Sensing method and apparatus

Abstract

A sensing method and apparatus, which can improve sensing performance. The method comprises: obtaining basic sensing information and fused auxiliary information of a sensing target, and sending the basic sensing information and the fused auxiliary information to other apparatuses, wherein other communication apparatuses can obtain sensing results on the basis of the basic sensing information and the fused auxiliary information. The fused auxiliary information comprises edge indication information, tangential-motion indication information, type information of the sensing target, classification confidence of the sensing target, positional accuracy of the sensing target, the accuracy of a motion state of the sensing target, and the degree of separation between the sensing target and clutter.

Description

Perception method and apparatus

[0001] The present application claims priority to the Chinese patent application No. 202411393293.4, filed on September 30, 2024, and entitled "Perception method and apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] Embodiments of the present application relate to the field of communication, in particular to a perception method and apparatus. BACKGROUND

[0003] Currently, in the communication and perception integrated solution, the perception information obtained by the network device based on the perception signal usually includes the position of the perception target and the speed of the perception target.

[0004] However, in complex scenarios, such as scenarios with multiple perception targets, high-speed motion of the perception target, and complex environment, the current perception information is limited and is not sufficient to support the perception system to perform subsequent perception fusion in detail, thereby affecting the perception performance. SUMMARY

[0005] The present application provides a perception method and apparatus, which can improve the perception performance.

[0006] In a first aspect, a perception method is provided. The method can be executed by a first communication apparatus, a module (such as a processor, a chip, or a chip system, etc.) applied to the first communication apparatus, or a logic node, a logic module, or software that can realize all or part of the functions of the first communication apparatus. The method includes: obtaining first perception information and second perception information, the first perception information being basic perception information of a perception target, and the second perception information being fusion auxiliary information of the perception target; and sending the first perception information and the second perception information to a second communication apparatus.

[0007] Based on the above scheme, by sending the first perception information and the second perception information to the second communication apparatus, the fusion auxiliary information of the perception target is added based on the basic perception information of the perception target, which can increase the amount of perception information. By increasing the amount of perception information, the perception demand with higher requirements can be better adapted in a complex environment, more abundant and accurate perception information can be provided in the process of perception fusion, the obtained perception result is more accurate, and thus the perception performance is improved.

[0008] In a possible design, the second perception information includes at least one of the following: edge indication information, tangential motion indication information, type information of the perception target, classification confidence of the perception target, position accuracy of the perception target, accuracy of the motion state of the perception target, and separation degree of the perception target and clutter.

[0009] Based on the possible design, the second perception information includes more relevant information of the perceived target, so that the perception system can obtain more information related to the perceived target based on the echo signal, thereby improving the performance of the perception system.

[0010] In a possible design, the edge indication information is used to indicate whether the perceived target is located at the edge of the coverage range of the first communication device.

[0011] Based on the possible design, the edge indication information can be used to indicate whether the perceived target is located at the edge of the coverage range of the first communication device, to warn the case that the perceived target is located at the edge of the coverage range, thereby avoiding misjudgment of the state of the perceived target in the perception fusion process and loss of the perceived target in the perception fusion process, and improving the perception performance.

[0012] In a possible design, the tangential motion indication information is used to indicate the motion of the perceived target in the tangential direction of the coverage range of the first communication device.

[0013] Based on the possible design, the tangential motion indication information can be used to reflect that the trajectory of the generated perceived target does not match the trajectory of the actual perceived target, to help the perception system identify and cope with this situation, and to ensure that appropriate measures can be taken in the perception fusion process to maintain the continuity and accuracy of the perception result in the case that the perceived target moves in the tangential direction of the coverage range of the first communication device.

[0014] In a possible design, the type information of the perceived target is used to indicate the type of the perceived target.

[0015] Based on the possible design, the type information of the perceived target can be used to accurately identify and distinguish the types of the perceived target, to avoid incorrect fusion of different types of perceived targets as the same perceived target in the perception fusion, thereby avoiding confusion of the trajectory of the generated perceived target or deviation of the trajectory of the perceived target.

[0016] In a possible design, the classification confidence of the perceived target is used to indicate the correctness of the type of the perceived target.

[0017] Based on the possible design, the classification confidence of the perceived target can be used to express the correctness of the type of the perceived target in the form of probability, to provide reference information for the perception fusion, to help the fusion center consider possible classification errors in the decision-making process, to effectively prevent incorrect fusion of different types of perceived targets as the same perceived target, thereby reducing the risk of misjudgment of abnormal behavior and improving the reaction speed and safety of the perception system in a complex environment.

[0018] In a possible design, the position accuracy of the perceived target is used to indicate an error of the position of the perceived target.

[0019] Based on the possible design, the position accuracy of the perceived target can reflect an accuracy degree of a position estimation of the perceived target by the perception system, thereby helping the fusion center to consider a possible positioning deviation in a decision process, effectively preventing a perceived target at different positions from being wrongly fused as a same perceived target at a same position, and improving perception performance.

[0020] In a possible design, the motion state accuracy of the perceived target is used to indicate an error of the motion state of the perceived target.

[0021] Based on the possible design, the motion state accuracy of the perceived target can help the perception system to determine a real motion state of the perceived target by a deviation condition of the motion state, help the perception system to determine reliability and stability of the motion state of the perceived target, and provide reference information for trajectory prediction by determining the accuracy of the speed of the perceived target, thereby better predicting a position and a trajectory of the perceived target.

[0022] In a possible design, the separation degree of the perceived target and the clutter is used to indicate a degree of distinction between the perceived target and the clutter.

[0023] Based on the possible design, the separation degree of the perceived target and the clutter can intuitively show a difference between the perceived target and the clutter, provide reference information for perception fusion, and improve accuracy of identification and tracking of the perceived target.

[0024] In a possible design, the first communication apparatus is a distributed unit (DU), and the second communication apparatus is a centralized unit (CU) or a sensing unit (SU).

[0025] In a possible design, the first communication apparatus is a slave access network device, and the second communication apparatus is a master access network device.

[0026] In a possible design, the first communication apparatus is an access network device, and the second communication apparatus is a sensing function (SF) network element.

[0027] In a second aspect, a sensing method is provided. The method can be performed by a second communication device, a module (e.g., a processor, a chip, or a chip system) applied to the second communication device, a logic node, a logic module, or software that can implement all or part of the functions of the second communication device. The method includes receiving first sensing information and second sensing information from at least one first communication device, the first sensing information being basic sensing information of a sensing target, and the second sensing information being fusion auxiliary information of the sensing target; and performing sensing fusion according to the first sensing information and the second sensing information from the at least one first communication device to obtain a sensing result. The technical effects brought by the second aspect can refer to those brought by the first aspect, and will not be repeated here.

[0028] In a possible design, the method further includes sending the sensing result to a third communication device.

[0029] In a possible design, the second sensing information includes at least one of edge indication information, tangential motion indication information, type information of the sensing target, classification confidence of the sensing target, position accuracy of the sensing target, accuracy of a motion state of the sensing target, and separation degree of the sensing target from clutter.

[0030] In a possible design, the edge indication information is used to indicate whether the sensing target is located at an edge of a coverage range of the first communication device.

[0031] In a possible design, the tangential motion indication information is used to indicate a motion condition of the sensing target in a tangential direction of the coverage range of the first communication device.

[0032] In a possible design, the type information of the sensing target is used to indicate a type of the sensing target.

[0033] In a possible design, the classification confidence of the sensing target is used to indicate a correctness rate of the type of the sensing target.

[0034] In a possible design, the position accuracy of the sensing target is used to indicate an error of a position of the sensing target.

[0035] In a possible design, the accuracy of the motion state of the sensing target is used to indicate an error of a motion state of the sensing target.

[0036] In a possible design, the separation degree of the sensing target from the clutter is used to indicate a degree of distinction between the sensing target and the clutter.

[0037] In a possible design, the first communication device is a distributed unit (DU), and the second communication device is a centralized unit (CU) or a sensing unit (SU).

[0038] In a possible design, the first communication device is an access network device, and the second communication device is a master access network device.

[0039] In a possible design, the first communication device is an access network device, and the second communication device is a sensing function (SF) network element.

[0040] In a third aspect, a communication device is provided, which is configured to implement various methods. The communication device includes modules, units, or means corresponding to the methods, which can be implemented by hardware, software, or by executing corresponding software by hardware. The hardware or software includes one or more modules or units corresponding to the functions.

[0041] In some possible designs, the communication device can include a processing module and a transceiver module. The processing module can be configured to implement the processing functions in any of the aspects and any possible implementation manners thereof. The transceiver module can include a receiving module and a sending module, which are configured to implement the receiving function and the sending function in any of the aspects and any possible implementation manners thereof.

[0042] In some possible designs, the transceiver module can be composed of a transceiver circuit, a transceiver, a transceiver, or a communication interface.

[0043] In a fourth aspect, a communication device is provided, which includes a processor and a memory. The memory is configured to store computer instructions, and when the processor executes the instructions, the communication device is caused to perform the method in any of the aspects.

[0044] In a fifth aspect, a communication device is provided, which includes a processor and a communication interface. The communication interface is configured to communicate with modules outside the communication device. The processor is configured to execute computer programs or instructions, so that the communication device performs the method in any of the aspects.

[0045] In a sixth aspect, a communication device is provided, which includes at least one processor. The processor is configured to execute computer programs or instructions stored in a memory, so that the communication device performs the method in any of the aspects. The memory can be coupled with the processor, or can be independent of the processor.

[0046] In a seventh aspect, a communication device (for example, the communication device can be a chip or a chip system) is provided, which includes a processor configured to implement the functions involved in any of the first aspect to the sixth aspect.

[0047] In some possible designs, the communication device includes a memory configured to store necessary program instructions and data.

[0048] In some possible design, the apparatus is a chip system, which can be composed of a chip, or can include a chip and other discrete devices.

[0049] It can be understood that the communication apparatus provided in the third aspect to the seventh aspect can be the first communication apparatus in the first aspect, or can be a module or unit (for example, a chip, or a chip system, or a circuit) corresponding to the method / operation / step / action described in the first aspect, or can be a module or unit capable of being used with the first communication apparatus, or can also be a logic node, a logic module or software capable of realizing all or part of the functions of the first communication apparatus; or the communication apparatus can be the second communication apparatus in the second aspect, or can be a module or unit (for example, a chip, or a chip system, or a circuit) corresponding to the method / operation / step / action described in the second aspect, or can be a module or unit capable of being used with the second communication apparatus, or can also be a logic node, a logic module or software capable of realizing all or part of the functions of the second communication apparatus.

[0050] It can be understood that, when the communication apparatus in any one of the third aspect to the seventh aspect is a chip, the sending action / function of the communication apparatus can be understood as outputting information, and the receiving action / function of the communication apparatus can be understood as inputting information.

[0051] The eighth aspect provides a computer readable storage medium, which stores a computer program or instructions, and when the computer program or instructions are executed on a communication apparatus, the communication apparatus can perform the method in any one of the aspects and any possible design thereof.

