Cooperative sensing processing method and apparatus, and terminal and network-side device

Abstract

The present application belongs to the technical field of communications. Disclosed are a cooperative sensing processing method and apparatus, and a terminal and a network-side device. The cooperative sensing processing method in the embodiments of the present application comprises: a first sensing node receiving first signaling from a first device, wherein the first signaling is used for instructing the reception of first sensing signals; the first sensing node receiving the first sensing signals sent by N second sensing nodes, so as to obtain N first measurement values, wherein the N first measurement values correspond to the N second sensing nodes on a one-to-one basis; and the first sensing node executing a first operation, wherein the first operation comprises any one of the following: sending first information to a second device, the first information comprising the N first measurement values; sending to the second device the N first measurement values and a target index corresponding to each first measurement value; and on the basis of the N first measurement values and the target index corresponding to each first measurement value, determining a target sensing result.

Description

Collaborative sensing processing methods, devices, terminals, and network-side equipment

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411486694.4, filed in China on October 23, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application belongs to the field of communication technology, specifically relating to a collaborative sensing processing method, apparatus, terminal, and network-side equipment. Background Technology

[0004] With the development of communication technology, passive object measurement and sensing can be performed in communication systems based on sensing signals or integrated sensing signals. Currently, a typical approach involves one transmitting sensing node sending the sensing signal and one receiving sensing node receiving the signal to obtain the sensing result. However, the accuracy of the sensing results from a single sensing path is relatively low due to the significant impact of changes in the sensing environment. Summary of the Invention

[0005] This application provides a collaborative sensing processing method, apparatus, terminal, and network-side device, which can solve the problem of low accuracy of sensing results.

[0006] Firstly, a collaborative sensing processing method is provided, including:

[0007] The first sensing node receives a first signaling from the first device, the first signaling being used to indicate the reception of a first sensing signal;

[0008] The first sensing node receives the first sensing signals sent by N second sensing nodes and obtains N first measurement values. The N first measurement values ​​correspond one-to-one with the N second sensing nodes, and N is a positive integer.

[0009] The first sensing node performs the first operation;

[0010] The first operation includes any one of the following: sending first information to the second device, the first information including the N first measurement values; sending the N first measurement values ​​and a target indicator corresponding to each first measurement value to the second device; or determining a target perception result based on the N first measurement values ​​and the target indicator corresponding to each first measurement value.

[0011] Wherein, the target index corresponding to the N first measurement values ​​is used to combine the N first measurement values ​​to determine the target perception result; the second device is the first device or the fusion perception node, the fusion perception node is the node used to calculate the target perception result, the first perception node is the receiving perception node, and the second perception node is the transmitting perception node; the number of transmitting perception nodes of the first perception signal is L1, the number of receiving perception nodes of the first perception signal is L2, and L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1.

[0012] Secondly, a collaborative sensing processing method is provided, including:

[0013] The second device acquires at least two measurement values ​​based on the first sensing signal and the target index corresponding to each measurement value.

[0014] The second device determines the target perception result based on the at least two measurements and the target index corresponding to each measurement.

[0015] Wherein, the second device is the first device or a fusion sensing node, the fusion sensing node is a node used to calculate the target sensing result; the number of sensing nodes that transmit the first sensing signal is L1, the number of sensing nodes that receive the first sensing signal is L2, L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1.

[0016] Thirdly, a collaborative sensing processing device is provided, comprising:

[0017] A first receiving module is configured to receive a first signaling from a first device, the first signaling being used to indicate the reception of a first sensing signal; receive the first sensing signal sent by N second sensing nodes, and obtain N first measurement values, wherein the N first measurement values ​​correspond one-to-one with the N second sensing nodes, and N is a positive integer;

[0018] The execution module is used to perform the first operation;

[0019] The first operation includes any one of the following: sending first information to the second device, the first information including the N first measurement values; sending the N first measurement values ​​and a target indicator corresponding to each first measurement value to the second device; or determining a target perception result based on the N first measurement values ​​and the target indicator corresponding to each first measurement value.

[0020] Wherein, the target index corresponding to the N first measurement values ​​is used to combine the N first measurement values ​​to determine the target perception result; the second device is the first device or the fusion perception node, the fusion perception node is the node used to calculate the target perception result, and the second perception node is the transmitting perception node; the number of transmitting perception nodes of the first perception signal is L1, the number of receiving perception nodes of the first perception signal is L2, and L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1.

[0021] Fourthly, a collaborative sensing processing device is provided, comprising:

[0022] The second receiving module is used to obtain at least two measurement values ​​based on the first sensing signal and the target index corresponding to each measurement value;

[0023] The first determining module is used to determine the target perception result based on the at least two measurement values ​​and the target index corresponding to each measurement value;

[0024] Wherein, the number of sensing nodes transmitting the first sensing signal is L1, the number of sensing nodes receiving the first sensing signal is L2, and L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1.

[0025] Fifthly, a collaborative sensing processing apparatus is provided, the apparatus being configured to perform the steps of the method described in the first aspect, or to implement the steps of the method described in the second aspect.

[0026] In a sixth aspect, a terminal is provided, the terminal including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the first aspect, or implementing the steps of the method as described in the second aspect.

[0027] Seventhly, a terminal is provided, including a processor and a communication interface, wherein,

[0028] When the terminal is a first sensing node, the communication interface is used to receive a first signaling from a first device, the first signaling being used to indicate receiving a first sensing signal; receive the first sensing signal sent by N second sensing nodes, obtain N first measurement values, the N first measurement values ​​corresponding one-to-one with the N second sensing nodes, where N is a positive integer; and perform a first operation.

[0029] The first operation includes any one of the following: sending first information to the second device, the first information including the N first measurement values; sending the N first measurement values ​​and a target indicator corresponding to each first measurement value to the second device; or determining a target perception result based on the N first measurement values ​​and the target indicator corresponding to each first measurement value.

[0030] Wherein, the target index corresponding to the N first measurement values ​​is used to combine the N first measurement values ​​to determine the target perception result; the second device is the first device or a fusion perception node, the fusion perception node is a node used to calculate the target perception result, the first perception node is a receiving perception node, and the second perception node is a transmitting perception node; the number of transmitting perception nodes for the first perception signal is L1, the number of receiving perception nodes for the first perception signal is L2, and L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1;

[0031] When the terminal is a second device, the communication interface is used to acquire at least two measurement values ​​obtained based on the first sensing signal and the target index corresponding to each measurement value;

[0032] The processor is used to determine the target perception result based on the at least two measurements and the target index corresponding to each measurement;

[0033] Wherein, the second device is the first device or a fusion sensing node, the fusion sensing node is a node used to calculate the target sensing result; the number of sensing nodes that transmit the first sensing signal is L1, the number of sensing nodes that receive the first sensing signal is L2, L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1.

[0034] Eighthly, a network-side device is provided, the network-side device including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the first aspect, or implementing the steps of the method as described in the second aspect.

[0035] Ninthly, a network-side device is provided, including a processor and a communication interface, wherein,

[0036] When the network-side device is a first sensing node, the communication interface is used to receive a first signaling from the first device, the first signaling being used to indicate receiving a first sensing signal; receive the first sensing signals sent by N second sensing nodes, obtain N first measurement values, the N first measurement values ​​corresponding one-to-one with the N second sensing nodes, where N is a positive integer; and perform a first operation.

[0037] The first operation includes any one of the following: sending first information to the second device, the first information including the N first measurement values; sending the N first measurement values ​​and a target indicator corresponding to each first measurement value to the second device; or determining a target perception result based on the N first measurement values ​​and the target indicator corresponding to each first measurement value.

[0038] Wherein, the target index corresponding to the N first measurement values ​​is used to combine the N first measurement values ​​to determine the target perception result; the second device is the first device or a fusion perception node, the fusion perception node is a node used to calculate the target perception result, the first perception node is a receiving perception node, and the second perception node is a transmitting perception node; the number of transmitting perception nodes for the first perception signal is L1, the number of receiving perception nodes for the first perception signal is L2, and L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1;

[0039] When the network-side device is a second device, the communication interface is used to acquire at least two measurement values ​​obtained based on the first sensing signal and the target index corresponding to each measurement value;

[0040] The processor is used to determine the target perception result based on the at least two measurements and the target index corresponding to each measurement;

[0041] Wherein, the second device is the first device or a fusion sensing node, the fusion sensing node is a node used to calculate the target sensing result; the number of sensing nodes that transmit the first sensing signal is L1, the number of sensing nodes that receive the first sensing signal is L2, L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1.

[0042] In a tenth aspect, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect, or implement the steps of the method described in the second aspect.

[0043] Eleventhly, a wireless communication system is provided, comprising: a first sensing node and a first device, wherein the first sensing node is configured to perform the steps of the method described in the first aspect, and the first device is configured to perform the steps of the method described in the second aspect.

[0044] In a twelfth aspect, a chip is provided, the chip including a processor and a communication interface coupled to the processor, the processor being configured to run programs or instructions to implement the method as described in the first aspect, or to implement the method as described in the second aspect.

[0045] In a thirteenth aspect, a computer program / program product is provided, which is stored in a storage medium and is executed by at least one processor to implement the steps of the method as described in the first aspect, or to implement the steps of the method as described in the second aspect.

[0046] In this embodiment, a first sensing node receives a first signaling from a first device, the first signaling indicating the reception of a first sensing signal; the first sensing node receives the first sensing signal sent by N second sensing nodes, obtaining N first measurement values, the N first measurement values ​​corresponding one-to-one with the N second sensing nodes, where N is a positive integer; the first sensing node performs a first operation; wherein the first operation includes any one of the following: sending first information to the second device, the first information including the N first measurement values; sending the N first measurement values ​​and a target indicator corresponding to each first measurement value to the second device; or, according to the N first measurement values... A target perception result is determined by a measurement value and a target index corresponding to each first measurement value. The target index corresponding to the N first measurement values ​​is used to combine the N first measurement values ​​to determine the target perception result. The second device is either the first device or a fusion perception node, where the fusion perception node is a node used to calculate the target perception result. The first perception node is a receiving perception node, and the second perception node is a transmitting perception node. The number of transmitting perception nodes for the first perception signal is L1, and the number of receiving perception nodes for the first perception signal is L2. Both L1 and L2 are positive integers, and at least one of L1 and L2 is greater than 1. This allows for collaborative perception by multiple perception nodes, improving the accuracy of the perception result. Simultaneously, the increased perception range of multiple perception nodes ensures that the perceived target is within the perception range, improving the continuity and reliability of the perception. Attached Figure Description

[0047] Figure 1 is a block diagram of a wireless communication system applicable to an embodiment of this application;

[0048] Figure 2 is an example diagram of a perception scenario to which the embodiments of this application can be applied;

[0049] Figure 3 is a flowchart illustrating a collaborative sensing processing method provided in an embodiment of this application;

[0050] Figure 4 is an example diagram of path propagation in a sensing scene provided by an embodiment of this application of a collaborative sensing processing method;

[0051] Figure 5 is a schematic diagram of target path detection in the time-delay domain in a cooperative sensing processing method provided in an embodiment of this application;

[0052] Figure 6 is a schematic diagram of time-delay-Doppler domain target path detection in a cooperative sensing processing method provided in an embodiment of this application;

[0053] Figure 7 is a flowchart illustrating another collaborative sensing processing method provided in an embodiment of this application;

[0054] Figure 8 is a schematic diagram of the structure of a collaborative sensing processing device provided in an embodiment of this application;

[0055] Figure 9 is a schematic diagram of another collaborative sensing processing device provided in an embodiment of this application;

[0056] Figure 10 is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0057] Figure 11 is a schematic diagram of the structure of a terminal provided in an embodiment of this application;

[0058] Figure 12 is a schematic diagram of the structure of a network-side device provided in an embodiment of this application;

[0059] Figure 13 is a schematic diagram of another network-side device provided in an embodiment of this application. Detailed Implementation

[0060] The terms "first," "second," etc., used in this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, the first object can be one or more. Furthermore, "or" in this application indicates at least one of the connected objects. For example, the scope of protection for "A or B" covers at least three scenarios: Scenario 1: including A but not B; Scenario 2: including B but not A; Scenario 3: including both A and B. In addition, the terms "A and / or B," "at least one of A and B," and "at least one of A or B" also cover at least the above three scenarios. The character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0061] The term "instruction" in this application can be either a direct instruction (or explicit instruction) or an indirect instruction (or implicit instruction). A direct instruction can be understood as one in which the sender explicitly informs the receiver of specific information, the operation to be performed, or the requested result, etc., in the instruction sent. An indirect instruction can be understood as one in which the receiver determines the corresponding information based on the instruction sent by the sender, or makes a judgment and determines the operation to be performed or the requested result, etc., based on the judgment result.

[0062] It is worth noting that the technologies described in this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA), or other systems. The terms "system" and "network" in this application are often used interchangeably, and the described technologies can be used with the systems and radio technologies mentioned above, as well as with other systems and radio technologies. The following description describes New Radio (NR) systems for illustrative purposes, and the term NR is used in most of the following description; however, these technologies can also be applied to systems other than NR systems, such as 6th generation (6G) radio systems. th Generation 6G communication system.

[0063] Figure 1 shows a block diagram of a wireless communication system applicable to an embodiment of this application. The wireless communication system includes a terminal 11 and a network-side device 12. The terminal 11 can be a mobile phone, tablet computer, laptop computer, notebook computer, personal digital assistant (PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), augmented reality (AR), virtual reality (VR) device, robot, wearable device, flight vehicle, vehicle user equipment (VUE), shipboard equipment, pedestrian user equipment (PUE), smart home (home devices with wireless communication capabilities, such as refrigerators, televisions, washing machines, or furniture), game console, personal computer (PC), ATM, or self-service machine, etc. Wearable devices include: smartwatches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart chains, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, smart clothing, etc. Among these, in-vehicle devices can also be referred to as in-vehicle terminals, in-vehicle controllers, in-vehicle modules, in-vehicle components, in-vehicle chips, or in-vehicle units, etc. It should be noted that the specific type of terminal 11 is not limited in this application embodiment. Network-side equipment 12 may include access network equipment or core network equipment, wherein access network equipment may also be referred to as Radio Access Network (RAN) equipment, radio access network function, or radio access network unit. Access network equipment may include base stations, Wireless Local Area Network (WLAN) access points (APs), or Wireless Fidelity (WiFi) nodes, etc.The term "base station" can be referred to as Node B (NB), Evolved Node B (eNB), Next Generation Node B (gNB), New Radio Node B (NR Node B), Access Point, Relay Base Station (RBS), Serving Base Station (SBS), Base Transceiver Station (BTS), Radio Base Station, Radio Transceiver, Basic Service Set (BSS), Extended Service Set (ESS), Home Node B (HNB), Home Evolved Node B, Transmit / Receive Point (TRP), or any other suitable term in the relevant field, as long as the same technical effect is achieved. The term "base station" is not limited to any specific technical terminology. It should be noted that this application embodiment only uses a base station in an NR system as an example for description and does not limit the specific type of base station.

