Sensing method and related apparatus

Abstract

The present application relates to the technical field of wireless communications. Disclosed are a sensing method and a related apparatus. The method is applied to a first sensing apparatus, wherein a signal sending frequency band of the first sensing apparatus is a first frequency band. The method comprises: receiving a sensing signal in a second frequency band, wherein the second frequency band and a first frequency band are frequency bands in a network system bandwidth, the frequencies of which do not overlap, and the second frequency band is a signal sending frequency band of a second sensing apparatus; and on the basis of the sensing signal, generating first sensing information. The present application is used for effectively improving the anti-interference capability of sensing.

Description

A sensing method and related apparatus

[0001] The present application claims priority to the Chinese patent application No. 202411365613.5, filed on September 27, 2024, with the State Intellectual Property Office of China, and the Chinese patent application No. 202411365613.5 has the title of “A sensing method and related apparatus”, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of wireless communication, in particular to a sensing method and related apparatus. BACKGROUND

[0003] The integrated sensing and communications (ISAC) technology borrows from the radar detection theory, realizes the deep integration of communication and sensing functions, relies on advanced signal processing algorithms and communication technology, and gives the communication network all-around sensing ability to the environment and target objects, which can output sensing information such as distance, speed, position, and angle.

[0004] In the traditional sensing system, in order to reduce the interference between each sensing device (for example, a base station), adjacent sensing devices can allocate resources through frequency division and the like, so that each sensing device can use a part of the total bandwidth to transmit and receive signals. For example, when the total bandwidth is 60M, a certain sensing device (for example, base station A) can use frequency band 1 (for example, the frequency band corresponding to the first 20M) to transmit sensing signals (for example, radio waves), and the radio waves are reflected after irradiating the sensed object. Base station A can receive the echo signal reflected by the sensed object in frequency band 1, and process the echo signal to obtain the sensing information corresponding to the sensed object. When base station A is interfered due to limited frequency domain resources and the like, the base station A can not be able to receive the echo signal, thereby causing sensing failure.

[0005] Therefore, how to improve the anti-interference ability of sensing is a technical problem that needs to be solved by those skilled in the art. SUMMARY

[0006] The present application provides a sensing method and related apparatus, which can effectively improve the anti-interference ability of sensing.

[0007] The present application will be described from different aspects below. It should be understood that the embodiments and advantages of the different aspects below can be referred to each other.

[0008] In a first aspect, an embodiment of the present application provides a sensing method, which is applicable to a first sensing device, a signal sending frequency band of the first sensing device is a first frequency band, and the method comprises the following steps: receiving a sensing signal in a second frequency band, the second frequency band and the first frequency band are frequency bands without frequency overlap in a network system bandwidth, and the second frequency band is a signal sending frequency band of a second sensing device; and generating first sensing information based on the sensing signal.

[0009] For example, the first sensing device herein can be a sensing device adjacent to the second sensing device, where adjacent means that the distance between the first sensing device and the second sensing device is less than or equal to a distance threshold (for example, 400 meters), or the second sensing device can receive a signal from the first sensing device, which will not be limited herein. The sensing device in the embodiment of the present application can be a network device (for example, a base station) or a component (for example, a circuit, a chip or a chip system, etc.) configured in the network device. In addition, the receiving mode of the sensing device is optimized in the embodiment of the present application, that is, the sensing device can not only receive a signal in its own signal sending frequency band, but also receive a signal in other frequency bands of the network system bandwidth.

[0010] In the above scheme, the signal sending frequency band of the second sensing device (for example, base station A) is the second frequency band, that is, the second sensing device can send a sensing signal in the second frequency band, and the first sensing device (for example, base station B) can receive the sensing signal in the second frequency band, in other words, the sensing signal received by the first sensing device is from the second sensing device, so even if the second sensing device is interfered due to limited frequency domain resources and other factors, the first sensing device can still generate first sensing information based on the sensing signal to sense the surrounding environment of the second sensing device, thereby effectively improving the anti-interference ability of sensing.

[0011] In a possible implementation, the first sensing device can send first sensing information to the second sensing device in the first frequency band. Correspondingly, the second sensing device can receive the first sensing information in the first frequency band.

[0012] In the above scheme, although the signal sending frequency band of the second sensing device is the second frequency band, the second sensing device can still receive the first sensing information sent by the first sensing device in the first frequency band, so if the second sensing device is interfered due to signal sending frequency band resources being occupied and other factors, the second sensing device can not receive the sensing signal in the second frequency band, thereby failing to generate sensing information by itself, but the second sensing device can still receive the sensing signal from the first sensing device in the first frequency band to sense the surrounding environment of the second sensing device, thereby effectively improving the anti-interference ability of sensing.

[0013] The number of the sensing devices adjacent to the second sensing device can be one or more.

[0014] If the number of the sensing devices adjacent to the second sensing device is one, the sensing device is the first sensing device, and the final determined sensing information is the first sensing information generated by the first sensing device.

[0015] If the number of the sensing devices adjacent to the second sensing device is more than one, the sensing devices can form a sensing group corresponding to the second sensing device, the first sensing device is any one of the sensing devices in the sensing group, and the final determined sensing information depends on not only the first sensing information but also the sensing information generated by the other sensing devices in the sensing group.

[0016] For convenience of description, the sensing devices other than the first sensing device in the sensing group are referred to as third sensing devices in the embodiments of the present application. In other words, the sensing group can include the first sensing device and N third sensing devices, and N is a positive integer. It can be understood that the sensing group corresponding to the second sensing device can include or not include the second sensing device, which will not be limited herein. The sensing devices in the sensing group for joint processing of the multiple sensing information are referred to as master stations, and the other sensing devices are referred to as slave stations (or sub-stations) in the embodiments of the present application. The master station plays a core role in the sensing system, and mainly controls the link in the communication, including recovery of the slave stations, data transmission, and recovery of link errors. In the embodiments of the present application, the master station can receive information (for example, sensing information and sensing group information) sent by the slave stations, and can also send information to the slave stations.

[0017] If the first sensing device is a master station, in a possible implementation, the method further includes: the first sensing device receives second sensing information from the N third sensing devices, wherein the second sensing information is determined based on the sensing signal sent by the second sensing device; and the first sensing device further performs joint processing on the N second sensing information and the first sensing information to obtain joint sensing information.

[0018] For example, if the sensing information includes the speed of the sensed object, the first sensing device can obtain (N+1) initial speeds after analyzing the N second sensing information and the first sensing information. The joint processing can mean average processing of the (N+1) initial speeds, or filtering out special speeds (for example, the highest speed and the lowest speed) from the (N+1) initial speeds and then performing average processing on the filtered speeds, or other manners, which will not be exemplified one by one herein.

[0019] In the scheme, the first perception device does not directly determine the first perception information as the final perception information, but determines the final perception information by obtaining N second perception information, which can not only improve the number of perception samples, reduce the influence of random error, and improve the perception accuracy, but also solve the problem that some perception devices cannot perceive due to interference.

[0020] In a possible implementation, the first perception information includes position information of the perceived object, and the third perception device is determined based on the position information of the perceived object.

[0021] In the scheme, when the second perception device is in the surrounding environment of the perceived object, and the perceived object belongs to a movable object, the third perception device is not only the adjacent device of the second perception device, but also a perception device dynamically selected based on the position information of the perceived object. In other words, if the number of adjacent devices of the second perception device is 10, and the number of perception devices dynamically selected based on the position information of the perceived object is 2, the first perception device does not need to analyze 10 second perception information, but analyzes the 2 perception information, and obtains joint perception information based on the 2 second perception information and the first perception information. This dynamic perception based on the position information of the perceived object can not only improve the accuracy of the perception sample, but also reduce the resource of base station channel analysis and processing.