[0052] The ninth aspect provides a computer program product containing instructions, and when the computer program product is executed on a communication apparatus, the communication apparatus can perform the method in any one of the aspects and any possible design thereof.

[0053] The tenth aspect provides a communication system, which includes a first communication apparatus and a second communication apparatus. The first communication apparatus is used to implement the method in the first aspect and any possible design thereof, and the second communication apparatus is used to implement the method in the second aspect and any possible design thereof.

[0054] The technical effects brought by any one of the designs in the third aspect to the tenth aspect can be referred to the technical effects brought by different designs in the first aspect or the second aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0055] FIG. 1 is a schematic diagram of a sensing scene according to an embodiment of the present application;

[0056] FIG. 2 is a structural diagram of a communication system according to an embodiment of the present application;

[0057] FIG. 3 is a diagram of a connection mode between a terminal and a RAN node according to an embodiment of the present application;

[0058] FIG. 4 is a diagram of a sensing communication scenario according to an embodiment of the present application;

[0059] FIG. 5 is a diagram of a system structure of an O-RAN according to an embodiment of the present application;

[0060] FIG. 6 is a diagram of a protocol layer architecture of a CU-DU according to an embodiment of the present application;

[0061] FIG. 7 is a diagram of another protocol layer architecture of a CU-DU according to an embodiment of the present application;

[0062] FIG. 8 is a diagram of a C-U separation architecture according to an embodiment of the present application;

[0063] FIG. 9 is a diagram of a structural diagram of another communication system according to an embodiment of the present application;

[0064] FIG. 10 is a diagram of a basic flow of sensing according to an embodiment of the present application;

[0065] FIG. 11 is a diagram of sensing fusion according to an embodiment of the present application;

[0066] FIG. 12 is a diagram of another sensing scenario according to an embodiment of the present application;

[0067] FIG. 13 is a diagram of a flow of a sensing method according to an embodiment of the present application;

[0068] FIG. 14 is a diagram of information included in first sensing information and second sensing information according to an embodiment of the present application;

[0069] FIGS. 15-18 are diagrams of flows of sensing methods according to embodiments of the present application;

[0070] FIG. 19 is a diagram of a trajectory of a fused sensing target obtained when second sensing information is not reported according to an embodiment of the present application;

[0071] FIG. 20 is a diagram of a trajectory of a fused sensing target obtained after first sensing information and second sensing information are sent according to an embodiment of the present application;

[0072] FIGS. 21-23 are structural diagrams of communication apparatuses according to embodiments of the present application. DETAILED DESCRIPTION

[0073] In the description of the present application, unless otherwise specified, " / " means that the objects before and after the " / " are in an "or" relationship, for example, A / B can mean 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 can mean: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural.

[0074] In the description of the present application, unless otherwise specified, "multiple" means two or more than two. "At least one of the following" or the like means any combination of the items, including any combination of single item or multiple items. For example, at least one of a, b, or c can mean a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0075] 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 effect. 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.

[0076] 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 as "exemplary" or "for example" in the embodiments of the present application are not necessarily to be understood as preferred or advantageous over other embodiments.

[0077] It can be understood that "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 any suitable manner in one or more embodiments. 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.

[0078] 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.

[0079] 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, or can be combined with other features according to needs in some scenarios. Correspondingly, the devices given in the embodiments of the present application can also implement these features or functions accordingly, which will not be described here.

[0080] In the present application, the same or similar parts between various embodiments can be mutually referred to, unless otherwise specified. In various embodiments of the present application, the terms and / or descriptions between different embodiments are consistent and can be mutually referred to, unless otherwise specified and logically conflicted. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship. The implementation modes of the present application described below do not constitute a limitation on the protection scope of the present application.

[0081] In order to facilitate the understanding of the technical solutions of the embodiments of the present application, first, a brief introduction of the related technologies of the present application is given as follows.

[0082] 1. Wireless sensing:

[0083] The technical principle of wireless sensing is different from that of wireless communication. For example, in wireless communication, the sending end modulates information on a radio wave and sends it to the receiving end, and the receiving end demodulates the signal reported on the radio wave to obtain the information. In the sensing scenario, the sending device radiates electromagnetic waves to the surrounding environment to send sensing signals, and the receiving device receives the sensing signals reflected by the surrounding environment and compares them with the transmitted sensing signals to sense the relevant information of the surrounding environment, such as whether the target to be detected exists in the environment, the number of targets, the position of each target, etc. For example, the reflected sensing signal can also be called a return signal, or the return signal of the sensing signal, which can be replaced with each other without limitation.

[0084] Among them, the sensing signal can be understood as a signal used for sensing (or detecting) the sensed target. The sensed target can also be understood as a target object, such as a scatterer or a reflector.

[0085] Generally, sensing is divided into single-station sensing and double-station sensing in mode. Among them, in the single-station sensing mode, the sending end and the receiving end of the sensing signal are the same device. From the sensing process, this station not only sends sensing signals, but also receives the reflection signals of the sensing signals on the target surface, so the single-station sensing mode can also be called a self-transmitting and self-receiving module.

[0086] In the bistatic sensing mode, the sending end and the receiving end of the sensing signal are two different devices. From the perspective of the sensing process, station A sends the sensing signal, and the reflection signal of the sensing signal on the target surface is received by station B. Therefore, the bistatic sensing mode can also be referred to as self-to-other reception or A-to-B reception mode.

[0087] 2. Communication and sensing integration:

[0088] In the evolution process of the fifth generation (5G) wireless communication technology to 5G-Advanced (5G-A) and future communication technology, the communication and sensing integration technology is considered as one of the key technologies to expand the business capabilities of mobile communication networks. The core idea of this technology is to add sensing capabilities on the mobile communication network to build positioning, detection, imaging, and identification capabilities for targets, so that the two capabilities of communication and sensing are integrated in one network, coexist harmoniously, and enhance user experience.

[0089] For example, a network device (such as a base station) can perform sensing by sending a sensing signal and receiving a return signal, thereby obtaining the position, velocity, and other information of a sensing target (such as a scatterer) in the environment. The time delay of the return signal relative to the transmitted sensing signal can reflect the distance of the sensing target, and the Doppler shift of the return signal relative to the transmitted sensing signal can reflect the velocity of the sensing target.

[0090] For another example, FIG. 1 is a schematic diagram of a sensing scenario provided by the present application. In the communication and sensing integration technology, from the perspective of the sensing mode, there are six sensing scenarios shown in FIG. 1. Among them, sensing scenario (1) and sensing scenario (4) are single-station sensing modes, sensing scenario (1) is self-to-self reception by the base station, and sensing scenario (4) is self-to-self reception by the terminal. Sensing scenarios (2), (3), (5), and (6) are bistatic sensing modes, sensing scenario (2) is base station A-to-base station B reception, sensing scenario (3) is base station-to-terminal reception, sensing scenario (5) is terminal-to-base station reception, and sensing scenario (6) is terminal A-to-terminal B reception. Among them, sensing scenarios (3)-(6) can also be referred to as UE-assisted sensing scenarios.

[0091] In the communication and sensing integration system, the base station has the ability to communicate with the terminal and has the sensing capability. For example, the base station can communicate with the terminal and can perform self-to-self reception mode sensing, such as sending a sensing signal and receiving a return signal; or the base station A can communicate with the terminal and can perform self-to-other reception mode sensing, such as sending a sensing signal and receiving a return signal by the base station B.

[0092] Currently, in the communication and sensing integration scheme, the sensing information obtained by the network device based on the sensing signal usually includes the position of the sensing target, the velocity of the sensing target, and the like.

[0093] However, in complex scenarios, such as the presence of multiple perception targets, high-speed motion of perception targets, complex environments, etc., the current perception information obtained is limited and insufficient to support the perception system to perform subsequent perception fusion in detail, thereby affecting the perception performance.

[0094] For example, when a single perception target is at the edge of the base station coverage range, due to signal attenuation and increased noise interference, the quality of the echo signal received by the base station is poor, and the accuracy of the target trajectory generated according to the echo signal will also decrease, and the target trajectory is likely to have a trajectory break phenomenon. Since the quality of the target trajectory cannot be perceived during the trajectory fusion process, the accuracy of the fused trajectory is poor, further affecting the ability to continuously track and monitor the perception target.

[0095] For example, when the perception target moves along the tangent direction of the base station coverage range, the motion speed of the perception target is extremely small relative to the base station, and the base station is likely to misjudge the perception target as a stationary state. However, relative to other base stations, the perception target is in a normal motion state, so this misjudgment will lead to incorrect association and matching of the same perception target reported by multiple base stations during subsequent trajectory fusion, that is, the fused trajectory will split, and the continuity and accuracy of target tracking will be severely affected, especially in perception scenarios requiring high-speed motion such as highways, the impact is particularly significant.

[0096] For example, when a UAV and a vehicle or a bird, etc. perception target are close or overlap, in the subsequent trajectory fusion process, these different perception targets may be incorrectly determined as the same perception target, thereby fusing the trajectories of different perception targets into one whole, leading to trajectory deviation or confusion. This not only affects the independent tracking ability of different perception targets, but also may lead to misjudgment of abnormal behavior, thereby affecting the safety and reaction speed of the perception system. For example, in urban airspace management or border monitoring, in order to ensure the safety of the airspace, it is crucial to accurately distinguish and track different perception targets. However, the limitations of the current perception information obtained have weakened the effectiveness of perception in such scenarios.

[0097] In addition, in some application scenarios with high requirements for accuracy and real-time performance, the above problems are more prominent. For example, in an autonomous driving scenario, a vehicle needs to accurately identify and track various moving and stationary targets on the road to ensure the safety and efficiency of driving; in a UAV formation scenario, the relative positions and speeds of multiple UAVs need to be accurately controlled to ensure the stability of the formation and the completion of the task; in an intelligent monitoring scenario, in the case of a large number of perceived targets, the abnormal activities of multiple perceived targets need to be accurately perceived and responded to in real time to ensure safety. However, due to the lack of sufficient information, the perception system in the prior art has insufficient perception capability in these scenarios, thereby seriously affecting the accuracy and precision of the perceived target identification.

[0098] Based on this, the present application provides a perception method, first, a first communication device acquires first perception information and second perception information; then, the first communication device sends the first perception information and the second perception information to a second communication device, correspondingly, the second communication device receives the first perception information and the second perception information from the first communication device; finally, the second communication device performs perception fusion according to the first perception information and the second perception information from the first communication device to obtain a perception result. Based on the above perception method, by sending the first perception information and the second perception information to the second communication device, the fusion auxiliary information of the perceived target is added on the basis of the basic perception information of the perceived target, which can increase the amount of perception information. By increasing the amount of perception information, it can better adapt to higher perception requirements in complex environments, provide more abundant and accurate perception information in the process of perception fusion, and obtain more accurate perception results, thereby improving the perception performance.