[0064] Core network equipment, also known as core network nodes, core network functions, or core network elements, includes, but is not limited to, at least one of the following: Mobility Management Entity (MME), Access and Mobility Management Function (AMF), Session Management Function (SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Server Discovery Function (EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (or L-NEF), and Binding Support. The core network functions include: BSF (Block Network Function), Application Function (AF), Location Management Function (LMF), Gateway Mobile Location Centre (GMLC), and Network Data Analytics Function (NWDAF). It should be noted that this application embodiment only uses core network equipment in the NR system as an example and does not limit the specific type of core network equipment. If the name of the core network equipment mentioned in this application embodiment changes in subsequent protocol versions (e.g., 6G), it will still be within the scope of protection of this application.

[0065] Optionally, the core network equipment can be implemented by one or more functional modules in a single device, or by multiple devices working together; this application does not specifically limit this. It is understood that the aforementioned functional modules can be network elements in hardware devices, software functional modules running on dedicated hardware, or virtualized functional modules instantiated on a platform (e.g., a cloud platform).

[0066] For ease of understanding, the following describes some aspects of the embodiments of this application:

[0067] Future mobile communication systems, such as Beyond 5G (B5G) or 6G systems, will possess sensing capabilities in addition to communication capabilities. Sensing capabilities refer to the ability of one or more devices to perceive information such as the location, distance, and speed of target objects through the transmission and reception of wireless signals, or to detect, track, identify, and image target objects, events, or environments. With the deployment of small base stations with high-frequency, high-bandwidth capabilities such as millimeter waves and terahertz waves in 6G networks, the resolution of sensing will be significantly improved compared to centimeter waves, enabling 6G networks to provide more refined sensing services.

[0068] Integrated Sensing and Communication (ISAC), or simply integrated sensing, refers to the integrated design of communication and sensing functions within the same system through spectrum and hardware sharing. While transmitting information, the system can sense location, distance, speed, and other information to detect, track, and identify target devices or events. The communication and sensing systems complement each other, improving overall performance and delivering a better service experience.

[0069] The integration of communication and radar is a typical application of communication-sensing integration (communication-sensing fusion). In the past, radar systems and communication systems were strictly distinguished due to different research objects and focuses, and in most scenarios, the two systems were studied independently. In fact, radar and communication systems are both typical methods of information transmission, acquisition, processing, and exchange, and they share many similarities in terms of working principles, system architecture, and frequency bands. The design of integrated communication and radar systems is highly feasible, mainly in the following aspects: First, both communication and sensing systems are based on electromagnetic wave theory, using the transmission and reception of electromagnetic waves to complete information acquisition and transmission; second, both communication and sensing systems have structures such as antennas, transmitters, receivers, and signal processors, resulting in significant overlap in hardware resources; with technological advancements, their operating frequency bands also increasingly overlap; furthermore, they share similarities in key technologies such as signal modulation and reception detection, and waveform design. The integration of communication and radar systems can bring many advantages, such as cost savings, size reduction, power consumption reduction, improved spectral efficiency, and reduced mutual interference, thereby improving the overall system performance.

[0070] Based on the different transmitting and receiving nodes of the sensing signal, there are six basic sensing methods, as shown in Figure 2. These six basic sensing methods are as follows:

[0071] (1) Base station self-transmitting and self-receiving sensing. In this sensing method, base station A transmits sensing signals and performs sensing measurements by receiving the echo of the sensing signals.

[0072] (2) Inter-base station air interface sensing. At this time, base station B receives the sensing signal sent by base station A and performs sensing measurements.

[0073] (3) Uplink air interface sensing. At this time, base station A receives the sensing signal sent by terminal A and performs sensing measurements.

[0074] (4) Downlink air interface sensing. At this time, terminal B receives the sensing signal sent by base station B and performs sensing measurements.

[0075] (5) Terminal self-transmitting and receiving sensing. At this time, terminal A sends a sensing signal and performs sensing measurement by receiving the echo of the sensing signal.

[0076] (6) Sidelink sensing between terminals. At this time, terminal B receives the sensing signal sent by terminal A and performs sensing measurements.

[0077] It should be noted that each sensing method in Figure 2 uses one sensing signal transmitting node and one sensing signal receiving node as examples. In actual systems, one or more different sensing methods can be selected according to different sensing use cases and sensing requirements, and each sensing method can have one or more transmitting and receiving nodes. The sensing targets in Figure 2 are people and vehicles as examples, and it is assumed that neither people nor vehicles carry or install signal transceiver devices. The sensing targets in actual scenarios will be much more diverse.

[0078] In mobile communication networks, base stations (including one or more Transmission Reception Points (TRPs) on the base station) and User Equipment (UEs) (including one or more sub-arrays / panels on the UEs) can serve as sensing nodes participating in integrated sensing / communication services. Typical UEs include mobile terminals, portable tablets, etc. By sending and receiving first sensing signals between nodes, sensing of a certain area or a certain entity target can be achieved. The first sensing signal includes at least one of reference signals, synchronization signals, data signals, and dedicated signals. The first sensing signal may be a signal that does not contain transmission information, such as LTE / NR synchronization and reference signals, including synchronization signals and physical broadcast channel (PBCH block, SSB) signals, channel state information-reference signals (CSI-RS), demodulation reference signals (DMRS), sounding reference signals (SRS), positioning reference signals (PRS), and phase tracking reference signals. It can be a signal (PTRS), etc.; it can also be a single-frequency continuous wave (CW), frequency-modulated continuous wave (FMCW), or ultra-wideband Gaussian pulse commonly used in radar; it can also be a newly designed dedicated signal with good correlation characteristics and low peak-to-average power ratio, or a newly designed integrated sensing signal that carries certain information and has good sensing performance. For example, the new signal is formed by splicing / combining / superimposing at least one dedicated sensing signal / reference signal and at least one communication signal in the time domain and / or frequency domain.

[0079] The collaborative perception processing method provided in this application will be described in detail below with reference to the accompanying drawings, through some embodiments and application scenarios.

[0080] Referring to FIG3, an embodiment of this application provides a collaborative sensing processing method, as shown in FIG3, the collaborative sensing processing method includes:

[0081] Step 301: The first sensing node receives a first signaling from the first device, the first signaling being used to indicate receiving a first sensing signal;

[0082] Step 302: The first sensing node receives the first sensing signal sent by N second sensing nodes and obtains N first measurement values. The N first measurement values ​​correspond one-to-one with the N second sensing nodes, and N is a positive integer.

[0083] Step 303: The first sensing node performs the first operation;

[0084] The first operation includes any one of the following: sending first information to the second device, the first information including the N first measurement values; sending the N first measurement values ​​and a target indicator corresponding to each first measurement value to the second device; or determining a target perception result based on the N first measurement values ​​and the target indicator corresponding to each first measurement value.

[0085] Wherein, the target index corresponding to the N first measurement values ​​is used to combine the N first measurement values ​​to determine the target perception result; the second device is the first device or the fusion perception node, the fusion perception node is the node used to calculate the target perception result, the first perception node is the receiving perception node, and the second perception node is the transmitting perception node; the number of transmitting perception nodes of the first perception signal is L1, the number of receiving perception nodes of the first perception signal is L2, and L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1.

[0086] In this embodiment, when L1 equals 1 and L2 is greater than 1, it can be understood as a one-to-many sensing scenario; when L1 is greater than 1 and L2 equals 1, it can be understood as a multiple-to-one sensing scenario; and when both L1 and L2 are greater than 1, it can be understood as a multiple-to-multiple sensing scenario. The multiple-to-multiple sensing scenario can further include group sensing, with each group corresponding to either one-to-many or multiple-to-multiple sensing. For example, it can include one or more one-to-many sensing scenarios and one or more multiple-to-one sensing scenarios. The various sensing scenarios can include self-transmitting and self-receiving sensing methods, A-to-B-to-sensing sensing methods, or only A-to-B-to-sensing sensing methods; no further limitations are made here.

[0087] Optionally, the target perception result described above is used to represent a perception result obtained based on the fusion processing of at least two measurement values. The at least two measurement values ​​may include at least two first measurement values, or at least one first measurement value and at least one second measurement value, the definition of which is given in the following embodiments.

[0088] Optionally, the aforementioned first device can be understood as a core network device or a device within the core network, such as an Access and Mobility Management Function (AMF), a Sensing Function (SF), a communication application server in the core network, and a sensing application server in the core network. The first device can trigger one or more receiving sensing nodes to receive a first sensing signal via a first signaling. The receiving sensing node that receives the first signaling can receive the first sensing signal transmitted by one or more transmitting sensing nodes (i.e., N second sensing nodes).

[0089] Optionally, in some embodiments, when the second device determines the target indicator corresponding to the first measurement value, the first device may send first information to the second device; when the first device determines the target indicator corresponding to the first measurement value, the first device may send the N first measurement values ​​and the target indicator corresponding to each first measurement value to the second device; when the first device calculates the perception result, the first device may determine the target perception result based on the N first measurement values ​​and the target indicator corresponding to each first measurement value. Here, the perceived measurement quantities corresponding to different first measurement values ​​may be the same or different. For example, the perceived measurement quantities corresponding to the N first measurement values ​​may all be the same, or the perceived measurement quantities corresponding to the N first measurement values ​​may all be different, or the perceived measurement quantities corresponding to the N first measurement values ​​may be partially the same and partially different.

[0090] Optionally, in some embodiments, the above-mentioned target perception result can be understood as a perception result obtained by performing a pre-set operation or calculation on multiple perception measurement values ​​(including at least one of the first measurement value and the second measurement value). The operation or calculation includes, but is not limited to, at least one of the following: arithmetic mean, weighted average, harmonic mean, geometric mean, data filtering based on pre-set decision conditions, linear fitting, nonlinear fitting (including polynomial fitting, exponential fitting, logarithmic fitting, power function fitting, etc.), interpolation, moving average, regression analysis, exponential smoothing, time series analysis, clustering (including K-means and its variants, hierarchical clustering, density-based spatial clustering of applications with noise (DBSCAN), ordering points to identify the clustering structure (OPTICS), spectral clustering, Gaussian mixture model, mean shift, balanced iterative reduction and clustering using hierarchies (BIRCH)), etc.

[0091] Optionally, preprocessing can be performed before the above calculations or operations, including noise reduction, filtering, outlier removal, coordinate system transformation, etc.

[0092] In this embodiment, a first sensing node receives a first signaling from a first device, the first signaling indicating the reception of a first sensing signal; the first sensing node receives the first sensing signal sent by N second sensing nodes, obtaining N first measurement values, the N first measurement values ​​corresponding one-to-one with the N second sensing nodes, where N is a positive integer; the first sensing node performs a first operation; wherein the first operation includes any one of the following: sending first information to the second device, the first information including the N first measurement values; sending the N first measurement values ​​and a target indicator corresponding to each first measurement value to the second device; or, according to the N first measurement values... A target perception result is determined by a measurement value and a target index corresponding to each first measurement value. The target index corresponding to the N first measurement values ​​is used to combine the N first measurement values ​​to determine the target perception result. The second device is either the first device or a fusion perception node, where the fusion perception node is a node used to calculate the target perception result. The first perception node is a receiving perception node, and the second perception node is a transmitting perception node. The number of transmitting perception nodes for the first perception signal is L1, and the number of receiving perception nodes for the first perception signal is L2. Both L1 and L2 are positive integers, and at least one of L1 and L2 is greater than 1. This allows for collaborative perception by multiple perception nodes, improving the accuracy of the perception result. Simultaneously, the increased perception range of multiple perception nodes ensures that the perceived target is within the perception range, improving the continuity and reliability of the perception.

[0093] It should be noted that when multiple nodes or multiple resources (e.g., multiple frequency bands, multiple time periods, multiple antenna ports) are sensing, the measurement values ​​of the sensing measurements obtained by different nodes, frequency bands, or time periods may need to be further fused into the final sensing result or the measurement value of a single sensing measurement. At this time, for each sensing measurement value, a metric is needed to characterize the reliability, credibility, importance, contribution or value to the improvement of the accuracy of the final sensing result or the measurement value of the sensing measurement. This metric is referred to as the target metric.

[0094] Optionally, in some embodiments, the target metric is determined based on at least one of the following:

[0095] The first target indicator is determined based on power-related indicators;

[0096] The second target indicator was determined based on statistical results of historical measurements;

[0097] A third target indicator is determined based on at least one of the sensing node's capability information and the sensing node's physical state.

[0098] The fourth target indicator is determined based on the non-ideal factors of the sensing nodes.

[0099] In this embodiment of the application, the target indicator can be any one or more of the first target indicator, the second target indicator, the third target indicator and the fourth target indicator, or it can be obtained based on any two of the first target indicator, the second target indicator, the third target indicator and the fourth target indicator, according to a predetermined rule.

[0100] Optionally, in some embodiments, the power category metrics include at least one of the following:

[0101] Target path received power related indicators;

[0102] Interference and noise power related indicators of the target path;

[0103] The correlation index between the perceived signal and the interference plus noise ratio (SINR) of the target path;

[0104] The signal-to-noise ratio (SNR) related metrics of the target path;

[0105] The signal-to-interference ratio (SIR) related indicators of the target path;

[0106] The target path's perceived reference signal received quality (RSRQ) related metrics.

[0107] For example, the first target index is equal to f1 (received power related index), where f1(x) is a pre-defined function;

[0108] For example, the first target index is equal to f2 (an index related to interference and noise power), where f2(x) is a pre-defined function;

[0109] For example, the first target indicator is equal to f3 (perception-related indicator), where f3(x) is a pre-defined function. The perception-related indicator can be understood as the perception SINR-related indicator, the perception SNR-related indicator, the perception SIR-related indicator, or the perception RSRQ-related indicator.

