by the sensing center device; the refresh rate supported by the first sensing node belongs to K largest refresh rates in refresh rates supported by the N sensing nodes; the number of transmission antennas supported by the first sensing node is greater than a first threshold or the number of reception antennas is greater than a second threshold; the number of transmission antennas supported by the first sensing node belongs to K largest numbers of transmission antennas in numbers of transmission antennas supported by the N sensing nodes; the power supply type of the first sensing node is constant power supply; the first sensing node supports sensing safety; the position of the first sensing node is fixed and / or the installation position meets the position requirement; the measurement accuracy of the first sensing node in a historical measurement task is greater than a third threshold, and / or the measurement stability is greater than a fourth threshold; the measurement accuracy of the first sensing node in the historical measurement task belongs to K largest measurement accuracies in measurement accuracies of the N sensing nodes in the historical measurement task; the measurement stability of the first sensing node in the historical measurement task belongs to K largest measurement stabilities in measurement stabilities of the N sensing nodes in the historical measurement task; the movement probability of the first sensing node is lower than a preset probability value; the movement probability of the first sensing node belongs to K smallest movement probabilities in movement probabilities of the N sensing nodes; or the environmental interference detection capability of the first sensing node meets the requirement.

[0036] Based on this, the sensing center device can determine that the priority of the sensing node with better sensing capability is the first priority according to the above parameters.

[0037] In a possible implementation, in a case that the first indication information indicates that the first sensing node reports the sensing device state, the method further includes: sending, to the sensing center device, a sensing device state reporting message when detecting that the sensing device state of the first sensing node changes; the sensing device state reporting message is used to indicate the sensing device state change of the first sensing node.

[0038] Based on this, in a case that the sensing center device indicates that the first sensing node reports the sensing device state, the first sensing node can report the sensing device state reporting message to the sensing center device when detecting that the sensing device state changes, so that the sensing center device can timely manage the first sensing node based on the sensing device state change of the first sensing node, and improve the sensing accuracy of the first sensing node.

[0039] In one possible implementation, the method further includes: sending a sensing measurement result indication message to the sensing center device; wherein, in the event of a change in the sensing device state of the first sensing node, the sensing measurement result indication message is used to indicate that the current sensing measurement result is invalid.

[0040] Based on this, the problem of reduced perception accuracy caused by the perception center device determining the perception result of the target based on the measurement result measured by the first perception node when the perception device state changes can be avoided.

[0041] In one possible implementation, the sensing measurement result indication information is carried in the sensing information reporting frame, which is used to report the sensing measurement result.

[0042] Based on this, the first sensing node can synchronously indicate whether the current sensing measurement result is invalid each time it reports the sensing measurement result, without having to send additional frames for reporting.

[0043] In one possible implementation, the method further includes sending a sixth indication message to the sensing center device, the sixth indication message being used to indicate the reason why the measurement result is invalid.

[0044] Based on this, the first sensing node can synchronize the measurement results to the sensing center equipment to explain why they are invalid.

[0045] In one possible implementation, the sixth indication information is carried in the perception information reporting frame, which is used to report the perception measurement results.

[0046] Based on this, the first sensing node can synchronously indicate the reason why the measurement result is invalid each time it reports the sensing measurement result.

[0047] Secondly, a sensing method is provided. This method can be executed by a sensing center device, or by a component of the sensing center device, such as its processor, chip, or chip system. It can also be implemented by a logic module or software capable of performing all or part of the functions of the sensing center device. The following description uses the execution of this method by a sensing center device as an example. The sensing method includes: generating first indication information; the first indication information indicating the priority of a first sensing node; the priority including a first priority; and sending the first indication information to the first sensing node.

[0048] In one possible implementation, the first indication information is carried in a sensing measurement request frame or a sensing configuration frame.

[0049] In one possible implementation, the method further includes: receiving third indication information from the first sensing node; the third indication information is used to instruct the first sensing node to manage the second sensing node.

[0050] In a possible implementation manner, the third indication information is carried on a sensing measurement report frame or a sensing information report frame sent by the first sensing node to the sensing center device.

[0051] In a possible implementation manner, the method further includes: receiving fourth indication information from the first sensing node; and the fourth indication information is used to indicate whether the first sensing node accepts the priority of the first sensing node.

[0052] In a possible implementation manner, the fourth indication information is carried on a sensing measurement request response frame or a sensing configuration feedback frame.

[0053] In a possible implementation manner, the method further includes: receiving sensing capability parameters of the first sensing node, and the sensing capability parameters of the first sensing node are used to determine the priority of the first sensing node.

[0054] In a possible implementation manner, the method further includes: receiving a sensing device state report message sent by the first sensing node when a sensing device state of the first sensing node changes; and the sensing device state report message is used to indicate a change of the sensing device state of the sensing node, and the first sensing node is the sensing node indicated by the first indication information to report the sensing device state.

[0055] In a possible implementation manner, the method further includes: receiving sensing measurement result indication information sent by the first sensing node; and in a case where it is detected that the sensing device state of the first sensing node changes, the sensing measurement result indication information is used to indicate that a measurement result of current sensing measurement is invalid.

[0056] In a possible implementation manner, the sensing measurement result indication information is carried on a sensing information report frame used to report the sensing measurement result.

[0057] In a possible implementation manner, the method further includes: receiving sixth indication information from the first sensing node, and the sixth indication information is used to indicate a reason why the measurement result is invalid.

[0058] In a possible implementation manner, the sixth indication information is carried on a sensing information report frame used to report the sensing measurement result.

[0059] In a third aspect, a sensing method is provided. The method can be performed by a sensing node, or by a component of the sensing node, such as a processor, a chip, or a chip system of the sensing node, or by a logic module or software that can implement all or part of the function of the sensing node. The following is described by way of example with the method being performed by the sensing node. The sensing method comprises: receiving fifth indication information from a sensing center device; the fifth indication information being used to indicate whether the sensing node reports a sensing device state; and performing sensing based on the fifth indication information.

[0060] Based on this, the sensing center device can indicate whether the sensing node reports the sensing device state, so that some sensing nodes report the sensing device state and some sensing nodes do not report the sensing device state. For example, the sensing nodes with stronger sensing capability, better sensing effect, and / or better sensing position report the sensing device state, and other sensing nodes do not report the sensing device state. In this way, the sensing center device can manage the sensing nodes with stronger sensing capability, better sensing effect, and / or better sensing position based on the sensing device state reported by the sensing nodes, to improve the sensing accuracy of the sensing nodes; and other nodes do not report the sensing device state, which can reduce the management load of the sensing center device and reduce the probability of collision of the sensing device state report information of the sensing nodes. In this way, the sensing performance of the sensing nodes with stronger sensing capability, better sensing effect, and / or better sensing position can be guaranteed.

[0061] In a possible implementation, the fifth indication information is carried in a sensing measurement request frame or a sensing configuration frame.

[0062] Based on this, the sensing center device sends the fifth indication information to the sensing node through the sensing measurement request frame or the sensing configuration frame. Therefore, the first sensing node can indicate whether the sensing node reports the sensing device state before the sensing measurement. In this way, the sensing node can determine whether to report the sensing device state based on the indication of the sensing center device during the sensing measurement.

[0063] In a possible implementation, in a case where the fifth indication information indicates that the sensing node reports the sensing device state, the method further comprises: sending a sensing device state report message to the sensing center device when a sensing device state change of the sensing node is detected; and the sensing device state report message is used to indicate the sensing device state change of the sensing node.

[0064] Based on this, in a case where the sensing center device indicates that the first sensing node reports the sensing device state, the first sensing node can report a sensing device state report message to the sensing center device when a sensing device state change is detected, so that the sensing node can manage the first sensing node in a timely manner based on the sensing device state change of the first sensing node, to improve the sensing accuracy of the first sensing node.

[0065] In a possible implementation, the method further includes: sending, to the perception center device, perception measurement result indication information; and in a case where it is detected that the perception device state of the perception node changes, the perception measurement result indication information is used to indicate that the measurement result of the current perception measurement is invalid.

[0066] Based on this, the problem of reduced accuracy of the perception result caused by the perception center device determining the perception result of the perception target based on the measurement result measured by the first perception node in the case where the perception device state changes can be avoided.

[0067] In a possible implementation, the perception measurement result indication information is carried in a perception information reporting frame, and the perception information reporting frame is used to report the perception measurement result.

[0068] Based on this, the first perception node can indicate whether the perception measurement result of this time is invalid synchronously each time the perception measurement result is reported, without the need to additionally send other frames for reporting.

[0069] In a possible implementation, the method further includes: sending, to the perception center device, sixth indication information, and the sixth indication information is used to indicate the reason why the measurement result is invalid.

[0070] Based on this, the first perception node can indicate the reason why the measurement result is invalid to the perception center device synchronously.

[0071] In a possible implementation, the sixth indication information is carried in a perception information reporting frame, and the perception information reporting frame is used to report the perception measurement result.

[0072] Based on this, the first perception node can indicate the reason why the measurement result is invalid synchronously each time the perception measurement result is reported.

[0073] In a fourth aspect, a perception method is provided, which can be executed by a perception center device, or by a component of the perception center device, for example, a processor, a chip, or a chip system of the perception center device, or by a logic module or software capable of realizing all or part of the functions of the perception center device. Hereinafter, the method is taken as an example for description. The perception method includes: generating fifth indication information; the fifth indication information is used to indicate whether a perception node performs perception device state reporting; and sending, to the perception node, the fifth indication information.

[0074] In a possible implementation, the fifth indication information is carried in a perception measurement request frame or a perception configuration frame.

[0075] In a possible implementation, the method further includes: receiving a sensing device state reporting message sent by the sensing node when the sensing device state of the sensing node changes; the sensing device state reporting message is used to indicate the sensing device state change of the sensing node, and the sensing node is indicated by the fifth indication information to perform sensing device state reporting.

[0076] In a possible implementation, the method further includes: receiving sensing measurement result indication information sent by the sensing node; and in a case where the sensing device state of the sensing node is detected to change, the sensing measurement result indication information is used to indicate that a measurement result of current sensing measurement is invalid.

[0077] In a possible implementation, the sensing measurement result indication information is carried in a sensing information reporting frame, and the sensing information reporting frame is used to report the sensing measurement result.

[0078] In a possible implementation, the method further includes: receiving sixth indication information from the sensing node, and the sixth indication information is used to indicate a reason why the measurement result is invalid.

[0079] In a possible implementation, the sixth indication information is carried in a sensing information reporting frame, and the sensing information reporting frame is used to report the sensing measurement result.

[0080] In a fifth aspect, a sensing device is provided for implementing the above various methods. The sensing device can be the first sensing node in the first aspect, or a device containing the first sensing node, or a device, such as a chip, contained in the first sensing node. Alternatively, the sensing device can be the sensing center device in the second aspect, or a device containing the sensing center device, or a device, such as a chip, contained in the sensing center device. Alternatively, the sensing device can be the sensing node in the third aspect, or a device containing the sensing node, or a device, such as a chip, contained in the sensing node. Alternatively, the sensing device can be the sensing center device in the fourth aspect, or a device containing the sensing center device, or a device, such as a chip, contained in the sensing center device. The sensing device includes modules, units, or means corresponding to the above methods, which can be implemented by hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

[0081] In some possible design, the perception apparatus can include a processing module and a transceiving module. The transceiving module, which can also be referred to as a transceiving unit, is configured to implement the transmitting and / or receiving functions in any of the above aspects and any possible implementation thereof. The transceiving module can be composed of a transceiving circuit, a transceiver, a transceiver, or a communication interface. The processing module can be configured to implement the processing functions in any of the above aspects and any possible implementation thereof.

[0082] In some possible design, the transceiving module includes a transmitting module and a receiving module, which are configured to implement the transmitting and receiving functions in any of the above aspects and any possible implementation thereof.

[0083] In a sixth aspect, a perception apparatus is provided, which includes at least one processor, and the processor is configured to execute computer programs or instructions stored in a memory, so as to enable the perception apparatus to perform the method in any of the above aspects. The memory can be coupled with the processor, or can be independent of the processor. The perception apparatus can be the first perception node in the first aspect, or an apparatus including the first perception node, or an apparatus included in the first perception node, such as a chip. Alternatively, the perception apparatus can be the perception center device in the second aspect, or an apparatus including the perception center device, or an apparatus included in the perception center device, such as a chip. Alternatively, the perception apparatus can be the perception node in the third aspect, or an apparatus including the perception node, or an apparatus included in the perception node, such as a chip. Alternatively, the perception apparatus can be the perception center device in the fourth aspect, or an apparatus including the perception center device, or an apparatus included in the perception center device, such as a chip. In some possible design, the perception apparatus includes a memory, which is configured to store necessary program instructions and data.

[0084] In a possible implementation, the processor includes a logic circuit, and an input interface and / or an output interface. The output interface is configured to perform the transmitting actions in the corresponding method, and the input interface is configured to perform the receiving actions in the corresponding method.

[0085] In a possible implementation, the perception apparatus further includes a communication interface and a communication bus, and the processor, the memory, and the communication interface are connected through the communication bus. The communication interface is configured to perform the transceiving actions in the corresponding method. The communication interface can also be referred to as a transceiver. Optionally, the communication interface includes a transmitter and a receiver, and in this case, the transmitter is configured to perform the transmitting actions in the corresponding method, and the receiver is configured to perform the receiving actions in the corresponding method.

[0086] In some possible design, the perception apparatus can be a chip or a chip system, wherein when the perception apparatus is a chip system, it can be composed of a chip or contain a chip and other discrete devices. When the perception apparatus is a chip, the sending action / function described above can be understood as output, and the receiving action / function described above can be understood as input.

[0087] In a seventh aspect, a chip is provided, which includes a processor for implementing the functions involved in any of the aspects or implementation manners thereof.

[0088] In some possible design, the chip includes a memory for storing necessary program instructions and data.

[0089] In an eighth aspect, a computer readable storage medium is provided, which stores a computer program or instructions, when running on a perception apparatus, causes the perception apparatus to perform the method of any of the aspects or implementation manners thereof.

[0090] In a ninth aspect, a computer program product is provided, which includes instructions, when running on a perception apparatus, causes the perception apparatus to perform the method of any of the aspects or implementation manners thereof.

[0091] In a tenth aspect, a perception system is provided, which includes the first perception node of the first aspect and the perception center device of the second aspect, or includes the perception node of the third aspect and the perception center device of the fourth aspect.

[0092] The technical effects brought by any of the implementation manners of the second aspect to the tenth aspect can refer to the technical effects brought by the corresponding implementation manners of the first aspect, which will not be repeated here.

[0093] It should be noted that the various possible implementation manners of any one of the aspects can be combined, provided that the schemes are not contradictory. BRIEF DESCRIPTION OF DRAWINGS

[0094] FIG. 1 is a schematic diagram of a scenario of cooperative perception provided by an embodiment of the present application;

[0095] FIG. 2 is a schematic diagram of a flow of cooperative perception provided by an embodiment of the present application;

[0096] FIG. 3 is a schematic diagram of another flow of cooperative perception provided by an embodiment of the present application;

[0097] FIG. 4 is a schematic diagram of a scenario of cooperative perception of a perception center device and a perception node in a smart home scenario provided by an embodiment of the present application;

[0098] Fig. 5 is a schematic diagram of a system architecture of a perception system according to an embodiment of the present application;

[0099] Fig. 6 is a schematic diagram of a composition of a perception device according to an embodiment of the present application;

[0100] Fig. 7 is a schematic diagram of a flow of a perception method according to an embodiment of the present application;

[0101] Fig. 8 is a schematic diagram of a flow of another perception method according to an embodiment of the present application;

[0102] Fig. 9 is a schematic diagram of a flow of another perception method according to an embodiment of the present application;

[0103] Fig. 10 is a schematic diagram of a flow of another perception method according to an embodiment of the present application;

[0104] Fig. 11 is a schematic diagram of a flow of another perception method according to an embodiment of the present application;

[0105] Fig. 12 is a schematic diagram of a flow of another perception method according to an embodiment of the present application;

[0106] Fig. 13 is a schematic diagram of a flow of another perception method according to an embodiment of the present application;

[0107] Fig. 14 is a schematic diagram of a flow of another perception method according to an embodiment of the present application;

[0108] Fig. 15 is a schematic diagram of a flow of another perception method according to an embodiment of the present application;

[0109] Fig. 16 is a schematic diagram of a structure of a perception device according to an embodiment of the present application. DETAILED DESCRIPTION

[0110] To facilitate understanding of the technical solutions provided by the embodiments of the present application, a brief introduction of the related art is first given. The brief introduction is as follows.