[0099] The technical solutions of the embodiments of the present application can be applied to various communication systems, which can be a third generation partnership project (3GPP) communication system, for example, a long term evolution (LTE) system, a fourth generation (4G) system such as a new radio (NR) system, a 5G system, a system of mixed networking of LTE and 5G, a non-terrestrial network (NTN), or other next-generation communication systems. The communication system can also be a non-3GPP communication system, which is not limited.

[0100] Among them, the above-mentioned communication system applicable to the present application is only an example, and the communication system applicable to the present application is not limited thereto, and the communication system provided by the present application does not cause any limitation on the scheme of the present application. Here, it is uniformly stated that the following will not be described in detail.

[0101] Figure 2 shows a possible, non-limiting, schematic diagram of a system. As shown in Figure 2, the communication system 20 includes a radio access network (RAN) 200 and a core network (CN) 201. The RAN 200 includes at least one RAN node (e.g., 210a and 210b in Figure 2, collectively referred to as 210) and at least one terminal (e.g., 220a-220j in Figure 2, collectively referred to as 220). Other RAN nodes, such as wireless relay devices and / or wireless backhaul devices (not shown in Figure 2), etc., can also be included in the RAN 200. The terminals 220 are wirelessly connected to the RAN nodes 210, e.g., as shown in Figure 3, the terminals 220 and the RAN nodes can be connected through an air interface. The RAN nodes 210 are connected to the core network 201 through wireless or wired means. The core network devices in the core network 201 and the RAN nodes 210 in the RAN 200 can be different physical devices, or can be the same physical device integrated with core network logic functions and radio access network logic functions, respectively.

[0102] The RAN 200 can be a 3GPP related cellular system, e.g., a 4G, 5G mobile communication system, or a future-oriented evolved system. The RAN 200 can also be a Bluetooth system, an open radio access network (O-RAN or ORAN), a cloud radio access network (CRAN), a long range radio (LoRa) system, a vehicle-to-everything system, or a wireless fidelity (WiFi) system. The RAN 200 can also be a communication system that combines two or more of the above systems.

[0103] The RAN nodes 210, which can also be referred to as access network devices, RAN entities, or access nodes, etc., form part of the communication system and help terminals to access wirelessly. The RAN nodes 210 in the communication system 20 can be of the same type or of different types. In some scenarios, the roles of the RAN nodes 210 and the terminals 220 are relative, e.g., the network element 220i in Figure 2 can be a helicopter or a drone, which can be configured as a mobile base station. For those terminals 220j that access the RAN 200 through the network element 220i, the network element 220i is a base station; but for the base station 210a, the network element 220i is a terminal. The RAN nodes 210 and the terminals 220 are sometimes referred to as communication apparatuses, e.g., the network elements 210a and 210b in Figure 2 can be understood as communication apparatuses with base station functions, and the network elements 220a-220j can be understood as communication apparatuses with terminal functions.

[0104] In a possible implementation, the terminal 220 is a user-side device with wireless transceiving function, which can be a fixed device, a mobile device, a handheld device (e.g., a mobile phone), a wearable device, a vehicle-mounted device, or a wireless device (e.g., a communication module, a modem, or a chip system, etc.) built in the above devices. The terminal is used to connect people, objects, machines, etc., and can be widely used in various scenarios, such as cellular communication, D2D communication, V2X communication, MTC communication, IoT, virtual reality (VR), augmented reality (AR), industrial control, self driving, remote medical, smart grid, smart furniture, smart office, smart wear, smart transportation, smart city, unmanned aerial vehicle, robot, etc. For example, the terminal can be a handheld terminal in cellular communication, a communication device in D2D, an IoT device in MTC, a monitoring camera in smart transportation and smart city, or a communication device on an unmanned aerial vehicle, etc. Alternatively, the terminal can be a mobile phone, a tablet computer, a computer with wireless transceiving function, a wearable device, a vehicle, an unmanned aerial vehicle, a helicopter, an airplane, a ship, a robot, a mechanical arm, a smart home device, etc. The embodiments of the present application do not limit the device form of the terminal. The terminal can also be referred to as a UE, a user terminal, a user device, a user unit, a user station, a terminal, an access terminal, an access station, a UE station, a remote station, a mobile device, or a wireless communication device, etc.

[0105] In a possible implementation, the RAN node has wireless communication capability and sensing capability. The terminal 220 has wireless communication capability, and further, part of the terminals can have sensing capability. For example, in the sensing communication scenario shown in FIG. 4, the RAN node can perform wireless communication and sensing with the terminal 1 and the terminal 3, and perform communication with the terminal 2. In addition, the RAN node can also perform self-transmitting and self-receiving mode sensing to sense the surrounding environment.

[0106] In a possible scenario, the RAN node can be a base station, an access network device, an evolved Node B (eNodeB), an access point (AP), a transmission reception point (TRP), a next generation Node B (gNB), a base station in a future mobile communication system, or an access node in a WiFi system, etc. The RAN node can be a macro base station (such as 210a in FIG. 2), a micro base station or an indoor station (such as 210b in FIG. 2), a relay node or a donor node, or a wireless controller in a CRAN scenario. Optionally, the RAN node can also be a server, a wearable device, a vehicle or a vehicle-mounted device, etc. For example, the access network device in vehicle to everything (V2X) technology can be a road side unit (RSU). All or part of the functions of the RAN node in this application can also be implemented by software functions running on hardware, or by virtualized functions instantiated on a platform (such as a cloud platform). The RAN node in this application can also be a logical node, a logical module or software that can implement all or part of the functions of the RAN node.

[0107] In another possible scenario, multiple RAN nodes cooperate to assist a terminal device to implement wireless access, and different RAN nodes respectively implement part of the functions of a base station. For example, the RAN node can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), etc. The CU and the DU can be separately arranged, or can be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, such as a radio frequency remote unit (RRU), an active antenna processing unit (AAU), or a remote radio head (RRH).

[0108] The CU (or CU-CP and CU-UP), DU or RU can also have different names in different systems, but those skilled in the art can understand their meanings. For example, in an ORAN system, the CU can also be referred to as an O-RAN central unit (O-CU), the DU can also be referred to as an O-RAN distributed unit (O-DU), the CU-CP can also be referred to as an O-RAN central unit control plane (O-CU-CP), the CU-UP can also be referred to as an O-RAN central unit user plane (O-CU-UP), and the RU can also be referred to as an O-RAN radio unit (O-RU). Any of the CU (or CU-CP, CU-UP), DU and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0109] For example, as shown in FIG. 5, it is a possible, non-limiting O-RAN system structure diagram. The CU, DU and RU cooperate to assist the terminal device to implement wireless access. The CU, DU and RU can be included in the access network device, and the CU and DU can be included in the BBU of the access network device. The access network device is a device deployed in the RAN to help the terminal to implement wireless access, such as a base station, a gNB, a base station in a future mobile communication system, etc.

[0110] Referring to FIG. 5, the access network device communicates with the core network device through a backhaul link and communicates with the terminal through an air interface. Specifically, the BBU of the access network device communicates with the core network device through the backhaul link, and the RU of the access network device communicates with at least one terminal device through the air interface. The BBU communicates with at least one RU through a fronthaul link, and the CU communicates with at least one DU through a midhaul link. The BBU and the RU can be co-located or not co-located.

[0111] As a possible implementation, the CU and the DU respectively implement part of the protocol layer functions of the access network device, such as part of the protocol layer functions implemented in the CU, and the remaining part or all of the protocol layer functions implemented in the DU. The CU can control one or more DUs.

[0112] Exemplarily, in the protocol layer architecture of the CU-DU as shown in FIG. 6, the CU can deploy the RRC layer, the SDAP layer and the PDCP layer, or in other words, the CU can be understood as a logical node carrying the RRC layer, the SDAP layer and the PDCP layer of the access network device. Thus, the CU has the processing capability of the RRC, PDCP and SDAP layers, and of course, the CU can also implement or carry other control functions. The DU can deploy the RLC layer, the MAC layer and the PHY layer, or in other words, the DU can be understood as a logical node carrying the RLC layer, the MAC layer and the PHY layer, and thus, the DU has the processing capability of the RLC, MAC and PHY layers, and of course, the DU can also implement or carry other functions.

[0113] Optionally, the CU is connected to network nodes such as the core network through some interfaces, which can be E2 interfaces and the like. In addition, the CU can also implement part of the functions of the core network. The CU (e.g., the PDCP layer and higher layers) is connected to the DU (e.g., the RLC layer and lower layers) through some interfaces, which can be F1 interfaces and the like. In some examples, these interfaces (e.g., the F1 interface) can provide control plane (C-Plane) and user plane (U-Plane) functions (e.g., interface management, system information management, UE context management, RRC message transmission, etc.). For example, the F1 supports the control plane function through F1-C and supports the user plane function through F1-U.

[0114] In an example, the CU can include a CU-CP and a CU-UP. In the protocol layer architecture of the CU-DU as shown in FIG. 7, the CU-CP can be understood as a logical node carrying the RRC layer and the control plane part of PDCP (PDCP-C), for implementing the control plane function of the CU, and the CU-CP can communicate with the DU through F1-C. The CU-UP can be understood as a logical node carrying the SDAP layer and the user plane part of PDCP (PDCP-U), for implementing the user plane function of the CU, and the CU-UP can communicate with the DU through F1-U.

[0115] The CU-CP can interact with a network element in the core network for implementing the control plane function, which can be an access and mobility function network element, such as an AMF network element in the 5G system. The CU-UP can interact with a network element in the core network for implementing the user plane function, which can be a UPF network element for example.

[0116] The above function division of the CU and the DU is merely an example and does not constitute a limitation on the CU and the DU. In addition, the CU and the DU can be configured to have functions as needed. For example, the CU or the DU can be configured to be a node having more protocol layer functions, or the CU or the DU can be configured to be a node having partial processing functions of the protocol layer. For example, partial functions of the RLC layer and functions of the protocol layer above the RLC layer are arranged in the CU, and the remaining functions of the RLC layer and functions of the protocol layer below the RLC layer are arranged in the DU. For another example, the functions of the CU or the DU can be divided according to a service type or other system requirements, for example, according to a delay, and functions that need to meet a relatively short delay requirement in terms of processing time are arranged in the DU, and functions that do not need to meet the delay requirement are arranged in the CU.

[0117] For example, in some examples, the CU can not carry the PDCP layer, that is, only carries the RRC layer. The CU-CP can not carry the PDCP-C, the CU-UP can not carry the PDCP-U, or there can be no CU-UP. In some other examples, the DU can not carry the RLC layer. In addition, there can be no CU and only the DU.

[0118] In another possible scenario, the RAN node 210 can be a sensing unit (SU), which is mainly used to implement sensing related functions, for example, transmitting a sensing signal and / or receiving an echo signal of the sensing signal, performing corresponding signal processing on the received echo signal to obtain sensing measurement data, performing sensing related processing, and the like.

[0119] In a possible implementation, the RAN node can also have a sensing control function (for example, air interface sensing resource allocation). For example, in order to reduce the data amount of the sensing measurement data transmission, the RAN node can perform preprocessing on the sensing measurement data to reduce the overhead of data transmission when the sensing measurement data is reported. Specifically, the sensing measurement data preprocessing operation can be to process the echo signal information into point set information or sensing target information, and the preprocessing operation can also include aggregating and processing the sensing measurement data of multiple sensing nodes to obtain more accurate sensing results.