[0110] It should be noted that if the channel corresponding to the sensing node has a number and / or different types of target paths, at least one of the above-mentioned received power related indicators, interference and noise power related indicators, sensing SINR related indicators, sensing SNR related indicators, sensing SIR related indicators, and sensing RSRQ related indicators can be the result of weighting the corresponding power indicators of different target paths, and the weighting coefficients used are predetermined. For example, assuming that the channel corresponding to the sensing node has a first target path and a second target path, then: for example, the first target indicator is equal to f3 (sensing related indicator), which can be understood as the first target indicator being equal to ω1×f3 (sensing related indicator of the first target path) plus ω2×f3 (sensing related indicator of the second target path), where ω1 and ω2 are pre-set weighting coefficients.

[0111] It should be understood that the above-mentioned interference and noise power related indicators can be interpreted as interference and noise power related indicators excluding the target path.

[0112] Optionally, the aforementioned received power related index can be understood as a first power index, namely, the received power of the target path: the linear average (in W) of the received power of the path associated with the sensing target in the channel response measured for the first sensing signal over the resource unit carrying the first sensing signal. The resource unit includes at least one of time-domain resource units and frequency-domain resource units.

[0113] Optionally, the aforementioned interference and noise power related indicators can be understood as a second power indicator, which is the sum of the linear average power of the paths other than the target path in the channel response of the first sensing signal on the target resource, and the linear average power of interference and noise from other signals other than the first sensing signal on the target resource or other resources (e.g., resources configured by higher-layer signaling) (in W); wherein, the target resource can be a time-frequency domain resource unit carrying the first sensing signal.

[0114] Optionally, the aforementioned interference and noise power related indicators may be understood to include at least one of the following:

[0115] The second power index is the sum of the linear average power of the paths other than the target path in the channel response of the first sensing signal on the target resource, and the linear average power of interference and noise from signals other than the first sensing signal on the target resource or other resources (e.g., resources configured by higher-layer signaling) (in W). The target resource can be a time-frequency domain resource unit carrying the first sensing signal. The second power index = total received power - first power index. The total received power can be expressed as the linear average of the total received power on the target resource (including the received power of signals from the serving cell and non-serving cells, adjacent channel interference, and thermal noise, etc.) (in W). Alternatively, total received power = RSSI * K1, where K1 is a coefficient. The resource for measuring RSSI is the target resource or other resources (e.g., resources configured by higher-layer signaling). The Received Signal Strength Indication (RSSI) is defined as in 3GPP TS38.215.

[0116] The third power index is the linear average (in W) of the interference and noise power from signals other than the first signal (i.e., the sensed signal) on the target resource or other resources (e.g., resources configured by higher-layer signaling). The target resource can be a time-frequency domain resource unit carrying the first signal. The third power index = total received power - first signal received power. The first signal received power is the reference signal received power (RSRP) of the first signal (RSRP is defined as in TS38.215).

[0117] Fourth power index: the linear average power of all paths other than the target path in the channel response of the first signal on the target resource (in W); Fourth power index = RSRP of the first signal - First power index.

[0118] Perception-related metrics may include at least one of the following:

[0119] Fifth power index (first type of perception-related index) = First index / Second power index;

[0120] The sixth power index (the second type of perception-related index) = the first power index / the third power index;

[0121] The seventh power index (the third type of perception-related index) = the first power index / the fourth index;

[0122] The eighth power index (sensing RSRQ) = K2 * the first power index / total received power, where K2 is a coefficient.

[0123] Optionally, the aforementioned interference and noise power related indicators may be understood to include at least one of the following:

[0124] The second power index is the sum of the linear average power of the paths other than the target path in the channel response of the first sensing signal on the target resource, and the linear average power of interference and noise from signals other than the first sensing signal on the target resource or other resources (e.g., resources configured for higher-layer signaling) (in W). The target resource can be a time-frequency domain resource unit carrying the first sensing signal. The second power index = total received power - first power index. The total received power can be expressed as the linear average of the total received power on the target resource (including the received power of signals from the serving cell and non-serving cells, adjacent channel interference, and thermal noise, etc.) (in W). Alternatively, total received power = RSSI * K1, where K1 is a coefficient. The resource for measuring RSSI is the target resource or other resources (e.g., resources configured for higher-layer signaling). The RSSI definition is the same as in 3GPP TS38.215.

[0125] The third power index is the linear average value (in W) of the interference and noise power from signals other than the first signal (i.e., the sensing signal) on the target resource or other resources (e.g., resources configured by higher-layer signaling); wherein the target resource can be a time-frequency domain resource unit carrying the first signal; the third power index = total received power - first signal received power; wherein the first signal received power is the RSRP of the first signal (RSRP is defined as in TS38.215).

[0126] Fourth power index: the linear average power of all paths other than the target path in the channel response of the first signal on the target resource (in W); Fourth power index = RSRP of the first signal - First power index.

[0127] Perception-related metrics may include at least one of the following:

[0128] Fifth power index (first type of perception-related index) = First index / Second power index;

[0129] The sixth power index (the second type of perception-related index) = the first power index / the third power index;

[0130] The seventh power index (the third type of perception-related index) = the first power index / the fourth index;

[0131] The eighth power index (sensing RSRQ) = K2 * the first power index / total received power, where K2 is a coefficient.

[0132] Optionally, the target path includes at least one of the following:

[0133] The first target path is a path that passes through the second sensing node, the sensing target, and the first sensing node in sequence.

[0134] The second target path is a path that passes through the second sensing node, the environmental reflector, the sensing target, and the first sensing node in sequence.

[0135] The third target path is a path that passes through the second sensing node, the sensing target, the environmental reflector, and the first sensing node in sequence.

[0136] The fourth target path is a path that passes through the second sensing node, the environmental reflector, the sensing target, the environmental reflector, and the first sensing node in sequence.

[0137] The fifth target path includes the direct path from the second sensing node to the first sensing node, and the path that passes through the second sensing node, the environmental reflector, and the first sensing node in sequence.

[0138] The first target path can be understood as the path from the second sensing node to the sensing target and then back to the first sensing node, without passing through the environmental reflector; the second target path can be understood as the path from the second sensing node to the environmental reflector, then back to the sensing target, and then back to the first sensing node; the third target path can be understood as the path from the second sensing node to the sensing target, then back to the environmental reflector, and then back to the first sensing node; the fourth target path can be understood as the path from the second sensing node to the environmental reflector, then back to the sensing target, then back to the environmental reflector, and then back to the first sensing node; the fifth target path can be understood as including the direct path from the second sensing node to the first sensing node, and the path from the second sensing node to the environmental reflector and then back to the first sensing node.

[0139] It should be noted that the term "path" in this application can be understood or replaced with "multipath," "path," or "ray." Specifically, the "path" refers to a signal propagation path, which can also be called a sub-path.

[0140] Optionally, as shown in Figure 4, the first target path can be understood as path OAP; the second target path can be understood as path OBAP; the third target path can be understood as path OACP; the fourth target path can be understood as OBACP; the direct path from the second sensing node to the first sensing node in the fifth target path can be understood as path OP; and the path from the second sensing node to the environmental reflector and then to the first sensing node in the fifth target path can be understood as OBP and ODEP.

[0141] Among the aforementioned paths, those associated with the sensing target include the first target path, the second target path, the third target path, and the fourth target path, which can provide the sensing receiving node (i.e., the first sensing node) with sensing target information from different observation perspectives. When the first sensing node has prior information about the environmental reflectors (e.g., reflection coefficient, position, distance, relative angle, etc.), or can simultaneously determine the aforementioned information of the environmental reflectors during measurement, it can obtain superior sensing performance compared to using only the first target path by additionally utilizing any one of the second to fourth target paths, in addition to the first target path. This includes improved sensing SNR / SINR, improved detection performance, improved sensing accuracy, and acquisition of more comprehensive sensing information.

[0142] Paths not directly related to the sensing target, i.e., the fifth target path, are generally considered as self-interference and background clutter. However, if some prior sensing information is known, such as the first and second sensing nodes, or the position coordinates and state (including whether it is stationary or in motion, i.e., velocity magnitude and direction) of environmental reflectors, the fifth target path can be used to eliminate non-ideal factors between the first and second sensing nodes, such as carrier frequency offset, timing offset, sampling frequency offset, random phase, etc. Furthermore, through sensing measurements, the first sensing node determines the state of the environmental reflector based on this type of path. This measurement information can be further used to subsequently determine the sensing target information, or to determine the second to fourth target path information. The environmental reflector can be a whole composed of one or more physical objects in the environment.

[0143] Optionally, in some embodiments, the signal receiving device performs channel estimation based on the transmitted first sensing signal X(k) and the corresponding received signal Y(k) to obtain channel response information H(k) = Y(k) / X(k), where k = 0, 1, 2, ..., K-1 represents the resource unit index. After the terminal obtains the channel response H(k), it transforms it to a first domain and determines the target path and line-of-sight (LOS) path in the first domain. The target path or LOS path can also refer to a specific sampling point in the first domain. The LOS path (where the LOS condition is met between signal transceivers) can generally be considered the first-reach path, and the target path refers to the path associated with the portion of the signal propagation that is reflected by the sensing target. The process of transforming the channel response H(k) to the first domain after obtaining it also includes specific preprocessing of the channel data in the first domain (e.g., clutter cancellation, smoothing filtering, etc.) before determining the target path in the first domain.

[0144] Optionally, the first domain includes one of the following:

[0145] Delay domain;

[0146] Doppler domain;

[0147] Azimuth domain;

[0148] Pitch angle domain (zenith angle domain);

[0149] A domain that combines at least two of the following: time-delay domain, Doppler domain, azimuth domain, and elevation domain. For example, time-delay-Doppler domain, time-delay-Doppler-angle domain, etc.

[0150] For example, H(f) is the channel response, where f = 0, 1, 2, ..., N-1 represents the frequency domain sampling points (e.g., subcarrier index). Then, by performing an inverse Fourier transform on H(f), it can be transformed to the time delay domain (the first domain). As another example, H(f,t) is the channel response, where f = 0, 1, 2, ..., N-1 represents the frequency domain sampling points (e.g., subcarrier index), and t = 0, 1, 2, ..., M-1 represents the time domain sampling points (e.g., orthogonal frequency division multiplexing). If H(f,t) is a multiplex (OFDM) symbol index, then by performing an inverse Fourier transform along the frequency domain and a Fourier transform along the time domain, it can be transformed to the time-delay-Doppler domain (first domain). For example, if H(f,t,s) is the channel response, where f = 0, 1, 2, ..., N-1 represents frequency domain sampling points (e.g., subcarrier index), t = 0, 1, 2, ..., M-1 represents time domain sampling points (e.g., OFDM symbol index), and s = 0, 1, 2, ..., P-1 represents spatial domain sampling points (antenna index or port index), then by performing an inverse Fourier transform along the frequency domain, a Fourier transform along the time domain, and a Fourier transform along the antenna domain, it can be transformed to the time-delay-Doppler-angle domain (first domain).

[0151] The target path refers to the path associated with the portion of the signal propagation that is reflected by the perceived target. Specifically, it can be determined based on paths satisfying a first condition from the channel information of the first domain. The first condition includes at least one of the following:

[0152] 1. The amplitude or power of the path exceeds a preset threshold or is within a preset range; for example, the preset threshold is x times the noise threshold, or the preset threshold is the constant false alarm rate (CFAR) detection threshold; optionally, in some embodiments, the paths that meet the condition of exceeding the preset threshold or being within a preset range are further screened, for example, by performing clustering processing, selecting at least one path as the target path from multiple paths reflected by the same target, or merging multiple paths belonging to the same target, for example, by weighted merging to obtain the target path;

[0153] 2. The amplitude or power of the path is greater than the amplitude or power of other paths within a specific interval of the first domain. That is, the peak or relative peak is searched in the first domain as the target path, or it is described as the X (X≥1) paths with the largest amplitude or power within a specific interval of the first domain.

[0154] 3. The Doppler amplitude of the diameter exceeds the preset threshold or is within the preset range;

[0155] 4. The path delay exceeds a preset threshold or falls within a preset range;

[0156] 5. The angle of the radius exceeds the preset threshold or falls within the preset range;

[0157] 6. The difference in amplitude or power between the first-reaching path (e.g., the LOS path) or the reference path (e.g., the signal path reflected by a known target (e.g., a reconfigurable intelligence surface (RIS) / backscatter / other known passive targets)) exceeds a preset threshold or falls within a preset range.

[0158] 7. The Doppler difference between the path and the first path (e.g., the LOS path) or the reference path (e.g., the signal path reflected by a known target (e.g., RIS / Backscatter device / other known passive targets, etc.)) exceeds a preset threshold or is within a preset range;

[0159] 8. The time delay difference between the path and the first path (e.g., the LOS path) or the reference path (e.g., the signal path reflected by a known target (e.g., RIS / Backscatter device / other known passive targets, etc.)) exceeds a preset threshold or is within a preset range;

[0160] 9. The angle difference between the path and the first path (e.g., the LOS path) or the reference path (e.g., the signal path reflected by a known target (e.g., RIS / Backscatter device / other known passive targets, etc.)) exceeds a preset threshold or is within a preset range;

[0161] 10. The amplitude, power, or phase of the path satisfies a specific modulation rule, which is the modulation rule of the tag / backscatter device or RIS, that is, the path associated with the sensed target can be a path that has been modulated and reflected by the tag / backscatter device or RIS.

[0162] It should be noted that in some embodiments, the target path may be determined based on the statistical results over a period of time. For example, the target path may be determined by the proportion of the above indicators (e.g., Doppler of the path, path delay, etc.) exceeding a preset threshold or falling within a preset range within a preset time window, or by the number of times the above indicators (e.g., Doppler of the path, path delay, etc.) exceed a preset threshold or fall within a preset range within a preset time window, reaching a preset number of times.

[0163] Optionally, the preset threshold or set range is sent to the receiving device by other devices, and determined by the other devices based on prior sensing information or sensing requirements. Alternatively, the preset threshold or set range is determined by the receiving device based on prior sensing information or sensing requirements.