[0111] 1. Wireless perception

[0112] Wireless perception is a perception technology that determines the state of a perception target by analyzing the changes of wireless signals after the wireless signals pass through the perception target. In a wireless perception scenario, a perception node transmits a perception signal, and the perception signal changes based on different states of the perception target after passing through the perception target. The state (or characteristic) of the perception target can be determined by analyzing the changes of the perception signal. The perception target can be a person, an animal, or an object. The state of the perception target includes the distance, direction, speed, motion, and behavior of the target.

[0113] Currently, wireless sensing technology can be applied to smart home, vehicle sensing, industrial production and other fields. For example, in a smart home scenario, the activity state (e.g., whether to fall) of a human body and the health state (e.g., breathing, heartbeat, and other health indicators) of the human body can be sensed through wireless sensing. Through these sensing information, the sensing target can be cared for and reminded. For another example, in a vehicle sensing scenario, whether there is a human body kicking the tailgate or in-vehicle human body existence detection can be sensed through wireless sensing. For another example, in an industrial production scenario, whether there is a worker at present can be sensed through wireless sensing, and related equipment can be turned off to save energy when there is no worker.

[0114] 2. Cooperative sensing

[0115] Cooperative sensing is a technology in which a sensing center device (also referred to as a controller) schedules multiple sensing nodes for cooperative sensing. In a cooperative sensing scenario, different sensing nodes can measure the state of a sensing target from different angles. Through comprehensive analysis of the sensing information of the sensing target measured by multiple sensing nodes, the sensing range and sensing accuracy when sensing the sensing target can be effectively improved. As an example, as shown in FIG. 1, a scenario diagram in which a sensing center device schedules sensing node A, sensing node B, and sensing node C to jointly sense a sensing target (human body) in a sensing range.

[0116] In a cooperative sensing scenario, the sensing center device initiates a sensing measurement indication to multiple sensing nodes, the multiple sensing nodes perform sensing measurement based on the indication of the sensing center device, and report the sensing measurement result to the sensing center device. The sensing center device determines the state of the sensing target based on the sensing measurement result reported by the multiple sensing nodes.

[0117] As shown in FIG. 2, taking WLAN-based sensing as an example, the process of WLAN sensing is described. The process of WLAN sensing can be applied to the interaction between the sensing center device and the sensing node.

[0118] Step 201, the sensing center device and the sensing node perform sensing capability interaction.

[0119] The sensing capability interaction process is a process in which the sensing node reports the sensing capability of the sensing node to the sensing center device.

[0120] In some embodiments, the sensing center device is also referred to as a sensing initiator, which is used to initiate sensing. The sensing node is also referred to as a sensing responder, which is used to respond to the sensing initiated by the sensing initiator.

[0121] In yet some embodiments, the sensing node is also referred to as a sensing initiator, which is configured to initiate sensing. The sensing center device is also referred to as a sensing responder, which is configured to respond to the sensing initiated by the sensing initiator. For example, when the sensing node determines that sensing is needed, the sensing node can actively request the sensing center device to perform sensing, and the sensing center device configures the sensing node with the parameters of the related sensing measurement. In this case, the sensing initiator can also be the sensing node or the sensing center device.

[0122] In some embodiments, the sensing responder and / or the sensing initiator can be further divided into a sensing transmitter and a sensing receiver. The sensing transmitter is configured to transmit the sensing measurement signal, and the sensing receiver is configured to receive the sensing measurement signal.

[0123] As an example, the sensing capability exchange is also referred to as a sensing capabilities exchange.

[0124] Step 202: The sensing center device and the sensing node perform sensing measurement session establishment.

[0125] In some embodiments, the sensing measurement session process is configured to negotiate the sensing measurement parameters between the sensing center device and the sensing node, and to establish the sensing measurement session.

[0126] As an implementation, the sensing center device sends a sensing measurement request frame to the sensing node to start the sensing measurement session. The sensing measurement request frame carries a set of sensing measurement parameters for configuration.

[0127] The sensing node sends a sensing measurement response frame to the sensing center device to respond to whether the sensing node agrees to the sensing measurement parameters configured by the sensing center device.

[0128] As an example, if the sensing node agrees to the sensing measurement parameters sent by the sensing center device, the sensing node indicates to the sensing center device that the sensing node agrees to the sensing measurement parameters through the sensing measurement response frame, and the sensing measurement session is established.

[0129] If the sensing node refuses the sensing measurement parameters sent by the sensing center device, the sensing node indicates to the sensing center device that the sensing node refuses the sensing measurement parameters through the sensing measurement response frame, and the sensing measurement session fails to be established.

[0130] In case the sensing node rejects the sensing measurement parameters sent by the sensing center device, the sensing node can also indicate the reason why the sensing node rejects the sensing measurement through the sensing measurement response frame.

[0131] As an example, the sensing measurement session is also referred to as: sensing measurement session.

[0132] Step 203, the sensing center device and / or the sensing node perform sensing measurement interaction.

[0133] In the sensing measurement exchange procedure, a sensing transmitter transmits a sensing measurement signal, and a sensing receiver receives the sensing measurement signal.

[0134] In some embodiments, the sensing measurement interaction is also referred to as: sensing measurement exchange.

[0135] Step 204, the sensing center device and the sensing node perform sensing measurement session termination.

[0136] In some embodiments, the sensing measurement session termination is also referred to as: sensing measurement session termination.

[0137] The above describes the WLAN-based cooperative sensing procedure.

[0138] As shown in FIG. 3, taking star flash-based sensing as an example, the procedure of star flash sensing is described. In star flash sensing, a G node and a T node are included, where the G node can be the sensing center device in the embodiments of the present application, and the T node can be the sensing node in the embodiments of the present application; or the G node can also be the sensing node in the embodiments of the present application, and the T node can also be the sensing center device in the embodiments of the present application, which is not limited in the present application.

[0139] Step 301, the G node sends a sensing capability request frame to the T node respectively. Correspondingly, the T node receives the sensing capability request frame from the G node.

[0140] The sensing capability request frame can also be a narrowband frequency hopping sensing capability request frame, or an ultra-wideband pulse sensing capability request frame, or other frames, which is not limited in the present application.

[0141] Step 302, the T node sends a sensing capability response frame to the G node respectively. Correspondingly, the G node receives the sensing capability response frame from the T node.

[0142] The perception capability response frame can further be a narrow-band frequency hopping perception capability response frame, or a super wide-band pulse perception capability response frame, or other frames, which are not limited in the application.

[0143] In step 303, the G node respectively sends a perception configuration frame to the T node. Correspondingly, the T node receives the perception configuration frame from the G node.

[0144] The perception configuration frame can further be a narrow-band frequency hopping perception configuration frame, or a super wide-band pulse perception configuration frame, or other frames, which are not limited in the application.

[0145] In step 304, the T node respectively sends a perception configuration feedback frame to the G node. Correspondingly, the G node receives the perception configuration feedback frame from the T node.

[0146] The perception configuration feedback frame can further be a narrow-band frequency hopping perception configuration feedback frame, or a super wide-band pulse perception configuration feedback frame, or other frames, which are not limited in the application.

[0147] In step 305, the T node respectively sends a perception information reporting frame to the G node. Correspondingly, the G node receives the perception information reporting frame from the T node.

[0148] The perception information reporting frame can further be a narrow-band frequency hopping perception information reporting frame, or a super wide-band pulse perception information reporting frame, or other frames, which are not limited in the application.

[0149] In step 306, the G node respectively sends a perception termination frame to the T node. Correspondingly, the T node receives the perception termination frame from the G node.

[0150] The perception termination frame can further be a narrow-band frequency hopping perception termination frame, or a super wide-band pulse perception termination frame, or other frames, which are not limited in the application.

[0151] The above describes the cooperative perception process based on star flashing.

[0152] In the cooperative perception scenario, the perception node can be reused by the communication node. For example, as shown in FIG. 4, it is a scene diagram of cooperative perception of a perception center device and a perception node in a smart home scenario. The communication node that can be reused by the perception node includes but is not limited to at least one of the following: an electric appliance with communication and perception functions, a router, a sound box, a tablet, a computer, a mobile phone, a smart screen, or a smart wearable device. Each room has one or more perception nodes, and the perception center device uniformly manages these perception nodes. However, due to different perception capabilities of different perception nodes and different perception environments, the management mode of uniformly managing multiple perception nodes by the perception center device is low in efficiency, and the perception result is unstable.

[0153] In addition, the environment of each node in the room changes from time to time, which may affect the accuracy and stability of the perception measurement, resulting in inaccurate perception measurement results. Therefore, the perception node needs to report these changes to the perception center device, and the perception center device manages the perception node based on the received changes. For example, in cooperative perception in which the perception node A and the perception node B participate as perception nodes, the perception node A sends a perception signal, and the perception node B receives the perception signal. In the case where the perception node A and / or the perception node B detects an abnormality (such as a device moving, a device environment changing, or a device leaving a perception range, also referred to as a perception device state change), the perception node A and / or the perception node B needs to report the perception abnormality (also referred to as reporting the perception device state) to the perception center device, and the perception center device manages the device A and / or the device B based on the environmental change. However, because the number of perception nodes managed by one perception center device is large, it will cause large resource consumption of the perception center device, and when multiple perception nodes simultaneously report an abnormality, the abnormality reporting information may conflict and further increase the probability of loss.

[0154] To solve the above technical problems, an embodiment of the present application provides a perception method, a perception center device indicates a priority of a first perception node for the first perception node, and the first perception node performs perception based on the priority of the first perception node. In this way, different priorities can be divided for perception nodes with different perception capabilities or in different perception environments, so that the perception nodes can be managed differently, the management efficiency of the perception nodes is improved, and the perception results of the perception nodes are improved.

[0155] The following will give a specific description of the scheme provided by the embodiments of the present application. Before introducing the embodiments of the present application, the following points are explained.

[0156] In the description of the present application, unless otherwise specified, " / " represents that the objects before and after the " / " are in an "or" relationship, for example, A / B can represent A or B; "and / or" in the present application is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural.

[0157] In the description of the present application, A sending a message to B can be understood as A sending a message to B through one or more network elements.

[0158] In the description of the present application, "a plurality of" means two or more than two, unless otherwise specified. "At least one of the following" or similar expressions means any combination of the items, including any combination of single or multiple items. For example, at least one of a, b and (or) c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c can be single or multiple.

[0159] In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, "first", "second" and the like are used to distinguish the same items or similar items with basically the same function and role. Those skilled in the art can understand that "first", "second" and the like do not limit the quantity and execution order, and "first", "second" and the like do not necessarily mean different.

[0160] In the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design presented as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of the word "exemplary" or "for example" is intended to present concepts in a concrete manner. The embodiments described herein are not intended to be exhaustive or to be limited to the specific forms disclosed. The embodiments are intended to cover any modification or alternative methods following the principles of the present application.

[0161] It can be understood that the "embodiments" mentioned throughout the specification mean that the specific features, structures or characteristics related to the embodiments are included in at least one embodiment of the present application. Therefore, the various embodiments throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It can be understood that in various embodiments of the present application, the size of the sequence of each process does not mean the execution order, and the execution order of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0162] It can be understood that in the present application, "when" and "if" both refer to making corresponding processing under certain objective circumstances, not limited to time, and do not require judgment actions when implementing, nor mean that there are other limitations.

[0163] It can be understood that some optional features in the embodiments of the present application can be implemented independently in some scenarios without relying on other features, such as the scheme currently based on, to solve the corresponding technical problems and achieve the corresponding effects. Also, in some scenarios, it can be combined with other features according to demand. Correspondingly, the devices given in the embodiments of the present application can also realize these features or functions, which will not be described here.

[0164] In the present application, the same or similar parts among various embodiments can be mutually referred to, unless otherwise specified. In the present application, the terms and / or descriptions of different embodiments, and the technical features in various implementation manners / implementation methods / realization methods in each embodiment have consistency and can be mutually referred to, unless otherwise specified and logical conflicts. The technical features in different embodiments, and the technical features in various implementation manners / implementation methods / realization methods in each embodiment can be combined to form new embodiments, implementation manners, implementation methods, or realization methods according to their inherent logical relationship. The implementation manners of the present application described below do not constitute a limitation on the protection scope of the present application.

[0165] The technical solutions of the embodiments of the present application can be applied to, but are not limited to, a wireless short-range communication system and a wireless communication system supporting longer distance transmission (such as 1-18 km, more than 18 km). The wireless short-range communication system can include a wireless short-range communication technology (also known as Starlink 1.0 technology) which has the advantages of ultra-low latency, ultra-high reliability, precise synchronization, etc., and is suitable for applications in intelligent vehicles, smart homes, intelligent terminals, and intelligent manufacturing scenarios. For example, the applications in the intelligent vehicle scenario include immersive in-vehicle sound field & noise reduction, wireless interactive screen projection, and 360-degree panoramic view, which can realize immersive interactive experience and improve vehicle safety. The wireless short-range communication system can also include next-generation Starlink wireless communication systems, such as Starlink 2.0 wireless communication system, Starlink 3.0 wireless communication system, etc. It is not only suitable for communication scenarios with low latency requirements, such as the above-mentioned vehicle communication, industrial control, etc., but also suitable for communication scenarios with higher latency requirements than the above-mentioned vehicle communication, industrial control.

[0166] In some possible implementations, the above-mentioned communication system or can be used in combination with a mobile communication system, for example, a mobile communication system including but not limited to a fourth generation (4th Generation, 4G) communication system (for example, a long term evolution (long term evolution, LTE) system), a fifth generation (5th Generation, 5G) communication system (for example, a new radio (new radio, NR) system), and a future mobile communication system such as a future communication network, etc.

[0167] The scheme provided in the embodiments of the present application can also be applied to at least one of Bluetooth (BT) communication, sparklink or nearlink communication, WIFI communication, ultra wide band (UWB) communication, and the like. In the embodiments of the present application, BT and Bluetooth low energy (BLE) can be used to refer to each other. The sparklink can include at least one of sparklink low energy (SLE), sparklink basic (SLB), or sparklink positioning (SLP). In the embodiments of the present application, the sparklink can be used to refer to the sparklink low energy (SLE), the sparklink basic (SLB), or the sparklink positioning (SLP).

[0168] The perception method provided in the embodiments of the present application can be applied to a scenario in which a perception center device and a perception node perceive a perception target.

[0169] For example, as shown in FIG. 5, an architecture schematic diagram of a perception system 50 provided in the embodiments of the present application is shown, the perception system 50 includes a perception center device 501 and a plurality of perception nodes 502. The perception center device 501 is configured to manage the plurality of perception nodes 502, and coordinate the plurality of perception nodes 502 to perform perception measurement on a perception target. The interaction process between the perception center device 501 and the plurality of perception nodes 502 can be understood with reference to the description of the cooperative perception, and will not be described herein.