[0022] In a possible implementation, the first perception device can also send joint perception information to the second perception device in the first frequency band.

[0023] In the scheme, since the joint perception information is obtained by jointly processing multiple perception information (including the first perception information and N second perception information), even if the second perception device cannot receive the perception signal, it can still receive the joint perception information with higher perception accuracy, which not only improves the anti-interference ability of perception, but also improves the accuracy of perception.

[0024] In a possible implementation, the method further includes: the first perception device receives perception group information from the second perception device in the second frequency band, and the perception group information is used to indicate N third perception devices.

[0025] For example, the first perception device can actively report its perception group information to the main station at regular intervals. If a perception device is interfered or has weak coverage due to environmental influence, it can be determined as an abnormal device, and the abnormal device is removed from the perception group, and then the removed perception group is reported again. The active reporting can be reporting at regular intervals every certain period of time, or reporting immediately after detecting a change in the perception group members, which will not be limited here.

[0026] In the above scheme, when the first sensing device is a master station, the first sensing device can receive the sensing group information actively reported by the second sensing device, so as to update in time when the member in the sensing group of the second sensing device changes, thereby effectively avoiding the acquisition of the sensing information of the abnormal device and improving the sensing precision.

[0027] If the first sensing device is a slave station, in a possible implementation, the method further includes: the first sensing device sends the first sensing information to a fourth sensing device in the first frequency band. The fourth sensing device can be a master station in the sensing system, and the fourth sensing device can be used for joint processing of the acquired sensing information. It can be understood that the sensing information received by the fourth sensing device can include not only the first sensing information from the first sensing device, but also the second sensing information from the third sensing device, and can also include the sensing information generated by the fourth sensing device itself.

[0028] In the above scheme, the first sensing device does not directly determine the first sensing information as the final sensing information, but sends the first sensing information to the master station, so that the master station comprehensively determines the final sensing information according to multiple sensing information. This can not only improve the sample number of sensing and reduce the influence of random error to improve the sensing precision, but also can solve the problem that part of the sensing devices cannot sense due to interference.

[0029] In a possible implementation, the sensing signal is a pulse wave or a continuous wave.

[0030] In the above scheme, when the sensing signal is a pulse wave, it means that the first sensing device can receive the pulse periodic signal transmitted indirectly, thereby reducing interference. When the sensing signal is a continuous wave, it means that the first sensing device can continuously receive the signal, thereby eliminating the blind area.

[0031] In a second aspect, the embodiments of the present application provide a sensing method, which is suitable for a second sensing device, and a signal transmission frequency band of the second sensing device is a second frequency band. The method includes: transmitting a sensing signal in the second frequency band; and receiving sensing information from a first sensing device in a first frequency band. The first frequency band and the second frequency band are frequency bands without frequency overlap in a network system bandwidth, and the first frequency band is a signal transmission frequency band of the first sensing device.

[0032] In the scheme, the second sensing device can receive the first sensing information sent by the first sensing device in the first frequency band although the signal sending frequency band of the second sensing device is the second frequency band. Therefore, if the second sensing device is interfered due to the signal sending frequency band resource being occupied, the second sensing device can not receive the sensing signal reflected by the sensed object in the second frequency band, and thus cannot generate sensing information. However, the second sensing device can still receive the sensing information from the first sensing device in the first frequency band to sense the surrounding environment of the second sensing device, thereby effectively improving the anti-interference capability of sensing.

[0033] In a possible implementation, the sensing information is first sensing information, which is generated by the first sensing device based on the sensing signal received in the second frequency band.

[0034] In a possible implementation, the sensing information is joint sensing information, which is obtained by joint processing of the plurality of sensing information acquired by the first sensing device, wherein the plurality of sensing information acquired by the first sensing device includes the first sensing information generated by the first sensing device, and can also include second sensing information generated by a third sensing device.

[0035] In the scheme, the sensing information received by the second sensing device can be determined based on the sensing information generated by one sensing device, or can be determined based on the sensing information generated by a plurality of sensing devices. In this way, the anti-interference capability of sensing can be improved, and the sensing efficiency can also be improved.

[0036] In a possible implementation, the second sensing device sends sensing group information to a fourth sensing device in the second frequency band. The fourth sensing device is a master station in the sensing system.

[0037] In the scheme, the second sensing device can actively report the sensing group information to the master station. For example, the active reporting can be periodic reporting at a certain time interval, or can be immediate reporting after detecting a change in the sensing group members. In this way, the master station can update the sensing group of the second sensing device in a timely manner, thereby improving the sensing accuracy.

[0038] In a possible implementation, the sensing signal is a pulse wave or a continuous wave.

[0039] In the scheme, when the sensing signal is a pulse wave, it means that the second sensing device can indirectly emit the pulse period signal, thereby reducing interference. When the sensing signal is a continuous wave, it means that the second sensing device can continuously send signals, thereby eliminating the blind area.

[0040] In a third aspect, an embodiment of the present application provides a perception device, which can be the first perception device or a chip in the first perception device. The perception device is configured to implement the method in the first aspect or any implementation manner of the first aspect. The perception device comprises modules configured to implement the method in the first aspect or any implementation manner of the first aspect.

[0041] In a fourth aspect, an embodiment of the present application provides a perception device, which can be the second perception device or a chip in the second perception device. The perception device is configured to implement the method in the second aspect or any implementation manner of the second aspect. The perception device comprises modules configured to implement the method in the second aspect or any implementation manner of the second aspect.

[0042] In the third aspect or the fourth aspect, the perception device can comprise a transceiver module and a processing module. The specific description of the transceiver module and the processing module can also be referred to the device embodiments shown below. The beneficial effects of the third aspect and the fourth aspect can be referred to the foregoing description of the first aspect and the second aspect, which will not be described here.

[0043] In a fifth aspect, an embodiment of the present application provides a perception device, which comprises a processor and a transceiver. The transceiver is configured to transceive information. The processor is configured to enable the perception device to implement the method in the first aspect or any implementation manner of the first aspect, or implement the method in the second aspect or any implementation manner of the second aspect.

[0044] In a sixth aspect, the present application provides a perception device, which comprises at least a processor. The processor is configured to execute computer execution instructions, so as to enable the perception device to implement the method in the first aspect or any implementation manner of the first aspect, or implement the method in the second aspect or any implementation manner of the second aspect.

[0045] In combination with the sixth aspect, in a possible implementation manner, the perception device can further comprise an interface circuit. The interface circuit is configured to receive the computer execution instructions and transmit the computer execution instructions to the processor.

[0046] In a seventh aspect, the present application provides a computer readable storage medium, which stores a computer program. When the computer program is executed, the perception device comprising a processor implements the method in the first aspect or any implementation manner of the first aspect, or implements the method in the second aspect or any implementation manner of the second aspect.

[0047] In an eighth aspect, an embodiment of the present application provides a computer program product, which comprises instructions, when the instructions are executed on a computer, causing the computer to implement the method according to the first aspect or any implementation manner of the first aspect, or the method according to the second aspect or any implementation manner of the second aspect.

[0048] In a ninth aspect, an embodiment of the present application provides a perception system, which comprises at least a first perception device and a second perception device, the first perception device is configured to implement the method according to the first aspect or any implementation manner of the first aspect, and the second perception device is configured to implement the method according to the second aspect or any implementation manner of the second aspect.

