Sensing method and apparatus

Abstract

Embodiments of the present application provide a sensing method and apparatus, for use in improving sensing performance. In the method provided by the present application, on the basis of a service request from a consumer, sensing data can be requested from a sensing sensor within a 3GPP network and a sensing sensor outside the 3GPP network, and then the sensing data collected by the sensing sensor within the 3GPP network is fused with the sensing data collected by the sensing sensor outside the 3GPP network, thereby improving sensing performance by leveraging the complementary effect of the sensing data collected by the sensing sensor within the 3GPP network and the sensing data collected by the sensing sensor outside the 3GPP network.

Description

A sensing method and device

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411547229.7, filed with the State Intellectual Property Office of the People's Republic of China on October 31, 2024, entitled "A Sensing Method and Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of communication technology, and in particular to a sensing method and apparatus. Background Technology

[0004] Communication-sensing integration combines wireless communication and sensing functions into a single system. It utilizes the various propagation characteristics of wireless signals to achieve sensing functions such as target localization, detection, imaging, and identification, thereby acquiring information about the surrounding physical environment, improving communication performance, and enhancing user experience. In communication-sensing integration technology, sensing is performed by sending sensing signals and receiving echo signals to obtain information such as the position and velocity of targets in the environment.

[0005] Because the point cloud provided by wireless signals is very sparse, the perception accuracy is low, and it is impossible to describe the geometric features, colors, text and other detailed information of the perceived target object. In some specific scenarios (such as target detection, semantic segmentation and other tasks), it is difficult to meet the business perception performance requirements. Summary of the Invention

[0006] This application provides a sensing method and apparatus to improve sensing performance.

[0007] In a first aspect, this application provides a communication method. The execution entity of this method can be a first device, or a chip or circuit on the first device side, wherein the first device can be a device deployed with a sensing fusion function. Taking the first device as an example, the method includes: receiving a service request from a fourth device, the service request being used to request the execution of a first sensing service; according to the service request, sending first information to a second device, the first information being used by sensing sensors managed by the second device to collect sensing data for the first sensing service, the second device belonging to a 3GPP network; according to the service request, sending second information to a third device, the second information being used by sensing sensors managed by the third device to collect sensing data for the first sensing service, the third device not belonging to a 3GPP network; receiving first sensing data from a first sensing sensor managed by the second device and second sensing data from a second sensing sensor managed by the third device, both the first sensing data and the second sensing data being sensing data for the first sensing service; and sending fused data to the fourth device based on the first sensing data and the second sensing data.

[0008] The method provided in this application can request sensing data from sensing sensors within and outside the 3GPP network based on the service requests of consumers. By fusing the sensing data collected by the sensing sensors within and outside the 3GPP network, the complementary effect of the sensing data collected by the sensing sensors within and outside the 3GPP network is utilized to improve sensing performance.

[0009] In one possible design, sending fused data to a fourth device based on first and second sensing data includes: fusing the first and second sensing data to obtain the fused data, and then sending the fused data to the fourth device. This method fuses sensing data according to a fusion strategy, which helps improve the performance of sensing services.

[0010] In one possible design, fusing the first sensing data and the second sensing data includes: fusing the first sensing data and the second sensing data according to a fusion strategy.

[0011] In one possible design, the fusion of first and second sensing data includes: spatially aligning the first and second sensing data according to the viewing angle parameters of the first and second sensing sensors to obtain third and fourth sensing data; and then fusing the third and fourth sensing data. This design, through spatial alignment, helps improve the accuracy of perception.

[0012] In one possible design, the method further includes acquiring the viewing angle parameters of the first sensing sensor and the second sensing sensor. This design helps improve the accuracy of perception.

[0013] In one possible design, acquiring the viewing angle parameters of the first and second sensing sensors includes receiving the viewing angle parameters of the first and second sensing sensors from a registration device. Compared to sending the viewing angle parameters of the sensing sensors along with the sensing data, the above design reduces the parameter transmission overhead when the first device interacts with the data provider (i.e., the second and third devices) by pre-registering the viewing angle parameters to the registration device.

[0014] In one possible design, acquiring the viewing angle parameters of the first and second sensing sensors includes receiving the viewing angle parameters from the first sensing sensor via a second device and from the second sensing sensor via a third device. This design improves the real-time performance of the viewing angle parameters.

[0015] In one possible design, obtaining the viewing angle parameters of the first and second sensing sensors includes: acquiring the viewing angle parameters of both sensors from within the sensor itself. This design reduces parameter transmission overhead.

[0016] In one possible design, the viewing angle parameters of the first sensing sensor from the second device are the viewing angle parameters when the first sensing sensor collects the first sensing data, and the viewing angle parameters of the second sensing sensor from the third device are the viewing angle parameters when the second sensing sensor collects the second sensing data. This design allows the first device to obtain the viewing angle parameters of the collected sensing data, thereby improving the accuracy of the sensing.

[0017] In one possible design, the method further includes requesting the viewing angle parameters of the first sensing sensor and the second sensing sensor from the registration device.

[0018] In one possible design, the message requesting the viewing angle parameters of the first sensing sensor includes the identification information and / or the type of the first sensing sensor, and the message requesting the viewing angle parameters of the second sensing sensor includes the identification information and / or the type of the second sensing sensor. This design facilitates the acquisition of accurate viewing angle parameters, thereby improving the accuracy of perception.