[0170] In some embodiments, the perception node 502 sends a perception capability parameter to the perception center device 501, the perception center device 501 determines the priority of the perception node 502 according to the perception capability parameter of the perception node 502, and indicates the priority of the perception node 502 to the perception node 502 through indication information. After receiving the priority indication information, the perception node 502 determines whether to accept the priority configuration. If accepted, the perception node 502 performs a perception process according to the priority of the perception node 502.

[0171] Optionally, the priority of the sensing node 502 can be the first priority or the second priority. Wherein, in the case that the priority of the sensing node 502 is the first priority, the sensing node of the first priority can manage the sensing node of the second priority, for example, reduce the interference of the sensing node of the second priority to the sensing node of the first priority, instruct the sensing node of the second priority to terminate or start measurement. In this way, the sensing node of the second priority can cooperate with the sensing node of the first priority to perform sensing, and improve the measurement accuracy of the sensing node of the first priority. In addition, the sensing node of the first priority can also share the abnormal management work of the sensing center device 501, for example, the sensing node of the second priority can report the abnormality to the sensing node of the first priority, and the sensing node of the first priority can manage the sensing node of the second priority based on the reported abnormality. Thus, the resource consumption of the sensing center device 501 is reduced, and the probability of multiple sensing nodes reporting the abnormality to the sensing center device at the same time is also reduced, thereby avoiding information loss caused by abnormal reporting conflict.

[0172] In a possible implementation manner, FIG. 6 is a component diagram of a sensing device 600 provided by an embodiment of the present application. The sensing center device and the sensing node shown in FIG. 5 can adopt the component structure shown in FIG. 6, or include the components shown in FIG. 6. Alternatively, the components (for example, chips) in the sensing center device and the sensing node shown in FIG. 5 can adopt the component structure shown in FIG. 6, or include the components shown in FIG. 6. It can be understood that the sensing device 600 includes necessary forms of means, such as modules, units, elements, circuits, or interfaces, which are properly configured together to execute the present solution.

[0173] As shown in FIG. 6, the sensing device 600 includes one or more processors 61, which are configured to implement the processing and determination procedures performed by various devices in the following embodiments. The processor 61 can be a general processor or a special-purpose processor. For example, it can be a baseband processor or a central processing unit. The baseband processor can be configured to process communication protocols and communication data, and the central processing unit can be configured to control the sensing device (for example, a RAN node, a terminal, or a chip), execute a software program, and process data of the software program.

[0174] Optionally, in a design, the processor 61 can include a program 63 (which can also be referred to as code or instructions at times), which can be run on the processor 61, so that the sensing device 600 executes the methods described in the following embodiments.

[0175] Optionally, the perception device 600 can include one or more memories 62, on which programs 64 (sometimes also referred to as code or instructions) are stored, which can be run on the processor 61, so that the perception device 600 performs the methods described in the following method embodiments.

[0176] Optionally, the processor 61 and / or the memory 62 can include an artificial intelligence (AI) module 67 and an AI module 68, which are used to implement AI-related functions. The AI module can be implemented in software, hardware, or a combination of software and hardware. For example, the AI module can include a radio access network intelligence controller (RIC) module. For example, the AI module can be a near-real-time RIC or a non-real-time RIC.

[0177] Optionally, the processor 61 and / or the memory 62 can also store data. The processor and the memory can be separately arranged, or integrated together.

[0178] Optionally, the perception device 600 can also include a transceiver 65, which is used to implement the transceiving processes performed by various devices in the following embodiments. The processor 61 can also be referred to as a processing unit, which controls the perception device (such as a RAN node or a terminal). The transceiver 65 can also be referred to as a transceiving unit, a transceiver, a transceiving circuit, or a transceiver, and the perception device can also include an antenna 66.

[0179] It should be noted that the constituent structure shown in FIG. 6 does not constitute a limitation on the perception device, and the perception device can include more or fewer components than those shown in FIG. 6, or combine certain components, or different component arrangements.

[0180] In the embodiments of the present application, the chip system can be composed of a chip, or can include a chip and other discrete devices.

[0181] In addition, the actions, terms, etc. involved between the embodiments of the present application can be mutually referred to and not limited. The message name or parameter name in the message exchanged between various devices in the embodiments of the present application is only an example, and other names can also be used in specific implementation, and not limited.

[0182] The perception method provided by the embodiments of the present application will be described below in conjunction with FIGS. 1 to 6.

[0183] It should be noted that, in the following embodiments of the present application, the names of messages between network elements, the names of parameters, or the names of information are only examples, and in other embodiments, other names can also be used. The sensing method provided by the present application does not make specific limitations on this.

[0184] It can be understood that, in the embodiments of the present application, each network element can perform part or all of the steps in the embodiments of the present application. These steps or operations are only examples, and the embodiments of the present application can also perform other operations or variations of various operations. In addition, each step can be performed in a different order as presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application are performed.

[0185] It can be understood that, in the present application, the sensing center device and the sensing node are taken as an example to illustrate the execution subject of the interaction. However, the present application does not limit the execution subject of the interaction. For example, the method performed by the sensing node in the present application can also be performed by a module (such as a chip, a chip system, or a processor) applied to the sensing node, and can also be implemented by a logical node, a logical module, or software that can realize all or part of the functions of the sensing node. The method performed by the sensing center device in the present application can also be performed by a module (such as a chip, a chip system, or a processor) applied to the sensing center device, and can also be implemented by a logical node, a logical module, or software that can realize all or part of the functions of the sensing center device. The embodiments of the present application do not make specific limitations on this.

[0186] FIG. 7 is a flow diagram of a sensing method provided by an embodiment of the present application. In the embodiment of the present application, the sensing center device indicates the priority of the sensing node to the sensing node, and the sensing node performs sensing based on the indicated priority. In the following, the functions and executed actions of each device in the sensing system provided by the embodiments of the present application are introduced. As shown in FIG. 7, the sensing method includes the following steps:

[0187] Step 701, the sensing center device generates first indication information.

[0188] The first indication information is used for indicating the priority of the first sensing node; and the priority includes a first priority. In a possible implementation, the priority is used for distinguishing the sensing node management function of the sensing node, or whether the sensing node reports the sensing device state. In the embodiments of the present application, the perception center device can divide different priorities for the sensing nodes, so that the sensing nodes with different priorities have different sensing node management functions, for example, the high-priority nodes have the function of managing the low-priority nodes. Or the perception center device can divide different priorities for the sensing nodes, so that different sensing nodes can or can not report the sensing device state, for example, the high-priority nodes report the sensing device state, and the low-priority nodes do not report the sensing device state. In this way, the perception center device can effectively manage the sensing nodes in a hierarchical manner, and guarantee the sensing performance of the high-priority nodes.

[0189] In some embodiments, the perception center device is used for managing a plurality of sensing nodes. The perception center device divides priorities for the plurality of sensing nodes, determines the sensing nodes with a first priority, and generates first indication information to indicate the priorities of the sensing nodes with the first priority. It should be noted that the perception center device can also perform sensing, for example, the function of managing and configuring cooperative sensing is added to a sensing node, which can be understood as a perception center device.

[0190] In yet some embodiments, the perception center device can also determine the sensing nodes with a second priority from the managed plurality of sensing nodes, and generate corresponding indication information to indicate the priorities of the sensing nodes with the second priority.

[0191] Optionally, the sensing nodes with the first priority can manage the sensing nodes with the second priority based on the sensing requirements of the sensing nodes with the first priority, so that the sensing nodes with the second priority can assist the sensing measurement of the sensing nodes with the first priority, or do not interfere with the sensing measurement of the sensing nodes with the first priority, thereby guaranteeing or improving the sensing accuracy of the sensing nodes with the first priority.

[0192] It can be understood that the perception center device can determine the priorities of the sensing nodes based on various types of parameters of the sensing nodes, for example, determine the priorities of the sensing nodes based on the sensing capabilities, positions, models, etc. of the sensing nodes; or the perception center device can also determine the priorities of the sensing nodes based on other related parameters of the sensing nodes, which are not limited in the present application.

[0193] In step 702, the perception center device sends first indication information to the first sensing node. Correspondingly, the first sensing node receives the first indication information from the perception center device.

[0194] Optionally, the first indication information is carried in a perception measurement request frame; or the first indication information is carried in a perception configuration frame.

[0195] For example, in a WLAN perception scenario, the perception center device sends a perception measurement request frame to the perception node to instruct the perception node to initiate perception measurement. At this time, the first indication information can be carried in the perception measurement request frame. In other words, the perception center device can add the first indication information indicating the priority of the first perception node in the perception measurement request frame, and send the first indication information to the first perception node through the perception measurement request frame.

[0196] For another example, in a star flash perception scenario, the perception center device sends a perception configuration frame to the perception node. At this time, the first indication information can be carried in the perception configuration frame. In other words, the perception center device can add the first indication information indicating the priority of the first perception node in the perception configuration frame, and send the first indication information to the first perception node through the perception configuration frame.

[0197] As an example, the parameters in the perception measurement request frame or the perception configuration frame sent by the perception node to the first perception node are shown in Table 1 below.

[0198] Table 1, parameters in the perception measurement request frame or the perception configuration frame

[0199] The node priority field shown in Table 1 is the field used to carry the first indication information in the embodiments of the present application.

[0200] It should be noted that the perception center device can also send the first indication information to the first perception node through other ways, for example, the perception center device sends the first indication information to the first perception node through a newly added message, or sends the first indication information to the first perception node through other frames other than the perception measurement request frame or the perception configuration frame, and the embodiments of the present application do not limit this.

[0201] Step 703, the first perception node performs perception based on the priority of the first perception node.

[0202] As an embodiment, the first perception node performs perception measurement on the perception target based on the indication of the perception center device when it is determined that its priority is the first priority. During the perception measurement, if it is detected that the current perception effect needs to be improved, a second perception node that can assist in the perception of the perception target can be determined, and the second perception node is managed to improve the perception accuracy of the perception target.

[0203] As an example, the first sensing node can configure a change or instruct the second sensing node to terminate sensing to avoid interference of the second sensing node to the first sensing node after detecting that the second sensing node causes interference to the sensing measurement of the first sensing node. Alternatively, the first sensing node can instruct the second sensing node to initiate sensing after detecting that the sensing target is within the sensing range of the second sensing node.

[0204] In some implementations, the first sensing node determines the priority of the first sensing node based on the first indication information. For example, after receiving the frame (e.g., the sensing measurement request frame or the sensing configuration frame) carrying the first indication information, the first sensing node parses the field (or bit) in the frame specifically used to represent the first indication information to determine the priority of the first sensing node.

[0205] As an example, the priority of the sensing node includes a first priority and a second priority. In a case where the value of the field used to represent the first indication information is 1, it is determined that the priority of the first sensing node is the first priority; in a case where the value of the field used to represent the first indication information is 0, it is determined that the priority of the first sensing node is the second priority.

[0206] It should be noted that the first sensing node performs sensing based on the priority of the first sensing node can be understood as that the first sensing node performs corresponding operations in the sensing measurement process based on the priority of the first sensing node. For example, in a case where the priority is used to distinguish the sensing node management function of the sensing node, the first sensing node performs sensing based on the priority of the first sensing node can be understood as that the first sensing node manages the sensing node with a low priority based on the sensing situation of the first sensing node in the sensing measurement process. For another example, in a case where the priority is used to distinguish whether the sensing node reports the sensing device state, the first sensing node performs sensing based on the priority of the first sensing node can be understood as that the first sensing node determines whether to report the sensing device state based on the priority, and in the sensing measurement process, if the first sensing node needs to report the sensing device state, and detects that the sensing device state of the first sensing node changes, the first sensing node reports the sensing device state to the sensing center device; if the first sensing node does not need to report the sensing device state, the first sensing node does not report the sensing device state to the sensing center device regardless of whether the sensing device state of the first sensing node changes. Other sensing measurement related processes of the first sensing node in the sensing measurement process can refer to related technologies, and details are not described herein.

[0207] The embodiment of the present application provides a sensing method, a sensing center device indicates a priority of a first sensing node for the first sensing node, and the first sensing node performs sensing based on the priority of the first sensing node. In this way, different priorities can be divided for sensing nodes with different sensing capabilities or in different sensing environments, so that the sensing nodes can be managed differently, the management efficiency of the sensing nodes is improved, and the sensing result of the sensing nodes is improved.

[0208] In some embodiments, after the first sensing node receives the first indication information from the sensing center device, it can be determined whether to accept the priority of the first sensing node, and after receiving the priority of the first sensing node, the first sensing node performs sensing based on the priority of the first sensing node. In combination with FIG. 7, as shown in FIG. 8, the process can be implemented through the following step 801:

[0209] Step 801: The first sensing node sends fourth indication information to the sensing center device. Correspondingly, the sensing center device receives the fourth indication information from the first sensing node.

[0210] The fourth indication information is used to indicate whether the first sensing node accepts the priority of the first sensing node.

[0211] In some embodiments, the fourth indication information is carried in a sensing measurement request response frame or a sensing configuration feedback frame. Optionally, in the case that the first indication information is carried in a sensing measurement request frame, the fourth indication information is carried in a sensing measurement request response frame. In the case that the first indication information is carried in a sensing configuration frame, the fourth indication information is carried in a sensing configuration feedback frame.

[0212] Based on this, after the first sensing node receives the priority configured by the sensing center device, it can autonomously select whether to accept the priority, so that the first sensing node can autonomously select whether to perform sensing based on the priority configured by the sensing center device.

[0213] In some embodiments, in combination with FIG. 7, as shown in FIG. 9, the first sensing node can manage a second sensing node in the process of performing sensing based on the priority of the first sensing node. The process in which the first sensing node manages the second sensing node can be implemented through the following step 901:

[0214] Step 901: The first sensing node sends second indication information to the second sensing node. Correspondingly, the second sensing node receives the second indication information from the first sensing node.

[0215] The second indication information is used to indicate that the second sensing node is managed; the priority of the second sensing node is a second priority, and the second priority is lower than the first priority.

[0216] In the embodiments of the present application, the high-priority sensing node can manage the low-priority sensing node based on its own measurement accuracy requirement, for example, by instructing the low-priority sensing node to adjust the configuration or terminate sensing to avoid interference of the low-priority node to the high-priority node; for example, by instructing the low-priority node to initiate sensing so that the low-priority node performs sensing together with the high-priority node, thereby improving the sensing accuracy of the high-priority sensing node. The high-priority sensing node can also share the management work of the sensing center device to the sensing node, thereby reducing the management burden of the sensing center device and reducing the resource consumption of the sensing center device. Since the high-priority sensing node can manage the low-priority sensing node, when the low-priority sensing node reports an exception, it can report the exception to the high-priority node instead of the sensing center device, which can reduce the probability of multiple sensing nodes reporting exceptions to the sensing center device at the same time, thereby avoiding information loss caused by exception reporting conflict.

[0217] In some embodiments, the management of the second sensing node includes at least one of the following: configuration change of the second sensing node, instruction of the second sensing node to terminate sensing, or instruction of the second sensing node to initiate sensing. In other words, the first sensing node can perform configuration change of the second sensing node through the second indication information; or the first sensing node can instruct the second sensing node to terminate sensing through the second indication information; or the first sensing node can instruct the second sensing node to initiate sensing through the second indication information. The configuration change is used to change the signal sending frequency band, signal sending bandwidth, signal sending period, signal duration, and / or code word of the second sensing node. The termination of sensing is to instruct the second sensing node to stop sensing. The initiation of sensing is to instruct the second sensing node to start sensing.

[0218] Taking the smart home scenario as an example, when the first sensing node determines that the second sensing node affects the sensing accuracy of the first sensing node (for example, the second sensing node causes interference to the first sensing node), the first sensing node performs sensing configuration change of the second sensing node or instructs the second sensing node to terminate sensing. For another example, when the first sensing node determines that the second sensing node moves or the environment where the second sensing node is located changes, causing the second sensing node to be unable to perform stable sensing measurement, the first sensing node instructs the second sensing node to terminate sensing. For another example, when the first sensing node needs to increase the sensing range or improve the sensing accuracy, the first sensing node determines the sensing nodes required for increasing the sensing range or improving the sensing accuracy, and initiates sensing measurement to these sensing nodes.