[0049] The technical effects achieved by the above aspects can be mutually referred or referred to the beneficial effects of the method embodiments shown below, which will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0050] FIG. 1 is a simplified schematic diagram of a perception system according to an embodiment of the present application;

[0051] FIG. 2 is a networking schematic diagram corresponding to a perception system according to an embodiment of the present application;

[0052] FIG. 3 is a schematic diagram of a perception scene according to an embodiment of the present application;

[0053] FIG. 4 is another schematic diagram of a perception scene according to an embodiment of the present application;

[0054] FIG. 5 is a schematic diagram of a method for performing perception according to an embodiment of the present application;

[0055] FIG. 6 is a networking schematic diagram for performing perception based on a pulse wave signal according to an embodiment of the present application;

[0056] FIG. 7 is a networking schematic diagram for performing perception based on a continuous wave signal according to an embodiment of the present application;

[0057] FIG. 8 is a schematic diagram of a scene for dynamically selecting a perception group according to an embodiment of the present application;

[0058] FIG. 9 is a structural schematic diagram of a perception device according to an embodiment of the present application;

[0059] FIG. 10 is a structural schematic diagram of another communication device according to an embodiment of the present application. DETAILED DESCRIPTION

[0060] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application.

[0061] In the description of the present application, "first" and "second" are used only to distinguish different objects, and are not used to describe a specific order. In addition, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this article only describes the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which can mean: A exists alone, A and B exist together, and B exists alone. In addition, "at least one" means one or more, and "multiple" means two or more. "One or more of the following" or the like means any combination of the items, including any combination of single or multiple items. For example, at least one of a, b, or c can mean: a, b, c; a and b; a and c; b and c; or a and b and c. Where a, b, and c can be single or multiple.

[0062] The terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device, etc. including a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units not listed, etc., or optionally also includes other steps or units inherent to these processes, methods, products or devices, etc.

[0063] In this application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described as "exemplary", "for example" or "for instance" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of "exemplary", "for example" or "for instance" is primarily intended to present concepts in a concrete manner.

[0064] It can be understood that in this application, "when", "if" and "if" all refer to the corresponding processing of the device under certain objective circumstances, not the time limit, and also do not require the device to have a judgment action when it is implemented, nor does it mean that there are other limitations. Among them, the device makes corresponding processing under certain objective circumstances, including: meeting the objective circumstances, that is, being able to make the corresponding processing; or meeting the objective circumstances and other circumstances to make the corresponding processing.

[0065] In this application, "at the same time" can be understood as "in parallel", or at the same time point, or in a period of time, or in the same cycle, which can be understood in combination with the context.

[0066] In this application, the element represented by the singular is intended to represent "one or more", not "one and only one", unless otherwise specified.

[0067] It can be understood that in the embodiments of the present application, "A corresponds to B", "A and B correspond" or similar expressions mean that B is associated with A, and B can be determined according to A. Both determining information B only according to A and determining B according to A and other information are included. In addition, A is used to determine information B, which can also include the case of indirect determination, such as B is determined according to C, and C is determined according to A.

[0068] In the present application, "sending" and "receiving" represent the direction of signal transmission. For example, "sending information to XX" can be understood as that the destination of the information is XX, which can include direct sending through the air interface, or indirect sending through the air interface by other units or modules. "Receiving information from YY" can be understood as that the source of the information is YY, which can include direct receiving from YY through the air interface, or indirect receiving from YY through the air interface from other units or modules. "Sending" can also be understood as "output" of chip interface, and "receiving" can also be understood as "input" of chip interface. In other words, sending and receiving can be between devices, such as sending or receiving between components, modules, chips, software modules or hardware modules in a device through bus, wire or interface.

[0069] The technical solutions of the embodiments of the present application can be applied to various wireless communication systems, which can support communication and sensing dual functions at the same time. For example: wireless local area network (WLAN) system using 802.11 series protocol, long term evolution (LTE) system, 5th Generation (5G) system such as new radio access technology (NR), network of multiple system integration, Internet of Things system, Internet of Vehicles system, open-radio access network (O-RAN) system, and future communication system such as 6th Generation (6G) system, etc. Among them, the 802.11 series protocol includes but is not limited to: 802.11ax protocol, 802.11be protocol, Wi-Fi 7 or next generation protocol, such as Wi-Fi 8, ultra high reliability (UHR), or 802.11bn protocol, or Wi-Fi AI, or millimeter wave, etc., which are not listed one by one. Here, supporting sensing function can be understood as supporting but not limited to one or more of the following sensing protocols: 802.11bf protocol, or next generation sensing protocol of 802.11bf protocol, or future generation WLAN sensing protocol, etc.

[0070] In a possible implementation, the communication system herein includes communication devices, and the communication devices can perform wireless communication by using air interface resources. The air interface resources can include at least one of time domain resources, frequency domain resources, code resources, and space resources. The communication devices can include network devices and terminal devices. The network devices can also be referred to as base station devices, access network devices, or access point (AP) devices. The terminal devices can include smart phones, tablet computers, notebook computers, desktop computers, smart speakers, smart watches, vehicle-mounted terminal devices, smart televisions, and other smart terminal devices, which will not be listed one by one herein.

[0071] With the evolution of communication technologies, the communication frequency bands have derived sensing capabilities. Based on this, the communication system herein can also be a sensing system. When the network devices (such as base stations) or the terminal devices (such as user equipment) have sensing capabilities, the sensing system can perform sensing identification on specific objects, so as to obtain sensing information such as location, speed, angle, intensity, and trajectory.

[0072] It should be understood that the system architecture and application scenarios described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. It can be known by those skilled in the art that, with the evolution of system architecture or application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0073] Referring to FIG. 1, FIG. 1 is a simplified schematic diagram of a sensing system provided by an embodiment of the present application. As shown in FIG. 1, the sensing system includes a wireless access network 100. The wireless access network 100 can be a next-generation (for example, 6G or higher version) wireless access network, or a traditional (for example, 5G, 4G, 3G, or 2G) wireless access network. It can be understood that FIG. 1 is only a schematic diagram, and the sensing system can also include other devices, such as core network devices, wireless relay devices, and / or wireless backhaul devices, which are not shown in FIG. 1.

[0074] In practical applications, the perception system can include M network devices (also referred to as access network devices, or AP devices) simultaneously, where M is a positive integer greater than 1. As shown in FIG. 1, the perception system can specifically include network device A, network device B, …, and network device N. The network device can be an entity for transmitting or receiving signals on the network side, such as a base station (BS). The BS can be a device deployed in a wireless access network and capable of wireless communication with a terminal. The base station can have various forms, such as a macro base station, a micro base station, a relay station, and an access point (AP), etc. Exemplarily, the base station involved in the embodiments of the present application can be a base station in 5G, a base station in 6G, an access network device or a module of an access network device in an O-RAN system, a base station in a future mobile communication system, or an access node in a Wi-Fi system, or an evolved base station (eNB) in LTE, etc. Among them, the base station in 5G can also be referred to as a transmission reception point (TRP) or a 5G base station (gNB). The base station can also be replaced by the following names, such as: a wireless access point, a node B, a transmitting point (TP), a master station MeNB, a secondary station SeNB, a multi-standard radio (MSR) node, a home base station, a network controller, an access node, a wireless node, an access point, a transmission node, a transceiver node, a baseband unit (BBU), a remote radio unit (RRU), an active antenna unit (AAU), a remote radio head (RRH), a centralized unit (CU), a distributed unit (DU), a positioning node, an IAB donor, etc.