[0120] As a possible implementation, the access network device can include at least one of a CU, a DU, a SU, and a RU. There is a communication interface between the CU and the SU. There can be a communication interface between the SU and the DU, or there can be no communication interface between the SU and the DU. In the case where there is no communication interface between the SU and the DU, the SU and the DU can communicate through the CU.

[0121] For example, the SU can be a function or entity within the access network device, or can also be a function or entity outside the access network device. The SU can also have other names, which are not limited in the present application.

[0122] In a possible implementation, the core network device can refer to a device in the core network 201 that provides service support for the terminal. In the embodiments of the present application, the core network device in the core network 201 includes a sensing function (SF) network element, which is mainly used to implement sensing functions, such as sensing control functions and / or sensing calculation functions. Further, the SF network element can also support sensing billing functions when the terminal and / or the RAN node perform sensing.

[0123] For example, the sensing control function can include determining sensing devices, sensing nodes, and the like. The sensing device can be understood as a device that transmits and / or receives a sensing signal, and further, the sensing device also processes the received echo signal to obtain sensing measurement data. For example, the sensing device can be a RAN node or a terminal, and the like. The sensing node can refer to a network node participating in the sensing service process in the wireless network. The sensing calculation function can include processing the echo signal received by the sensing device to obtain sensing measurement data, and further processing the sensing measurement data to obtain sensing results, and the like. For example, the description of the sensing measurement data and the sensing result can be as shown in Table 1.

[0124] Table 1

[0125] For example, the SF network element can also be referred to as a communication device, for example, the SF network element can be understood as a communication device with core network sensing functions. In addition, the SF network element can also be referred to as a sensing server, and the like, without limitation.

[0126] In a possible scenario, the functions of the SF network element can be implemented by a network data analysis function (NWDAF) network element, or the SF network element and the NWDAF network element can be combined.

[0127] Optionally, in addition to the SF network element, the core network devices in the core network 201 can also include at least one of the following: an access and mobility management function (AMF) network element, a session management function (SMF) network element, a user plane function (UPF) network element, a policy control function (PCF) network element, a unified data management (UDM) network element, an application function (AF) network element, a network exposure function (NEF) network element, a location management function (LMF) network element, and the like. Of course, the core network 201 can also include other core network devices, which are not limited.

[0128] The AMF network element is mainly responsible for mobility management in the mobile network, such as user location update, user registration network, user handover, and the like. The SMF network element is mainly responsible for session management in the mobile network, such as session establishment, modification, release, and the like. The UPF network element is a functional network element of the user plane, which is mainly responsible for connecting external networks and processing user messages, such as forwarding, charging, and the like. The PCF network element is mainly responsible for providing policies to the AMF and SMF, such as quality of service (QoS) policies, slice selection policies, and the like. The UDM network element is used to store user data, such as subscription information, authentication / authorization information, and the like. The AF network element is responsible for providing services to the 3GPP network. The NEF network element is mainly used to open the capabilities of various network functions and is responsible for converting internal and external information. The LMF network element is mainly responsible for location management, for example, it can initiate a positioning process and position a specific terminal.

[0129] It should be noted that the network element in the present application can also be referred to as an entity or a functional entity, for example, the SF network element can also be referred to as an SF entity or an SF functional entity. In addition, the above-mentioned AMF network element, SMF network element, UPF network element, PCF network element, UDM network element, AF network element, NEF network element, and LMF network element can also have other names in future communication systems, which are not limited in the present application.

[0130] In different perception scenarios, there are two types of perception architectures: tightly coupled and loosely coupled. The tightly coupled architecture includes a control plane and user plane (C-U) non-separation architecture and a C-U separation architecture. For example, as shown in FIG. 8, in the C-U separation architecture, the SF network element can be located in the 5GC / gNB or other locations, and the SF network element is implemented as a whole in terms of function, without distinguishing between SF-C and SF-U. The gNB-CU undertakes the transmission of perception control signaling, and the gNB-DU is responsible for specific perception functions as a perception unit.

[0131] As a possible implementation, as shown in FIG. 8, the UE is connected to the RAN node through the Uu interface and sends the perception measurement data to the gNB-DU, the gNB-DU forwards the perception measurement data to the gNB-CU through the FI interface, and the gNB-CU forwards the perception measurement data to the SF network element through the NG-C interface.

[0132] As a possible implementation, when the RAN transmits the perception information / perception measurement data, as shown in FIG. 9, in the communication system, the SU can transmit the perception information / perception measurement data to the SF network element through the AMF network element or the UPF network element; or the CU can transmit the perception information / perception measurement data to the SF network element through the AMF network element or the UPF network element; or the SU or the CU can directly transmit the perception information / perception measurement data to the SF network element, for example, there is a communication interface between the SU and the SF network element, or there is a communication interface between the CU and the SF network element.

[0133] As shown in FIG. 9, the SU can be connected (directly or indirectly) to the SF network element. For example, the SU can interact with the SF network element on related perception requirements. In addition, the SU can also be connected to other core network elements such as the AMF network element and the UPF network element. On the RAN side, the SU can be connected to the CU, the DU, or the RU, for example, there is a communication interface between the CU and the SU. There can be a communication interface between the SU and the DU, or there can be no communication interface between the SU and the DU. In the case where there is no communication interface between the SU and the DU, the SU and the DU can communicate through the CU.

[0134] Based on the architecture shown in FIG. 9, when the terminal reports the perception information / perception measurement data to the RAN node, the transmission path of the perception information / perception measurement data can be: terminal→DU→CU→SU, or the transmission path can be: terminal→DU→SU, or the terminal can directly send the perception information / perception measurement data to the SU through the interface (such as S-Uu) between the terminal and the SU.

[0135] For example, based on the above communication system, as shown in FIG. 10, in a specific perception basic flow, there are generally three steps: perception capability reporting, perception measurement configuration, and perception measurement reporting.

[0136] The perception capability reporting can include: the UE / RAN node reports its perception capability to the SF network element, such as supported perception mode, capability related to perception signal processing, etc., thereby helping the SF network element / RAN node to determine to use a suitable perception mode and perception resource.

[0137] The perception measurement configuration includes both air interface resource related configuration and non-resource related configuration. The air interface resource related configuration includes the configuration of the measurement signal, i.e. the time-frequency resource configuration information of the signal. Since the RAN node is responsible for air interface resource scheduling, the UE air interface resource related configuration is responsible by the RAN node. The non-resource related configuration is mainly the configuration related to the perception process, including the configuration information of the perception mode selection, the determination of the transceiving role, the reporting mode, etc., which can be determined by the SF network element according to the perception service requirement and sent to the RAN node or the terminal.

[0138] The perception measurement reporting is used to report the collected perception measurement data to the SF network element. Taking the RAN node as a base station as an example, for the three modes of base station self-initiated self-receiving mode, base station A initiated B receiving mode, and terminal initiated base station receiving mode, the base station processes the echo signal to obtain the perception measurement data, and reports the perception measurement data to the SF network element. For the terminal self-initiated self-receiving, terminal A initiated B receiving, and base station initiated terminal receiving scenarios, the base station is responsible for managing and allocating air interface resources, and does not act as a perception node to receive and aggregate related perception signals. The transmission of the perception measurement data is transparent to the base station, i.e. the perception measurement data is obtained by the terminal processing the perception signal, the terminal sends the perception measurement data to the SF network element through the base station, and the base station does not analyze the perception measurement data, only receives or sends the perception measurement data.

[0139] In the actual perception service process, multiple perception devices can be needed to participate in the perception process to complete the perception of the perception target. After the multiple perception devices perform perception, the obtained perception measurement data needs to be sent to the SF network element, and the perception fusion is performed in the SF network element to obtain the perception result.

[0140] As an example, taking the perception devices including base station A, base station B, terminal A and terminal B as an example, the process of perception fusion is shown in FIG. 11. Among them, the base station and the base station, the base station and the terminal, the terminal and the terminal can not only communicate with each other, but also can perceive, such as (1) sending a perception signal by base station A, and base station A receives a return signal; (2) sending a perception signal by base station A, and base station B receives a return signal; (3) sending a perception signal by base station B, and terminal B receives a return signal; (4) sending a perception signal by terminal A, and terminal A receives a return signal; (5) sending a perception signal by terminal A, and base station A receives a return signal; (6) sending a perception signal by terminal A, and terminal B receives a return signal. After receiving the return signal, the perception device processes the return signal to obtain perception measurement data, and then sends the perception measurement data to the SF network element, and performs perception fusion in the SF network element.

[0141] As another example, after multiple base stations perceive the same perception target, the multiple base stations perform perception measurement reporting, in the SF network element, perception fusion is performed to obtain a perception result, and the perception result is sent to the AF network element. In the perception scenario shown in FIG. 12, the base stations perform perception in cooperation with the master base station and the slave base station, and complete the perception measurement reporting. The master base station and the slave base station perceive the same perception target to obtain perception measurement data. The slave base station transmits the perception measurement data to the master base station, and then the master base station sends the perception measurement data obtained by itself and the perception measurement data transmitted by the slave base station to the SF network element, and performs perception fusion in the SF network element to obtain a perception result. The perception result is forwarded to the AF network element through the SF network element. Among them, the SF network element can interact with the slave base station through signaling to realize the process of perception capability reporting and perception measurement configuration.

[0142] It should be noted that the communication system described in the embodiments of the present application is used to more clearly illustrate the technical solutions of the embodiments of the present application, and does not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems as the network architecture evolves and new business scenarios appear.

[0143] The perception method provided by the embodiments of the present application will be described below in conjunction with the structure of the communication system shown in FIG. 2. It should be noted that in the following embodiments of the present application, the names of messages between devices, the names of parameters, or the names of information, etc. are only examples, and in other embodiments, they can also be other names, and the method provided by the present application does not make specific limitations.

[0144] It can be understood that, in the embodiments of the present application, the first communication device or the second communication device can perform part or all of the steps in the embodiments of the present application, and these steps or operations are only examples, and the embodiments of the present application can also perform other operations or various modifications of the operations. In addition, each step can be performed in a different order from that 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.

[0145] It can be understood that, in the embodiments of the present application, the first communication device and the second communication device are taken as examples of the execution subject of the interaction, but the present application does not limit the execution subject of the interaction. For example, the method performed by the first communication 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 first communication device, and can also be realized by a logical node, a logical module or software that can realize all or part of the functions of the first communication device; the method performed by the second communication 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 second communication device, and can also be realized by a logical node, a logical module or software that can realize all or part of the functions of the second communication device.

[0146] Referring to FIG. 13, a flowchart of a sensing method provided by the embodiments of the present application is shown, which can include the following steps:

[0147] S1301, the first communication device acquires first sensing information and second sensing information. The first sensing information is basic sensing information of a sensing target, and the second sensing information is fusion auxiliary information of the sensing target.