[0219] In the prior art, one sensing center device manages multiple sensing nodes. The multiple sensing nodes can report abnormities in sensing measurement, and the sensing center device manages the sensing nodes. However, because the number of sensing nodes managed by one sensing center device is large, the sensing center device consumes a large amount of resources, and when multiple sensing nodes report abnormities at the same time, the abnormal reporting information can conflict and further increase the probability of loss.

[0220] In the embodiments of the present application, the sensing center device classifies the sensing nodes by priority, and the sensing nodes of the first priority have the function of managing the sensing nodes of the second priority. In this way, when the sensing nodes of the second priority report abnormities, the abnormities can be reported to the sensing nodes of the first priority, and the sensing nodes of the first priority manage the sensing nodes of the second priority. Compared with the technical solution in the prior art in which the sensing nodes report abnormities to the sensing center device and the sensing center device manages the sensing nodes, in the embodiments of the present application, the high-priority nodes manage the low-priority nodes, and it is not necessary to report all abnormities to the sensing center device or to manage all sensing nodes by the sensing center device, thereby reducing the resource consumption of the sensing center device and reducing the probability of information loss caused by conflict when the sensing nodes report abnormities.

[0221] It should be noted that the different management operations of the first sensing node on the second sensing node described above can correspond to different situations, which are described below.

[0222] In the case that the sensing measurement of the first sensing node is interfered, the management of the second sensing node includes: changing the configuration of the second sensing node.

[0223] In other words, in the case that the sensing measurement of the first sensing node is interfered, the first sensing node changes the configuration of the second sensing node to avoid interference of the second sensing node on the sensing measurement of the first sensing node.

[0224] In some embodiments, changing the configuration of the second sensing node includes at least one of the following: changing the frequency or channel of the second sensing node, changing the signal transmission time of the second sensing node, and changing the sequence used by the second sensing node. In other words, in the case that the sensing measurement of the first sensing node is interfered, the first sensing node can change the frequency or channel of the second sensing node to avoid interference of the second sensing node on the first sensing node in a frequency division manner; or the first sensing node can change the signal transmission time of the second sensing node to avoid interference of the second sensing node on the first sensing node in a time division manner; or the first sensing node can change the sequence used by the second sensing node to avoid interference of the second sensing node on the first sensing node in a code division manner.

[0225] As an example, the first sensing node can be a sensing node of SLE, SLB, SLP, WiFi, or UWB, etc.

[0226] It should be noted that the SLP is designed with a set of unequal length sequences. The set of unequal length sequences includes multiple groups of unequal length sequences (sequences of different lengths). Each group of sensing nodes (a group of sensing nodes is composed of a device that transmits a sensing signal and a device that receives a sensing signal) uses a group of sequences in the set of unequal length sequences. The sequences have autocorrelation and cross-correlation. Taking autocorrelation as an example, the sequence index includes but is not limited to at least one of the following: N1, N9, N19, N35, N47; sequences of different indexes have corresponding sequence lengths, sequence energies, maximum side lobes, peak side lobe ratios, etc. For example, the sequence length of the sequence with index N1 is 31, the sequence energy is 16, and the maximum side lobe is 0; the sequence length of the sequence with index N9 is 63, the sequence energy is 63, and the maximum side lobe is 1; the peak side lobe ratio is 36; the sequence length of the sequence with index N19 is 127, the sequence energy is 64, and the maximum side lobe is 0; the sequence length of the sequence with index N35 is 91, the sequence energy is 81, and the maximum side lobe is 0; the sequence length of the sequence with index N47 is 133, the sequence energy is 121, and the maximum side lobe is 0. The cross-correlation period between sequences of different lengths is large. When the sequence used by the received signal of the sensing node is not from the sensing node in the same group, the cross-correlation of the unequal length sequence does not have a short period, and the cross-correlation value can be greatly reduced after cumulative averaging. Therefore, different groups of devices use different sequences in the set of unequal length sequences for sensing, which can reduce the interference between different groups of devices. Based on this, in the embodiment of the present application, when the sensing node is an SLP type sensing node, the first sensing node can instruct the second sensing node to switch to other sequences in the set of unequal length sequences to reduce the interference of the second sensing node to the first sensing node. It should be noted that the management operation indicated by the second indication information can be different, and the frame carrying the second indication information can also be different. For example, in case 1, the second indication information is carried in the sensing measurement request frame or the sensing configuration frame. In other words, in the case of managing the second sensing node, including: configuring the second sensing node, the second indication information is carried in the sensing measurement request frame or the sensing configuration frame. In addition, the second indication information can also be carried in other frames in case 1, which is not limited by the present application.

[0227] Case 2: In the case that the sensing measurement of the first sensing node is interfered, the second sensing node signal is abnormal, the second sensing node moves, the second sensing node leaves the first preset area, the environment to which the second sensing node belongs does not meet the sensing measurement condition, or the second sensing node loses connection, managing the second sensing node includes: instructing the second sensing node to terminate sensing.

[0228] In other words, in the case that the sensing measurement of the first sensing node is interfered, the first sensing node instructs the second sensing node to terminate sensing, so as to avoid the interference of the sensing measurement of the second sensing node on the first sensing node.

[0229] Alternatively, in the case that the second sensing node is abnormal or moves, the first sensing node instructs the second sensing node to terminate sensing; since the second sensing node with abnormal signal cannot normally perform sensing measurement on the sensing target, the instruction of the first sensing node to the second sensing node to terminate sensing can avoid the influence of the sensing measurement result of the second sensing node on the final sensing result.

[0230] Alternatively, in the case that the second sensing node leaves the first preset area, the second sensing node will be difficult to sense the sensing target in the first preset area (for example, the terminal carried by user A leaves the living room and enters the bedroom, and the terminal will be difficult to continue sensing user B in the living room), and at this time, the instruction of the first sensing node to the second sensing node to terminate sensing can save the power consumption of the second sensing node.

[0231] Alternatively, in the case that the environment to which the second sensing node belongs does not satisfy the sensing measurement condition or the second sensing node loses connection, the first sensing node instructs the second sensing node to terminate sensing; since the second sensing node will be difficult to continue sensing the sensing target in the case that the environment to which the second sensing node belongs does not satisfy the sensing measurement condition or the second sensing node loses connection, the instruction of the first sensing node to the second sensing node to terminate sensing can save the power consumption of the second sensing node.

[0232] It should be noted that in the case 2, the second indication information is carried in the sensing measurement termination frame or the sensing termination frame. In other words, in the case that the management of the second sensing node includes instructing the second sensing node to terminate sensing, the second indication information is carried in the sensing measurement termination frame or the sensing termination frame. In addition, the second indication information in the case 2 can also be carried in other frames, which is not limited in the present application.

[0233] Case 3, in the case that the first sensing node has a sensing blind area, the first sensing node needs to expand the sensing range, the first sensing node needs to increase the sensing data of different sensing nodes, the second sensing node enters the second preset area, or the sensing target moves to the third preset area, the management of the second sensing node includes instructing the second sensing node to initiate sensing.

[0234] In other words, in the case that the first sensing node has a sensing blind area, the first sensing node determines a second sensing node that can sense the blind area, and instructs the second sensing node to initiate sensing; in this way, when the sensing target is located in the sensing blind area of the first sensing node, the second sensing node can assist the first sensing node in sensing the sensing target, thereby improving the sensing accuracy of the sensing target.

[0235] Alternatively, in the case that the first sensing node needs to expand the sensing range, the first sensing node determines a second sensing node that can sense the range that needs to be expanded, and instructs the second sensing node to initiate sensing; in this way, the second sensing node can assist the first sensing node in sensing the sensing target, thereby expanding the sensing range of the sensing target.

[0236] Alternatively, in the case that the first sensing node needs to increase the sensing data of different sensing nodes, the first sensing node determines a second sensing node that can sense the sensing target, and instructs the second sensing node to initiate sensing; in this way, by increasing the sensing of the second sensing node on the sensing target, the sensing accuracy of the sensing target can be improved.

[0237] Alternatively, in the case that the second sensing node enters a second preset area, the first sensing node instructs the second sensing node to initiate sensing. The second preset area is an area in which the sensing target can be sensed. In this way, after the second sensing node moves to an area in which the sensing target can be sensed, the first sensing node instructs the second sensing node to initiate sensing, thereby improving the sensing accuracy of the sensing target.

[0238] Alternatively, in the case that the sensing target moves to a third preset area, the first sensing node instructs the second sensing node to initiate sensing. The third preset area is an area that can be sensed by the second sensing node. In this way, in the case that the sensing target moves to the third preset area, the second sensing node can sense the sensing target, and at this time, the first sensing node instructs the second sensing node to initiate sensing, thereby improving the sensing accuracy of the sensing target.

[0239] It should be noted that in case 3, the second indication information is carried in the sensing measurement request frame or the sensing configuration frame. In other words, in the case that the management of the second sensing node includes instructing the second sensing node to initiate sensing, the second indication information is carried in the sensing measurement request frame or the sensing configuration frame. In addition, the second indication information in case 3 can also be carried in other frames, which is not limited by the present application.

[0240] The above describes in detail the process of the first sensing node managing the second sensing node.

[0241] In some embodiments, before managing the second sensing node, the first sensing node can determine in advance whether there is a communication link between the first sensing node and the second sensing node. If there is a communication link between the first sensing node and the second sensing node, the first sensing node directly sends the second indication information to the second sensing node to manage the second sensing node. If there is no communication link between the first sensing node and the second sensing node, a communication link is first established between the first sensing node and the second sensing node, and then the first sensing node sends the second indication information to the second sensing node to manage the second sensing node.

[0242] For example, when the first sensing node and / or the second sensing node is a self-transmitting and self-receiving sensing node, there is no communication link between the first sensing node and the second sensing node; or when the first sensing node is not a transmitting end of the second sensing node or the second sensing node is not a receiving end of the first sensing node, there is no communication link between the first sensing node and the second sensing node. In this case, the first sensing node establishes a communication link with the second sensing node in advance, and after the communication link is established, the first sensing node sends the second indication information to the second sensing node to manage the second sensing node.

[0243] For another example, when the first sensing node is a transmitting end of the second sensing node or the second sensing node is a receiving end of the first sensing node, there is a communication link between the first sensing node and the second sensing node. In this case, the first sensing node can directly send the second indication information to the second sensing node to manage the second sensing node.

[0244] Based on this, the first sensing node can not only manage the sensing node that has established a transmission link with the first sensing node, but also manage the sensing node that has not established a transmission link with the first sensing node.

[0245] In some embodiments, after the first sensing node manages the second sensing node, the first sensing node can report the management behavior to the sensing center device. As shown in FIG. 9, the process in which the first sensing node reports the management behavior to the sensing center device can be implemented through the following step 902:

[0246] In step 902, the first sensing node sends third indication information to the sensing center device. Correspondingly, the sensing center device receives the third indication information from the first sensing node.

[0247] The third indication information is used to indicate the management of the second sensing node by the first sensing node.

[0248] In some embodiments, the third indication information is carried in a sensing measurement report frame or a sensing information report frame sent by the first sensing node to the sensing center device. In other words, the first sensing node reports the management operation performed on the second sensing node to the sensing center device synchronously when reporting the sensing measurement result. As an example, the sensing measurement report frame or the sensing information report frame carrying the third indication information is shown in Table 2.

[0249] Table 2: Sensing measurement report frame or sensing information report frame carrying the third indication information

[0250] The configuration change field is the field carrying the third indication information.

[0251] In yet some embodiments, the third sensing information can also be information sent by the first sensing node to the sensing center device alone. In this case, the first sensing node can report the management operation performed on the second sensing node to the sensing center device after each management operation, without reporting the third indication information at the same time as the sensing measurement result, so that the timing of reporting the third indication information is more flexible.

[0252] In some embodiments, the sensing center device can determine the priority of the first sensing node based on the sensing capability parameter of the first sensing node. Correspondingly, before determining the priority of the first sensing node, the first sensing node can report the sensing capability parameter of the first sensing node to the sensing center device in advance. As shown in FIG. 9, the process of reporting the sensing capability parameter of the first sensing node to the sensing center device in advance includes:

[0253] Step 903: The first sensing node sends the sensing capability parameter to the sensing center device. Correspondingly, the sensing center device receives the sensing capability parameter from the first sensing node.

[0254] The sensing capability parameter of the first sensing node is used to determine the priority of the first sensing node.

[0255] In some embodiments, the sensing capability parameter includes at least one of the following: a sensing signal parameter, used to represent the bandwidth or refresh rate supported by the sensing node; a multi-antenna capability, used to represent the number of transceiving antennas supported by the sensing node; a power supply type, including at least one of the following: constant power supply, charging power supply, or battery power supply; a security support, used to represent whether the sensing node supports sensing security; a node location, used to represent whether the node location is fixed and / or the node installation location; a historical performance, used to represent the measurement accuracy and / or measurement stability of the sensing node in historical measurement tasks; a movement probability, used to represent the probability of movement of the sensing node; or an environmental interference detection capability, used to represent the environmental interference detection capability of the sensing node.

[0256] As an example, the sensing capability parameters reported by the first sensing node to the sensing center device are as shown in Table 3 below:

[0257] Table 3, sensing capability parameters

[0258] Step 904, the sensing center device determines the priority of the first sensing node based on the sensing capability parameters of the first sensing node.

[0259] In some embodiments, the priority of the first sensing node is the first priority in the case that the sensing capability parameters of the first sensing node satisfy at least one of the following conditions.

[0260] The bandwidth supported by the first sensing node is greater than a preset bandwidth, and / or the refresh rate supported by the first sensing node is greater than a preset refresh rate. Alternatively, the bandwidth supported by the first sensing node belongs to the largest K bandwidths among the bandwidths supported by N sensing nodes; wherein N and K are positive integers, and N is greater than or equal to K, and the N sensing nodes are the sensing nodes managed by the sensing center device; the refresh rate supported by the first sensing node belongs to the largest K refresh rates among the refresh rates supported by the N sensing nodes; in other words, the first sensing node is the top K sensing nodes in the sensing system that support the largest bandwidth; or the first sensing node is the top K sensing nodes in the sensing system that support the largest refresh rate. Based on this, the sensing center device can determine the priority of the sensing node as a high priority in the case that the sensing node supports a larger bandwidth and / or supports a larger refresh rate.

[0261] The number of transmission antennas supported by the first sensing node is greater than a first threshold or the number of reception antennas supported by the first sensing node is greater than a second threshold.

[0262] Alternatively, the number of transmission antennas supported by the first sensing node belongs to the largest K numbers of transmission antennas among the numbers of transmission antennas supported by N sensing nodes; or, the number of reception antennas supported by the first sensing node belongs to the largest K numbers of reception antennas among the numbers of reception antennas supported by N sensing nodes; in other words, the first sensing node is the top K sensing nodes in the sensing system that support the largest number of transmission antennas; or the first sensing node is the top K sensing nodes in the sensing system that support the largest number of reception antennas.

[0263] Based on this, the sensing center device can determine the priority of the sensing node as a high priority in the case that the sensing node supports a larger number of transmission antennas or a larger number of reception antennas.

[0264] The power supply type of the first sensing node is constant power supply. In other words, among the sensing nodes of constant power supply, charging power supply, and battery power supply, the constant power supply has continuous and stable power supply, and the safety and reliability are also higher, so the priority of the sensing node of constant power supply is determined as a high priority.