[0075] The network device in the embodiments of the present application can be an integrated base station, or can be a base station including a CU and / or a DU. The base station including the CU and the DU can also be referred to as a base station with CU and DU separation, such as the base station including a gNB-CU and a gNB-DU. Among them, the CU can also be separated into a CU control plane (CU-CP) and a CU user plane (CU-UP), such as the base station including a gNB-CU-CP, a gNB-CU-UP, and a gNB-DU. Alternatively, the network device in the embodiments of the present application can also be a radio unit (RU). Still alternatively, the network device in the embodiments of the present application can also be an O-RAN architecture, and the like, and the embodiments of the present application do not limit the specific deployment mode of the network device. For example, when the network device is an O-RAN architecture, the network device shown in the embodiments of the present application can be an access network device in the O-RAN, such as one or more of a CU, a DU, or a RU, or a module in the access network device, and the like. In the ORAN system, the CU can also be referred to as an open (O)-CU, the CU-CP can also be referred to as an O-CU-CP, the CU-UP can also be referred to as an O-CU-UP, the DU can also be referred to as an O-DU, and the RU can also be referred to as an O-RU.

[0076] In the embodiments of the present application, the apparatus for implementing the function of the network device can be the network device; or can be an apparatus capable of supporting the network device to implement the function, such as a chip system, or a communication module, or a modem, and the like, which can be installed in the network device. The network device can support networks of the same or different access technologies. The embodiments of the present application do not limit the specific technology and specific device form adopted by the network device.

[0077] Any one of the perception systems can be used to perceive the perceived object. The perceived object can be a tangible object in the environment that can reflect electromagnetic waves, such as mountains, forests, or buildings, and can also include vehicles, unmanned aerial vehicles, pedestrians, terminal devices, and other movable objects. According to whether the perceived object is moving, it can be divided into moving objects (such as vehicles, unmanned aerial vehicles, etc.) and stationary objects (such as roads, high-rise buildings, bridges, etc.). According to different modeling methods of scattering points, the perceived object can be divided into point targets (such as small-volume unmanned aerial vehicles, etc.) and extended multi-point targets (also known as surface targets, such as large-volume buildings, etc.).

[0078] In the present application, the perceived object can also be referred to as a target, a perceived target, a detected target, a perceived object, a detected object, or a perceived device, and the like, which is not limited in the present application. The network device in the above perception system can also be referred to as a perception apparatus.

[0079] In order to reduce interference between network devices, the network devices can be aware of each other by frequency division, time division, and code division. The specific networking form can be referred to FIG. 2. FIG. 2 is a networking diagram corresponding to a sensing system according to an embodiment of the present application. As shown in FIG. 2, the sensing system can include a plurality of network devices, which can be exemplified by 21 network devices, including network device A, network device B, network device C, network device D, network device E, network device F, network device G, and the like. Other network devices are not shown in FIG. 2. In FIG. 2, t0, t1, and t2 represent time division of sensing signals.

[0080] It should be understood that the network system bandwidth can be divided into a plurality of frequency bands without overlapping, which can include frequency band K1, frequency band K2, and frequency band K3, which are exemplified by different colors in FIG. 2. Each network device can select a frequency band in the network system bandwidth as its signal transmission frequency band, and the signal transmission frequency bands of adjacent network devices can be different. For example, the signal transmission frequency band of network device A is frequency band K1, the signal transmission frequency band of network device B is frequency band K2, and the signal transmission frequency band of network device C is frequency band K3.

[0081] Each network device shown in FIG. 2 can not only transmit a sensing signal in its own signal transmission frequency band, but also receive a sensing signal in the network system bandwidth (also referred to as the full frequency band or total bandwidth). For example, when network device A transmits a sensing signal (i.e., a first sensing signal) in frequency band K1, network device A can receive a second sensing signal (i.e., a sensing signal reflected by a sensed object) in frequency band K1, and network devices adjacent to network device A can also receive the second sensing signal in frequency band K1.

[0082] Among them, the network devices adjacent to network device A can be network devices in region 2Q shown in FIG. 2, which can include network device B, network device C, network device D, network device E, network device F, and network device G. For example, the network devices adjacent to network device A refer to network devices having a distance less than or equal to a distance threshold (e.g., 400 meters) from network device A.

[0083] In one possible implementation, the sensing of the surrounding environment of network device A can be determined by the sensing information of one network device. For the convenience of understanding this process, FIG. 3 can be referred to. FIG. 3 is a sensing scene diagram according to an embodiment of the present application. In FIG. 3, network device A (i.e., a second sensing device) can be network device A in the corresponding embodiment of FIG. 2, and its signal transmission frequency band is frequency band K1. Network device B (i.e., a first sensing device) can be network device B in the corresponding embodiment of FIG. 3, and its signal transmission frequency band is frequency band K2.

[0084] As shown in FIG. 3, the network device A can send a sensing signal 3F1 (i.e., a first sensing signal) in the frequency band K1, and the sensing signal 3F1 can reflect a sensing signal 3F2 (i.e., a second sensing signal) after passing through an object p (i.e., a sensed object, for example, a drone).

[0085] It can be understood that when the network device A is interfered due to signal transmission frequency band resources being preempted and the like, the network device A itself cannot receive the sensing signal 3F2, so as to fail to sense the surrounding environment, but the network device B adjacent thereto can still receive the sensing signal 3F2 in the frequency band K1, and then can generate sensing information 3X based on the sensing signal 3F2. The sensing information 3X can include position information, angle information, speed information, and trajectory information of the object p, and the like. At this time, the sensing information 3X can be determined as the final sensing information according to an embodiment of the present application.

[0086] Of course, in an optional case, the network device B can send the sensing information 3X in the frequency band K2, so that the network device A receives the sensing information 3X in the frequency band K2, in other words, even if the network device A itself cannot generate the sensing information, but can still receive the sensing information from the network device B, so as to achieve the purpose of successfully sensing the object p.

[0087] In another possible implementation, the sensing of the surrounding environment of the network device A can be determined by synthesizing sensing information of multiple network devices. For the convenience of understanding this process, reference can be made to FIG. 4, which is another sensing scenario diagram provided by an embodiment of the present application. As shown in FIG. 4, the network devices adjacent to the network device A in the embodiment of the present application can be taken as an example of two, which can specifically include a network device B and a network device C. The signal transmission frequency band of the network device A (i.e., a second sensing device) is the frequency band K1, the signal transmission frequency band of the network device B (i.e., a first sensing device) is the frequency band K2, and the signal transmission frequency band of the network device C (i.e., a third sensing device) is the frequency band K3. It is worth noting that the network device B here can be a master station in the sensing system, which is used for joint processing of multiple sensing information.

[0088] As shown in FIG. 4, the network device A can send a sensing signal 4F1 (i.e., a first sensing signal) in the frequency band K1, and the sensing signal 4F1 can reflect a sensing signal 4F2 (i.e., a second sensing signal) to the network device B and a sensing signal 4F3 (i.e., a second sensing signal) to the network device C after passing through the object p (i.e., a sensed object, for example, a drone). The sensing signal 4F2 and the sensing signal 4F3 here can be the same signal, or can have slight differences, which will not be defined here.

[0089] For the network device B, it can receive the sensing signal 4F2 in the frequency band K1, and then can generate the sensing information 4X1 based on the sensing signal 4F2.

[0090] Similarly, for the network device C, it can receive the sensing signal 4F3 in the frequency band K1, and then can generate the sensing information 4X2 based on the sensing signal 4F3. Compared with the network device B, the network device C is a slave station, and thus the network device C needs to send the sensing information 4X2 to the network device B in the frequency band K3.