[0148] As a possible implementation, the first communication device can send a sensing signal, receive a backwave signal of the sensing signal, and acquire the first sensing information and the second sensing information based on the backwave signal. The sensing signal can form a backwave signal after being reflected by the sensing target. The first communication device can process the backwave signal to obtain the first sensing information and the second sensing information. The present application does not make specific limitations on the implementation of the first communication device acquiring the first sensing information and the second sensing information.

[0149] As a possible implementation, the first communication device can be a RAN node, for example, the first communication device can be a DU, an access network device, or a slave access network device, etc.

[0150] In a possible implementation, the first sensing information can include at least one of the following, or in other words, the basic sensing information of the sensing target can include at least one of the following: position information of the sensing target, speed information of the sensing target, height information of the sensing target, relative position information of the sensing target, signal-to-noise ratio corresponding to the sensing target, or radar cross section (RCS) of the sensing target.

[0151] Exemplarily, the position information of the perception target is used to indicate an absolute position of the perception target, for example, to indicate a longitude of the perception target and / or a latitude of the perception target.

[0152] Exemplarily, the speed information of the perception target can indicate a speed of the perception target and / or an acceleration of the perception target. The speed of the perception target can include at least one of a northward speed, an eastward speed, or a ground speed.

[0153] Exemplarily, the height information of the perception target can indicate a relative ground height of the perception target and / or an altitude of the perception target.

[0154] Exemplarily, the relative position information of the perception target can indicate at least one of a distance of the perception target relative to the first communication device, an azimuth angle of the perception target relative to the first communication device, or a pitch angle of the perception target relative to the first communication device.

[0155] Exemplarily, the signal-to-noise ratio corresponding to the perception target is used to indicate a ratio of a signal strength of the perception target in the echo signal and a signal strength of background noise. The greater the signal-to-noise ratio corresponding to the perception target, the higher the accuracy and reliability of the perception system in identifying the perception target.

[0156] Exemplarily, the RCS of the perception target is used to indicate a capability of the perception target to reflect the perception signal. The greater the RCS of the perception target, the more obvious the characteristics of the perception target in the echo signal, and the easier to be detected.

[0157] In a possible implementation, the second perception information can include at least one of the following: edge indication information, tangential motion indication information, type information of the perception target, classification confidence of the perception target, position accuracy of the perception target, accuracy of the motion state of the perception target, or separation degree of the perception target from clutter.

[0158] As a possible implementation, the edge indication information is used to indicate whether the perception target is located at an edge of a coverage range of the first communication device. Exemplarily, the first communication device can determine whether the perception target is located at the edge of the coverage range of the first communication device according to information such as a signal strength of the received echo signal, a relative distance of the perception target from the first communication device, a relative angle of the perception target from the first communication device, and the like.

[0159] For example, in a case that the signal strength of the echo signal received by the first communication device is less than the signal strength threshold, and / or the relative distance between the perception target and the first communication device is greater than or equal to the distance threshold, it is determined that the perception target is located at the edge of the coverage range of the first communication device. In a case that the signal strength of the echo signal received by the first communication device is greater than or equal to the signal strength threshold, and / or the relative distance between the perception target and the first communication device is less than the distance threshold, it is determined that the perception target is not located at the edge of the coverage range of the first communication device.

[0160] When the perception target is located at the edge of the coverage range of the first communication device, the echo signal can exist in a case of signal instability or signal strength weakening, and when the echo signal quality decreases, the quality of the trajectory of the perception target obtained based on the echo signal also decreases. Based on the implementation, whether the perception target is located at the edge of the coverage range of the first communication device can be indicated by the edge indication information, the case that the perception target is located at the edge of the coverage range is warned, so as to avoid misjudgment of the state of the perception target in the perception fusion process and loss of the perception target in the perception fusion process, and the perception performance can be improved.

[0161] As a possible implementation, the tangential motion indication information is used to indicate the motion of the perception target in the tangential direction of the coverage range of the first communication device.

[0162] For example, the motion in the tangential direction can include whether the perception target moves along the tangential direction of the coverage range of the first communication device, etc.

[0163] When the perception target moves in the tangential direction of the coverage range of the first communication device, the radial velocity component of the perception target is 0. That is, at this time, the first communication device will misjudge the perception target as a stationary state, and it can be difficult for the first communication device to continuously track the perception target. In this case, the generated trajectory of the perception target can appear to be lost frames or broken trajectory. Based on the implementation, through the tangential motion indication information, it can be reflected that the trajectory of the perception target generated at this time does not match the actual trajectory of the perception target, which can help the perception system to identify and cope with this situation, and by monitoring the tangential motion indication information, it can be ensured that appropriate measures are taken in the process of perception fusion to maintain the continuity and accuracy of the perception result in a case that the perception target moves in the tangential direction of the coverage range of the first communication device.

[0164] As a possible implementation, the type information of the perception target is used to indicate the type of the perception target. For example, the type information of the perception target can include but is not limited to: birds, unmanned aerial vehicles, vehicles, pedestrians, buildings, etc. For example, the type information of the perception target can indicate that the perception target is an unmanned aerial vehicle.

[0165] In the perception process, it is important to accurately identify and distinguish the types of the perception targets to ensure the reliability and safety of the perception system. However, in the actual perception process, there may be scenarios where the unmanned aerial vehicle and the vehicle, or the unmanned aerial vehicle and the bird are close or overlapped. In such scenarios, by using the type information of the perception target, the types of the perception targets can be accurately identified and distinguished, and the different types of the perception targets can be prevented from being incorrectly fused as the same perception target in the perception fusion, so that the confusion of the generated perception target trajectory or the deviation of the perception target trajectory can be avoided.

[0166] As a possible implementation, the classification confidence of the perception target is used to indicate the correctness of the type of the perception target. The correctness of the type of the perception target can be expressed in the form of probability. For example, the classification confidence of the perception target can indicate that the probability (or correctness) of the perception target being an unmanned aerial vehicle is 80%.

[0167] In the perception process, if only the type information of the perception target can be identified, the perception system cannot further understand the accuracy of the classification of the perception target. Moreover, in the scenarios where the unmanned aerial vehicle and the vehicle, or the unmanned aerial vehicle and the bird are close or overlapped, there is usually uncertainty in the identification of the type of the perception target. Based on this implementation, by using the classification confidence of the perception target, the correctness of the type of the perception target is expressed in the form of probability, which provides reference information for the perception fusion, helps the fusion center to consider the possible classification errors in the decision-making process, effectively prevents the different types of the perception targets from being incorrectly fused as the same perception target, reduces the risk of misjudging abnormal behaviors, and improves the reaction speed and safety of the perception system in complex environments.

[0168] As a possible implementation, the position accuracy of the perception target is used to indicate the error of the position of the perception target, or to indicate the estimation accuracy of the position of the perception target, or to indicate the deviation or error range of the position of the perception target. For example, the higher the position accuracy of the perception target, the more accurate the estimation of the position of the perception target by the perception system, and the smaller the corresponding error.

[0169] Based on this implementation, by using the position accuracy of the perception target, the accuracy of the estimation of the position of the perception target by the perception system can be reflected, so as to help the fusion center to consider the possible positioning deviation in the decision-making process, effectively prevent the perception targets at different positions from being incorrectly fused as the same perception target at the same position, and improve the perception performance.

[0170] As a possible implementation, the accuracy of the motion state of the perception target is used to indicate the error of the motion state of the perception target. For example, the accuracy of the motion state of the perception target can reflect the reliability and / or stability of the speed information of the perception target. For example, the accuracy of the motion state of the perception target can include the accuracy of the speed of the perception target and / or the accuracy of the acceleration of the perception target.

[0171] Taking the accuracy of the speed of the perceived target as an example, the speed of the perceived target obtained by processing the echo signal has a certain error with the real speed of the perceived target. The accuracy of the speed of the perceived target reflects the accuracy of the estimation of the speed of the perceived target by the perception system. Similarly, the related description of the accuracy of the acceleration of the perceived target can refer to the accuracy of the speed of the perceived target, which will not be described here.

[0172] Based on the implementation, the accuracy of the motion state of the perceived target can help the perception system to estimate the real motion state of the perceived target through the deviation of the motion state, help the perception system to judge the reliability and stability of the motion state of the perceived target, and through the determination of the accuracy of the speed of the perceived target, reference information can be provided for trajectory prediction, and the position and trajectory of the perceived target can be better predicted.

[0173] As a possible implementation, the separation degree of the perceived target and the clutter indicates the degree of distinction between the perceived target and the clutter.

[0174] For example, the clutter can be surface clutter, such as the ground, the sea surface, etc.; volume clutter, such as trees, buildings, etc.; meteorological clutter, such as rain, snow, etc., which are not limited in the present application.

[0175] The higher the degree of distinction between the perceived target and the clutter, the more obvious the difference between the perceived target and the clutter, that is, the perceived target is easier to be identified. If the degree of distinction between the perceived target and the clutter is lower, it means that the difference between the perceived target and the clutter is not obvious, that is, the perceived target can be submerged by the clutter, which will affect the accuracy of the identification and tracking of the perceived target. Based on the implementation, the separation degree of the perceived target and the clutter directly shows the difference between the perceived target and the clutter, provides reference information for perception fusion, and improves the accuracy of the identification and tracking of the perceived target.

[0176] In summary, the first perception information and the second perception information can include at least one of the information shown in FIG. 14. The explanation of each information shown in FIG. 14 can refer to the related description above, which will not be described here.

[0177] The number of the first communication devices is not limited in the present application, and the number of the first communication devices can be one or multiple. For example, in the perception fusion scenario, the number of the first communication devices can be multiple, and each first communication device can obtain the first perception information and the second perception information. The first perception information obtained by different first communication devices is different, and the second perception information obtained is also different. In addition, each first communication device can perform the actions performed by the first communication device described in the embodiments of the present application.

[0178] S1302, the first communication device sends the first perception information and the second perception information to the second communication device. Correspondingly, the second communication device receives the first perception information and the second perception information from the first communication device.

[0179] In a possible implementation, the second communication device can be a perception control node, a perception center node, etc., without limitation. For example, the product form of the second communication device can be a RAN node, such as a CU, a SU, an access network device, etc., or the second communication device can be a core network element, such as an SF network element, etc.

[0180] As a possible implementation, when the first communication device is a DU and the second communication device is a CU or a SU, the DU can send the first perception information and the second perception information to the CU; or the DU can send the first perception information and the second perception information to the SU; or the DU can send the first perception information and the second perception information to the SU through the CU.

[0181] As another possible implementation, when the first communication device is a slave access network device and the second communication device is a master access network device, the slave access network device can send the first perception information and the second perception information to the master access network device.

[0182] As yet another possible implementation, when the first communication device is an access network device and the second communication device is an SF network element, the access network device can send the first perception information and the second perception information to the SF network element.

[0183] As a possible implementation, when the first communication device is one, the second communication device receives the first perception information and the second perception information of the one first communication device.