[0164] Prior information or perceived needs include the following:

[0165] Sensing services or sensing service types, such as detecting the presence of a target, localization, trajectory tracking, speed detection, distance detection, angle detection, acceleration detection, material analysis, composition analysis, shape detection, category classification, and radar cross section (RCS). The sensing services include: Section (RCS) detection, polarization scattering characteristic detection, fall detection, intrusion detection, quantity statistics, indoor positioning, gesture recognition, lip reading, gait recognition, facial expression recognition, respiration monitoring, heart rate monitoring, pulse monitoring, humidity / brightness / temperature / atmospheric pressure monitoring, air quality monitoring, weather condition monitoring, environmental reconstruction, terrain and landform, building / vegetation distribution detection, pedestrian or vehicle flow detection, crowd density, vehicle density detection, etc. The sensing service types can be classified according to certain characteristics, such as by function (detection-type sensing services, including intrusion detection and fall detection), parameter estimation-type sensing services (distance, angle, and speed calculation), and recognition-type sensing services (action recognition, identity recognition), etc. They can also be classified by sensing range (near-range sensing, medium-range sensing, and long-range sensing), by sensing fineness (coarse-grained sensing, fine-grained sensing, etc.), by power consumption / energy consumption, and by resource usage, etc. If the sensing service is respiratory monitoring, the corresponding normal breathing rate can be determined based on the person's gender and age (e.g., male: 13-21 breaths / minute, female: 15-20 breaths / minute; adult: 12-20 breaths / minute, child: approximately 30-40 breaths / minute), which can be used as prior information for sensing. For example, if the corresponding service in the sensing requirement is target detection in a highway scene, the target speed should be in the range of 60km / h to 150km / h, which can be used as prior information for sensing.

[0166] Perception target area: refers to the location area of ​​the perceived object, or the location area that needs to be imaged or reconstructed; for example, the preset range of the time delay of the perception target association path is determined based on the approximate location / distance of the perceived object.

[0167] Sensing object type: Sensing objects are classified according to their possible motion characteristics. Each sensing object type contains information such as the typical motion velocity range, motion acceleration range, and typical RCS range of the sensing object.

[0168] The number of targets perceived; for example, the camera's perception results, as a kind of prior information, can be used to determine the number of targets perceived.

[0169] Quality of Service (QoS): A performance metric for sensing target areas or objects.

[0170] Among them, perceived QoS includes at least one of the following:

[0171] Perception resolution (which can be further divided into: ranging resolution, angle measurement resolution, velocity measurement resolution, imaging resolution, etc.);

[0172] Sensing accuracy (which can be further divided into: ranging accuracy, angle measurement accuracy, velocity measurement accuracy, positioning accuracy, etc.);

[0173] Sensing range (which can be further divided into: ranging range, velocity measuring range, angle measuring range, imaging range, etc.);

[0174] Sensing latency (the time interval from the sending of a sensing signal to the acquisition of a sensing result, or the time interval from the initiation of a sensing demand to the acquisition of a sensing result);

[0175] Perception update rate (the time interval between two consecutive perception operations and obtaining perception results);

[0176] Detection probability (the probability of correctly detecting an object given its presence);

[0177] False alarm probability (the probability of falsely detecting a target when it does not exist);

[0178] The maximum number of targets that can be perceived.

[0179] Taking the selection of target paths in the time delay domain as an example, as shown in Figure 5, based on 1 in the first condition (i.e. the first item in the first condition), the paths that satisfy the amplitude exceeding the preset threshold are judged, and they are clustered and further filtered to obtain target paths 0, 1, and 2.

[0180] Alternatively, multiple paths belonging to the same objective after clustering can be merged, for example, by weighted merging, to obtain the target path;

[0181] Alternatively, based on condition 2 (i.e., the second item in the first condition), local peak detection can be performed to obtain target paths 0, 1, 2, and 3. That is, the path with the largest amplitude or power compared to its neighboring X (X≥1) paths can be selected as the target path. Optionally, before performing local peak detection, the channel data in the time delay domain can be preprocessed such as smoothing filtering or clutter cancellation.

[0182] Alternatively, taking the time-delay-Doppler domain target path selection as an example, as shown in Figure 6, the target path 0 and 1 are obtained by local peak detection based on condition 2 in the first condition.

[0183] Optionally, in some embodiments, the statistical results of the historical measurements include the statistical values ​​of the corresponding measurements within a preset time range or a preset number of sensing measurements.

[0184] For example, in some embodiments, it is assumed that the sensing node acquires N1 measurement values ​​x. n If n = 1, 2, ..., N1, and M1 measurements satisfy the second condition, then the second target index can be one of the following:

[0185] The second target index = λ × M1 / N1, where 0 ≤ M1 ≤ N1, and λ is a pre-set non-zero coefficient;

[0186] Where ε is a pre-defined non-zero coefficient, and K (0 < K1 ≤ N1) is a pre-defined integer;

[0187] Where λ is a pre-defined non-zero coefficient, and K (0 < K ≤ N1) is a pre-defined integer.

[0188] The second condition can be one of the following:

[0189] The measured value of the sensed quantity is less than or equal to the first threshold value;

[0190] The measured value of the sensed quantity is greater than or equal to the second threshold value;

[0191] The measured value of the sensed quantity is greater than or equal to the second threshold value and less than or equal to the first threshold value (the second threshold value is less than or equal to the first threshold value);

[0192] N1 = M1, and at least one of the standard deviation, variance, mean deviation, range, interquartile range, and coefficient of variation of the measured value of the sensed quantity is less than or equal to the third threshold value;

[0193] N1 = M1, and at least one of the standard deviation, variance, mean deviation, range, interquartile range, and coefficient of variation of the measured value of the sensed quantity is greater than or equal to the fourth threshold value;

[0194] N1 = M1 and at least one of the following: standard deviation, variance, mean deviation, range, interquartile range, and coefficient of variation of the perceived measurement value is greater than or equal to the fourth threshold and less than or equal to the third threshold (the fourth threshold is less than or equal to the third threshold).

[0195] The M1 measurements are acquired consecutively, and the difference x between two adjacent measurements is... m -x m-1 or |x m -x m-1 All values ​​are less than or equal to the first threshold value, where 2 ≤ m ≤ N1;

[0196] The M1 measurements are acquired consecutively, and the difference x between two adjacent first sensing measurement values ​​is... m -x m-1 or |x m -x m-1 | All are greater than or equal to the second threshold value, where 2≤m≤N1;

[0197] The M1 measurements are acquired consecutively, and the difference x between two adjacent measurements is... m -x m-1 or |x m -x m-1 | All are greater than or equal to the second threshold and less than or equal to the first threshold (the second threshold is less than or equal to the first threshold), where 2≤m≤N1.

[0198] For example, in some embodiments, suppose the sensing node acquires N2 sets of sensing measurements, each set of measurements including L (L≥2) measurements, and suppose it uses... n = 1, 2, ..., N2 represents the nth group of measurements, and n = 1, 2, ..., N2 are interconnected. Among them, there are M2 sets of the measured values, i.e. For all l (l = 1, 2, ..., L) that satisfy one of the second conditions, the second objective index can be one of the following cases:

[0199] The second target index = λ × M2 / N2, where 0 ≤ M2 ≤ N2, and λ is a pre-set non-zero coefficient;

[0200] Where ε is a pre-defined non-zero coefficient, and K (0 < K ≤ N2) is a pre-defined integer;

[0201] Where λ is a pre-defined non-zero coefficient, and K (0 < K ≤ N2) is a pre-defined integer.

[0202] For example, in some embodiments, suppose the sensing node acquires N2 sets of sensing measurement values ​​1, each set of measurement values ​​1 includes L (L≥2) measurement values ​​1, and suppose using n = 1, 2, ..., N2 represents the nth group of measurement value 1, and n = 1, 2, ..., N² are interconnected. The measurement value 2 is defined as... in n = 1, 2, ..., N2, l = 1, 2, ..., L are the weighting coefficients of the l-th measurement 1 in the n-th group, and it is assumed that the vector formed by the measurement 1 in the n-th group is... The vector y = [y1, y2, ..., y2] formed by the measured value 2 L ] T The first distance is D(x) n ,y). Among them, there is the measured value 1 in group M2, that is If one of the third conditions is met, the second target indicator can be one of the following:

[0203] Second target index = λ × M2 / N2, where 0 ≤ M2 ≤ N2, λ is a pre-set non-zero coefficient, and M2 is the number of groups of measurement values ​​1 that satisfy the second condition;

[0204] Where ε is a pre-defined non-zero coefficient, and K (0 < K ≤ N2) is a pre-defined integer;

[0205] Where λ is a pre-defined non-zero coefficient, and K (0 < K ≤ N2) is a pre-defined integer.

[0206] The third condition includes at least one of the following:

[0207] First distance d n Less than or equal to the first threshold value;

[0208] First distance d n Greater than or equal to the second threshold value;

[0209] First distance d n Greater than or equal to the second threshold value and less than or equal to the first threshold value (the second threshold value is less than or equal to the first threshold value);

[0210] The M groups of first sensing measurement values ​​are acquired continuously, and the first distance between the vectors formed by the measurement values ​​of two adjacent groups of first sensing measurement values ​​is less than or equal to the first threshold value.

[0211] The first sensing measurement values ​​of the M groups are acquired continuously, and the first distance between the vectors formed by the measurement values ​​of two adjacent groups of the first sensing measurement values ​​is greater than or equal to the second threshold value.

[0212] The M groups of first sensing measurement values ​​are continuously acquired, and the first distance between the vectors formed by the measurement values ​​of two adjacent groups of first sensing measurement values ​​is equal to or greater than the second threshold value, and less than or equal to the first threshold value (the second threshold value is less than or equal to the first threshold value).

[0213] For example, in some embodiments, suppose the sensing node acquires N2 sets of sensing measurements, each set of measurements including L (L≥2) measurements, and suppose it uses... n = 1, 2, ..., N2 represents the nth group of measurements, and The numbers n = 1, 2, ..., N² are interconnected, and the vector they form is... Assumption Where ω n n = 1, 2, ..., N² is x n Given the weighting coefficients for n = 1, 2, ..., N², then:

[0214] Where η is a pre-defined non-zero coefficient, D(x) n (x, y) is a vector formed by the measured values ​​of the first group of sensory measurements. n The first distance from y;

[0215] Where κ is a pre-defined non-zero coefficient;

[0216] Optionally, each set of measurements includes L first sensing measurements, wherein the types of the L first sensing measurements can be different from each other, or at least two of the first sensing measurements can be of the same type.

[0217] Optionally, the measured value can be obtained by performing a first operation on a third and a fourth measured value. The third measured value is directly acquired by the sensing node, and the fourth measured value is acquired by a target sensing node, which can be another sensing node with better sensing performance. The first operation includes at least one of addition, subtraction, multiplication, and division, or a combination of at least two of them. The purpose of the first operation is to make the measured value unbiased.

[0218] Optionally, the second target index can be used to evaluate any at least one of the L first sensing measurements, or it can be used to evaluate the whole of the L first sensing measurements; for the L first sensing measurements, the first threshold value, the second threshold value, the third threshold value and the fourth threshold value in their corresponding conditions can be different.

[0219] Optionally, the weighting coefficients of the measured values n = 1, 2, ..., N, l = 1, 2, ..., L can be pre-defined coefficients. Let the weighting coefficient vector of the nth group of measurements be... n = 1, 2, ..., N², vector ω n All elements can be equal, or at least some elements can be unequal.

[0220] Optionally, the first distance, i.e., the distance between two measurement vectors, can be any of the following: Euclidean distance, Manhattan distance, Chebyshev distance, Minkowski distance, Standardized Euclidean distance, Mahalanobis distance, or Lance Williams distance. For example, if the first distance is Euclidean distance, then D(x n ,y)=|x n -y|, the specific calculation methods for other types of distances will not be elaborated here;

[0221] Optionally, in some embodiments, the capability information of the sensing node includes at least one of the following: the time-frequency resource pattern used by the sensing node for sensing, the time-domain sensing resource interval, the time-domain sensing resource span, the frequency-domain sensing resource interval, the frequency-domain sensing resource span, the antenna array aperture, the number of sensing resources, the number of sensing antenna ports, the number of sensing physical antennas, the sensor information of the sensing node, and the computing capability of the sensing node.

[0222] Optionally, in some embodiments, the physical state of the sensing node includes at least one of the following: the position, orientation information, motion information, and prior information of the sensing target.

[0223] For example, in some embodiments, it is assumed that the bandwidth of the sensing signal is B, the frequency domain sampling interval is Δf, and the pulse / symbol period of the sensing signal is T. r The number of pulses / symbols is M s The antenna array aperture is D a The antenna spacing is d aThe number of antennas is M a The wavelength of the sensed signal is λ s Then the third target indicator has the following situations:

[0224] Where σ1, σ2, and σ3 are pre-set coefficients, θ is the angle between the line connecting the sensing transmitter to the sensing target and the line connecting the sensing receiver to the sensing target, also known as the bistatic angle; SNR is the sensing signal-to-noise ratio; θ target To sense the approximate azimuth of the target. Monostatic sensing operates on a self-transmitting and self-receiving basis, while bistatic sensing operates on a transmitting-by-receiving-by-B basis.

[0225] Optionally, in some embodiments, the sensing sensors of the sensing node may include cameras, gyroscopes, accelerometers, Global Navigation Satellite System (GNSS) positioning modules, ranging radar modules, speed measuring radar modules, temperature sensors, humidity sensors, and altimeters, etc. The wireless sensing node may be equipped with at least one of the above-mentioned sensors simultaneously to assist in wireless sensing. A method for determining the third target indicator may involve pre-setting different weights or scores for the above-mentioned different types of sensors, and determining the third target indicator based on the types of sensors used in different sensing nodes or different sensing frequency bands. Examples of weights corresponding to different sensors are shown in Table 1.

[0226] Table 1:

[0227] but Where ρ is a pre-defined non-zero coefficient, and I is the set of indices corresponding to the sensors possessed by the sensing node.