[0091] When the network device B receives the sensing information 4X2 from the network device C in the frequency band K3, the network device B can jointly process the sensing information 4X2 and the sensing information 4X1 to reduce the influence of random errors, so as to obtain more accurate joint sensing information.

[0092] In the embodiment of the present application, the network device B does not directly determine the sensing information 4X1 as the final sensing information, but determines the final sensing information by comprehensively determining the sensing information 4X1 and the sensing information 4X2. In this way, not only the sensing accuracy can be improved, but also the problem that the network device A cannot sense due to interference can be solved.

[0093] Of course, in an optional case, the network device B can send the joint sensing information in the frequency band K2, so that the network device A receives the joint sensing information in the frequency band K2. In other words, even if the network device A cannot generate the sensing information, it can still receive the joint sensing information from the network device B, which can not only successfully sense the object p, but also more accurately sense the object p.

[0094] The method provided by the embodiment of the present application will be introduced from the perspective of a single network device in combination with the accompanying drawings.

[0095] Please refer to FIG. 5, which is a method for sensing provided by an embodiment of the present application. As shown in FIG. 5, the method can be executed by a first sensing device, and the signal transmission frequency band of the first sensing device is a first frequency band, which will not be limited here. The method can at least include steps S501-S502:

[0096] Step S501, receiving a sensing signal in a second frequency band, the second frequency band and the first frequency band are frequency bands without overlap in the network system bandwidth, and the second frequency band is a signal transmission frequency band of a second sensing device.

[0097] The second frequency band is a signal transmission frequency band of the second sensing device, which means that the second sensing device can transmit a sensing signal in the second frequency band. The sensing signal can be understood as a signal for sensing the surrounding environment of the second sensing device (for example, the sensing signal 3F1 shown in FIG. 3). For the sake of distinction, the sensing signal transmitted by the second sensing device in the second frequency band can be referred to as a first sensing signal, and the sensing signal received by the first sensing device in the second frequency band can be referred to as a second sensing signal. The second sensing signal refers to a sensing signal reflected by the sensed object after the first sensing signal.

[0098] The network system bandwidth refers to the amount of data that can be transmitted by the network connection, usually expressed in bits per second (bps). It determines the capacity of the network connection, that is, how much data can be transmitted. Bandwidth is usually expressed in bits per second (bps), gigabits per second (Gbps), or megabits per second (Mbps). In order to reduce interference between sensing devices, the bandwidth of the sensing device can be used as a granularity to divide the network system bandwidth into multiple frequency bands without overlapping.

[0099] For example, if the bandwidth of the sensing device is 20M and the network system bandwidth is 60M, the network system bandwidth can be divided into three frequency bands, which can include frequency band K1 (for example, the frequency band corresponding to the first 20M), frequency band K2 (for example, the frequency band corresponding to the middle 20M), and frequency band K3 (for example, the frequency band corresponding to the last 20M).

[0100] It can be understood that in order to improve the sensing efficiency, the time domain resources of the sensing network can also be divided from the time domain of communication according to the protocol used by the sensing network.

[0101] For example, in the wireless interface of 5G NR, time is organized in a hierarchical structure, which defines the relationship between frames, subframes, slots, and symbols. The time unit of 5G NR starts with a frame, and the length of a frame is fixed at 10 milliseconds. A frame can include 10 subframes.

[0102] The length of each subframe is fixed at 1 millisecond. A subframe can be further divided into a number of slots.

[0103] The number of slots varies under different numerology configurations and frequency widths. In 5G NR, the length of a slot can vary under different configurations, and common configurations can be 0.5 milliseconds, 0.25 milliseconds, or shorter. A slot can contain a certain number of symbols. In a classic configuration, a slot can contain 7 or 14 symbols.

[0104] Generally, one frame is composed of multiple subframes, one subframe contains multiple slots, and one slot includes multiple symbols. This time organization enables the cognitive network to flexibly support different service requirements in terms of rate, delay, and mobility.

[0105] In this embodiment, the second cognitive device can determine the symbol for sensing from the sensing transmission slot according to the protocol used by the cognitive network, so as to support high-precision sensing. Therefore, the second cognitive device can transmit a sensing signal in the second frequency band for any symbol. The sensing information can be a pulse wave or a continuous wave, which is not limited herein.

[0106] For ease of understanding, please refer to FIG. 6, which is a networking diagram for sensing based on a pulse wave signal according to an embodiment of the present application. Symbol i in FIG. 6 represents a symbol in a sensing transmission slot. In this embodiment, the network device adjacent to network device A can be taken as an example of two, which specifically includes network device B and network device C. The signal transmission frequency band of network device A is frequency band K1 in the network system bandwidth, the signal transmission frequency band of network device B is frequency band K2 in the network system bandwidth, and the signal transmission frequency band of network device C is frequency band K3 in the network system bandwidth.

[0107] If the second cognitive device is network device A shown in FIG. 6, the first cognitive device can be network device B shown in FIG. 6 or network device C shown in FIG. 6, that is, network device A can transmit a first sensing signal (i.e., a pulse wave signal) in frequency band K1 at symbol i. At this time, network device A itself can receive a second sensing signal (i.e., a pulse wave signal reflected by the sensed object) in frequency band K1, and network device B and network device C can also receive the second sensing signal (i.e., a pulse wave signal reflected by the sensed object) in frequency band K1.

[0108] If the second cognitive device is network device B shown in FIG. 6, the first cognitive device can be network device A shown in FIG. 6 or network device C shown in FIG. 6, that is, network device B can transmit a first sensing signal (i.e., a pulse wave signal) in frequency band K2 at symbol i. At this time, network device B itself can receive a second sensing signal (i.e., a pulse wave signal reflected by the sensed object) in frequency band K2, and network device A and network device C can also receive the second sensing signal (i.e., a pulse wave signal reflected by the sensed object) in frequency band K2.

[0109] Similarly, if the second sensing device is the network device C shown in FIG. 6, the first sensing device here can be the network device A shown in FIG. 6, or the network device B shown in FIG. 6, in other words, at symbol i, the network device C can send the first sensing signal (i.e., the pulse wave signal) in the frequency band K3. At this time, the network device C itself can receive the second sensing signal (i.e., the pulse wave signal reflected by the sensed object) in the frequency band K3, and the network device A and the network device B can also receive the second sensing signal (i.e., the pulse wave signal reflected by the sensed object) in the frequency band K3.

[0110] For ease of understanding, further reference is made to FIG. 7, which is a networking diagram for sensing based on continuous wave signals according to an embodiment of the present application. Symbol j shown in FIG. 7 can be used to represent a certain symbol in a sensing time slot, and the description of the signal transmission frequency bands of the network device A, the network device B, and the network device C can be referred to the corresponding description of FIG. 6 above, which will not be repeated here.

[0111] Similarly, if the second sensing device is the network device A shown in FIG. 7, the first sensing device here can be the network device B shown in FIG. 7, or the network device C shown in FIG. 7, in other words, at symbol i, the network device A can send the first sensing signal (i.e., the continuous wave signal) in the frequency band K1. At this time, the network device A itself can receive the second sensing signal (i.e., the continuous wave signal reflected by the sensed object) in the frequency band K1, and the network device B and the network device C can also receive the second sensing signal (i.e., the continuous wave signal reflected by the sensed object) in the frequency band K1.

[0112] Similarly, the second sensing device can also be the network device B or the network device C, which will not be repeated here.

[0113] At step S502, first sensing information is generated based on the sensing signal.