[0184] As another possible implementation, when the first communication device is multiple, the second communication device receives the first perception information and the second perception information of the multiple first communication devices.

[0185] S1303, the second communication device performs perception fusion according to the first perception information and the second perception information from the at least one first communication device, to obtain a perception result.

[0186] As a possible implementation, after receiving the first perception information and the second perception information, the second communication device can perform corresponding processing according to the first perception information and the second perception information, for example, determining the trajectory information of a perception target, or can fuse the perception information from other devices to reconstruct the surrounding environment, fuse multiple trajectories of the same perception target, etc., which are not limited in the present application.

[0187] Optionally, after the step S1303, the method can further include: the second communication device sends the awareness result to the third communication device. Correspondingly, the third communication device receives the awareness result from the second communication device. Exemplarily, the third communication device can be a core network element, such as an AF network element, etc.

[0188] As a possible implementation, in the case that the second communication device is a CU or a SU, and the third communication device is an AF network element, the CU or the SU can send the awareness result to the AF network element; or, the CU or the SU can send the awareness result to the AF network element through an SF network element.

[0189] As another possible implementation, in the case that the second communication device is an SF network element, and the third communication device is an AF network element, the SF network element can send the awareness result to the AF network element.

[0190] Based on the above scheme, by sending the first awareness information and the second awareness information to the second communication device, the fusion auxiliary information of the awareness target is added on the basis of the basic awareness information of the awareness target, the information amount of the awareness information is increased, the higher requirement of awareness demand can be better adapted in the complex environment, more abundant and accurate awareness information can be provided in the process of awareness fusion, the obtained awareness result is more accurate, and thus the awareness performance is improved.

[0191] The overall flow of the awareness method provided by the present application is described above, and the specific implementation of the awareness method in the case that the first communication device is a DU, a slave access network device, or an access network device, and the second communication device is a CU or a SU, a master access network device, or an SF network element will be described in detail.

[0192] In the case that the first communication device is a DU, the second communication device is a CU or a SU, and the third communication device is an AF network element, as shown in FIG. 15, taking a plurality of DUs as an example, the awareness method includes the following steps:

[0193] S1501, the SF network element sends an awareness task to each of the plurality of DUs. Correspondingly, each of the plurality of DUs receives the awareness task from the SF network element.

[0194] As a possible implementation, the SF network element can send the awareness task to the DU through the CU or the SU. Or, the SF network element can send the awareness task to the DU through an interface between the SF network element and the DU.

[0195] It should be noted that in the case that the first communication device is a plurality of DUs, the SF network element sends the same awareness task to each of the DUs.

[0196] S1502, the DU transmits a sensing signal. Illustratively, the sensing signal can form an echo signal via reflection of the sensing target.

[0197] Illustratively, the sensing task received by the DU includes control information for instructing the DU to transmit the sensing signal, and the DU can transmit the sensing signal according to the received sensing task. Alternatively, step S1501 can trigger execution of step S1502.

[0198] S1503, the DU receives the echo signal.

[0199] S1504, the DU obtains first sensing information and second sensing information according to the echo signal.

[0200] Specifically, the implementation process of step S1504 can refer to the implementation process of step S1301, which will not be repeated here.

[0201] It should be noted that in the case of multiple DUs in the first communication device, each DU can perform the above steps S1502 to S1504.

[0202] S1505, the multiple DUs transmit the first sensing information and the second sensing information to the CU or the SU. Correspondingly, the CU or the SU receives the first sensing information and the second sensing information of the multiple DUs.

[0203] Specifically, the implementation process of step S1505 can refer to the implementation process of step S1302, which will not be repeated here.

[0204] S1506, the CU or the SU performs sensing fusion according to the first sensing information and the second sensing information from the multiple DUs to obtain a sensing result.

[0205] Specifically, the implementation process of step S1506 can refer to the implementation process of step S1303, which will not be repeated here.

[0206] S1507, the CU or the SU transmits the sensing result to the SF network element. Correspondingly, the SF network element receives the sensing result from the CU or the SU.

[0207] S1508, the SF network element transmits the sensing result to the AF network element. Correspondingly, the AF network element receives the sensing result from the SF network element.

[0208] It can be understood that the SF network element is equivalent to a relay device that forwards the sensing result obtained by the CU or the SU to the AF network element.

[0209] Based on the above scheme, the CU or the SU can obtain the first perception information and the second perception information, and the fusion auxiliary information of the perception target is added on the basis of the perception target-based basic perception information, which can increase the information amount of the perception information, and through the increase of the information amount of the perception information, the perception demand with higher requirements can also be better adapted in a complex environment, more rich and accurate perception information can be provided in the process of perception fusion, and the accuracy, continuity and reliability of the perception result can be improved, and thus the perception performance is improved.

[0210] In the case that the first communication device is a DU, the second communication device is a SU, and the third communication device is an AF network element, as shown in FIG. 16, taking a plurality of DUs as an example, the perception method comprises the following steps:

[0211] S1601, the SF network element sends a perception task to a plurality of DUs. Correspondingly, the plurality of DUs respectively receive the perception task from the SF network element.

[0212] As a possible implementation, the SF network element can send the perception task to the DU through the CU or the SU. Alternatively, the SF network element can send the perception task to the DU through an interface between the SF network element and the DU.

[0213] It should be noted that in the case that the first communication device is a plurality of DUs, the SF network element sends the same perception task to each DU.

[0214] S1602, the DU sends a perception signal. Exemplarily, the perception signal can form a echo signal through reflection of the perception target.

[0215] Exemplarily, the perception task received by the DU includes control information for instructing the DU to send the perception signal, and the DU can send the perception signal according to the received perception task. Alternatively, step S1601 can trigger the execution of step S1602.

[0216] S1603, the DU receives an echo signal.

[0217] S1604, the DU obtains first perception information and second perception information according to the echo signal.

[0218] Specifically, the specific implementation process of the above step S1604 can refer to the specific implementation process of the above step S1301, which will not be described here.

[0219] It should be noted that in the case that the first communication device is a plurality of DUs, each DU can execute the above steps S1602 to S1604.

[0220] S1605, the plurality of DUs sends the first perception information and the second perception information to the CU. Correspondingly, the CU receives the first perception information and the second perception information of the plurality of DUs.

[0221] For example, one DU can send the first perception information and the second perception information to one CU, or multiple DUs can send the first perception information and the second perception information to one CU.

[0222] S1606. The CU sends the first perception information and the second perception information to the SU. Correspondingly, the SU receives the first perception information and the second perception information of the CU.

[0223] It can be understood that the CU is equivalent to a relay device, which forwards the first perception information and the second perception information obtained by the multiple DUs to the SU.

[0224] Specifically, the specific implementation process of the above steps S1605 to S1606 can refer to the specific implementation process of the above step S1302, which will not be described here.

[0225] S1607. The SU performs perception fusion according to the first perception information and the second perception information from the CU to obtain a perception result.

[0226] Specifically, the specific implementation process of the above step S1607 can refer to the specific implementation process of the above step S1303, which will not be described here.

[0227] S1608. The SU sends the perception result to the SF network element. Correspondingly, the SF network element receives the perception result from the SU.

[0228] S1609. The SF network element sends the perception result to the AF network element. Correspondingly, the AF network element receives the perception result from the SF network element.

[0229] It can be understood that the SF network element is equivalent to a relay device, which forwards the perception result obtained by the CU or the SU to the AF network element.

[0230] Based on the above scheme, the SU can obtain the first perception information and the second perception information, increase the fusion auxiliary information of the perception target based on the basic perception information of the perception target, increase the amount of perception information, better adapt to higher perception requirements in complex environments, provide more abundant and accurate perception information in the process of perception fusion, and improve the accuracy, continuity and reliability of the perception result, thereby improving the perception performance.

[0231] In the case that the first communication device is a slave access network device, the second communication device is a master access network device, and the third communication device is an AF network element, as shown in FIG. 17, taking the slave access network device as a slave base station and the master access network device as a master base station as an example, the perception method comprises the following steps:

[0232] S1701, the SF network element sends a sensing task to the master base station and the slave base station respectively. Correspondingly, the master base station and the slave base station receive the sensing task from the SF network element respectively.

[0233] As a possible implementation, the SF network element can send the sensing task to the slave base station through the master base station. Alternatively, the SF network element can send the sensing task to the slave base station through an interface between the SF network element and the slave base station. Alternatively, the SF network element can send the sensing task to the master base station through an interface between the SF network element and the master base station.

[0234] It should be noted that the SF network element sends the same sensing task to the master base station and the slave base station. In the process of completing the sensing process by the master base station and the slave base station, the master base station, as the second communication device, can also obtain the first sensing information and the second sensing information.

[0235] S1702, the master base station and the slave base station send sensing signals respectively. Exemplarily, the sensing signals can form echo signals through reflection of the sensing target.

[0236] Exemplarily, the sensing task received by the master base station includes control information for instructing the master base station to send the sensing signal, and the master base station can send the sensing signal according to the received sensing task. Alternatively, the sensing task received by the slave base station includes control information for instructing the slave base station to send the sensing signal, and the slave base station can send the sensing signal according to the received sensing task. Alternatively, step S1701 can trigger the execution of step S1702.

[0237] S1703, the master base station and the slave base station receive echo signals.

[0238] S1704, the master base station and the slave base station obtain the first sensing information and the second sensing information according to the echo signals.

[0239] Specifically, the specific implementation process of the above step S1704 can refer to the specific implementation process of the above step S1301, which will not be described here.

[0240] S1705, the slave base station sends the first sensing information and the second sensing information obtained by the slave base station to the master base station. Correspondingly, the master base station receives the first sensing information and the second sensing information obtained by the slave base station.

[0241] Specifically, the specific implementation process of the above step S1705 can refer to the specific implementation process of the above step S1302, which will not be described here.

[0242] S1706, the master base station performs sensing fusion according to the first sensing information and the second sensing information from the slave base station, and the first sensing information and the second sensing information from the master base station, to obtain a sensing result.

[0243] Specifically, the implementation process of step S1706 can refer to the implementation process of step S1303, which will not be repeated here.

[0244] S1707, the main base station sends the sensing result to the SF network element. Correspondingly, the SF network element receives the sensing result from the main base station.

[0245] S1708, the SF network element sends the sensing result to the AF network element. Correspondingly, the AF network element receives the sensing result from the SF network element.

[0246] Based on the above scheme, the main base station can receive the first sensing information and the second sensing information from the slave base station, and the first sensing information and the second sensing information obtained by the main base station itself. Based on the basic sensing information of the sensing target, the fusion auxiliary information of the sensing target is added, which can increase the amount of sensing information. By increasing the amount of sensing information, it can better adapt to higher requirements of sensing demand in complex environment, and can provide more rich and accurate sensing information in the process of sensing fusion, which can improve the accuracy, continuity and reliability of the sensing result, and further improve the sensing performance.