[0228] Optionally, the perception computing power can be characterized by floating-point operations per second (FLOPS). Assuming S is the FLOPS of a perception node, then:

[0229] Where ε is a pre-set non-zero coefficient, and K (K>0) is a pre-set FLOPS threshold value;

[0230] Alternatively, more intervals can be predefined for FLOPS, each corresponding to multiple threshold values. The value of the third target indicator can be determined based on the interval in which the sensing node's FLOPS falls. Table 2 shows examples of weights corresponding to different sensing computing capabilities.

[0231] Table 2:

[0232] Where K1, K2, ..., Kn The preset threshold values ​​are ε1, ε2, ..., ε n The corresponding third target indicator is assigned a value.

[0233] Optionally, in some embodiments, the non-ideal factors of the sensing node include at least one of the following: clock crystal information, phase-locked loop, frequency offset measurement results between the sensing node and the reference clock, sampling time offset adjustment information, random phase information, and power adjustment information.

[0234] In this embodiment, the aforementioned clock crystal information may include a reference frequency, frequency accuracy (also known as frequency tolerance, which measures the closeness between the actual frequency of the crystal and the frequency required for the application. Commonly expressed as a percentage offset or parts per million (ppm) compared to a specific frequency), clock jitter (the time difference between the measured period and the ideal period. Due to its random distribution, it can be described using peak-to-peak value or root mean square (RMS)), phase noise (refers to short-term random drift of the output frequency. It is sometimes called jitter, which produces a certain type of phase or frequency modulation. This indicator is measured using a spectrum analyzer within the frequency range and is generally expressed in dBc / Hz), and frequency stability (this indicator measures the degree / range of deviation between the actual frequency and the nominal / reference frequency within a specific temperature range, given in ppm), etc.

[0235] Optionally, the phase lock loop (PLL) information includes frequency stability (referring to the frequency output by the PLL, that is, the amount of frequency change within a certain time period), output power, output noise, output jitter, output accuracy, response time, and resistance to temperature changes.

[0236] Optionally, the reference clock can be the clock on multiple sensing nodes or the sensing result calculation node.

[0237] Optionally, the sampling time offset adjustment information includes the time offset adjustment value, time offset adjustment step size, time offset adjustment period, maximum time offset adjustment range, and time offset adjustment error.

[0238] Optionally, the random phase information includes the initial random phase value, the random phase change value, or the range of change.

[0239] Optionally, the power adjustment information includes the power adjustment value, power adjustment step size, maximum power adjustment range, power adjustment error, etc.

[0240] Optionally, different weights or scores are assigned to at least one of the non-ideal factors of the aforementioned sensing nodes, and the fourth indicator is determined based on the non-ideal factor corresponding to the weight or score. Examples of weights corresponding to different hardware non-ideal factors are shown in Table 3.

[0241] Table 3:

[0242] but Where ρ is a pre-defined non-zero coefficient, and I is the index set corresponding to the types of non-ideal factors in the sensing node hardware.

[0243] It should be noted that the target indicator can be any one of the first, second, third, and fourth target indicators, or it can be obtained based on any two of the first, second, third, and fourth target indicators according to a predetermined rule. For example, target indicator = f4(first target indicator, second target indicator, third target indicator, fourth target indicator), where f4(x) is a pre-defined function; or, for another example, target indicator = k1 × first target indicator + k2 × second target indicator + k3 × third target indicator + k4 × fourth target indicator, where k1, k2, k3, and k4 are pre-defined coefficients.

[0244] Optionally, in some embodiments, the first information further includes at least one of the following:

[0245] First configuration information, wherein the first configuration information is configuration information used to determine the target indicator;

[0246] At least a portion of the second information, wherein the second information is information related to the target indicator from the information of the sensing node.

[0247] In this embodiment, the second device can obtain first configuration information and second information from the first device. Alternatively, it can obtain the first configuration information and second information from the first sensing node, or it can obtain the first configuration information and second information from both the first device and the first sensing node (e.g., obtaining the first configuration information from the first device and the second information from the first sensing node). This clarifies the methods for obtaining the first configuration information and second information, thus facilitating implementation. Simultaneously, since the target indicators are calculated on the second device, the hardware requirements of the first sensing node can be reduced, expanding the applicability of the sensing scenario.

[0248] Optionally, when the second device is the first device, the first device may also be referred to as a fusion sensing node.

[0249] Optionally, the second device may determine the target index corresponding to the measured value based on at least one of the first configuration information and the second information.

[0250] Optionally, in some embodiments, the first configuration information includes at least one of the following:

[0251] The type information of the target indicator;

[0252] Parameter configuration information used to calculate the target indicator.

[0253] Optionally, the above parameter configuration information may include a function type indicator for calculating the type information of the target indicator, coefficient values ​​related to the calculation of the target indicator, threshold values, the mapping relationship between the target indicator value and the second information, and the weighting coefficient value of the target indicator.

[0254] Optionally, the parameter configuration information may include time-frequency resource configuration information or time-frequency pattern configuration information of the first sensing signal, sequence configuration information of the first sensing signal, and antenna port configuration information for transmitting the first sensing signal.

[0255] Optionally, in some embodiments, the method further includes:

[0256] The first sensing node determines the target index corresponding to each of the first measurement values ​​based on at least one of the second information and the first configuration information.

[0257] In this embodiment of the application, since the target index is calculated by the first sensing node, there is no need for the first sensing node to send the first configuration information and the second information, thereby reducing signaling overhead.

[0258] Optionally, in some embodiments, the first device may send a second signaling message to the second sensing node, the second signaling message being used to instruct the transmission of a sensing signal. The second signaling message may include the aforementioned parameter configuration information. Further, in some embodiments, the first signaling message and the second signaling message may be combined into a single signaling message.

[0259] Optionally, in some embodiments, determining the target perception result based on the N first measurements and the target index corresponding to each first measurement includes:

[0260] Obtain M second measurement values ​​and the target indicator corresponding to each second measurement value;

[0261] The target perception result is determined based on N first measurement values, the target indicator corresponding to each first measurement value, M second measurement values, and the target indicator corresponding to each second measurement value.

[0262] Wherein, the second measurement value is the measurement value obtained by receiving the first sensing signal sent by the second sensing node from the receiving sensing node other than the first sensing node in the first sensing signal receiving sensing node.

[0263] In this application, the number of receiving sensing nodes for the first sensing signal is at least two. When the first sensing node acts as a fusion sensing node, it can acquire M second measurement values ​​and a target indicator corresponding to each second measurement value. For example, it can receive M second measurement values ​​and a target indicator corresponding to each second measurement value from other receiving sensing nodes, or it can receive M second measurement values ​​from other receiving sensing nodes and determine the target indicator corresponding to each second measurement value. For example, acquiring M second measurement values ​​and a target indicator corresponding to each second measurement value includes any of the following:

[0264] Receive third information, the third information including the second measurement value, and determine the target indicator corresponding to the second measurement value based on at least one of the second information and the first configuration information;

[0265] Receive the second measurement value and the target index corresponding to the second measurement value.

[0266] Optionally, in some embodiments, the third information further includes at least one of the following:

[0267] First configuration information, wherein the first configuration information is configuration information used to determine the target indicator;

[0268] At least a portion of the second information, wherein the second information is information related to the target indicator from the information of the sensing node.

[0269] It should be noted that in some embodiments, when the fusion sensing node is not the first device, the first device may send the first configuration information to the first sensing node, the fusion sensing node may send the first configuration information to the first sensing node, or the first device may send part of the first configuration information to the first sensing node, and the fusion sensing node may send another part of the first configuration information to the first sensing node.

[0270] Optionally, in some embodiments, the first signaling includes at least one of the following:

[0271] The second information is information related to the target indicator from the information of the sensing node.

[0272] First configuration information, wherein the first configuration information is configuration information used to determine the target indicator;

[0273] Parameter configuration information, which is used to determine the first sensing signal;

[0274] The first indication information is used to indicate the sensing measurement quantity that the receiving sensing node of the first sensing signal needs to acquire and the tag information corresponding to the sensing measurement quantity.

[0275] Report configuration information;

[0276] The second indication information is used to instruct the recipient of the measurement value.

[0277] Optionally, in some embodiments, the second information includes at least one of the following:

[0278] Measurement values ​​acquired by the target sensing node;

[0279] A fourth piece of information related to the measurement values ​​acquired by the target sensing node, the fourth piece of information including at least one of coordinate system information, reference point information, and origin information;

[0280] Sensing node capability information;

[0281] Sensing node physical state information;

[0282] Non-ideal factors at sensing nodes;

[0283] The target sensing node is any sensing node other than the receiving sensing node of the first sensing signal.

[0284] Optionally, in some embodiments, the target sensing node can be a sensor, that is, other sensing nodes are sensors other than the receiving sensing node of the first sensing signal.

[0285] Optionally, the sensing node capability information may include the time-frequency resource pattern used by the sensing node for sensing, the time-domain and / or frequency-domain sensing resource intervals and spans (sensing signal duration, sensing signal bandwidth), antenna array aperture, number of sensing resources (number of time-frequency resources), number of sensing antenna ports, number of sensing physical antennas, sensing node sensor information, and sensing node computing capabilities.

[0286] Optionally, the physical state information of the sensing node includes: the position, orientation, and motion information of the sensing node, and prior information of the sensing target (historical state information, approximate relative position information with the sensing node), etc.

[0287] Optionally, the above-mentioned reporting configuration information may include reporting execution time information (e.g., periodic reporting, semi-persistent reporting, aperiodic reporting / triggered reporting), frequency resources used for reporting, channel indication information used for reporting, etc.

[0288] Optionally, the recipient of the above-mentioned measurement values ​​can be understood as the recipient of the target indicators.

[0289] It should be noted that, in this embodiment, the receiving sensing node of the first sensing signal can obtain the measured value of the sensing quantity based on parameter configuration information and first indication information. Furthermore, it can also obtain the target index corresponding to the measured value based on the parameter configuration information and the second information.

[0290] Optionally, the number of sensing measurements acquired by the receiving sensing node can be greater than one. Each sensing measurement corresponds to a target indicator. The types of sensing measurements can be different, and the corresponding target indicators can be the same or different. For example, the sensing measurement values ​​sent by one first sensing node can be either time delay measurements or angle measurements. Correspondingly, the first sensing node also sends the target indicator and its value corresponding to the time delay measurement and the target indicator and its value corresponding to the angle measurement.

[0291] The types and quantities of sensing measurements sent by different receiving and sensing nodes may differ, and the types of corresponding target indicators may be the same or different.

[0292] Optionally, in some embodiments, after determining the target perception result, the target perception result can be sent to the perception demand party. For example, if the target perception result is determined by the perception fusion node and the perception fusion node is not the first device, the perception fusion node sends the target perception result to the first device, and the first device sends the target perception result to the perception demand party (such as an external application server).

[0293] Optionally, the aforementioned sensing measurement may include at least one of the following:

[0294] The first level of measurement (received signal / raw channel information) includes: the complex result of the received signal / channel response, amplitude / phase, I-channel / Q-channel and its operation results (operations include addition, subtraction, multiplication, division, matrix addition, subtraction, multiplication, matrix transpose, trigonometric operations, square root operations, and power operations, as well as threshold detection results and maximum / minimum value extraction results of the above operation results; operations also include Fast Fourier Transform (FFT) / Inverse Fast Fourier Transform (IFFT), Discrete Fourier Transform (DFT) / Inverse Discrete Fourier Transform (IDFT), Two-Dimensional Fast Fourier Transform (2D-FFT), Three-Dimensional Fast Fourier Transform (3D-FFT), matched filtering, autocorrelation operation, wavelet transform and digital filtering, as well as threshold detection results and maximum / minimum value extraction results of the above operation results).

[0295] The second level of measurement (basic measurement) includes: time delay, Doppler, angle, intensity, and their multidimensional combination representations;

[0296] The third level of measurement (basic attributes / states) includes: distance, velocity, orientation, spatial position, and acceleration;

[0297] The fourth level of measurement (advanced attributes / status) includes: target presence, trajectory, action, expression, vital signs, quantity, imaging results, weather, air quality, shape, material, and composition.

[0298] The perception result can be a measurement value obtained by further calculation (including addition, subtraction, multiplication, division, or according to a predetermined function) of the aforementioned perception measurement value. Alternatively, the perception result can be a measurement value of at least one of the aforementioned perception measurement values.

[0299] Optionally, the perceived measurement may also include label information corresponding to the perceived measurement, and the label information includes at least one of the following:

[0300] Sensing signal identification information;

[0301] Sensing measurement configuration identification information;

[0302] Sensing business information (such as sensing business identifiers (ID));

[0303] Data subscription ID;

[0304] Applications of measurement (communication, sensing, synesthesia);

[0305] Time information (such as timestamps);

[0306] Sensing node information (such as UE ID, node location, device orientation);

[0307] Sensing link information (such as sensing link sequence number, transceiver node identifier);

[0308] Measurement description information (format, such as amplitude value, phase value, complex value combining amplitude and phase; resource type, such as time domain measurement result, frequency domain resource measurement result);

[0309] Measurement metrics (such as SNR, perceived SNR).

[0310] To better understand this application, the following describes the interaction process of target metrics for typical perception use cases.

[0311] Example 1: Localization or trajectory tracking of passive targets.

[0312] Suppose there are L1 first sensing nodes and L2 second sensing nodes performing cooperative trajectory tracking of passive sensing targets (e.g., pedestrians, vehicles). For any first sensing node, the acquired sensing measurement can be at least one of the following: time delay or distance (of the sensing target's reflection path), angle (including departure azimuth, departure pitch, arrival azimuth, and arrival pitch), and Doppler frequency.

[0313] For example, the sensing measurement acquired by the first sensing node A1 is time delay (or distance), and the corresponding target indicator can be a third target indicator, such as:

[0314] The sensing measurement acquired by the first sensing node A2 is the azimuth angle of arrival. The corresponding target indicator can be a third target indicator, for example, the third target indicator could be:

[0315] The sensing measurement acquired by the first sensing node A3 is the Doppler frequency, and the corresponding target index can be a second target index. For example, the second target index could be:

[0316] Where ε is a pre-defined non-zero coefficient, and K (0 < K1 ≤ N1) is a pre-defined integer. Here, it is assumed that the first sensing node A3 acquires N1 Doppler frequency measurements x. nThe M1 Doppler frequency measurements are obtained continuously, and the difference between two adjacent Doppler frequency measurements is |x_1|. m -x m-1 All values ​​are less than or equal to the first threshold value, where 2 ≤ m ≤ N1;

[0317] The first sensing nodes A1, A2, and A3 send the aforementioned sensing measurement values ​​and their corresponding target indicators to the sensing fusion node. The sensing fusion node can be a first device, one of the first sensing nodes, or a second sensing node. Optionally, the first device and / or the first sensing nodes A1, A2, and A3 can also send at least one of second information and first configuration information to the sensing fusion node to assist the sensing fusion node in determining the final sensing result. The sensing fusion node determines the result and sends it to the first device or an external application server.