[0114] The first sensing information here can be sensing information obtained by the first sensing device after analyzing and processing the received sensing signal, and the first sensing information can include at least one of position information, speed information, angle information, trajectory information, and intensity information of the sensed object.

[0115] In a possible implementation, the first sensing device (for example, the network device B shown in FIG. 3) can directly send the first sensing information as the final sensing information to the second sensing device in the first frequency band, so that even if the signal transmission frequency band of the second sensing device is disturbed, the first sensing information can still be successfully obtained to achieve the purpose of successful sensing.

[0116] In another possible implementation, the first perception information here is not the final perception information, but a factor for determining the final perception information, in other words, the final perception information can be determined according to the perception information generated by multiple perception devices adjacent to the second perception device, at this time, the first perception device needs to be described according to its role in the perception system:

[0117] When the first perception device (for example, the network device B shown in FIG. 4) is the master station in the perception system, the first perception device also needs to receive second perception information from N third perception devices, N is a positive integer, and the second perception information here is determined by the third perception device based on the perception signal sent by the second perception device. Then, the first perception device needs to jointly process the N second perception information and the first perception information to obtain joint perception information. Among them, the N second perception information may include the perception information generated by the second perception device, that is, the second perception device may also participate in joint perception, of course, if the second perception device is interfered, the N second perception information may not include the perception information generated by the second perception device, which will not be limited here.

[0118] It can be understood that the first perception device needs to meet a receiving cutoff condition when jointly processing multiple perception information, and the receiving cutoff condition here can be that the receiving time reaches a time threshold (for example, 1 ms), or that the number of perception information obtained (that is, the sum of the number of received perception information and the number of self-generated perception information) reaches the member number of the perception group corresponding to the second perception device, which will not be limited here. Among them, the member number of the perception group corresponding to the second perception device can be denoted as W, W equals (N+1). Generally, the member number of the perception group is at least 2, which can include or not include the second perception device.

[0119] For example, if the perception information includes the trajectory information of the perceived object, the joint processing here means that the N second perception information and the first perception information are first parsed to obtain (N+1) initial trajectories, and the (N+1) initial trajectories are clustered to calculate the final trajectory of the perceived object.

[0120] For example, if the perception information includes the speed information of the perceived object, the joint processing here means that the N second perception information and the first perception information are first parsed to obtain (N+1) initial speeds, and the (N+1) initial speeds are calculated to obtain the final speed of the perceived object. The calculation processing here can be average processing, or first pre-processing (for example, filtering the highest speed and / or the lowest speed), and then average processing, or other types of processing, which will not be limited here.

[0121] When the first sensing device (for example, the network device C shown in FIG. 4) is a slave station in the sensing system, the first sensing device can send the first sensing information to a master station (that is, the fourth sensing device, for example, the network device B shown in FIG. 4) in the sensing system in the first frequency band, so that the fourth sensing device jointly processes the plurality of sensing information obtained.

[0122] In the embodiments of the present application, a single sensing device is still used for signal transmission, but the receiving mode is optimized, that is, the sensing devices adjacent to the periphery can form a sensing group for joint reception, thereby effectively improving the sensing performance. In addition, whether the first sensing device is a master station or a slave station in the sensing system, the finally determined sensing information is not the first sensing information generated by the first sensing device, but is determined by the sensing information generated by the plurality of sensing devices, thereby improving the sample point number and signal strength of radar sensing. For example, if the trajectory of a sensed object is sensed, the starting trajectory delay can be accelerated, and the trajectory completion degree and accuracy can be improved. In other words, the joint processing manner can not only improve the sample number, reduce the influence of random errors, and improve the sensing accuracy, but also solve the problem that some sensing devices cannot sense due to interference.

[0123] In the embodiments of the present application, a single sensing device is still used for signal transmission, but the receiving mode is optimized, that is, the sensing devices adjacent to the periphery can form a sensing group for joint reception, thereby effectively improving the sensing performance. In addition, whether the first sensing device is a master station or a slave station in the sensing system, the finally determined sensing information is not the first sensing information generated by the first sensing device, but is determined by the sensing information generated by the plurality of sensing devices, thereby improving the sample point number and signal strength of radar sensing. For example, if the trajectory of a sensed object is sensed, the starting trajectory delay can be accelerated, and the trajectory completion degree and accuracy can be improved. In other words, the joint processing manner can not only improve the sample number, reduce the influence of random errors, and improve the sensing accuracy, but also solve the problem that some sensing devices cannot sense due to interference.

[0124] In a possible implementation, the members of the sensing group corresponding to the second sensing device can be sensing devices with a distance less than or equal to a distance threshold (for example, 400 meters) from the second sensing device. As shown in FIG. 2, the sensing group of the network device A can include the network device B, the network device C, the network device D, the network device E, the network device F, and the network device G.

[0125] In another possible implementation, the member of the perception group corresponding to the second perception device can be filtered based on the neighbor cell measurement report (e.g., Measure_report) by means of communication.

[0126] For example, the second perception device can send a detection instruction to a terminal device in the area corresponding to the second perception device. After receiving the detection instruction, the terminal device can periodically return a measurement report to the second perception device, which can include at least one of the measurement result of the service area (e.g., the identifier of the service area), the measurement result of the neighbor area (the identifier of the neighbor area, the reference signal received power, the signal-to-noise ratio, and the received signal quality), and the like. The higher the reference signal received power, the better the terminal receives the signal level of the area.

[0127] Further, the second perception device can analyze the received measurement report to obtain the overlapping coverage corresponding to each area, and then sort the perception devices corresponding to each area based on the overlapping coverage to obtain a sorting result. At this time, the second perception device can obtain the top N perception devices in the sorting result as the members of the perception group corresponding to the second perception device.

[0128] For example, if the perception system includes network device A, network device B, network device C, and network device D, when the second perception device is network device A, network device A can send a detection instruction to a terminal device in the area corresponding to network device A, and then receive and analyze the measurement report sent by the terminal device. The overlapping coverage of the area corresponding to network device B and the area corresponding to network device A can be 50, the overlapping coverage of the area corresponding to network device C and the area corresponding to network device A can be 50, and the overlapping coverage of the area corresponding to network device D and the area corresponding to network device A can be 20. Since the overlapping coverage of network device B and network device C is the same, the signal level of the area corresponding to network device B and the signal level of the area corresponding to network device C need to be sorted further. If the signal level of network device B is lower than that of network device C, the final sorting result is network device C, network device B, and network device D. At this time, if the number of members of the perception group determined by network device A is 2, network device A can obtain the top 2 network devices (i.e., network device C and network device B) in the sorting result to determine the two network devices as the members of the perception group of network device A.

[0129] The terminal device can be referred to as a terminal, a user equipment (UE), a mobile station (MS), a mobile terminal (MT), a non-access point station (non-AP STA), etc., and can be a device with wireless transceiver function. The terminal device can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; can also be deployed on water (such as ships, etc.); and can also be deployed in the air (such as airplanes, balloons, and satellites, etc.). The terminal device can be used to connect people, things, and machines. The terminal device can be widely used in various scenarios, such as cellular communication, WLAN communication, device-to-device (D2D), vehicle-to-everything (V2X), peer to peer (P2P), machine to machine (M2M), machine type communication (MTC), Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, autonomous driving, remote medical treatment, smart power grid, smart furniture, smart office, smart wear, smart transportation, smart city, smart home, unmanned aerial vehicle, robot, remote sensing, passive sensing, positioning, navigation, autonomous delivery, and mobile, etc.