[0247] In the case that the first communication device is an access network device, the second communication device is an SF network element, and the third communication device is an AF network element, as shown in FIG. 18, taking the access network device as base station 1 and base station 2 as an example, the sensing method includes the following steps:

[0248] S1801, the SF network element sends a sensing task to base station 1 and base station 2 respectively. Correspondingly, base station 1 and base station 2 respectively receive the sensing task from the SF network element.

[0249] As a possible implementation, the SF network element can send the sensing task to the base station through the interface between the SF network element and the base station.

[0250] It should be noted that the SF network element sends the same sensing task to base station 1 and base station 2.

[0251] S1802, base station 1 and base station 2 respectively send sensing signals. Exemplarily, the sensing signal can form an echo signal through the reflection of the sensing target.

[0252] Exemplarily, the sensing task received by the base station includes control information, which is used to instruct the base station to send the sensing signal. The base station can send the sensing signal according to the received sensing task. Alternatively, step S1801 can trigger the execution of step S1802.

[0253] S1803, base station 1 and base station 2 receive the echo signal.

[0254] S1804, the base station 1 and the base station 2 acquire first perception information and second perception information according to the echo signal.

[0255] Specifically, the specific implementation process of the above step S1804 can refer to the specific implementation process of the above step S1301, which will not be repeated here.

[0256] S1805, the base station 1 and the base station 2 send the first perception information and the second perception information to the SF network element. Correspondingly, the SF network element receives the first perception information and the second perception information acquired by the base station 1 and the base station 2.

[0257] Specifically, the specific implementation process of the above step S1805 can refer to the specific implementation process of the above step S1302, which will not be repeated here.

[0258] S1806, the SF network element performs perception fusion according to the first perception information and the second perception information from the base station 1 and the first perception information and the second perception information from the base station 2, to obtain a perception result.

[0259] Specifically, the specific implementation process of the above step S1806 can refer to the specific implementation process of the above step S1303, which will not be repeated here.

[0260] S1807, the SF network element sends the perception result to the AF network element. Correspondingly, the AF network element receives the perception result from the SF network element.

[0261] Based on the above scheme, the SF network element can receive the first perception information and the second perception information from the base station 1 and the first perception information and the second perception information acquired by the base station 2, increase the fusion auxiliary information of the perception target on the basis of the basic perception information of the perception target, increase the amount of perception information, better adapt to higher requirements of perception demand in complex environment, provide more abundant and accurate perception information in the process of perception fusion, and improve the accuracy, continuity and reliability of the perception result, thereby improving the perception performance.

[0262] An example is shown in FIG. 19. When the second perception information is not reported, the fused perception target trajectory obtained is shown in FIG. 19. The perception measurement data obtained by the base station 2 and the base station 3 is fused in the SF network element to obtain the fused perception target trajectory. In FIG. 19, the two regular hexagons represent the coverage of the base station 2 and the base station 3, respectively. In the three-dimensional space, the upper part of FIG. 19 is the north direction, and the direction of the base station 3 is the north-west 45° direction. In the coverage of the base station 3, the perception target moves along the tangent direction of the coverage of the base station 3, that is, the base station 3 misjudges the perception target as a stationary state. At this time, from the generated perception target trajectory, the perception target appears to be wandering and eventually stops moving, that is, the generated perception target trajectory does not match the actual trajectory of the perception target. In the coverage of the base station 2, the generated perception target trajectory is normal. The two base stations have different judgments on the motion state of the same perception target, which leads to the fact that the perception measurement data generated by the two base stations cannot be matched during the perception fusion, and because there is no auxiliary fusion information, the quality of the perception target trajectory corresponding to the perception measurement data generated by the base station 3 cannot be determined during the trajectory fusion, and the fused perception target trajectory may be discontinuous.

[0263] After the base station transmits the first perception information and the second perception information, the fused perception target trajectory obtained is shown in FIG. 20. When the base station 2 and the base station 3 transmit the acquired first perception information and second perception information to the SF network element, the SF network element receives the first perception information and the second perception information acquired from the base station 2 and the base station 3, and determines that the perception target trajectory formed by the perception measurement data generated by the base station 3 has poor quality through the received tangential motion indication information of the base station 3, the position accuracy of the perception target, and the accuracy of the motion state of the perception target. Therefore, during the perception fusion, the perception target trajectory formed by the perception measurement data generated by the base station 2 is used for trajectory fusion, so that the continuity of the perception target trajectory can be improved.

[0264] The above describes the method provided by the present application. In addition, the present application also provides a communication device for implementing the functions described in the above method embodiments.

[0265] It should be noted that the communication apparatus includes hardware structure and / or software module corresponding to each function in order to realize the above functions. Those skilled in the art can easily understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented in hardware or a combination of hardware and computer software. Whether a certain function is implemented in hardware or computer software driven hardware depends on a specific application and design constraint condition of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but the implementation should not be considered beyond the scope of the present application.

[0266] The embodiments of the present application can divide the functional modules of the communication apparatus 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 noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical function division. Actual implementation can have another division manner.

[0267] The communication apparatus 210 includes a processing module 2101 and a transceiver module 2102. The communication apparatus 210 can be used to implement the functions of the first communication apparatus or the second communication apparatus.

[0268] In some embodiments, the communication apparatus 210 can further include a storage module (not shown in FIG. 21) for storing program instructions and data.

[0269] In some embodiments, the transceiver module 2102, also referred to as a transceiver unit, is used to implement the sending and / or receiving functions. The transceiver module 2102 can be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0270] In some embodiments, the transceiver module 2102 can include a receiving module and a sending module, which are respectively used to perform the receiving and sending steps of the method embodiments performed by the first communication apparatus or the second communication apparatus, and / or other processes for supporting the technologies described herein; the processing module 2101 can be used to perform the processing steps of the method embodiments performed by the first communication apparatus or the second communication apparatus, and / or other processes for supporting the technologies described herein.

[0271] When the communication apparatus 210 is used to implement the functions of the first communication apparatus:

[0272] The processing module 2101 is configured to acquire first perception information and second perception information, the first perception information being basic perception information of a perception target, and the second perception information being fusion auxiliary information of the perception target; and the transceiver module 2102 is configured to send the first perception information and the second perception information to a second communication apparatus.

[0273] When the communication apparatus 210 is configured to implement the functions of the second communication apparatus, the transceiver module 2102 is configured to receive the first perception information and the second perception information from at least one first communication apparatus, the first perception information being basic perception information of a perception target, and the second perception information being fusion auxiliary information of the perception target; and the processing module 2101 is configured to perform perception fusion according to the first perception information and the second perception information from the at least one first communication apparatus to obtain a perception result.

[0274] The transceiver module 2102 is configured to receive the first perception information and the second perception information from at least one first communication apparatus, the first perception information being basic perception information of a perception target, and the second perception information being fusion auxiliary information of the perception target; and the processing module 2101 is configured to perform perception fusion according to the first perception information and the second perception information from the at least one first communication apparatus to obtain a perception result.

[0275] Optionally, the transceiver module 2102 is further configured to send the perception result to a third communication apparatus.

[0276] All related contents of each step involved in the method embodiments described above can be referred to the function description of the corresponding functional module, and will not be repeated here.

[0277] In the present application, the communication apparatus 210 can be in the form of an integrated manner to divide each functional module. 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.

[0278] In some embodiments, when the communication apparatus 210 in FIG. 21 is a chip or a chip system, the function / implementation process of the transceiver module 2102 can be realized through the input / output interface (or communication interface) of the chip or chip system, and the function / implementation process of the processing module 2101 can be realized through the processor (or processing circuit) of the chip or chip system.

[0279] Since the communication apparatus 210 provided in the present embodiment can execute the above method, the technical effects that can be obtained thereby can be referred to the above method embodiments, and will not be repeated here.

[0280] As a possible product form, the first communication device or the second communication device described in the embodiments of the present application can be implemented using one or more field programmable gate arrays (FPGA), programmable logic devices (PLD), controllers, state machines, gate logic, discrete hardware components, any other suitable circuit, or any combination of circuits capable of performing the various functions described throughout the present application.

[0281] As another possible product form, the first communication device or the second communication device described in the embodiments of the present application can be implemented by a general bus architecture. For ease of illustration, refer to FIG. 22, which is a structural schematic diagram of a communication device 2200 provided by the embodiments of the present application, the communication device 2200 including a processor 2201 and a transceiver 2202. The communication device 2200 can be a first communication device, or a chip or chip system therein; or the communication device 2200 can be a second communication device, or a chip or chip system therein. FIG. 22 only shows the main components of the communication device 2200. In addition to the processor 2201 and the transceiver 2202, the communication device can further include a memory 2203, and an input and output device (not shown in the figure).

[0282] Optionally, the processor 2201 is mainly used for processing communication protocols and communication data, and controlling the entire communication device, executing a software program, processing data of the software program, so as to implement the methods provided in the method embodiments described above. The memory 2203 is mainly used for storing the software program and the data. The transceiver 2202 can include a radio frequency circuit and an antenna, the radio frequency circuit being mainly used for conversion between a baseband signal and a radio frequency signal and processing the radio frequency signal. The antenna is mainly used for receiving and transmitting radio frequency signals in the form of electromagnetic waves. The input and output device, such as a touch screen, a display screen, a keyboard, etc., is mainly used for receiving data input by a user and outputting data to the user.

[0283] Optionally, the processor 2201, the transceiver 2202, and the memory 2203 can be connected through a communication bus.

[0284] When the communication device is powered on, the processor 2201 can read the software program in the memory 2203, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be transmitted wirelessly, the processor 2201 performs baseband processing on the data to be transmitted, and outputs the baseband signal to the radio frequency circuit. The radio frequency circuit performs radio frequency processing on the baseband signal, and transmits the radio frequency signal in the form of electromagnetic wave through the antenna. When data is transmitted to the communication device, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 2201. The processor 2201 converts the baseband signal into data and processes the data.

[0285] In another implementation, the radio frequency circuit and the antenna can be arranged independently of the processor that performs baseband processing, for example, in a distributed scenario, the radio frequency circuit and the antenna can be arranged remotely from the communication device.

[0286] In some embodiments, in hardware implementation, those skilled in the art can conceive that the above-mentioned communication device 210 can adopt the form of the communication device 2200 shown in FIG. 22.

[0287] As an example, the functions / implementation processes of the processing module 2101 in FIG. 21 can be realized by the processor 2201 in the communication device 2200 shown in FIG. 22 invoking the computer execution instructions stored in the memory 2203. The functions / implementation processes of the transceiver module 2102 in FIG. 21 can be realized by the transceiver 2202 in the communication device 2200 shown in FIG. 22.

[0288] As another possible product form, the first communication device or the second communication device in the present application can adopt the constituent structure shown in FIG. 23, or include the components shown in FIG. 23. FIG. 23 is a constituent schematic diagram of a communication device 2300 provided in the present application. The communication device 2300 can be the first communication device or a chip or system on chip in the first communication device; or can be the second communication device or a chip or system on chip in the second communication device.

[0289] As shown in FIG. 23, the communication device 2300 includes at least one processor 2301, and at least one communication interface (only one communication interface 2304 is shown in FIG. 23 by way of example, and the processor 2301 is taken as an example for description). Optionally, the communication device 2300 can further include a communication bus 2302 and a memory 2303.