[0318] Example 2: Environment Reconstruction.

[0319] Assume there are L1 first sensing nodes and L2 second sensing nodes for environmental reconstruction. For any first sensing node, the acquired sensing measurement can be the time delay (of the reflected path of the sensing target) or at least one of distance and angle (including departure azimuth, departure pitch, arrival azimuth, and arrival pitch).

[0320] For example, the sensing measurement acquired by the first sensing node A1 is time delay (or distance), and the corresponding target indicator can be a third target indicator, such as:

[0321] The sensing measurement acquired by the first sensing node A2 is the azimuth angle of arrival. The corresponding target indicator can be a third target indicator, for example, the third target indicator could be:

[0322] Optionally, the sensing measurement of the first sensing node A3 can be a spatial location, i.e., a two-dimensional spatial location coordinate calculated using time delay (or distance), departure azimuth, and arrival azimuth. The target indicator corresponding to this coordinate value can be a third target indicator, for example, the third target indicator could be:

[0323] The first sensing nodes A1, A2, and A3 send the measured values ​​of the aforementioned sensing quantities and the corresponding target indicators to the sensing fusion node. The sensing fusion node can be a first device, one of the first sensing nodes, or a second sensing node. Optionally, the first device and / or the first sensing nodes A1, A2, and A3 can also send at least one of second information and first configuration information to the sensing fusion node to assist the sensing fusion node in determining the final sensing result. The sensing fusion node determines the result and sends it to the first device or an external application server.

[0324] Example 3: Human motion recognition.

[0325] Suppose there are L1 first sensing nodes and L2 second sensing nodes for human action recognition. For any one first sensing node, the acquired sensing measurement can be the Doppler frequency.

[0326] For example, the first indicator acquired by the first sensing node A1 can be the second target indicator, such as:

[0327] Where ε is a pre-defined non-zero coefficient, and K (0 < K1 ≤ N1) is a pre-defined integer. Here, it is assumed that the first sensing node A3 acquires N Doppler frequency measurements x. n The set of values ​​is n = 1, 2, ..., N1, and M of these values ​​satisfy the following condition: the M Doppler frequency measurements are acquired continuously, and the difference between two adjacent Doppler frequency measurements is |x|. m -x m-1 All values ​​are less than or equal to the first threshold value, where 2 ≤ m ≤ N1;

[0328] The first indicator acquired by the first sensing node A2 can be the third target indicator. For example, the third target indicator could be:

[0329] The first sensing node A3 is equipped with a dedicated sensor, such as a speed radar module, which can obtain high Doppler frequency measurement accuracy. Therefore, the first indicator of the first sensing node A3 can be the third target indicator. For example, the value of the third target indicator can be determined by the mapping relationship shown in Table 1 above.

[0330] When the first sensing node A3 determines the target indicator, the first device informs the first sensing node A3 of the mapping relationship between the target indicator value and the second information (e.g., the sensor information of the first sensing node A3) through the first configuration information in the second signaling; when the sensing fusion node determines the target indicator of the first sensing node A3 (e.g., the sensing fusion node is the first device or a node other than the first sensing node A3), the first sensing node A3 and / or the first device inform the first sensing node A3 of the mapping relationship between the target indicator value and the second information (e.g., the sensor information of the first sensing node A3) through the first configuration information.

[0331] The perception fusion node receives the Doppler measurement values ​​of the first perception nodes A1 and A2 and their corresponding target indicators, receives the Doppler measurement value of the first perception node A3, and the signaling of the first perception node A3 and / or the first device (including at least part of the second information and at least one of the first configuration information), determines the target indicator corresponding to the Doppler measurement value of the first perception node A3, and finally determines the perception result and sends it to the first device or an external application server.

[0332] Referring to FIG7, this application embodiment also provides a collaborative sensing processing method, as shown in FIG7, the collaborative sensing processing method includes:

[0333] Step 701: The second device acquires at least two measurement values ​​based on the first sensing signal and the target index corresponding to each measurement value;

[0334] Step 702, the second device determines the target perception result based on the at least two measurement values ​​and the target index corresponding to each measurement value;

[0335] Wherein, the second device is the first device or a fusion sensing node, the fusion sensing node is a node used to calculate the target sensing result; the number of sensing nodes that transmit the first sensing signal is L1, the number of sensing nodes that receive the first sensing signal is L2, L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1.

[0336] Optionally, the target indicator is determined based on at least one of the following:

[0337] The first target indicator is determined based on power-related indicators;

[0338] The second target indicator was determined based on statistical results of historical measurements;

[0339] A third target indicator is determined based on at least one of the sensing node's capability information and the sensing node's physical state.

[0340] The fourth target indicator is determined based on the non-ideal factors of the sensing nodes.

[0341] Optionally, the power category metrics include at least one of the following:

[0342] Target path received power related indicators;

[0343] Interference and noise power related indicators of the target path;

[0344] The target path sensing signal and interference plus noise ratio (SINR) are related indicators;

[0345] Sensing signal-to-noise ratio (SNR) related metrics for the target path;

[0346] The perceived signal interference ratio (SIR) related indicators of the target path;

[0347] The target path sensing reference signal reception quality (RSRQ) related indicators.

[0348] Optionally, the target path includes at least one of the following:

[0349] The first target path is a path that passes through the second sensing node, the sensing target, and the first sensing node in sequence.

[0350] The second target path is a path that passes through the second sensing node, the environmental reflector, the sensing target, and the first sensing node in sequence.

[0351] The third target path is a path that passes through the second sensing node, the sensing target, the environmental reflector, and the first sensing node in sequence.

[0352] The fourth target path is a path that passes through the second sensing node, the environmental reflector, the sensing target, the environmental reflector, and the first sensing node in sequence.

[0353] The fifth target path includes the direct path from the second sensing node to the first sensing node, and the path that passes through the second sensing node, the environmental reflector, and the first sensing node in sequence.

[0354] Optionally, the statistical results of the historical measurements include the statistical values ​​of the corresponding measurements within a preset time range or a preset number of sensing measurements.

[0355] Optionally, the capability information of the sensing node includes at least one of the following: the time-frequency resource pattern used by the sensing node for sensing, the time-domain sensing resource interval, the time-domain sensing resource span, the frequency-domain sensing resource interval, the frequency-domain sensing resource span, the antenna array aperture, the number of sensing resources, the number of sensing antenna ports, the number of sensing physical antennas, the sensor information of the sensing node, and the computing capability of the sensing node.

[0356] Optionally, the physical state of the sensing node includes at least one of the following: the position, orientation information, motion information, and prior information of the sensing target.

[0357] Optionally, the non-ideal factors include at least one of the following: clock crystal information, phase-locked loop, frequency offset measurement results between the sensing node and the reference clock, sampling time offset adjustment information, random phase information, and power adjustment information.

[0358] Optionally, the second device acquires at least two measurement values ​​based on the first sensing signal and a target indicator corresponding to each measurement value, including:

[0359] The second device receives fifth information, which includes the at least two measured values;

[0360] The second device determines the target index corresponding to each of the at least two measured values ​​based on at least one of the second information and the first configuration information.

[0361] Optionally, the fifth information may also include the first configuration information and the second information.

[0362] Optionally, the second device acquires at least two measurement values ​​based on the first sensing signal and a target indicator corresponding to each measurement value, including:

[0363] The second device receives the at least two measurements and the target index corresponding to each measurement.

[0364] Optionally, when the second device is the first device, the method further includes:

[0365] The second device identifies the L1 transmitting sensing nodes and the L2 receiving sensing nodes;

[0366] The second device sends a first signaling and a second signaling, wherein the first signaling is used to indicate receiving the first sensing signal and the second signaling is used to indicate sending the first sensing signal.

[0367] Optionally, the first signaling includes at least one of the following:

[0368] The second information is information related to the target indicator from the information of the sensing node.

[0369] First configuration information, wherein the first configuration information is configuration information used to determine the target indicator;

[0370] Parameter configuration information, which is used to determine the first sensing signal;

[0371] The first indication information is used to indicate the sensing measurement quantity that the receiving sensing node of the first sensing signal needs to acquire and the tag information corresponding to the sensing measurement quantity.

[0372] Report configuration information;

[0373] The second indication information is used to instruct the recipient of the measurement value.

[0374] Optionally, the second information includes at least one of the following:

[0375] Measurement values ​​acquired by the target sensing node;

[0376] A fourth piece of information related to the measurement values ​​acquired by the target sensing node, the fourth piece of information including at least one of coordinate system information, reference point information, and origin information;

[0377] Sensing node capability information;

[0378] Sensing node physical state information;

[0379] Non-ideal factors at sensing nodes;

[0380] The target sensing node is any sensing node other than the receiving sensing node of the first sensing signal.

[0381] The collaborative sensing processing method provided in this application can be executed by a collaborative sensing processing device. This application uses the example of a collaborative sensing processing device executing the collaborative sensing processing method to illustrate the collaborative sensing processing device provided in this application.

[0382] This application provides a collaborative sensing processing device. As an example, the collaborative sensing processing device can be a communication device or a component within a communication device, such as a chip. The communication device can be a terminal, a network-side device, or a server, etc. Exemplarily, the terminal can be, but is not limited to, the type of terminal 11 listed above, and the network-side device can be, but is not limited to, the type of network-side device 12 listed above. This application does not impose specific limitations.

[0383] The collaborative sensing processing device includes a receiving module, a transmitting module, and a processing module. These modules can be implemented in software or hardware. When implemented in hardware, the processing module can be implemented by a processor. For example, the processor can include general-purpose processors, special-purpose processors, such as a Central Processing Unit (CPU), microprocessor, Digital Signal Processor (DSP), Artificial Intelligence (AI) processor, Graphics Processing Unit (GPU), Application Specific Integrated Circuit (ASIC), Network Processor (NP), Field Programmable Gate Array (FPGA), or other programmable logic devices, gate circuits, transistors, discrete hardware components, etc. The receiving and transmitting modules can be implemented by a communication interface, which can include one or more of the following: transceiver, pins, circuits, bus, radio frequency unit, etc.

[0384] Specifically, referring to Figure 8, when the cooperative sensing processing device is a terminal or a component within a terminal, or a network-side device or a component within a network-side device, the cooperative sensing processing device 800 includes:

[0385] The first receiving module 801 is configured to receive a first signaling from a first device, the first signaling being used to indicate the reception of a first sensing signal; receive the first sensing signal sent by N second sensing nodes, and obtain N first measurement values, wherein the N first measurement values ​​correspond one-to-one with the N second sensing nodes, and N is a positive integer;

[0386] Execution module 802 is used to perform the first operation;

[0387] The first operation includes any one of the following: sending first information to the second device, the first information including the N first measurement values; sending the N first measurement values ​​and a target indicator corresponding to each first measurement value to the second device; or determining a target perception result based on the N first measurement values ​​and the target indicator corresponding to each first measurement value.

[0388] Wherein, the target index corresponding to the N first measurement values ​​is used to combine the N first measurement values ​​to determine the target perception result; the second device is the first device or the fusion perception node, the fusion perception node is the node used to calculate the target perception result, and the second perception node is the transmitting perception node; the number of transmitting perception nodes of the first perception signal is L1, the number of receiving perception nodes of the first perception signal is L2, and L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1.

[0389] Optionally, the target indicator is determined based on at least one of the following:

[0390] The first target indicator is determined based on power-related indicators;

[0391] The second target indicator was determined based on statistical results of historical measurements;

[0392] A third target indicator is determined based on at least one of the sensing node's capability information and the sensing node's physical state.

[0393] The fourth target indicator is determined based on the non-ideal factors of the sensing nodes.

[0394] Optionally, the power category metrics include at least one of the following:

[0395] Target path received power related indicators;

[0396] Interference and noise power related indicators of the target path;

[0397] The target path sensing signal and interference plus noise ratio (SINR) are related indicators;

[0398] Sensing signal-to-noise ratio (SNR) related metrics for the target path;

[0399] The perceived signal interference ratio (SIR) related indicators of the target path;

[0400] The target path sensing reference signal reception quality (RSRQ) related indicators.

[0401] Optionally, the target path includes at least one of the following:

[0402] The first target path is a path that passes through the second sensing node, the sensing target, and the first sensing node in sequence.

[0403] The second target path is a path that passes through the second sensing node, the environmental reflector, the sensing target, and the first sensing node in sequence.

[0404] The third target path is a path that passes through the second sensing node, the sensing target, the environmental reflector, and the first sensing node in sequence.

[0405] The fourth target path is a path that passes through the second sensing node, the environmental reflector, the sensing target, the environmental reflector, and the first sensing node in sequence.

[0406] The fifth target path includes the direct path from the second sensing node to the first sensing node, and the path that passes through the second sensing node, the environmental reflector, and the first sensing node in sequence.

[0407] Optionally, the statistical results of the historical measurements include the statistical values ​​of the corresponding measurements within a preset time range or a preset number of sensing measurements.

[0408] Optionally, the capability information of the sensing node includes at least one of the following: the time-frequency resource pattern used by the sensing node for sensing, the time-domain sensing resource interval, the time-domain sensing resource span, the frequency-domain sensing resource interval, the frequency-domain sensing resource span, the antenna array aperture, the number of sensing resources, the number of sensing antenna ports, the number of sensing physical antennas, the sensor information of the sensing node, and the computing capability of the sensing node.

[0409] Optionally, the physical state of the sensing node includes at least one of the following: the position, orientation information, motion information, and prior information of the sensing target.

[0410] Optionally, the non-ideal factors include at least one of the following: clock crystal information, phase-locked loop, frequency offset measurement results between the sensing node and the reference clock, sampling time offset adjustment information, random phase information, and power adjustment information.