[0130] In the embodiments of the present application, the device for implementing the function of the terminal can be a terminal; or can be a device capable of supporting the terminal to implement the function, such as a chip system, or a communication module, or a modem, etc., which can be installed in the terminal. In the embodiments of the present application, the chip system can be composed of a chip, or can include a chip and other discrete devices. The embodiments of the present application do not limit the specific technology and specific device form of the terminal device.

[0131] A network device can serve one or more terminal devices at the same time, and a terminal device can also access one or more network devices at the same time. The number of terminal devices in the sensing system is not limited in the embodiments of the present application.

[0132] In yet another possible implementation, the members of the perception group corresponding to the second perception device can be dynamically selected according to the position information of the perceived object. It can be understood that the master station can analyze the received perception signal to obtain perception information, which can include the position information of the perceived object. The perception signal received by the master station can be from the second perception device, from the master station itself, or from other perception devices, which will not be limited here.

[0133] To facilitate understanding of the process of dynamically selecting the members of the perception group, for example, refer to FIG. 8, which is a schematic diagram of a scenario of dynamically selecting a perception group according to an embodiment of the present application. As shown in FIG. 8, the second perception device in the embodiment of the present application can be network device A, which is configured to perceive a perceived object (for example, object p shown in FIG. 8). In order to reduce the impact of interference on network device A, the perception group of network device A in the embodiment of the present application can not include network device A.

[0134] It should be understood that the master station (for example, network device B) in the perception system can determine the perception group of network device A based on the position information of object p. For example, the master station can determine the network devices within a preset value (for example, 100 meters) from the position information of object p as the members of the perception group of network device A.

[0135] As shown in FIG. 8, when the position information of object p is first position information, the master station can determine that the network devices within the preset value from the position information of object p include network device B and network device G. At this time, the master station can determine network device B and network device G as the members of the perception group of network device A. The first position information here can indicate that object p is distributed in the overlapping area of network device A, network device G and network device B.

[0136] In this case, when network device A transmits a perception signal in frequency band K1, network device B can receive the perception signal reflected by object p in frequency band K1, and generate perception information 1 based on the received perception information. Network device G can receive the perception signal reflected by object p in frequency band K1, generate perception information 2 based on the received perception information, and transmit the perception information 2 to network device B in frequency band K3, so that network device B jointly processes the perception information 2 and the perception information 1 to obtain joint perception information.

[0137] When the object p belongs to a movable object, the position information of the object p can change from the first position information to the second position information, at this time, the master station can determine that the network devices within the preset value from the position information of the object p include the network device C and the network device D, and therefore, the master station can take the network device B and the network device G as new members of the perception group of the network device A respectively. The second position information is used to indicate that the object p is distributed in the overlapping area of the network device A, the network device C and the network device D.

[0138] In this case, when the network device A transmits the perception signal in the frequency band K1, the network device C can receive the perception signal reflected by the object p in the frequency band K1, generate the perception information 3 based on the received perception information, and transmit the perception information 3 to the network device B in the frequency band K3. Similarly, the network device D can also receive the perception signal reflected by the object p in the frequency band K1, generate the perception information 4 based on the received perception information, and transmit the perception information 4 to the network device B in the frequency band K2. After receiving the perception information 3 and the perception information 4, the network device B can jointly process the perception information 3 and the perception information 4 to obtain the joint perception information.

[0139] In the embodiment of the present application, the members of the perception group of the network device A are not fixed, but are dynamically selected according to the position information of the object p. This selection method can make the perception information received by the master station more accurate, that is, effectively improve the accuracy of the perception sample. In addition, compared with taking the network devices adjacent to the network device A as the members of the perception group, this dynamic selection method can greatly reduce the number of perception information analyzed by the master station. In other words, if the number of adjacent devices of the second perception device is 10 and the number of perception devices dynamically selected according to the position information of the perceived object is 2, the first perception device will not need to analyze 10 perception information, but only 2 perception information, thereby reducing the resources of base station channel analysis and processing.

[0140] The above describes the method provided by the present application in detail. In order to facilitate the implementation of the above-mentioned scheme of the embodiment of the present application, the embodiment of the present application also provides a corresponding device or equipment.

[0141] The present application divides the function modules of the perception device according to the above-mentioned method embodiment. For example, each function module can be divided according to each function, or two or more functions can be integrated in one processing module. The above-mentioned integrated module can be realized in the form of hardware or in the form of a software function module. It should be noted that the division of the modules in the present application is illustrative, and is only a logical function division. In actual implementation, another division method can be used. The perception device of the embodiment of the present application will be described in detail below with reference to FIGS. 9-10.

[0142] Referring to FIG. 9, FIG. 9 is a structural schematic diagram of a perception device provided in an embodiment of the present application. As shown in FIG. 9, the perception device 1 comprises a transceiver module 91 and a processing module 92.

[0143] In some possible implementation manners, the perception device 1 can correspond to the first perception device in the foregoing or a component (such as a circuit, a chip or a chip system) configured in the first perception device, and the signal transmission frequency band of the first perception device is the first frequency band.

[0144] The transceiver module 91 can implement a corresponding communication function, and the processing module 92 is configured to implement a corresponding processing function. For example, the transceiver module 91 can also be referred to as an interface, a communication interface or a communication module, etc.

[0145] In specific implementation, the transceiver module 91 is configured to receive a perception signal in a second frequency band, the second frequency band is a frequency band that does not overlap with the first frequency band in the network system bandwidth, and the second frequency band is a signal transmission frequency band of a second perception device; and the processing module 92 is configured to generate first perception information based on the perception signal.

[0146] In a possible implementation manner, the transceiver module 91 is further configured to send the first perception information to the second perception device in the first frequency band.

[0147] In a possible implementation manner, the transceiver module 91 is further configured to receive second perception information from N third perception devices, N is a positive integer, and the second perception information is determined based on a perception signal sent by the second perception device; and the processing module 92 is further configured to jointly process the N second perception information and the first perception information to obtain joint perception information.

[0148] In a possible implementation manner, the first perception information comprises position information of a perceived object, and the third perception device is determined based on the position information of the perceived object.

[0149] In a possible implementation manner, the transceiver module 91 is further configured to receive perception group information from the second perception device in the second frequency band, and the perception group information is used to indicate the N third perception devices.

[0150] In a possible implementation manner, the transceiver module 91 is further configured to send the first perception information to a fourth perception device in the first frequency band.

[0151] In a possible implementation manner, the perception signal is a pulse wave or a continuous wave.

[0152] The specific implementation of the transceiving module 91 and the processing module 92 can refer to the description of steps S501-S502 in the embodiment corresponding to FIG. 5, and will not be repeated here. In addition, the beneficial effects of using the same method will not be repeated here.

[0153] In some possible implementation, the sensing device 1 can correspond to the second sensing device in the foregoing, or be configured with components (such as circuits, chips or chip systems) in the second sensing device, and the signal transmission frequency band of the second sensing device is the second frequency band.

[0154] In a possible implementation, the processing module 92 is configured to generate a sensing signal, and the transceiving module 91 is configured to transmit the sensing signal in the second frequency band. The transceiving module 91 is further configured to receive sensing information from the first sensing device in the first frequency band, and the first frequency band and the second frequency band are frequency bands without frequency overlap in the bandwidth of the network system, and the first frequency band is a signal transmission frequency band of the first sensing device.

[0155] In a possible implementation, the sensing information is first sensing information, and the first sensing information is generated by the first sensing device based on the sensing signal received in the second frequency band.