[0265] The first sensing node supports sensing security. The support for sensing security can be support for sensing physical layer security, for example, the sensing node protects the security of the signal. Since the sensing node supporting sensing has better security, the priority of the sensing node supporting sensing security can be determined as high priority.

[0266] The position of the first sensing node is fixed and / or the installation position meets the position requirement. For example, in the case that the sensing node is installed in a good sensing scene position (such as a position pre-installed in the middle of a house to avoid shielding), the sensing ability of the sensing node is stronger, and the sensing measurement is more accurate, and at this time, the priority of the sensing node is determined as high priority.

[0267] The measurement accuracy of the first sensing node in the historical measurement task is greater than a third threshold, and / or the measurement stability is greater than a fourth threshold.

[0268] Alternatively, the measurement accuracy of the first sensing node in the historical measurement task belongs to the top K measurement accuracies among the measurement accuracies of the N sensing nodes in the historical measurement task; the measurement stability of the first sensing node in the historical measurement task belongs to the top K measurement stabilities among the measurement stabilities of the N sensing nodes in the historical measurement task; in other words, the first sensing node is the top K sensing nodes with the largest measurement accuracy in the historical measurement task in the sensing system; or the first sensing node is the top K sensing nodes with the largest measurement stability in the historical measurement task in the sensing system. Based on this, the sensing center device can determine that the priority of the sensing node with better measurement accuracy and / or measurement stability in the historical measurement task is high priority.

[0269] The movement probability of the first sensing node is lower than a preset probability value, or the movement probability of the first sensing node belongs to the top K movement probabilities among the movement probabilities of the N sensing nodes. Generally, based on the movement probability of the sensing node, the sensing nodes can be divided into: fixed-position sensing nodes (such as smart screens), sensing nodes that may move (such as routers or sound boxes), and sensing nodes that are highly likely to move (such as mobile phones, earphone boxes, and watches). The sensing node with low movement probability (such as a fixed-position sensing node or a sensing node that may move) is taken as a high-priority sensing node in the embodiment of the application.

[0270] Alternatively, the first sensing node has an environmental interference detection capability that meets the requirement. The environmental interference detection capability of the sensing node can be, for example, whether the device has an environmental interference detection capability, and / or whether the device has other sensors (such as a camera, an infrared sensor, an acceleration sensor, or a temperature detector) to provide additional environmental interference detection capability. If the sensing node has an environmental interference detection capability, and / or has other sensors to provide additional environmental interference detection capability, the priority of the sensing node is determined to be high.

[0271] It should be noted that the above describes the process of determining the priority of the sensing node based on whether the sensing node meets one criterion. In actual applications, the priority of the sensing node can also be determined based on multiple criteria, which is not limited in the present application. For example, in the case that the first sensing node is a sensing node powered by constant electricity, has a good installation location, has a low probability of movement, and has a heavy historical measurement task with measurement progress and measurement stability meeting expectations, the priority of the first sensing node is determined to be the first priority. In the case that the first sensing node is a sensing node powered by a battery, has a high probability of movement, and has a historical measurement task with measurement progress and measurement stability not meeting expectations, the priority of the first sensing node is determined to be the second priority.

[0272] Optionally, the second sensing node can also report the sensing capability parameter to the sensing center device, and the sensing center device determines the priority of the second sensing node based on the sensing capability parameter of the second sensing node. The specific implementation can refer to steps 903 and 904 described above, and details are not repeated herein.

[0273] In some embodiments, in combination with FIG. 2 and FIG. 9, the process of reporting the sensing capability parameter in step 903 and the process of determining the priority based on the sensing capability parameter in step 904 in FIG. 9 correspond to the sensing capability interaction process in step 201 in FIG. 2 described above. The process of indicating the priority in steps 701-702 and the process of sensing based on the priority in FIG. 9 correspond to the sensing measurement session process in step 201 in FIG. 2 described above. The process of sensing based on the priority in step 703 in FIG. 9, the process of managing the second sensing node in step 901, and the process of reporting the management of the second sensing node to the sensing center device in step 902 correspond to the sensing measurement exchange process in step 203 in FIG. 2, and details are not repeated herein.

[0274] It should be noted that the priority of the sensing node can be divided into more priorities in actual application. For example, the priority of the sensing node includes a first priority, a second priority, and a third priority. In a case where a value of a field used for representing the first indication information is 10, it is determined that the priority of the first sensing node is the first priority. In a case where the value of the field used for representing the first indication information is 01, it is determined that the priority of the first sensing node is the second priority. In a case where the value of the field used for representing the first indication information is 00, it is determined that the priority of the first sensing node is the third priority. In this case, the sensing node of the first priority is a sensing node having a management function of the sensing node, and the sensing node of the second priority is configured to accept or reject the management of the sensing node of the first priority. The sensing node of the second priority is configured to accept the management of the sensing node of the first priority. In this example, in combination with Table 1, the content indicated by each value of the node priority field is shown in Table 4.

[0275] Table 4, value of the node priority field

[0276] It should be noted that the above only takes the sensing center device determining the priority of each sensing node and indicating the corresponding priority to each sensing node as an example for description, and the priority of the sensing node can also be determined through other manners in specific implementation, for example, the priority of the sensing node is configured through a preconfigured manner, and the first indication information is configuration information. The application does not limit the manner of determining the priority of the sensing node.

[0277] The above mainly describes the sensing node management function of the priority for distinguishing the sensing node in detail. In a case where the priority is used for distinguishing whether the sensing node reports the sensing device state, in combination with FIG. 7, the sensing node can report the sensing anomaly based on the priority of the sensing node, as shown in FIG. 10, and the following will be described in detail.

[0278] In step 1001, the first sensing node sends sensing anomaly reporting information to the sensing center device. Correspondingly, the sensing center device receives the sensing anomaly reporting information from the first sensing node.

[0279] The sensing anomaly reporting information is used to report the sensing anomaly detected by the first sensing node.

[0280] In some embodiments, the sensing node needs to report the sensing anomaly in a case where the sensing node detects that the sensing node moves, the sensing node environment changes, or the sensing node leaves the sensing range. In the embodiment of the application, the sensing node can report the sensing anomaly based on the priority of the sensing node, which is described below in different scenarios.

[0281] Scenario 1: only high-priority nodes report sensing anomalies to the sensing center device.

[0282] In scenario 1, only high-priority nodes report sensing anomalies to the sensing center device, so that the sensing center device manages the high-priority nodes according to the sensing anomalies reported by the high-priority nodes. At this time, the above step 1001 can be specifically implemented as: in a case where the priority of the first sensing node is a first priority, the first sensing node sends sensing anomaly reporting information to the sensing center device.

[0283] For low-priority devices, the low-priority devices can not report anomalies, or the low-priority devices only report anomalies to high-priority devices, and the high-priority devices manage the low-priority nodes according to the sensing anomalies reported by the low-priority devices, which is not limited in the present application. The process in which the high-priority devices manage the low-priority nodes according to the sensing anomalies reported by the low-priority devices can refer to the foregoing embodiments, which will not be described herein.

[0284] In some embodiments, in combination with FIG. 3, as shown in FIG. 11, the high-priority nodes can report sensing anomalies to the sensing center device during sensing measurement. Specifically, step 1101: the high-priority sensing node sends sensing anomaly reporting information to the sensing center device. In other words, after the sensing center device classifies the priorities of the sensing nodes, the high-priority nodes in the sensing nodes report sensing anomalies (or report sensing device state), and the low-priority nodes in the sensing nodes do not report sensing anomalies (or do not report sensing device state). In this way, the sensing device state reporting messages received by the sensing center device can be reduced, the number of sensing nodes that need to be managed by the sensing center device can be reduced, and the resource consumption of the sensing center device can be reduced. In addition, since the sensing device state reporting messages reported by the sensing nodes are reduced, the probability of sensing device state reporting information conflict is reduced, and the probability of sensing device state reporting information loss is also reduced.

[0285] Scenario 2: both high-priority nodes and low-priority nodes report sensing anomalies, and the priority of the high-priority node sensing anomaly reporting is higher than that of the low-priority node.

[0286] In other words, the priority of the first sensing node sending the sensing anomaly reporting information is higher than that of the second sensing node, wherein the priority of the second sensing node is a second priority, and the second priority is lower than the first priority.

[0287] In the scenario 2, the high-priority node and the low-priority node can both report the sensing anomaly to the perception center device. At this time, in order to avoid the low-priority node from affecting the sensing anomaly reporting of the high-priority node, the priority of the sensing anomaly reporting of the high-priority node is higher than that of the low-priority node in the embodiment of the present application. In this way, when reporting the anomaly, if the sensing anomaly reporting of the low-priority node affects the sensing anomaly reporting of the high-priority node, the sensing anomaly reporting of the high-priority node is preferentially transmitted, so that the sensing anomaly reporting of the high-priority node can be normally sent to the perception center device, and the perception center device can manage based on the sensing anomaly reporting of the high-priority node.

[0288] The above mainly describes the method of indicating the priority of the sensing node by the perception center device to the sensing node in detail. In some embodiments, the sensing node can determine whether to report the sensing device state to the perception center device based on the priority of the sensing node. In combination with FIG. 7, as shown in FIG. 12, the method further includes the following steps.

[0289] In step 1201, when detecting the change of the sensing device state of the first sensing node, the first sensing node sends a sensing device state reporting message to the perception center device. Correspondingly, the perception center device receives the sensing device state reporting message from the first sensing node.

[0290] The sensing device state reporting message is used to indicate the change of the sensing device state of the first sensing node.

[0291] It should be noted that, in the case that the first indication information indicates that the first sensing node reports the sensing device state, the first sensing node performs step 1201, so that the perception center device can manage the first sensing node in time based on the change of the sensing device state of the first sensing node, improve the sensing accuracy of the first sensing node, and protect the sensing performance of the first sensing node. In addition, if the first indication information indicates that the first sensing node does not report the sensing device state, the first sensing node does not send the sensing device state reporting message to the perception center device even when detecting the change of the sensing device state. In this way, the sensing device state reporting message sent by the sensing node to the perception center device can be reduced, and interference of the sensing device state reporting message of the sensing node which needs to report the sensing device state can be avoided.

[0292] It should be understood that the sensing device state reporting information in the embodiment of the present application can also be understood as anomaly reporting information, and the sensing device state change indicated by the sensing device state reporting information can also be understood as an anomaly reported in the anomaly reporting information.

[0293] As an example, the parameters in the sensing device state reporting message are shown in Table 5 as follows.

[0294] Table 5, parameters in the perception device state reporting message

[0295] In some embodiments, the perception signal configuration index is similar to the function of the perception measurement session identification. In the star flash scenario, the parameter is called the perception signal configuration index; in the wifi scenario, the parameter is called the perception measurement session identification.

[0296] It should be noted that the perception device state reporting information in the embodiments of the present application can be used to report at least one of the following information: a change in the state of the perception device, the perception device detecting interference; or, the perception device state reporting information can also report other conditions affecting the progress of the perception measurement, which is not limited by the present application.

[0297] In some implementations, as shown in FIG. 12, after the perception measurement is completed, the first perception node can also send the perception measurement result to the perception center device, specifically:

[0298] Step 1202, the first perception node sends the perception measurement result indication information to the perception center device. Correspondingly, the perception center device receives the perception measurement result indication information from the first perception node.

[0299] Wherein, in the case of detecting the change in the state of the perception device of the first perception node, the perception measurement result indication information is used to indicate that the measurement result of the current perception measurement is invalid.

[0300] It should be noted that in the case where the first perception node detects a change in the state of the perception device of the first perception node, the change in the state of the perception device will affect the perception measurement result obtained by the first perception node during the perception measurement, resulting in an inaccurate perception measurement result. At this time, in order to avoid the perception center device determining the perception result of the perception target based on the inaccurate perception measurement result, resulting in an inaccurate perception result of the perception target, the first perception node can send the perception measurement result indication information to the perception center device to indicate that the measurement result of the current perception measurement is invalid. In this way, the perception center device will not consider the possible inaccurate perception measurement result when determining the perception result of the perception target, thereby avoiding the problem of inaccurate perception result of the perception target.

[0301] In some embodiments, the perception measurement result indication information is carried in a perception information reporting frame, and the perception information reporting frame is used to report the perception measurement result. In this way, the first perception node can indicate whether the current perception measurement result is invalid each time the perception measurement result is reported, without the need to send other frames for reporting. After receiving the perception information reporting frame, if the perception center device parses the perception measurement result indication information in the perception information reporting frame to indicate that the measurement result of the current perception measurement is invalid, the perception center device determines that the perception measurement result is invalid, and the perception measurement result is no longer considered when determining the perception result of the perception target. As an example, the parameters in the perception information reporting frame are shown in Table 6 below.

[0302] Table 6: Parameters in the perception information reporting frame

[0303] The measurement quantity is the perception measurement result. The perception measurement quantity feedback is the perception measurement result that the perception node needs to report to the perception center device.

[0304] As an example, in the perception measurement quantity feedback, if the perception measurement quantity indicated by the perception measurement quantity feedback field is invalid, but the value of the perception measurement quantity is a preset value (such as 0xFFFF), it means that the perception measurement quantity is invalid. For example, the angle of arrival (AoA) measurement information-horizontal angle, the positive direction of the x-axis is the positive direction of the south, the positive direction of the y-axis is the positive direction of the east, the positive direction of the z-axis is the normal direction of the local ellipsoid, and the horizontal angle θ in the coordinate system is counted in units of 0.01 degrees. When the value is 0xFFFF, the value is invalid.

[0305] It should be noted that the case where the perception measurement result indication information indicates that the measurement result of the current perception measurement is invalid includes the case where the perception measurement quantity measured by the perception node is invalid, or the case where the perception device state changes. In other words, in the case where the perception measurement quantity measured by the perception node is invalid, or the case where the perception device state changes, the perception node indicates that the measurement result of the current perception measurement is invalid through the perception measurement result indication information.

[0306] In yet some embodiments, as shown in FIG. 12, if the first perception node indicates that the measurement result of the current perception measurement is invalid through the perception measurement result indication information, the first perception node can further report the reason why the measurement result is invalid to the perception center device, specifically:

[0307] Step 1203: The first perception node sends the sixth indication information to the perception center device. Correspondingly, the perception center device receives the sixth indication information from the first perception node.

[0308] The sixth indication information is used to indicate a reason for invalidating the measurement result. Optionally, the reason for invalidating the measurement result includes that a perception measurement quantity measured by the perception node is invalid, or that the perception node sends a perception device state change.

[0309] Based on this, if the first perception node indicates, by the perception measurement result indication information, that the measurement result of the current perception measurement is invalid, the first perception node reports, to the perception center device, a reason for invalidating the measurement result, so that the perception center device can determine the reason for invalidating the measurement result. Optionally, the sixth indication information is carried in a perception information reporting frame. In this way, the first perception node can indicate, synchronously, the reason for invalidating the measurement result each time the perception measurement result is reported. After receiving the perception information reporting frame, if the perception center device analyzes that the sixth indication information is carried in the perception information reporting frame, the perception center device can determine the reason for invalidating the measurement result by analyzing the sixth indication information.

[0310] The above describes a process in which the perception node determines whether to report the perception device state to the perception center device based on a priority of the perception node.

[0311] In the embodiments of the present application, based on the above description of the process of writing perception, after the perception node detects a perception device state change, the perception node needs to report the perception device state to the perception center device. The perception center device manages the perception node based on the perception device state. However, because the number of perception nodes managed by one perception center device is large, the resource consumption of the perception center device is large, and when multiple perception nodes simultaneously report the perception device state, the perception device state reporting information may conflict and further increase the probability of loss.