[0290] The processor 2301 can be a general purpose central processing unit (CPU), a general purpose processor, a network processing unit (NP), a digital signal processing (DSP), a microprocessor, a microcontroller, a PLD, or any combination thereof. The processor 2301 can also be other apparatuses with processing capabilities, such as a circuit, a device, or a software module, without limitation.

[0291] The communication bus 2302 is used to connect different components in the communication apparatus 2300, so that the different components can communicate. The communication bus 2302 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is shown in FIG. 23, but it does not mean that there is only one bus or only one type of bus.

[0292] The communication interface 2304 is used to communicate with other devices or communication networks. For example, the communication interface 2304 can be a module, a circuit, a transceiver, or any device capable of communication. Alternatively, the communication interface 2304 can also be an input / output interface in the processor 2301, used to realize the signal input and signal output of the processor.

[0293] The memory 2303 can be a device with storage function, used to store instructions and / or data. The instructions can be a computer program.

[0294] For example, the memory 2303 can be a read-only memory (ROM) or other type of static storage device that can store static information and / or instructions, or a random access memory (RAM) or other type of dynamic storage device that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disk storage, optical disk storage (including compact disks, laser disks, optical disks, digital versatile disks, Blu-ray disks, etc.), magnetic disk storage medium, or other magnetic storage device, etc., without limitation.

[0295] It should be noted that the memory 2303 can exist independently of the processor 2301, or can be integrated with the processor 2301. The memory 2303 can be located in the communication device 2300, or can be located outside the communication device 2300, without limitation. The processor 2301 can be used to execute instructions stored in the memory 2303 to implement the methods provided by the embodiments described below.

[0296] As an optional implementation, the communication device 2300 can further include an output device 2305 and an input device 2306. The output device 2305 communicates with the processor 2301 and can display information in various ways. For example, the output device 2305 can be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector, etc. The input device 2306 communicates with the processor 2301 and can receive user input in various ways. For example, the input device 2306 can be a mouse, a keyboard, a touch screen device, or a sensor device, etc.

[0297] In some embodiments, in a hardware implementation, those skilled in the art can conceive that the communication device 210 shown in FIG. 21 can adopt the form of the communication device 2300 shown in FIG. 23.

[0298] As an example, the functions / implementation processes of the processing module 2101 in FIG. 21 can be implemented by the processor 2301 in the communication device 2300 in FIG. 23 invoking computer execution instructions stored in the memory 2303. The functions / implementation processes of the transceiver module 2102 in FIG. 21 can be implemented by the communication interface 2304 in the communication device 2300 in FIG. 23.

[0299] It should be noted that the structure shown in FIG. 23 does not constitute a specific limitation on the first communication device or the second communication device. For example, in other embodiments of the present application, the first communication device or the second communication device can include more or fewer components than those shown, or combine certain components, or split certain components, or different component arrangements. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0300] In some embodiments, the embodiments of the present application also provide a communication device, which includes a processor for implementing the method in any of the above method embodiments.

[0301] As a possible implementation, the communication apparatus further includes a memory. The memory is configured to store necessary computer programs and data. The computer programs can include instructions, and the processor can invoke the instructions in the computer programs stored in the memory to instruct the communication apparatus to perform the method in any of the above method embodiments. Of course, the memory can also not be in the communication apparatus.

[0302] As another possible implementation, the communication apparatus further includes an interface circuit, which is a code / data read-write interface circuit, configured to receive computer execution instructions (the computer execution instructions are stored in the memory, and can be read directly from the memory or can pass through other devices) and transmit to the processor.

[0303] As still another possible implementation, the communication apparatus further includes a communication interface, configured to communicate with modules outside the communication apparatus.

[0304] It can be understood that the communication apparatus can be a chip or a chip system. When the communication apparatus is a chip system, the communication apparatus can be composed of a chip or can include a chip and other discrete devices. The embodiments of the present application do not make specific limitations in this regard.

[0305] The present application also provides a computer readable storage medium, which stores a computer program or instructions, and the computer program or instructions are executed by a computer to realize the functions of any of the above method embodiments.

[0306] The present application also provides a computer program product, which is executed by a computer to realize the functions of any of the above method embodiments.

[0307] Those skilled in the art can understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, apparatus and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0308] It can be understood that the system, apparatus and method described in the present application can also be implemented in other ways. For example, the apparatus embodiments described above are only schematic. For example, the division of the units is only a logical function division. In actual implementation, additional division can be made, or some features can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or in other forms.

[0309] The units described as separate components may or may not be physically separate, i.e., may be located in one place, or may be distributed over multiple network units. The components shown as units may or may not be physical units. Part or all of the units may be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0310] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0311] In the above embodiments, all or part can be realized by software, hardware, firmware, or any combination thereof. When realized by software, all or part can be realized in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, the computer program instructions produce the processes or functions described in the embodiments of the present application in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another, for example, the computer instructions can be transferred from one website, computer, server or data center to another via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or data storage device including one or more servers, data centers, etc. integrated with the medium. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state drive (SSD)), etc. In the embodiments of the present application, the computer can include the devices described above.

[0312] Although the present application is described herein in conjunction with various embodiments, other variations of the disclosed embodiments can be understood and implemented by those skilled in the art through viewing the described embodiments, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "one" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. Some measures described in mutually different dependent claims can be combined and produce good results.

[0313] Although the application has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the scope of the application. Accordingly, although specific embodiments have been described herein, it will be evident that various modifications and changes can be made to these embodiments without departing from the scope of the application as set forth in the requirements of the patent statutes or equivalents thereof. Accordingly, the specification is to be regarded in an illustrative, rather than a restrictive, sense.

Claims

1. A perception method, comprising: The method is applied to a first communication device, and the method comprises: obtaining first sensing information and second sensing information, the first sensing information being basic sensing information of a sensing target, and the second sensing information being fusion auxiliary information of the sensing target; sending the first sensing information and the second sensing information to a second communication device.

2. The method of claim 1, wherein, The second sensing information comprises at least one of the following: edge indication information, tangential motion indication information, type information of the sensing target, classification confidence of the sensing target, position accuracy of the sensing target, accuracy of a motion state of the sensing target, or separation degree of the sensing target from clutter.

3. The method of claim 2, wherein, The edge indication information is used to indicate whether the sensing target is located at an edge of a coverage range of the first communication device.

4. The method according to claim 2 or 3, characterized in that, The tangential motion indication information is used to indicate a motion condition of the sensing target in a tangential direction of the coverage range of the first communication device.

5. The method according to any one of claims 2-4, characterized in that, The type information of the sensing target is used to indicate a type of the sensing target.

6. The method according to any one of claims 2-5, characterized in that, The classification confidence of the sensing target is used to indicate a correctness rate of the type of the sensing target.

7. The method according to any one of claims 2-6, characterized in that, The position accuracy of the sensing target is used to indicate an error of a position of the sensing target.

8. The method according to any one of claims 2 to 7, characterized in that, The accuracy of the motion state of the sensing target is used to indicate an error of the motion state of the sensing target.

9. The method according to any one of claims 2-8, characterized in that, The separation degree of the sensing target from the clutter is used to indicate a degree of distinction between the sensing target and the clutter.

10. The method according to any one of claims 1 to 9, characterized in that, The first communication device is a distributed unit (DU), and the second communication device is a centralized unit (CU) or a sensing unit (SU).

11. The method according to any one of claims 1 to 9, characterized in that, The first communication device is a slave access network device, and the second communication device is a master access network device.

12. The method according to any one of claims 1 to 9, characterized in that, The first communication device is an access network device, and the second communication device is a sensing function (SF) network element.

13. A perception method, comprising: The method is applied to a second communication device, and the method comprises: receiving first sensing information and second sensing information from at least one first communication device, the first sensing information being basic sensing information of a sensing target, and the second sensing information being fusion auxiliary information of the sensing target; performing sensing fusion according to the first sensing information and the second sensing information from the at least one first communication device to obtain a sensing result.

14. The method of claim 13, wherein, The method further comprises sending the sensing result to a third communication device.

15. The method of claim 13, wherein, The second sensing information comprises at least one of the following: edge indication information, tangential motion indication information, type information of the sensing target, classification confidence of the sensing target, position accuracy of the sensing target, accuracy of a motion state of the sensing target, or separation degree of the sensing target from clutter.

16. The method of claim 15, wherein, The edge indication information is used to indicate whether the sensing target is located at an edge of a coverage range of the first communication device.

17. The method according to claim 15 or 16, characterized in that, The tangential motion indication information is used to indicate a motion condition of the sensing target in a tangential direction of the coverage range of the first communication device.

18. The method according to any one of claims 15-17, characterized by, The type information of the sensing target is used to indicate a type of the sensing target.

19. The method according to any one of claims 15-18, characterized in that, The classification confidence of the sensing target is used to indicate a correctness rate of the type of the sensing target.

20. The method according to any one of claims 15-19, characterized by, The position accuracy of the sensing target is used to indicate an error of a position of the sensing target.

21. The method according to any one of claims 15-20, characterized in that, The accuracy of the perceived motion state of the target, used to indicate an error of the perceived motion state of the target.

22. The method according to any one of claims 15-21, characterized in that, The separation degree of the perceived target and the clutter, used to indicate a degree of distinction between the perceived target and the clutter.

23. The method according to any one of claims 13-22, characterized in that, The first communication device is a distributed unit (DU), and the second communication device is a centralized unit (CU) or a sensing unit (SU).

24. The method according to any one of claims 13-22, characterized by, The first communication device is a slave access network device, and the second communication device is a master access network device.

25. The method according to any one of claims 13-22, characterized by, The first communication device is an access network device, and the second communication device is a sensing function (SF) network element.

26. A communications device, characterized by The communication device includes a module for performing the method of any of claims 1-12, or a module for performing the method of any of claims 13-25.

27. A communications device, characterized by The communication device includes a processor, and the processor is configured to run a computer program or instructions to cause the communication device to perform the method of any of claims 1-12, or to cause the communication device to perform the method of any of claims 13-25.

28. A communication system, characterized by The communication system includes a first communication device and a second communication device; The first communication device is configured to perform the method of any of claims 1-12, and the second communication device is configured to perform the method of any of claims 13-25.

29. A chip or chip system, characterized by The chip or chip system includes a processor coupled with a memory, and the memory is configured to store a program or instructions, which, when executed by the processor, cause the method of any of claims 1-12 to be performed, or cause the method of any of claims 13-25 to be performed.

30. A computer-readable storage medium, characterized in that, A computer readable storage medium stores computer instructions or programs, which, when executed on a computer, cause the method of any of claims 1-12 to be performed, or cause the method of any of claims 13-25 to be performed.

31. A computer program product, characterised in that, The computer program product includes computer instructions; when part or all of the computer instructions are executed on a computer, the method of any of claims 1-12 is caused to be performed, or the method of any of claims 13-25 is caused to be performed.

Images