[0156] In a possible implementation, the sensing information is joint sensing information, and the joint sensing information is obtained by joint processing of multiple sensing information obtained by the first sensing device, wherein the multiple sensing information obtained by the first sensing device includes the first sensing information generated by the first sensing device, and can also include second sensing information generated by a third sensing device.

[0157] In a possible implementation, the processing module 92 is further configured to generate sensing group information corresponding to the second sensing device, and the transceiving module 91 is further configured to transmit the sensing group information to a fourth sensing device in the second frequency band.

[0158] In a possible implementation, the sensing signal is a pulse wave or a continuous wave.

[0159] Referring to FIG. 10, FIG. 10 is a structural schematic diagram of another communication device provided by an embodiment of the present application. The sensing device 2 can be used to implement the operations performed by the first sensing device or the second sensing device in the above embodiments, or the sensing device 2 can be the first sensing device or the second sensing device in the foregoing. The sensing device 2 includes a processor 101, a memory 102 and a bus system 103.

[0160] The memory 102, which can include a random access memory (RAM), a read-only memory (ROM), an erasable PROM (EPROM), or a compact disc read-only memory (CD-ROM), is used to store relevant instructions and data. The memory 102 stores the following elements, executable modules or data structures, or a subset thereof, or an extended set thereof:

[0161] Operation instructions: include various operation instructions for implementing various operations.

[0162] Operating system: includes various system programs for implementing various basic services and processing hardware-based tasks.

[0163] Only one memory is shown in FIG. 10, but the memory can also be set to multiple according to the needs.

[0164] The sensing device 2 can also include a transceiver 104. The transceiver 104 can be a communication module, a transceiver circuit. In the embodiments of the present application, the transceiver 104 is used to perform the transceiving operations involved in the above-mentioned embodiments.

[0165] The processor 101 can be a controller, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. The processor 101 can also be a combination for implementing computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc.

[0166] In specific applications, the various components of the sensing device 2 are coupled together through the bus system 103, which can include not only a data bus, but also a power bus, a control bus and a state signal bus, etc. However, for the sake of clarity, all kinds of buses are marked as bus system 103 in FIG. 10. Only a schematic is shown in FIG. 10 for ease of representation.

[0167] In a particular implementation, the perception device 2 can perform the steps of the method performed by the first perception device or the second perception device in the above embodiments. Specifically, when the perception device 2 is used to implement each step performed by the first perception device or the second perception device in the perception method provided by the embodiments, the processor 101 can implement the functions of the above processing module 92, and the transceiver 104 can implement the functions of the above transceiving module 91.

[0168] It should be noted that in actual applications, the processor in the embodiments of the present application can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method embodiments can be completed by integrated logic circuits of hardware in the processor or instructions in the form of software. The processor mentioned above can be a general processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, discrete hardware component. Each method, step and logic block disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, or other mature storage media in the art. The storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method.

[0169] It is to be appreciated that the memory in the embodiments of the application can be volatile, nonvolatile, or a combination of both. The non-volatile memory can be, for example, ROM, programmable ROM (PROM), EPROM, electrically erasable programmable ROM (EEPROM), or flash memory. The volatile memory can be, for example, RAM, which acts as external cache. By way of example and not limitation, many forms of RAM are suitable, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous dynamic RAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM). It is to be appreciated that the memory described herein is intended to include, among others, these and any other memory suitable for use in the embodiments of the application.

[0170] The application also provides a chip including at least a processor. The processor is configured to execute computer-executed instructions to enable a device in which the chip is installed to implement the method steps performed by the first sensing device or the second sensing device in the above-described embodiments.

[0171] Optionally, the chip further includes an interface circuit. The interface circuit is configured to receive computer-executed instructions and transmit the computer-executed instructions to the processor.

[0172] The application also provides a chip system including a processor configured to support a device in which the chip system is installed to implement the method steps performed by the first sensing device or the second sensing device in the above-described embodiments, such as generating or processing data and / or information involved in the above-described methods. In a possible design, the chip system further includes a memory configured to store program instructions and data necessary for the data transmitting device. The chip system can be composed of a chip, or include a chip and other discrete components.

[0173] The embodiments of the application provide a sensing system including at least a first sensing device and a second sensing device. The first sensing device and the second sensing device work cooperatively to implement the sensing method described in the above embodiments.

[0174] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a computer to implement the method steps performed by the first sensing device or the second sensing device in the above-mentioned embodiments.

[0175] The application further provides a computer program product, which is executed by a computer to implement the method steps performed by the first sensing device or the second sensing device in the above-mentioned embodiments.

[0176] In the above-mentioned method embodiments, all or part of the method embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the method embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through a wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL) or wireless (for example, infrared, wireless, microwave, etc.)) way. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. containing one or more available media sets. The available media can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a high-density digital video disc (digital video disc, DVD)) or a semiconductor medium (for example, a solid state disk (solid state disk, SSD) and the like.

[0177] In various embodiments of the application, the terms and / or descriptions of different embodiments are consistent and can be referred to each other if there is no special description and logical conflict. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0178] It can be understood that the various numerical numbers involved in the embodiments of the application are only for the convenience of differentiation, and are not used to limit the scope of the embodiments of the application. The size of the serial number of the above-mentioned processes does not mean the order of execution, and the execution order of the processes should be determined according to its function and inherent logic.

[0179] The above merely preferred embodiments of the present application are only used to illustrate the technical solutions of the present application, but not used to limit the protection range of the present application. Any modification, equivalent replacement, improvement, and the like made within the principle and spirit of the present application should be included in the protection range of the present application.

Claims

1. A perception method, comprising: The method is applied to a first sensing device, a signal transmission frequency band of the first sensing device is a first frequency band, and the method comprises the following steps: receiving a sensing signal in a second frequency band, the second frequency band is a frequency band without frequency overlap with the first frequency band in a network system bandwidth, and the second frequency band is a signal transmission frequency band of a second sensing device; generating first sensing information based on the sensing signal.

2. The method of claim 1, wherein, The method further comprises: transmitting the first sensing information to the second sensing device in the first frequency band.

3. The method of claim 1, wherein, The method further comprises: receiving second sensing information from N third sensing devices, N being a positive integer, the second sensing information being determined based on a sensing signal transmitted by the second sensing device; jointly processing the N second sensing information and the first sensing information to obtain joint sensing information.

4. The method of claim 3, wherein, The first sensing information comprises position information of a sensed object, and the third sensing devices are determined based on the position information of the sensed object.

5. The method according to claim 3 or 4, characterized in that, The method further comprises: receiving sensing group information from the second sensing device in the second frequency band, the sensing group information being used to indicate the N third sensing devices.

6. The method of claim 1, wherein, The method further comprises: transmitting the first sensing information to a fourth sensing device in the first frequency band.

7. The method according to any one of claims 1 to 6, characterized in that, The sensing signal is a pulse wave or a continuous wave.

8. A perception device, comprising: A module for implementing the method according to any one of claims 1 to 7 is included.

9. A perception device, comprising: A processor and a transceiver are included, the transceiver is used to transmit and receive information, and the processor is used to enable the sensing device to implement the method according to any one of claims 1 to 7.

10. A sensing device, characterized by A processor is included, and the processor is used to enable the sensing device to implement the method according to any one of claims 1 to 7.

11. A computer readable storage medium, characterized in that, A computer readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the sensing device including the processor executes the method according to any one of claims 1 to 7.

12. A computer program product, characterised in that, The computer program product comprises instructions, and when the instructions are run on a computer, the computer executes the method according to any one of claims 1 to 7.

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