[0312] To solve the technical problem, the embodiments of the present application further provide a perception method, in which the perception center device indicates to the perception node whether to report the perception device state, the perception node perceives based on the indication of the perception center device, and determines whether to report the perception device state in the perception process. In this way, the perception center device can make some perception nodes report the perception device state and some devices not report the perception device state. This can reduce the perception device state reporting messages received by the perception center device, reduce the number of perception nodes that need to be managed by the perception center device in terms of the perception device state, and further reduce the resource consumption of the perception center device. In addition, because the perception device state reporting messages reported by the perception nodes are reduced, the probability of conflict of the perception device state reporting information is reduced, and the probability of loss of the perception device state reporting information is also reduced.

[0313] FIG. 13 is a flow diagram of a sensing method according to an embodiment of the present application. In the embodiment of the present application, the sensing center device indicates to the sensing node whether the sensing node reports the sensing device state, and the sensing node performs sensing based on the indication of the sensing center device. The functions and actions of each device in the sensing system according to the embodiment of the present application are described as follows. As shown in FIG. 13, the sensing method includes the following steps.

[0314] In step 1301, the sensing center device generates fifth indication information.

[0315] The fifth indication information is used to indicate whether the sensing node reports the sensing device state.

[0316] In some embodiments, the sensing center device is used to manage a plurality of sensing nodes. The sensing center device distinguishes the plurality of sensing nodes, and determines the sensing nodes that need to report the sensing device state and the sensing nodes that do not need to report the sensing device state. The sensing center device generates corresponding fifth indication information for each sensing node to indicate whether the corresponding sensing node reports the sensing device state. For example, the sensing center device determines that the sensing node A needs to report the sensing device state, and the sensing node B does not need to report the sensing device state. The sensing center device generates the fifth indication information corresponding to the sensing node A to indicate that the sensing node A reports the sensing device state. The sensing center device generates the fifth indication information corresponding to the sensing node B to indicate that the sensing node B does not report the sensing device state.

[0317] It can be understood that the sensing center device can determine whether the sensing node reports the sensing device state based on various types of parameters of the sensing node, for example, based on the sensing capability, position, model, etc. of the sensing node to determine whether the sensing node reports the sensing device state. Alternatively, the sensing center device can determine whether the sensing node reports the sensing device state based on other related parameters of the sensing node, which is not limited in the present application.

[0318] In step 1302, the sensing center device sends the fifth indication information to the sensing node. Correspondingly, the sensing node receives the fifth indication information from the sensing center device.

[0319] Optionally, the fifth indication information is carried in a sensing measurement request frame or a sensing configuration frame.

[0320] For example, in the WLAN sensing scenario, the sensing center device sends a sensing measurement request frame to the sensing node to instruct the sensing node to initiate the sensing measurement. At this time, the fifth indication information can be carried in the sensing measurement request frame. In other words, the sensing center device can add the fifth indication information indicating the priority of the sensing node in the sensing measurement request frame, and send the fifth indication information to the sensing node through the sensing measurement request frame.

[0321] For another example, in the star flash sensing scenario, the sensing center device sends a sensing configuration frame to the sensing node. At this time, the fifth indication information can be carried in the sensing configuration frame. In other words, the sensing center device can add the fifth indication information indicating the priority of the sensing node in the sensing configuration frame, and send the fifth indication information to the sensing node through the sensing configuration frame.

[0322] As an example, the parameters in the sensing measurement request frame or the sensing configuration frame sent by the sensing node to the fifth sensing node are shown in Table 7 below.

[0323] Table 7, parameters in the sensing measurement request frame or the sensing configuration frame

[0324] The sensing device state reporting indication field in Table 7 is a field for carrying the fifth indication information in the embodiments of the present application. Based on the sensing device state reporting indication, the sensing center device can instruct the sensing node whether to perform the sensing device state reporting.

[0325] As an example, the sensing device state reporting indication field in Table 7 can indicate whether the sensing node performs the sensing device state reporting based on different values. For example, in the case that the value of the sensing device state reporting indication field is 1, the field is used to instruct the sensing node to perform the sensing device state reporting; in the case that the value of the sensing device state reporting indication field is 0, the field is used to instruct the sensing node not to perform the sensing device state reporting. In addition, the embodiments of the present application can also indicate whether the sensing node performs the sensing device state reporting through other forms of configuration of the sensing device state reporting indication field, which will not be described herein.

[0326] In addition, in addition to the sensing center device sending the fifth indication information to the sensing node through the sensing measurement request frame or the sensing configuration frame as shown in Table 7, the sensing center device can also send the fifth indication information to the sensing node through other manners, for example, the sensing center device sends the fifth indication information to the sensing node through a newly added message, or sends the fifth indication information to the sensing node through other frames other than the sensing measurement request frame or the sensing configuration frame, which will not be limited in the embodiments of the present application.

[0327] Step 1303, the sensing node performs sensing based on the fifth indication information.

[0328] As an embodiment, after receiving the fifth indication information, the perception node determines whether it needs to report the perception device state based on the fifth indication information.

[0329] If the perception node determines that it needs to report the perception device state, if the perception node detects that the perception device state of the perception node changes during the perception measurement, the perception node generates the perception device state reporting information based on the change of the perception device state, and sends the perception device state reporting information to the perception center device. In this way, the perception center device can manage the perception node based on the change of the perception device state of the perception node, for example, adjust the configuration, initiate the perception measurement, or terminate the perception measurement, etc., which is not limited in the present application.

[0330] If the perception node determines that it does not need to report the perception device state, no matter whether the perception node detects that the perception device state of the perception node changes during the perception measurement, the perception node does not report the perception device state. In this way, the perception center device does not need to receive the perception device state reporting information of the perception node, which reduces the resource consumption of the perception center device. In addition, the perception node also does not send the perception device state reporting information with other perception nodes, thereby reducing the probability of loss of the perception device state reporting information.

[0331] In some implementations, the perception node determines whether to report the perception device state based on the fifth indication information. For example, after receiving the frame (such as the perception measurement request frame or the perception configuration frame) carrying the fifth indication information, the perception node analyzes the field (or bit) in the frame specifically used to represent the fifth indication information, and determines whether the perception node reports the perception device state.

[0332] As an example, in the case that the value of the field used to represent the fifth indication information is 1, it is determined that the perception node reports the perception device state; in the case that the value of the field used to represent the fifth indication information is 0, it is determined that the perception node does not report the perception device state.

[0333] It should be noted that the sensing of the sensing node based on the fifth indication information can be understood as that the sensing node performs corresponding operations based on the fifth indication information in the sensing measurement process. For example, the sensing of the sensing node based on the fifth indication information can be understood as that the sensing node determines whether to report the sensing device state based on the fifth indication information. In the sensing measurement process, if the sensing node needs to report the sensing device state, and it is detected that the sensing device state of the sensing node changes, the sensing node reports the sensing device state to the sensing center device. If the sensing node does not need to report the sensing device state, regardless of whether the sensing device state of the sensing node changes, the sensing node does not report the sensing device state to the sensing center device. Other sensing measurement related processes of the sensing node in the sensing measurement process can refer to related technologies, and details are not described herein.

[0334] The embodiment of the present application further provides a sensing method. The sensing center device indicates to the sensing node whether to report the sensing device state, the sensing node performs sensing based on the indication of the sensing center device, and determines whether to report the sensing device state in the sensing process. In this way, the sensing center device can make some sensing nodes report the sensing device state and some devices not report the sensing device state. In this way, the sensing center device can reduce the number of sensing nodes that need to perform sensing device state management, and further reduce the resource consumption of the sensing center device. In addition, since the sensing device state report message reported by the sensing node is reduced, the probability of conflict of the sensing device state report information is reduced, and the probability of loss of the sensing device state report information is also reduced.

[0335] In some embodiments, as shown in FIG. 14, if the fifth indication information indicates that the sensing node reports the sensing device state, and the sensing node detects that the sensing device state of the sensing node changes in the sensing measurement process, the sensing node can send a sensing device state report message to the sensing center device, specifically:

[0336] Step 1401, when detecting that the sensing device state of the sensing node changes, the sensing node sends a sensing device state report message to the sensing center device. Correspondingly, the sensing center device receives the sensing device state report message from the sensing node.

[0337] The sensing device state report message is used to indicate the change of the sensing device state of the sensing node.

[0338] It should be noted that, in the case that the fifth indication information indicates that the sensing node reports the sensing device state, the sensing node performs step 1401, so that the sensing center device can manage the sensing node in time based on the sensing device state change of the sensing node, improve the sensing accuracy of the sensing node, and guarantee the sensing performance of the sensing node. In addition, if the fifth indication information indicates that the sensing node does not report the sensing device state, even when the sensing device state change is detected, the sensing node does not send the sensing device state report message to the sensing center device; in this way, the sensing device state report message sent by the sensing node to the sensing center device can be reduced, and interference of the sensing device state report message of the sensing node that needs to report the sensing device state can be avoided.

[0339] It can be understood that the sensing device state report information in the embodiments of the present application can also be understood as abnormal report information, and the sensing device state change indicated by the sensing device state report information can also be understood as an abnormality reported in the abnormal report information. The parameters in the sensing device state report message are as shown in Table 5, which will not be repeated here.

[0340] In some embodiments, in combination with FIG. 3, as shown in FIG. 15, the sensing node can report the sensing device state to the sensing center device during the sensing measurement, wherein the sensing node indicated to report the sensing device state performs step 1501, and sends the sensing device state report message to the sensing center device; the sensing node indicated not to report the sensing device state does not perform step 1501, and does not send the sensing device state report message to the sensing center device. In other words, part of the sensing nodes connected to the sensing center device report the sensing device state to the sensing center, and part of the sensing nodes report the sensing device state to the sensing center, so that the sensing device state report message received by the sensing center device can be reduced, the number of sensing nodes that need to be managed by the sensing center device can be reduced, and the resource consumption of the sensing center device can be reduced. In addition, since the sensing device state report message reported by the sensing node is reduced, the probability of conflict of the sensing device state report information is reduced, and the probability of loss of the sensing device state report information is also reduced.

[0341] In some implementations, as shown in FIG. 14, after the sensing measurement is completed, the sensing node can also send the sensing measurement result to the sensing center device, specifically:

[0342] Step 1402, the sensing node sends the sensing measurement result indication information to the sensing center device. Correspondingly, the sensing center device receives the sensing measurement result indication information from the sensing node.

[0343] In a case where the sensing node detects a change in the sensing device state of the sensing node, the sensing measurement result indication information is used to indicate that the measurement result of the current sensing measurement is invalid.

[0344] It should be noted that in a case where the sensing node detects a change in the sensing device state of the sensing node, the change in the sensing device state will affect the sensing measurement result obtained by the sensing node when performing sensing measurement, resulting in an inaccurate sensing measurement result. At this time, in order to avoid the sensing center device determining the sensing result of the sensing target based on the inaccurate sensing measurement result, resulting in an inaccurate sensing result of the sensing target, the sensing node can send the sensing measurement result indication information to the sensing center device to indicate that the measurement result of the current sensing measurement is invalid. In this way, the sensing center device will not consider the possible inaccurate sensing measurement result when determining the sensing result of the sensing target, thereby avoiding the problem of an inaccurate sensing result of the sensing target.

[0345] In some embodiments, the sensing measurement result indication information is carried on a sensing information reporting frame, and the sensing information reporting frame is used to report the sensing measurement result. In this way, the sensing node can indicate whether the sensing measurement result of this time is invalid at the same time when reporting the sensing measurement result each time, without the need to additionally send other frames for reporting. After receiving the sensing information reporting frame, if the sensing center device parses the sensing measurement result indication information carried in the sensing information reporting frame to indicate that the measurement result of the current sensing measurement is invalid, it is confirmed that the sensing measurement result is invalid, and the sensing measurement result will not be considered when determining the sensing result of the sensing target. The parameters in the sensing information reporting frame can refer to Table 7 described above, and will not be described here.

[0346] As an example, in the sensing measurement quantity feedback, if the sensing measurement quantity indicated by the sensing measurement quantity feedback field is invalid, but the value of the sensing measurement quantity is a preset value (such as 0xFFFF), it means that the sensing measurement quantity is invalid. For example, the angle of arrival (AoA) measurement information-horizontal angle, the positive direction of the x-axis is the positive direction of the south, the positive direction of the y-axis is the positive direction of the east, the positive direction of the z-axis is the normal direction of the local ellipsoid, and the horizontal angle θ in the coordinate system is counted in units of 0.01 degrees. When the value is 0xFFFF, the value is invalid.

[0347] It should be noted that the case where the sensing measurement result indication information is used to indicate that the measurement result of the current sensing measurement is invalid includes: the sensing measurement quantity measured by the sensing node is invalid, or the sensing node sends a change in the sensing device state. In other words, in a case where the sensing measurement quantity measured by the sensing node is invalid, or the sensing node sends a change in the sensing device state, the sensing node indicates that the measurement result of the current sensing measurement is invalid through the sensing measurement result indication information.

[0348] In some embodiments, as shown in FIG. 14, if the sensing node indicates that the measurement result of the current sensing measurement is invalid through the sensing measurement result indication information, the sensing node can further report the reason for the invalid measurement result to the sensing center device, specifically:

[0349] In step 1403, the sensing node sends the sixth indication information to the sensing center device. Correspondingly, the sensing center device receives the sixth indication information from the sensing node.

[0350] The sixth indication information is used to indicate the reason for the invalid measurement result. Optionally, the reason for the invalid measurement result includes that the sensing measurement quantity measured by the sensing node is invalid, or the sensing node sends the sensing device state change.

[0351] Based on this, if the sensing node indicates that the measurement result of the current sensing measurement is invalid through the sensing measurement result indication information, the sensing node reports the reason for the invalid measurement result to the sensing center device, so that the sensing center device can determine the reason for the invalid measurement result. Optionally, the sixth indication information is carried in the sensing information reporting frame. In this way, the sensing node can indicate the reason for the invalid measurement result at the same time of reporting the sensing measurement result each time. After receiving the sensing information reporting frame, if the sensing center device analyzes that the sixth indication information is carried in the sensing information reporting frame, the sensing center device can determine the reason for the invalid measurement result by analyzing the sixth indication information.

[0352] It should be noted that in the embodiments of the present application, before the sensing center device generates the fifth indication information, the sensing node can send the sensing capability parameter to the sensing center device, so that the sensing center device determines whether the sensing node performs the sensing device state reporting based on the sensing capability parameter of the sensing node. The process in which the sensing node sends the sensing capability parameter to the sensing center device can refer to the above-mentioned step 903, which will not be described here.

[0353] Optionally, in the case where the sensing center device determines whether the sensing node performs the sensing device state reporting based on the sensing capability parameter of the sensing node, the process is similar to the process in which the sensing center device determines the priority of the sensing node based on the sensing capability parameter of the sensing node. For example, the way in which the sensing center device determines that the priority of the sensing node is the first priority based on the sensing capability parameter of the sensing node is also applicable to the scenario in which the sensing center device determines that the sensing node performs the sensing device state reporting based on the sensing capability parameter of the sensing node. The way in which the sensing center device determines that the priority of the sensing node is the second priority based on the sensing capability parameter of the sensing node is also applicable to the scenario in which the sensing center device determines that the sensing node does not perform the sensing device state reporting based on the sensing capability parameter of the sensing node. The present application will not make further description on this.

[0354] It should be noted that the sensing method provided in the embodiments of the present application can be applied to a cooperative sensing scene, and can also be applied to other sensing scenes. For example, the sensing method provided in the embodiments of the present application can also be applied to a sensing scene in which A transmits and B receives (non-cooperative sensing and only A transmits and B receives). For example, sensing node A (or another device) configures sensing node B to perform sensing device state reporting. In this case, sensing node B can perform sensing device state reporting during sensing measurement to report sensing device state changes or other related information. Sensing node A (or another device) configures sensing node B not to perform sensing device state reporting. In this case, sensing node B does not perform sensing device state reporting during sensing measurement.