[0411] Optionally, the first information further includes at least one of the following:

[0412] First configuration information, wherein the first configuration information is configuration information used to determine the target indicator;

[0413] At least a portion of the second information, wherein the second information is information related to the target indicator from the information of the sensing node.

[0414] Optionally, the first configuration information includes at least one of the following:

[0415] The type information of the target indicator;

[0416] Parameter configuration information used to calculate the target indicator.

[0417] Optionally, the collaborative sensing processing device further includes:

[0418] The second determining module is used to determine the target index corresponding to each of the first measurement values ​​based on at least one of the second information and the first configuration information.

[0419] Optionally, the execution module 802 is specifically used for:

[0420] Obtain M second measurement values ​​and the target indicator corresponding to each second measurement value;

[0421] The target perception result is determined based on N first measurement values, the target indicator corresponding to each first measurement value, M second measurement values, and the target indicator corresponding to each second measurement value.

[0422] Wherein, the second measurement value is the measurement value obtained by receiving the first sensing signal sent by the second sensing node from the receiving sensing node other than the first sensing node in the first sensing signal receiving sensing node.

[0423] Optionally, the execution module 802 is specifically configured to perform any of the following:

[0424] Receive third information, the third information including the second measurement value, and determine the target indicator corresponding to the second measurement value based on at least one of the second information and the first configuration information;

[0425] Receive the second measurement value and the target index corresponding to the second measurement value.

[0426] Optionally, the third information further includes at least one of the following:

[0427] First configuration information, wherein the first configuration information is configuration information used to determine the target indicator;

[0428] At least a portion of the second information, wherein the second information is information related to the target indicator from the information of the sensing node.

[0429] Optionally, the first signaling includes at least one of the following:

[0430] The second information is information related to the target indicator from the information of the sensing node.

[0431] First configuration information, wherein the first configuration information is configuration information used to determine the target indicator;

[0432] Parameter configuration information, which is used to determine the first sensing signal;

[0433] The first indication information is used to indicate the sensing measurement quantity that the receiving sensing node of the first sensing signal needs to acquire and the tag information corresponding to the sensing measurement quantity.

[0434] Report configuration information;

[0435] The second indication information is used to instruct the recipient of the measurement value.

[0436] Optionally, the second information includes at least one of the following:

[0437] Measurement values ​​acquired by the target sensing node;

[0438] A fourth piece of information related to the measurement values ​​acquired by the target sensing node, the fourth piece of information including at least one of coordinate system information, reference point information, and origin information;

[0439] Sensing node capability information;

[0440] Sensing node physical state information;

[0441] Non-ideal factors at sensing nodes;

[0442] The target sensing node is any sensing node other than the receiving sensing node of the first sensing signal.

[0443] Specifically, referring to Figure 9, when the cooperative sensing processing device is a terminal or a component within a terminal, or a network-side device or a component within a network-side device, the cooperative sensing processing device 900 includes:

[0444] The second receiving module 901 is used to obtain at least two measurement values ​​based on the first sensing signal and a target index corresponding to each measurement value.

[0445] The first determining module 902 is used to determine the target perception result based on the at least two measurement values ​​and the target index corresponding to each measurement value;

[0446] Wherein, the number of sensing nodes transmitting the first sensing signal is L1, the number of sensing nodes receiving the first sensing signal is L2, and L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1.

[0447] Optionally, the target indicator is determined based on at least one of the following:

[0448] The first target indicator is determined based on power-related indicators;

[0449] The second target indicator was determined based on statistical results of historical measurements;

[0450] A third target indicator is determined based on at least one of the sensing node's capability information and the sensing node's physical state.

[0451] The fourth target indicator is determined based on the non-ideal factors of the sensing nodes.

[0452] Optionally, the power category metrics include at least one of the following:

[0453] Target path received power related indicators;

[0454] Interference and noise power related indicators of the target path;

[0455] The target path sensing signal and interference plus noise ratio (SINR) are related indicators;

[0456] Sensing signal-to-noise ratio (SNR) related metrics for the target path;

[0457] The perceived signal interference ratio (SIR) related indicators of the target path;

[0458] The target path sensing reference signal reception quality (RSRQ) related indicators.

[0459] Optionally, the target path includes at least one of the following:

[0460] The first target path is a path that passes through the second sensing node, the sensing target, and the first sensing node in sequence.

[0461] The second target path is a path that passes through the second sensing node, the environmental reflector, the sensing target, and the first sensing node in sequence.

[0462] The third target path is a path that passes through the second sensing node, the sensing target, the environmental reflector, and the first sensing node in sequence.

[0463] The fourth target path is a path that passes through the second sensing node, the environmental reflector, the sensing target, the environmental reflector, and the first sensing node in sequence.

[0464] The fifth target path includes the direct path from the second sensing node to the first sensing node, and the path that passes through the second sensing node, the environmental reflector, and the first sensing node in sequence.

[0465] Optionally, the statistical results of the historical measurements include the statistical values ​​of the corresponding measurements within a preset time range or a preset number of sensing measurements.

[0466] Optionally, the capability information of the sensing node includes at least one of the following: the time-frequency resource pattern used by the sensing node for sensing, the time-domain sensing resource interval, the time-domain sensing resource span, the frequency-domain sensing resource interval, the frequency-domain sensing resource span, the antenna array aperture, the number of sensing resources, the number of sensing antenna ports, the number of sensing physical antennas, the sensor information of the sensing node, and the computing capability of the sensing node.

[0467] Optionally, the physical state of the sensing node includes at least one of the following: the position, orientation information, motion information, and prior information of the sensing target.

[0468] Optionally, the non-ideal factors include at least one of the following: clock crystal information, phase-locked loop, frequency offset measurement results between the sensing node and the reference clock, sampling time offset adjustment information, random phase information, and power adjustment information.

[0469] Optionally, the second receiving module 901 is further configured to: receive fifth information, the fifth information including the at least two measurement values;

[0470] The first determining module 902 is further configured to: determine the target index corresponding to each of the at least two measured values ​​based on at least one of the second information and the first configuration information.

[0471] Optionally, the fifth information may also include the first configuration information and the second information.

[0472] Optionally, the second receiving module 901 is specifically used for: the second device receiving the at least two measurement values ​​and the target index corresponding to each measurement value.

[0473] Optionally, the collaborative sensing processing device further includes a sending module, wherein,

[0474] The first determining module 902 is further configured to: determine the L1 transmitting sensing nodes and the L2 receiving sensing nodes;

[0475] The transmitting module is used to transmit a first signaling and a second signaling, wherein the first signaling is used to indicate receiving the first sensing signal, and the second signaling is used to indicate transmitting the first sensing signal.

[0476] Optionally, the first signaling includes at least one of the following:

[0477] The second information is information related to the target indicator from the information of the sensing node.

[0478] First configuration information, wherein the first configuration information is configuration information used to determine the target indicator;

[0479] Parameter configuration information, which is used to determine the first sensing signal;

[0480] The first indication information is used to indicate the sensing measurement quantity that the receiving sensing node of the first sensing signal needs to acquire and the tag information corresponding to the sensing measurement quantity.

[0481] Report configuration information;

[0482] The second indication information is used to instruct the recipient of the measurement value.

[0483] Optionally, the second information includes at least one of the following:

[0484] Measurement values ​​acquired by the target sensing node;

[0485] A fourth piece of information related to the measurement values ​​acquired by the target sensing node, the fourth piece of information including at least one of coordinate system information, reference point information, and origin information;

[0486] Sensing node capability information;

[0487] Sensing node physical state information;

[0488] Non-ideal factors at sensing nodes;

[0489] The target sensing node is any sensing node other than the receiving sensing node of the first sensing signal.

[0490] The collaborative sensing processing device provided in this application embodiment can implement the various processes implemented in the method embodiments of Figures 3 to 7 and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0491] As shown in Figure 10, this application embodiment also provides a communication device 1000, including a processor 1001 and a memory 1002. The memory 1002 stores a program or instructions that can run on the processor 1001. When the program or instructions are executed by the processor 1001, they implement the various steps of the above-described cooperative perception processing method embodiment and can achieve the same technical effect. To avoid repetition, they will not be described again here.

[0492] This application also provides a terminal, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the steps in the method embodiments shown in FIG3 or FIG7. This terminal embodiment corresponds to the above-described terminal-side method embodiments, and all implementation processes and methods of the above-described method embodiments can be applied to this terminal embodiment and can achieve the same technical effect. The terminal may be the collaborative sensing processing device shown in FIG8 or FIG9. Specifically, FIG11 is a schematic diagram of the hardware structure of a terminal implementing an embodiment of this application.

[0493] The terminal 1100 includes, but is not limited to, at least some of the following components: radio frequency unit 1101, network module 1102, audio output unit 1103, input unit 1104, sensor 1105, display unit 1106, user input unit 1107, interface unit 1108, memory 1109, and processor 1110.

[0494] Those skilled in the art will understand that terminal 1100 may also include a power supply (such as a battery) for powering various components. The power supply can be logically connected to processor 1110 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The terminal structure shown in Figure 11 does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0495] It should be understood that, in this embodiment, the input unit 1104 may include a graphics processor 11041 and a microphone 11042. The graphics processor 11041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 1106 may include a display panel 11061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 1107 includes at least one of a touch panel 11071 and other input devices 11072. The touch panel 11071 is also called a touch screen. The touch panel 11071 may include a touch detection device and a touch controller. Other input devices 11072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail here.

[0496] In this embodiment, after receiving downlink data from the network-side device, the radio frequency unit 1101 can transmit it to the processor 1110 for processing; in addition, the radio frequency unit 1101 can send uplink data to the network-side device. Typically, the radio frequency unit 1101 includes, but is not limited to, antennas, amplifiers, transceivers, couplers, low-noise amplifiers, duplexers, etc.

[0497] The memory 1109 can be used to store software programs or instructions, as well as various data. The memory 1109 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 1109 may include volatile memory or non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 1109 in this embodiment includes, but is not limited to, these and any other suitable types of memory.

[0498] Processor 1110 may include one or more processing units; optionally, processor 1110 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 1110.

[0499] Wherein, when the terminal is a first sensing node, the radio frequency unit 1101 is used to receive a first signaling from a first device, the first signaling being used to indicate receiving a first sensing signal; receive the first sensing signal sent by N second sensing nodes, obtain N first measurement values, the N first measurement values ​​corresponding one-to-one with the N second sensing nodes, where N is a positive integer; and perform a first operation.

[0500] The first operation includes any one of the following: sending first information to the second device, the first information including the N first measurement values; sending the N first measurement values ​​and a target indicator corresponding to each first measurement value to the second device; or determining a target perception result based on the N first measurement values ​​and the target indicator corresponding to each first measurement value.

[0501] Wherein, the target index corresponding to the N first measurement values ​​is used to combine the N first measurement values ​​to determine the target perception result; the second device is the first device or a fusion perception node, the fusion perception node is a node used to calculate the target perception result, the first perception node is a receiving perception node, and the second perception node is a transmitting perception node; the number of transmitting perception nodes for the first perception signal is L1, the number of receiving perception nodes for the first perception signal is L2, and L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1;

[0502] When the terminal is a second device, the radio frequency unit 1101 is used to acquire at least two measurement values ​​obtained based on the first sensing signal and the target index corresponding to each measurement value;

[0503] The processor 1110 is used to determine the target perception result based on the at least two measurement values ​​and the target index corresponding to each measurement value;

[0504] Wherein, the second device is the first device or a fusion sensing node, the fusion sensing node is a node used to calculate the target sensing result; the number of sensing nodes that transmit the first sensing signal is L1, the number of sensing nodes that receive the first sensing signal is L2, L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1.

[0505] It is understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant description of the method embodiment and achieve the same or corresponding technical effect. To avoid repetition, it will not be described again here.

[0506] This application also provides a network-side device, including a processor and a communication interface. The communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the steps of the method embodiments shown in FIG3 or FIG7. This network-side device embodiment corresponds to the above-described network-side device method embodiment. All implementation processes and methods of the above-described method embodiments can be applied to this network-side device embodiment and can achieve the same technical effect.

[0507] Specifically, this application embodiment also provides a network-side device, which may be the cooperative sensing processing device shown in FIG8 or FIG9. As shown in FIG12, the network-side device 1200 includes: an antenna 1201, a radio frequency device 1202, a baseband device 1203, a processor 1204, and a memory 1205. The antenna 1201 is connected to the radio frequency device 1202. In the uplink direction, the radio frequency device 1202 receives information through the antenna 1201 and sends the received information to the baseband device 1203 for processing. In the downlink direction, the baseband device 1203 processes the information to be transmitted and sends it to the radio frequency device 1202, which processes the received information and transmits it through the antenna 1201.

[0508] The method executed by the network-side device in the above embodiments can be implemented in the baseband device 1203, which includes a baseband processor.

[0509] The baseband device 1203 may include at least one baseband board, on which multiple chips are disposed, as shown in FIG12. One of the chips is, for example, a baseband processor, which is connected to the memory 1205 via a bus interface to call the program in the memory 1205 to execute the network-side device operation shown in the above method embodiment.

[0510] The network-side device may also include a network interface 1206, such as a Common Public Radio Interface (CPRI).

[0511] Specifically, the network-side device 1200 in this application embodiment further includes: instructions or programs stored in memory 1205 and executable on processor 1204. Processor 1204 calls the instructions or programs in memory 1205 to execute the methods executed by the modules shown in FIG8 or FIG9 and achieve the same technical effect. To avoid repetition, it will not be described in detail here.

[0512] Specifically, this application also provides a network-side device. As shown in FIG13, the network-side device 1300 includes a processor 1301, a network interface 1302, and a memory 1303. The network-side device may be the cooperative sensing processing device shown in FIG9. The network interface 1302 is, for example, a common public radio interface (CPRI).

[0513] Specifically, the network-side device 1300 in this application embodiment further includes: instructions or programs stored in memory 1303 and executable on processor 1301. Processor 1301 calls the instructions or programs in memory 1303 to execute the methods executed by each module shown in FIG9 and achieve the same technical effect. To avoid repetition, it will not be described in detail here.

[0514] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described cooperative perception processing method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0515] The processor mentioned above is the processor in the terminal described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk. In some examples, the readable storage medium may be a non-transient readable storage medium.