[0355] It should be noted that the frame in the embodiments of the present application can also be understood as signaling, information, messages, signals, etc., which are not limited in the present application.

[0356] The above mainly introduces the scheme provided in the embodiments of the present application from the perspective of interaction between network elements. Correspondingly, the embodiments of the present application also provide a sensing device for implementing the various methods described above. The sensing device can be the sensing center device in the method embodiments, or a device containing the sensing center device, or a component that can be used for the sensing center device. Alternatively, the sensing device can be the sensing node in the method embodiments, or a device containing the sensing node, or a component that can be used for the sensing node. It can be understood that the sensing device contains the corresponding hardware structure and / or software module for executing each function in order to implement the above functions. Those skilled in the art should easily realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed in the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0357] The embodiments of the present application can divide the sensing device into functional modules according to the method embodiments described above. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in the form of hardware or software functional module. It should be understood that the division of modules in the embodiments of the present application is illustrative, and is only a logical functional division. There can be another division manner when actually implemented.

[0358] For example, FIG. 16 is a schematic diagram of a sensing device 1600 provided by an embodiment of the present application, which includes a transceiver module 1610. Optionally, a processing module 1620 is included. The transceiver module 1610, which can also be referred to as a transceiving unit, is configured to implement a transceiving function, for example, can be a transceiving circuit, a transceiver, a transceiver, or a communication interface.

[0359] Taking the sensing device 1600 as the first sensing node in the above-mentioned method embodiment, or a device containing the above-mentioned first sensing node, or a component that can be used for the first sensing node as an example, the transceiver module 1610 is configured to receive first indication information from a sensing center device; the first indication information is used to indicate a priority of the first sensing node; the priority includes a first priority; and the processing module 1620 is configured to perform sensing based on the priority of the first sensing node.

[0360] In a possible implementation, the first indication information is carried in a sensing measurement request frame or a sensing configuration frame.

[0361] In a possible implementation, the method further includes that the transceiver module 1610 is further configured to send second indication information to a second sensing node; the second indication information is used to indicate management of the second sensing node, wherein a priority of the second sensing node is a second priority, and the second priority is lower than the first priority.

[0362] In a possible implementation, the management of the second sensing node includes at least one of the following: configuration change of the second sensing node, instruction of the second sensing node to terminate sensing, or instruction of the second sensing node to initiate sensing.

[0363] In a possible implementation, in a case where sensing measurement of the first sensing node is disturbed, the management of the second sensing node includes configuration change of the second sensing node; and / or, in a case where sensing measurement of the first sensing node is disturbed, a signal of the second sensing node is abnormal, the second sensing node moves, the second sensing node leaves a first preset area, an environment to which the second sensing node belongs does not meet a sensing measurement condition, or the second sensing node loses connection, the management of the second sensing node includes instruction of the second sensing node to terminate sensing; and / or, in a case where there is a sensing blind area of the first sensing node, the first sensing node needs to expand a sensing range, the first sensing node needs to increase sensing data of different sensing nodes, the second sensing node enters a second preset area, or a sensing target moves to a third preset area, the management of the second sensing node includes instruction of the second sensing node to initiate sensing.

[0364] In a possible implementation, the configuration change of the second sensing node includes at least one of the following: change of a frequency point or a channel of the second sensing node, change of a signal sending time of the second sensing node, or change of a sequence used by the second sensing node.

[0365] In a possible implementation, in the case of managing the second sensing node includes making configuration changes to the second sensing node, the second indication information is carried in a sensing measurement request frame or a sensing configuration frame; in the case of managing the second sensing node includes instructing the second sensing node to terminate sensing, the second indication information is carried in a sensing measurement termination frame or a sensing termination frame; or in the case of managing the second sensing node includes instructing the second sensing node to initiate sensing, the second indication information is carried in a sensing measurement request frame or a sensing configuration frame.

[0366] In a possible implementation, the processing module 1620 is further configured to instruct the transceiver module 1610 to send the second indication information to the second sensing node based on a transmission link between the first sensing node and the second sensing node in the case that the transmission link exists; and in the case that the transmission link does not exist, establish the transmission link between the first sensing node and the second sensing node, and instruct the transceiver module 1610 to send the second indication information to the second sensing node based on the transmission link.

[0367] In a possible implementation, the transceiver module 1610 is further configured to send third indication information to the sensing center device; the third indication information is used to indicate the management of the second sensing node by the first sensing node.

[0368] In a possible implementation, the third indication information is carried in a sensing measurement report frame or a sensing information reporting frame sent by the first sensing node to the sensing center device.

[0369] In a possible implementation, the transceiver module 1610 is further configured to send fourth indication information to the sensing center device; the fourth indication information is used to indicate whether the first sensing node accepts the priority of the first sensing node.

[0370] In a possible implementation, the fourth indication information is carried in a sensing measurement request response frame or a sensing configuration feedback frame.

[0371] In a possible implementation, the transceiver module 1610 is further configured to send a sensing capability parameter of the first sensing node to the sensing center device, the sensing capability parameter of the first sensing node being used to determine the priority of the first sensing node.

[0372] In a possible implementation, the perception capability parameter comprises at least one of the following: a perception signal parameter, used to represent a bandwidth or a refresh rate supported by the perception node; a multi-antenna capability, used to represent a number of transceiving antennas supported by the perception node; a power supply type, the power supply type comprising at least one of the following: a constant power supply, a charging power supply, or a battery power supply; a security support, used to represent whether the perception node supports perception security; a node location, used to represent whether a node position is fixed and / or a node installation position; a historical performance, used to represent a measurement accuracy and / or a measurement stability of the perception node in a historical measurement task; a movement probability, used to represent a probability of movement of the perception node; or an environmental interference detection capability, used to represent an environmental interference detection capability of the perception node.

[0373] In a possible implementation, the perception capability parameter of the first perception node satisfies at least one of the following: a bandwidth supported by the first perception node is greater than a preset bandwidth, and / or a refresh rate supported by the first perception node is greater than a preset refresh rate; the bandwidth supported by the first perception node belongs to K largest bandwidths in N bandwidths supported by the N perception nodes; N and K are both positive integers, and N is greater than or equal to K, and the N perception nodes are perception nodes managed by the perception center device; the refresh rate supported by the first perception node belongs to K largest refresh rates in N refresh rates supported by the N perception nodes; a number of transmission antennas supported by the first perception node is greater than a first threshold value or a number of reception antennas supported by the first perception node is greater than a second threshold value; the number of transmission antennas supported by the first perception node belongs to K largest numbers of transmission antennas in N numbers of transmission antennas supported by the N perception nodes; the number of reception antennas supported by the first perception node belongs to K largest numbers of reception antennas in N numbers of reception antennas supported by the N perception nodes; the power supply type of the first perception node is a constant power supply; the first perception node supports perception security; a position of the first perception node is fixed and / or an installation position of the first perception node satisfies a position requirement; a measurement accuracy of the first perception node in a historical measurement task is greater than a third threshold value, and / or a measurement stability of the first perception node in the historical measurement task is greater than a fourth threshold value; the measurement accuracy of the first perception node in the historical measurement task belongs to K largest measurement accuracies in N measurement accuracies of the N perception nodes in the historical measurement task; the measurement stability of the first perception node in the historical measurement task belongs to K largest measurement stabilities in N measurement stabilities of the N perception nodes in the historical measurement task; a movement probability of the first perception node is lower than a preset probability value; the movement probability of the first perception node belongs to K smallest movement probabilities in N movement probabilities of the N perception nodes; or the environmental interference detection capability of the first perception node satisfies a requirement.

[0374] In a possible implementation, in a case where the first indication information indicates that the first sensing node reports the sensing device state, the processing module 1620 is further configured to instruct the transceiver module 1610 to send, to the sensing center device, a sensing device state reporting message when detecting that the sensing device state of the first sensing node changes; the sensing device state reporting message is used to indicate the change of the sensing device state of the first sensing node.

[0375] In a possible implementation, the transceiver module 1610 is further configured to send, to the sensing center device, sensing measurement result indication information; in a case where the sensing device state of the first sensing node changes is detected, the sensing measurement result indication information is used to indicate that the measurement result of the current sensing measurement is invalid.

[0376] In a possible implementation, the sensing measurement result indication information is carried in a sensing information reporting frame, and the sensing information reporting frame is used to report the sensing measurement result.

[0377] In a possible implementation, the transceiver module 1610 is further configured to send, to the sensing center device, sixth indication information, and the sixth indication information is used to indicate the reason why the measurement result is invalid.

[0378] In a possible implementation, the sixth indication information is carried in a sensing information reporting frame, and the sensing information reporting frame is used to report the sensing measurement result.

[0379] For example, the sensing apparatus 1600 is taken as the sensing center device in the method embodiments, or is taken as an apparatus containing the sensing center device, or is taken as a component that can be used for the sensing center device, the processing module 1620 is configured to generate first indication information; the first indication information is used to indicate the priority of the first sensing node; the priority includes a first priority; and the transceiver module 1610 is configured to send, to the first sensing node, the first indication information.

[0380] In a possible implementation, the first indication information is carried in a sensing measurement request frame or a sensing configuration frame.

[0381] In a possible implementation, the transceiver module 1610 is further configured to receive third indication information from the first sensing node; the third indication information is used to indicate that the first sensing node is managed by the second sensing node.

[0382] In a possible implementation, the third indication information is carried in a sensing measurement report frame or a sensing information reporting frame sent by the first sensing node to the sensing center device.

[0383] In a possible implementation, the transceiver module 1610 is further configured to receive fourth indication information from the first sensing node; the fourth indication information is used to indicate whether the first sensing node accepts the priority of the first sensing node.

[0384] In a possible implementation, the fourth indication information is carried in a perception measurement request response frame or a perception configuration feedback frame.

[0385] In a possible implementation, the transceiver 1610 is further configured to receive the perception capability parameter of the first perception node, and the perception capability parameter of the first perception node is used to determine the priority of the first perception node.

[0386] In a possible implementation, the transceiver 1610 is further configured to receive a perception device state reporting message sent by the first perception node when the perception device state of the first perception node changes, and the perception device state reporting message is used to indicate the change of the perception device state of the perception node, and the first perception node is the perception node indicated by the first indication information to perform the perception device state reporting.

[0387] In a possible implementation, the transceiver 1610 is further configured to receive the perception measurement result indication information sent by the first perception node, and in a case where it is detected that the perception device state of the first perception node changes, the perception measurement result indication information is used to indicate that the measurement result of the current perception measurement is invalid.

[0388] In a possible implementation, the perception measurement result indication information is carried in a perception information reporting frame, and the perception information reporting frame is used to report the perception measurement result.

[0389] In a possible implementation, the transceiver 1610 is further configured to receive the sixth indication information from the first perception node, and the sixth indication information is used to indicate the reason why the measurement result is invalid.

[0390] In a possible implementation, the sixth indication information is carried in a perception information reporting frame, and the perception information reporting frame is used to report the perception measurement result.

[0391] For example, the perception apparatus 1600 is taken as the perception node in the method embodiments, or the apparatus containing the perception node, or the component that can be used for the perception node, the transceiver 1610 is configured to receive the fifth indication information from the perception center device, and the fifth indication information is used to indicate whether the perception node performs the perception device state reporting, and the processing module 1620 is configured to perform the perception based on the fifth indication information.

[0392] In a possible implementation, the fifth indication information is carried in a perception measurement request frame or a perception configuration frame.

[0393] In a possible implementation, in a case where the fifth indication information indicates that the perception node reports the perception device state, the processing module 1620 is configured to instruct the transceiver module 1610 to send, to the perception center device, a perception device state reporting message when it is detected that the perception device state of the perception node changes; the perception device state reporting message is used to indicate the change of the perception device state of the perception node.

[0394] In a possible implementation, the transceiver module 1610 is further configured to send, to the perception center device, perception measurement result indication information; wherein in a case where it is detected that the perception device state of the perception node changes, the perception measurement result indication information is used to indicate that the measurement result of the current perception measurement is invalid.

[0395] In a possible implementation, the perception measurement result indication information is carried in a perception information reporting frame, and the perception information reporting frame is used to report the perception measurement result.

[0396] In a possible implementation, the transceiver module 1610 is further configured to send, to the perception center device, sixth indication information, and the sixth indication information is used to indicate the reason why the measurement result is invalid.

[0397] In a possible implementation, the sixth indication information is carried in a perception information reporting frame, and the perception information reporting frame is used to report the perception measurement result.

[0398] For example, the perception apparatus 1600 is taken as the perception center device in the method embodiments, or is taken as an apparatus including the perception center device, or is taken as a component that can be used for the perception center device, the processing module 1620 is configured to generate fifth indication information, the fifth indication information is used to indicate whether the perception node reports the perception device state, and the transceiver module 1610 is configured to send, to the perception node, the fifth indication information.

[0399] In a possible implementation, the fifth indication information is carried in a perception measurement request frame or a perception configuration frame.

[0400] In a possible implementation, the transceiver module 1610 is further configured to receive a perception device state reporting message sent by the perception node when the perception device state of the perception node changes; the perception device state reporting message is used to indicate the change of the perception device state of the perception node, and the perception node is the perception node indicated by the fifth indication information to report the perception device state.

[0401] In a possible implementation, the transceiver module 1610 is further configured to receive perception measurement result indication information sent by the perception node; wherein in a case where it is detected that the perception device state of the perception node changes, the perception measurement result indication information is used to indicate that the measurement result of the current perception measurement is invalid.

[0402] In a possible implementation, the perception measurement result indication information is carried in a perception information reporting frame used for reporting the perception measurement result.

[0403] In a possible implementation, the transceiver 1610 is further configured to receive sixth indication information from the perception node, the sixth indication information being used for indicating a reason for invalidation of the measurement result.

[0404] In a possible implementation, the sixth indication information is carried in a perception information reporting frame used for reporting the perception measurement result.

[0405] The above method embodiments involve all related contents of each step, which can be referred to the function description of the corresponding function module, and will not be repeated here. Optionally, the perception device 1600 can further include a storage module 1630, which can be used to store instructions or and / or data, and the processing module 1620 can read the instructions or and / or data in the storage module 1630.

[0406] The communication module and the processing module in the embodiments of the present application can be simultaneously deployed in a star flash module, a Bluetooth module, a wifi module, or a UWB module; or the communication module in the embodiments of the present application can be deployed in a star flash module, a Bluetooth module, a wifi module, or a UWB module, and the processing module in the embodiments of the present application can be deployed in a star flash module, a Bluetooth module, a wifi module, or a UWB module; or the processing module in the embodiments of the present application can be deployed in a star flash module, a Bluetooth module, a wifi module, or a UWB module, and the communication module in the embodiments of the present application can be deployed in other modules outside the star flash module, the Bluetooth module, the wifi module, or the UWB module, and the embodiments of the present application do not make specific limitations in this regard.

[0407] In the embodiments of the present application, the perception device 1600 is presented in the form of dividing each function module in an integrated manner. The "module" here can refer to a specific application specific integrated circuit (ASIC), a circuit, a processor and a memory executing one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions. In a simple embodiment, those skilled in the art can think that the perception device can adopt the form of the perception device 600 shown in FIG. 6.

[0408] Specifically, the functions / implementation procedures of the transceiving module 1610 and the processing module 1620 in FIG. 16 can be implemented by invoking the computer-executable instructions stored in the memory 62 by the processor 61 in the perception device 600 shown in FIG. 6. Alternatively, the functions / implementation procedures of the processing module 1620 in FIG. 16 can be implemented by invoking the computer-executable instructions stored in the memory 62 by the processor 61 in the perception device 600 shown in FIG. 6, and the functions / implementation procedures of the transceiving module 1610 in FIG. 16 can be implemented by the transceiver 65 in the perception device 600 shown in FIG. 6.