[0516] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described cooperative perception processing method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0517] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0518] This application also provides a computer program / program product, which includes computer instructions. The computer program / program product is executed by at least one processor to implement the various processes of the above-described cooperative perception processing method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0519] This application also provides a wireless communication system, including: a first sensing node and a first device, wherein the first sensing node can be used to execute the steps of the cooperative sensing processing method on the first sensing node side as described above, and the first device can be used to execute the steps of the cooperative sensing processing method on the first device side as described above.

[0520] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0521] From the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of computer software products plus necessary general-purpose hardware platforms, and of course, they can also be implemented by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes several instructions to cause the terminal or network-side device to execute the methods described in the various embodiments of this application.

[0522] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other implementations under the guidance of this application without departing from the spirit and scope of the claims. All of these implementations are within the protection scope of this application.

Claims

1. A collaborative sensing processing method, comprising: The first sensing node receives a first signaling from the first device, the first signaling being used to indicate the reception of a first sensing signal; The first sensing node receives the first sensing signals sent by N second sensing nodes and obtains N first measurement values. The N first measurement values ​​correspond one-to-one with the N second sensing nodes, and N is a positive integer. The first sensing node performs the first operation; The first operation includes any one of the following: sending first information to the second device, the first information including the N first measurement values; sending the N first measurement values ​​and a target indicator corresponding to each first measurement value to the second device; or determining a target perception result based on the N first measurement values ​​and the target indicator corresponding to each first measurement value. Wherein, the target index corresponding to the N first measurement values ​​is used to combine the N first measurement values ​​to determine the target perception result; the second device is the first device or the fusion perception node; the fusion perception node is a node used to calculate the target perception result, the first perception node is a receiving perception node, and the second perception node is a transmitting perception node; the number of transmitting perception nodes of the first perception signal is L1, the number of receiving perception nodes of the first perception signal is L2, and L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1.

2. The method according to claim 1, wherein, The target indicator is determined based on at least one of the following: The first target indicator is determined based on power-related indicators; The second target indicator was determined based on statistical results of historical measurements; A third target indicator is determined based on at least one of the sensing node's capability information and the sensing node's physical state. The fourth target indicator is determined based on the non-ideal factors of the sensing nodes.

3. The method according to claim 2, wherein, The power-related indicators include at least one of the following: Target path received power related indicators; Interference and noise power related indicators of the target path; The target path sensing signal and interference plus noise ratio (SINR) are related indicators; Sensing signal-to-noise ratio (SNR) related metrics for the target path; The perceived signal interference ratio (SIR) related indicators of the target path; The target path sensing reference signal reception quality (RSRQ) related indicators.

4. The method according to claim 3, wherein, The target path includes at least one of the following: The first target path is a path that passes through the second sensing node, the sensing target, and the first sensing node in sequence. The second target path is a path that passes through the second sensing node, the environmental reflector, the sensing target, and the first sensing node in sequence. The third target path is a path that passes through the second sensing node, the sensing target, the environmental reflector, and the first sensing node in sequence. The fourth target path is a path that passes through the second sensing node, the environmental reflector, the sensing target, the environmental reflector, and the first sensing node in sequence. The fifth target path includes the direct path from the second sensing node to the first sensing node, and the path that passes through the second sensing node, the environmental reflector, and the first sensing node in sequence.

5. The method according to any one of claims 2 to 4, wherein, The statistical results of the historical measurements include the statistical values ​​of the corresponding measurements within a preset time range or a preset number of sensing measurements.

6. The method according to any one of claims 2 to 5, wherein, The capability information of the sensing node includes at least one of the following: the time-frequency resource pattern used by the sensing node for sensing, the time-domain sensing resource interval, the time-domain sensing resource span, the frequency-domain sensing resource interval, the frequency-domain sensing resource span, the antenna array aperture, the number of sensing resources, the number of sensing antenna ports, the number of sensing physical antennas, the sensor information of the sensing node, and the computing capability of the sensing node.

7. The method according to any one of claims 2 to 6, wherein, The physical state of the sensing node includes at least one of the following: the position, orientation information, motion information, and prior information of the sensing target.

8. The method according to any one of claims 2 to 7, wherein, The non-ideal factors include at least one of the following: clock crystal information, phase-locked loop, frequency offset measurement results between the sensing node and the reference clock, sampling time offset adjustment information, random phase information, and power adjustment information.

9. The method according to any one of claims 1 to 8, wherein, The first information also includes at least one of the following: First configuration information, wherein the first configuration information is configuration information used to determine the target indicator; At least a portion of the second information, wherein the second information is information related to the target indicator from the information of the sensing node.

10. The method according to claim 9, wherein, The first configuration information includes at least one of the following: The type information of the target indicator; Parameter configuration information used to calculate the target indicator.

11. The method according to any one of claims 1 to 10, wherein the method further comprises: The first sensing node determines the target index corresponding to each of the first measurement values ​​based on at least one of the second information and the first configuration information.

12. The method according to any one of claims 1 to 11, wherein, The step of determining the target perception result based on the N first measurement values ​​and the target index corresponding to each first measurement value includes: Obtain M second measurement values ​​and the target indicator corresponding to each second measurement value; The target perception result is determined based on N first measurement values, the target indicator corresponding to each first measurement value, M second measurement values, and the target indicator corresponding to each second measurement value. Wherein, the second measurement value is the measurement value obtained by receiving the first sensing signal sent by the second sensing node from the receiving sensing node other than the first sensing node in the first sensing signal receiving sensing node.

13. The method according to claim 12, wherein, The acquisition of M second measurement values ​​and the target indicator corresponding to each second measurement value includes any one of the following: Receive third information, the third information including the second measurement value, and determine the target indicator corresponding to the second measurement value based on at least one of the second information and the first configuration information; Receive the second measurement value and the target index corresponding to the second measurement value.

14. The method according to claim 13, wherein, The third information also includes at least one of the following: First configuration information, wherein the first configuration information is configuration information used to determine the target indicator; At least a portion of the second information, wherein the second information is information related to the target indicator from the information of the sensing node.

15. The method according to any one of claims 1 to 14, wherein, The first signaling includes at least one of the following: The second information is information related to the target indicator from the information of the sensing node. First configuration information, wherein the first configuration information is configuration information used to determine the target indicator; Parameter configuration information, which is used to determine the first sensing signal; The first indication information is used to indicate the sensing measurement quantity that the receiving sensing node of the first sensing signal needs to acquire and the tag information corresponding to the sensing measurement quantity. Report configuration information; The second indication information is used to instruct the recipient of the measurement value.

16. The method according to claim 15, wherein, The second information includes at least one of the following: Measurement values ​​acquired by the target sensing node; A fourth piece of information related to the measurement values ​​acquired by the target sensing node, the fourth piece of information including at least one of coordinate system information, reference point information, and origin information; Sensing node capability information; Sensing node physical state information; Non-ideal factors at sensing nodes; The target sensing node is any sensing node other than the receiving sensing node of the first sensing signal.

17. A collaborative sensing processing method, comprising: The second device acquires at least two measurement values ​​based on the first sensing signal and the target index corresponding to each measurement value. The second device determines the target perception result based on the at least two measurements and the target index corresponding to each measurement. Wherein, the second device is the first device or a fusion sensing node, the fusion sensing node is a node used to calculate the target sensing result; the number of sensing nodes that transmit the first sensing signal is L1, the number of sensing nodes that receive the first sensing signal is L2, L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1.

18. The method according to claim 17, wherein, The target indicator is determined based on at least one of the following: The first target indicator is determined based on power-related indicators; The second target indicator was determined based on statistical results of historical measurements; A third target indicator is determined based on at least one of the sensing node's capability information and the sensing node's physical state. The fourth target indicator is determined based on the non-ideal factors of the sensing nodes.

19. The method according to claim 18, wherein, The power-related indicators include at least one of the following: Target path received power related indicators; Interference and noise power related indicators of the target path; The target path sensing signal and interference plus noise ratio (SINR) are related indicators; Sensing signal-to-noise ratio (SNR) related metrics for the target path; The perceived signal interference ratio (SIR) related indicators of the target path; The target path sensing reference signal reception quality (RSRQ) related indicators.

20. The method according to claim 19, wherein, The target path includes at least one of the following: The first target path is a path that passes through the second sensing node, the sensing target, and the first sensing node in sequence. The second target path is a path that passes through the second sensing node, the environmental reflector, the sensing target, and the first sensing node in sequence. The third target path is a path that passes through the second sensing node, the sensing target, the environmental reflector, and the first sensing node in sequence. The fourth target path is a path that passes through the second sensing node, the environmental reflector, the sensing target, the environmental reflector, and the first sensing node in sequence. The fifth target path includes the direct path from the second sensing node to the first sensing node, and the path that passes through the second sensing node, the environmental reflector, and the first sensing node in sequence.

21. The method according to any one of claims 18 to 20, wherein, The statistical results of the historical measurements include the statistical values ​​of the corresponding measurements within a preset time range or a preset number of sensing measurements.

22. The method according to any one of claims 18 to 21, wherein, The capability information of the sensing node includes at least one of the following: the time-frequency resource pattern used by the sensing node for sensing, the time-domain sensing resource interval, the time-domain sensing resource span, the frequency-domain sensing resource interval, the frequency-domain sensing resource span, the antenna array aperture, the number of sensing resources, the number of sensing antenna ports, the number of sensing physical antennas, the sensor information of the sensing node, and the computing capability of the sensing node.

23. The method according to any one of claims 18 to 22, wherein, The physical state of the sensing node includes at least one of the following: the position, orientation information, motion information, and prior information of the sensing target.

24. The method according to any one of claims 18 to 23, wherein, The non-ideal factors include at least one of the following: clock crystal information, phase-locked loop, frequency offset measurement results between the sensing node and the reference clock, sampling time offset adjustment information, random phase information, and power adjustment information.

25. The method according to any one of claims 17 to 24, wherein, The second device acquires at least two measurement values ​​based on the first sensing signal and a target indicator corresponding to each measurement value, including: The second device receives fifth information, which includes the at least two measured values; The second device determines the target index corresponding to each of the at least two measured values ​​based on at least one of the second information and the first configuration information.

26. The method according to claim 25, wherein, The fifth piece of information also includes the first configuration information and the second information.

27. The method according to any one of claims 17 to 24, wherein, The second device acquires at least two measurement values ​​based on the first sensing signal and a target indicator corresponding to each measurement value, including: The second device receives the at least two measurements and the target index corresponding to each measurement.

28. The method according to any one of claims 17 to 27, wherein, When the second device is the first device, the method further includes: The second device identifies the L1 transmitting sensing nodes and the L2 receiving sensing nodes; The second device sends a first signaling and a second signaling, wherein the first signaling is used to indicate receiving the first sensing signal and the second signaling is used to indicate sending the first sensing signal.

29. The method according to claim 28, wherein, The first signaling includes at least one of the following: The second information is information related to the target indicator from the information of the sensing node. First configuration information, wherein the first configuration information is configuration information used to determine the target indicator; Parameter configuration information, which is used to determine the first sensing signal; The first indication information is used to indicate the sensing measurement quantity that the receiving sensing node of the first sensing signal needs to acquire and the tag information corresponding to the sensing measurement quantity. Report configuration information; The second indication information is used to instruct the recipient of the measurement value.

30. The method according to claim 29, wherein, The second information includes at least one of the following: Measurement values ​​acquired by the target sensing node; A fourth piece of information related to the measurement values ​​acquired by the target sensing node, the fourth piece of information including at least one of coordinate system information, reference point information, and origin information; Sensing node capability information; Sensing node physical state information; Non-ideal factors at sensing nodes; The target sensing node is any sensing node other than the receiving sensing node of the first sensing signal.

31. A collaborative sensing processing device, comprising: A first receiving module is configured to receive a first signaling from a first device, wherein the first signaling is used to indicate the reception of a first sensing signal; Receive the first sensing signals sent by N second sensing nodes to obtain N first measurement values, wherein the N first measurement values ​​correspond one-to-one with the N second sensing nodes, and N is a positive integer; The execution module is used to perform the first operation; The first operation includes any one of the following: sending first information to the second device, the first information including the N first measurement values; sending the N first measurement values ​​and a target indicator corresponding to each first measurement value to the second device; or determining a target perception result based on the N first measurement values ​​and the target indicator corresponding to each first measurement value. Wherein, the target index corresponding to the N first measurement values ​​is used to combine the N first measurement values ​​to determine the target perception result; the second device is the first device or the fusion perception node, the fusion perception node is the node used to calculate the target perception result, and the second perception node is the transmitting perception node; the number of transmitting perception nodes of the first perception signal is L1, the number of receiving perception nodes of the first perception signal is L2, and L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1.

32. The apparatus according to claim 31, wherein, The target indicator is determined based on at least one of the following: The first target indicator is determined based on power-related indicators; The second target indicator was determined based on statistical results of historical measurements; A third target indicator is determined based on at least one of the sensing node's capability information and the sensing node's physical state. The fourth target indicator is determined based on the non-ideal factors of the sensing nodes.

33. A collaborative sensing processing device, comprising: The second receiving module is used to obtain at least two measurement values ​​based on the first sensing signal and the target index corresponding to each measurement value; The first determining module is used to determine the target perception result based on the at least two measurement values ​​and the target index corresponding to each measurement value; Wherein, the number of sensing nodes transmitting the first sensing signal is L1, the number of sensing nodes receiving the first sensing signal is L2, and L1 and L2 are both positive integers, and at least one of L1 and L2 is greater than 1.

34. The apparatus according to claim 33, wherein, The target indicator is determined based on at least one of the following: The first target indicator is determined based on power-related indicators; The second target indicator was determined based on statistical results of historical measurements; A third target indicator is determined based on at least one of the sensing node's capability information and the sensing node's physical state. The fourth target indicator is determined based on the non-ideal factors of the sensing nodes.

35. A terminal comprising a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the cooperative sensing processing method as claimed in any one of claims 1 to 30.

36. A network-side device, comprising a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the cooperative sensing processing method as described in any one of claims 1 to 30.

37. A readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the cooperative sensing processing method as described in any one of claims 1 to 30.

38. A computer program product comprising computer instructions that, when executed by a processor, implement the steps of the cooperative sensing processing method as described in any one of claims 1 to 30.

Images