[0409] Since the perception device provided by the embodiments of the present application can perform the perception method described above, the technical effects that can be achieved by the perception device can refer to the method embodiments described above, which will not be repeated here.

[0410] It should be understood that one or more of the above modules or units can be implemented in software, hardware, or a combination of both. When any of the above modules or units is implemented in software, the software exists in the form of computer program instructions and is stored in the memory, and the processor can be used to execute the program instructions and implement the above method flow. The processor can be built-in in the SoC (System on Chip) or the ASIC, or be a separate semiconductor chip. The processor further includes a core for executing software instructions to perform operations or processing, and can further include necessary hardware accelerators, such as field programmable gate array (FPGA), programmable logic device (PLD), or logic circuits for implementing special logic operations.

[0411] When any of the above modules or units is implemented in hardware, the hardware can be any one or any combination of a central processing unit (CPU), a microprocessor, a digital signal processing (DSP) chip, a microcontroller unit (MCU), an artificial intelligence processor, an ASIC, an SoC, an FPGA, a PLD, a dedicated digital circuit, a hardware accelerator, or a non-integrated discrete device, which can run necessary software or be independent of software to execute the above method flow.

[0412] Optionally, the embodiments of the present application further provide a sensing device (for example, the sensing device can be a chip or a chip system), which comprises a processor for implementing the method in any of the method embodiments. In a possible design, the sensing device further comprises a memory. The memory is used to store necessary program instructions and data, and the processor can invoke the program code stored in the memory to instruct the sensing device to execute the method in any of the method embodiments. Of course, the memory can also not be in the sensing device. When the sensing device is a chip system, the sensing device can be composed of a chip, or can comprise a chip and other discrete devices, and the embodiments of the present application do not make a specific limitation in this regard.

[0413] Optionally, the embodiments of the present application further provide a computer readable storage medium, which stores a computer program or instructions, and when the computer program or instructions run on a sensing device, the sensing device can execute the method described in any of the method embodiments or any implementation manner thereof.

[0414] Optionally, the embodiments of the present application further provide a sensing system, which comprises the sensing center device in the method embodiments and the sensing node in the method embodiments.

[0415] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product comprises one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (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 data storage device such as one or more servers, data centers, etc. integrated with one or more media. The available media can be magnetic media (for example, floppy disk, hard disk, magnetic tape), optical media (for example, DVD) or semiconductor media (for example, solid state disk (SSD)) and the like.

[0416] Although the application has been described in connection with the embodiments thereof with reference to the various drawings, it will be understood that other variations and modifications of the details, and specific examples can be resorted to by those skilled in the art without departing from the scope of the application. It will be noted that the term "comprising" does not, by itself, exclude other components or steps, and the singular return to plural is not excluded unless otherwise indicated. A single processor or other unit can fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

[0417] Although the application has been described in connection with specific embodiments thereof, it will be understood that it is capable of modifications and that the particular embodiments set forth are meant to be illustrative only and not as limiting the scope of the application. Accordingly, the specification and drawings are to be regarded simply as illustrative and the scope of the application is to be determined solely by the claims that follow. Obviously many modifications and changes can be made in the application without departing from the spirit thereof, and it is to be understood that what is intended to be the scope of the application will be set forth in the following claims.

Claims

A perception method characterized by, The method applied to a first sensing node comprises: receiving first indication information from a sensing center device; the first indication information is used to indicate a priority of the first sensing node; the priority comprises a first priority; performing sensing based on the priority of the first sensing node. The method of claim 1, wherein The first indication information is carried in a sensing measurement request frame or a sensing configuration frame. The method according to claim 1 or 2, characterized in that The priority is used to distinguish a sensing node management function of a sensing node or whether a sensing node reports a sensing device state. The method according to any one of claims 1 to 3, characterized in that The method further comprises: sending second indication information to a second sensing node; the second indication information is used to indicate management of the second sensing node, wherein a priority of the second sensing node is a second priority, and the second priority is lower than the first priority. The method according to claim 4, characterized in that The management of the second sensing node comprises at least one of the following: configuration change of the second sensing node, indication of termination of sensing of the second sensing node, or indication of initiation of sensing of the second sensing node. The method according to claim 5, characterized in that In a case where sensing measurement of the first sensing node is disturbed, the management of the second sensing node comprises configuration change of the second sensing node; and / or, in a case where sensing measurement of the first sensing node is disturbed, a signal of the second sensing node is abnormal, the second sensing node moves, the second sensing node leaves a first preset area, an environment to which the second sensing node belongs does not meet a sensing measurement condition, or the second sensing node loses connection, the management of the second sensing node comprises indication of termination of sensing of the second sensing node; and / or, in a case where there is a sensing blind area of the first sensing node, the first sensing node needs to expand a sensing range, the first sensing node needs to increase sensing data of different sensing nodes, the second sensing node enters a second preset area, or a sensing target moves to a third preset area, the management of the second sensing node comprises indication of initiation of sensing of the second sensing node. The method according to claim 5 or 6, characterized in that The configuration change of the second sensing node comprises at least one of the following: change of a frequency point or a channel of the second sensing node, change of a signal sending time of the second sensing node, or change of a sequence used by the second sensing node. The method according to any one of claims 5-7, characterized in that In a case where the management of the second sensing node comprises configuration change of the second sensing node, the second indication information is carried in a sensing measurement request frame or a sensing configuration frame; in a case where the management of the second sensing node comprises indication of termination of sensing of the second sensing node, the second indication information is carried in a sensing measurement termination frame or a sensing termination frame; or, in a case where the management of the second sensing node comprises indication of initiation of sensing of the second sensing node, the second indication information is carried in a sensing measurement request frame or a sensing configuration frame. The method according to any one of claims 4-8, characterized in that The method further comprises: sending third indication information to a sensing center device; the third indication information is used to indicate management of the second sensing node by the first sensing node. The method of claim 9, wherein The third indication information is carried on a sensing measurement report frame or a sensing information reporting frame sent by the first sensing node to the sensing center device. The method according to any one of claims 1 to 10, characterized in that The method further comprises: sending fourth indication information to the sensing center device, the fourth indication information being used to indicate whether the first sensing node accepts the priority of the first sensing node. The method of claim 11, wherein The fourth indication information is carried on a sensing measurement request response frame or a sensing configuration feedback frame. The method according to any one of claims 1 to 12, characterized in that Before receiving the first indication information from the sensing center device, the method further comprises: sending sensing capability parameters of the first sensing node to the sensing center device, the sensing capability parameters of the first sensing node being used to determine the priority of the first sensing node. The method of claim 13, wherein The sensing capability parameters comprise at least one of: a sensing signal parameter, used to represent a bandwidth or a refresh rate supported by the sensing node; a multi-antenna capability, used to represent a number of transceiving antennas supported by the sensing node; a power supply type, the power supply type comprising at least one of: constant power supply, charging power supply, or battery power supply; a security support, used to represent whether the sensing node supports sensing security; a node location, used to represent whether the node location is fixed and / or the node installation location; a historical performance, used to represent a measurement accuracy and / or a measurement stability of the sensing node in a historical measurement task; a moving probability, used to represent a probability of the sensing node moving; or an environmental interference detection capability, used to represent an environmental interference detection capability of the sensing node. The method of claim 14, wherein The sensing capability parameters of the first sensing node satisfy at least one of: the bandwidth supported by the first sensing node is greater than a preset bandwidth, and / or the refresh rate supported by the first sensing node is greater than a preset refresh rate; the bandwidth supported by the first sensing node belongs to K largest bandwidths among N bandwidths supported by sensing nodes, wherein N and K are positive integers, and N is greater than or equal to K, and the N sensing nodes are sensing nodes managed by the sensing center device; the refresh rate supported by the first sensing node belongs to K largest refresh rates among N refresh rates supported by sensing nodes; the number of transmitting antennas supported by the first sensing node is greater than a first threshold value or the number of receiving antennas supported by the first sensing node is greater than a second threshold value; the number of transmitting antennas supported by the first sensing node belongs to K largest numbers of transmitting antennas among N numbers of transmitting antennas supported by sensing nodes; the number of receiving antennas supported by the first sensing node belongs to K largest numbers of receiving antennas among N numbers of receiving antennas supported by sensing nodes; the power supply type of the first sensing node is constant power supply; the first sensing node supports sensing security; the location of the first sensing node is fixed and / or the installation location of the first sensing node satisfies a location requirement; the measurement accuracy of the first sensing node in the historical measurement task is greater than a third threshold value, and / or the measurement stability of the first sensing node in the historical measurement task is greater than a fourth threshold value; the measurement accuracy of the first sensing node in the historical measurement task belongs to K largest measurement accuracies among N measurement accuracies of sensing nodes in the historical measurement task; the measurement stability of the first sensing node in the historical measurement task belongs to K largest measurement stabilities among N measurement stabilities of sensing nodes in the historical measurement task; The moving probability of the first sensing node is lower than a preset probability value. The moving probability of the first sensing node is one of the K smallest moving probabilities among the moving probabilities of the N sensing nodes. Alternatively, the environmental interference detection capability of the first sensing node meets the requirement. The method according to claim 3, characterized in that In a case where the first indication information indicates that the first sensing node reports the sensing device state, the method further includes: In a case where the sensing device state of the first sensing node is detected to change, a sensing device state reporting message is sent to the sensing center device, and the sensing device state reporting message is used to indicate the sensing device state change of the first sensing node. The method of claim 16, wherein The method further includes: Sensing measurement result indication information is sent to the sensing center device, and in a case where the sensing device state of the first sensing node is detected to change, the sensing measurement result indication information is used to indicate that the measurement result of the current sensing measurement is invalid. The method of claim 17, wherein The sensing measurement result indication information is carried in a sensing information reporting frame, and the sensing information reporting frame is used to report the sensing measurement result. The method of claim 17, wherein The method further includes: Sixth indication information is sent to the sensing center device, and the sixth indication information is used to indicate the reason why the measurement result is invalid. The method of claim 19, wherein The sixth indication information is carried in a sensing information reporting frame, and the sensing information reporting frame is used to report the sensing measurement result. A perception method characterized by, The method applied to a sensing center device includes: First indication information is generated, and the first indication information is used to indicate the priority of a first sensing node; the priority includes a first priority. The first indication information is sent to the first sensing node. The method of claim 21, wherein The first indication information is carried in a sensing measurement request frame or a sensing configuration frame. The method according to claim 21 or 22, characterized in that The priority is used to distinguish the sensing node management function of a sensing node or whether the sensing node reports the sensing device state. The method according to any one of claims 21-23, characterized in that The method further includes: Third indication information is received from the first sensing node, and the third indication information is used to indicate the management of a second sensing node by the first sensing node. The method of claim 24, wherein The third indication information is carried in a sensing measurement report frame or a sensing information reporting frame sent by the first sensing node to the sensing center device. The method according to any one of claims 21-25, characterized in that The method further includes: Fourth indication information is received from the first sensing node, and the fourth indication information is used to indicate whether the first sensing node accepts the priority of the first sensing node. The method of claim 26, wherein The fourth indication information is carried in a sensing measurement request response frame or a sensing configuration feedback frame. The method according to any one of claims 21-27, characterized in that Before the first indication information is generated, the method further includes: Sensing capability parameters of the first sensing node are received, and the sensing capability parameters of the first sensing node are used to determine the priority of the first sensing node. The method of claim 23, wherein The method further includes: A sensing device state reporting message sent by the first sensing node when the sensing device state changes is received, and the sensing device state reporting message is used to indicate the sensing device state change of the sensing node, and the first sensing node is the sensing node indicated by the first indication information to report the sensing device state. The method of claim 29, wherein The method further includes: Receiving the sensing measurement result indication information sent by the first sensing node; wherein, in the case of detecting the sensing device state change of the first sensing node, the sensing measurement result indication information is used to indicate that the measurement result of the current sensing measurement is invalid. The method of claim 30, wherein The sensing measurement result indication information is carried on a sensing information reporting frame, and the sensing information reporting frame is used to report a sensing measurement result. The method of claim 30, wherein The method further comprises: Receiving sixth indication information from the first sensing node, the sixth indication information being used to indicate the reason why the measurement result is invalid. The method of claim 32, wherein The sixth indication information is carried on a sensing information reporting frame, and the sensing information reporting frame is used to report a sensing measurement result. A perception method characterized by, Applied to a sensing node, the method comprises: Receiving fifth indication information from a sensing center device; the fifth indication information being used to indicate whether the sensing node reports a sensing device state; Performing sensing based on the fifth indication information. The method of claim 34, wherein The fifth indication information is carried on a sensing measurement request frame or a sensing configuration frame. The method according to claim 34 or 35, characterized in that In the case where the fifth indication information indicates that the sensing node reports a sensing device state, the method further comprises: When detecting a sensing device state change of the sensing node, sending a sensing device state reporting message to the sensing center device; the sensing device state reporting message being used to indicate the sensing device state change of the sensing node. The method according to any one of claims 34-36, characterized in that The method further comprises: Sending sensing measurement result indication information to the sensing center device; wherein, in the case of detecting the sensing device state change of the sensing node, the sensing measurement result indication information is used to indicate that the measurement result of the current sensing measurement is invalid. The method of claim 37, wherein The sensing measurement result indication information is carried on a sensing information reporting frame, and the sensing information reporting frame is used to report a sensing measurement result. The method of claim 37, wherein The method further comprises: Sending sixth indication information to the sensing center device, the sixth indication information being used to indicate the reason why the measurement result is invalid. The method of claim 39, wherein The sixth indication information is carried on a sensing information reporting frame, and the sensing information reporting frame is used to report a sensing measurement result. A perception method characterized by, Applied to a sensing center device, the method comprises: Generating fifth indication information; the fifth indication information being used to indicate whether a sensing node reports a sensing device state; Sending the fifth indication information to the sensing node. The method of claim 41, wherein The fifth indication information is carried on a sensing measurement request frame or a sensing configuration frame. The method according to claim 41 or 42, characterized in that The method further comprises: Receiving a sensing device state reporting message sent by the sensing node when the sensing device state changes; the sensing device state reporting message being used to indicate the sensing device state change of the sensing node, and the sensing node being a sensing node indicated by the fifth indication information to report a sensing device state. The method according to any one of claims 41-43, characterized in that The method further comprises: Receiving sensing measurement result indication information sent by the sensing node; wherein, in the case of detecting the sensing device state change of the sensing node, the sensing measurement result indication information is used to indicate that the measurement result of the current sensing measurement is invalid. The method of claim 44, wherein The sensing measurement result indication information is carried on a sensing information reporting frame, and the sensing information reporting frame is used to report a sensing measurement result. The method of claim 44, wherein The method further comprises: receive sixth indication information from the sensing node, the sixth indication information being used to indicate a reason why the measurement result is invalid. The method of claim 46, wherein The sixth indication information is carried on a sensing information reporting frame used to report a sensing measurement result. A perception device characterized by, comprising: a functional unit configured to perform the method according to any one of claims 1-47; wherein the actions performed by the functional unit are implemented by hardware or corresponding software executed by hardware. A perception device characterized by, comprising: a processor; the processor is connected with a memory, the memory is used to store computer execution instructions, and the processor executes the computer execution instructions stored in the memory to enable the sensing device to implement the method according to any one of claims 1-47. A computer-readable storage medium, characterized by, instructions that, when executed on a computer, cause the computer to perform the method according to any one of claims 1-47. A chip characterized by the chip comprises a processor; the processor is connected with a memory, the memory is used to store computer execution instructions, and the processor executes the computer execution instructions stored in the memory to enable the sensing device to implement the method according to any one of claims 1-47. A computer program product comprising instructions, characterized in that when executed on a sensing device, cause the sensing device to implement the method according to any one of claims 1-47.

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