[0019] In one possible design, the viewing angle parameter of the first sensing sensor includes at least one of the following: the position information of the first sensing sensor, or the viewing angle of the first sensing sensor;

[0020] The viewing angle parameters of the second sensing sensor include at least one of the following: the position information of the second sensing sensor, the viewing angle of the second sensing sensor, or the camera intrinsic parameters of the second sensing transmitter.

[0021] In one possible design, the timestamps of the first and second sensed data satisfy a time alignment condition. This design, through time alignment, helps improve the performance of data fusion, thereby enhancing the overall performance of the sensing process.

[0022] In one possible design, the first information includes at least one of the following: the number of sensing sensors performing the first sensing service in the sensing sensors managed by the second device, the data format of the sensing data of the first sensing service collected by the sensing sensors managed by the second device, the data size of the sensing data of the first sensing service collected by the sensing sensors managed by the second device, the collection duration of the first sensing service, or the collection frequency of the first sensing service.

[0023] The second information includes at least one of the following: the number of sensing sensors performing the first sensing service in the sensing sensors managed by the third device, the data format of the sensing data of the first sensing service collected by the sensing sensors managed by the third device, the data size of the sensing data of the first sensing service collected by the sensing sensors managed by the third device, the collection duration of the first sensing service, or the collection frequency of the first sensing service.

[0024] In one possible design, the data format of the first information is point cloud data format, and the data format of the second information is either point cloud data format or image data format.

[0025] In one possible design, the data size in the first information is the point cloud data size, and the data size in the second information is either the point cloud data size or the image data size.

[0026] In one possible design, the service request includes at least one of the following information for the first sensing service: sensing service type, sensing area, sensing performance indicators, fusion strategy, or sensing data requirements. The sensing data requirements include at least one of the following: the type of sensing sensor performing the first sensing service, the number of sensing sensors performing the first sensing service, the data source of the first sensing service, the data format of the sensing data of the first sensing service, the data size of the sensing data of the first sensing service, the acquisition duration of the first sensing service, and the acquisition frequency of the first sensing service.

[0027] In one possible design, sending first information to a first sensing sensor and second information to a second sensing sensor according to a service request includes: generating first and second information based on the sensing data requirements in the service request; and sending the first and second information. This design facilitates ensuring that the sensing operation meets the requirements of the sensing service.

[0028] In one possible design, the method further includes determining the third device based on the data source in the business request. Through this design, the fourth device can instruct the third device via the data source when there is an externally perceived data requirement.

[0029] In one possible design, the method further includes determining the second device based on the data source in the business request. With this design, the fourth device can instruct the second device via the data source when there is an internally sensed data requirement.

[0030] In one possible design, the method further includes sending a perception report to a fourth device, the perception report indicating at least one of the following: the type of perception sensor performing the first perception service, or the number of perception sensors performing the first perception service.

[0031] In one possible design, the first device is deployed in the management system; or, the first device is deployed in the core network.

[0032] In one possible design, the first device is deployed in the network management system or network element management system.

[0033] Secondly, this application provides a communication method. The execution subject of this method can be a second device, or a chip or circuit on the second device side, wherein the second device can be an internal sensing data provider. Taking the second device as an example, the method includes: receiving first information from a first device, the first information being used by a sensing sensor managed by the second device to collect sensing data for a first sensing service; sending a first request message to the first sensing sensor managed by the second device according to the first information, the first request message being used to request the first sensing sensor to collect sensing data for the first sensing service; receiving first sensing data from the first sensing sensor, the first sensing data being sensing data for the first sensing service; and sending the first sensing data to the first device.

[0034] The method provided in this application can request sensing data from sensing sensors within a 3GPP network. By collecting sensing data through sensing sensors within a 3GPP network, it is beneficial to improve sensing performance.

[0035] In one possible design, the method further includes sending the viewing angle parameters of the first sensing sensor to the first device. This design helps improve the accuracy of perception.

[0036] In one possible design, the viewing angle parameter is the viewing angle parameter when the first sensing sensor collects the first sensing data. This design allows the first device to acquire the viewing angle parameter of the collected sensing data, thereby improving the accuracy of the sensing.

[0037] In one possible design, the method further includes sending the viewing angle parameters of the first sensing sensor to the registration device. This design reduces parameter transmission overhead by pre-registering the viewing angle parameters with the registration device.

[0038] In one possible design, the viewing angle parameter of the first sensing sensor includes at least one of the following: the position information of the first sensing sensor, or the viewing angle of the first sensing sensor.

[0039] In one possible design, the first information includes at least one of the following: the number of sensing sensors performing the first sensing service in the sensing sensors managed by the second device, the data format of the sensing data of the first sensing service collected by the sensing sensors managed by the second device, the data size of the sensing data of the first sensing service collected by the sensing sensors managed by the second device, the collection duration of the first sensing service, or the collection frequency of the first sensing service.

[0040] In one possible design, the data format is a point cloud data format.

[0041] In one possible design, the data size is the point cloud data size.

[0042] Thirdly, this application provides a communication method. The execution subject of this method can be a third device, or a chip or circuit on the third device side, wherein the third device can be an external sensing data provider. Taking the third device as an example, the method includes: receiving second information from a first device, the second information being used by a sensing sensor managed by the third device to collect sensing data of a first sensing service; sending a second request message to a second sensing sensor managed by the third device according to the second information, the second request message being used to request the second sensing sensor to collect sensing data of the first sensing service; receiving second sensing data from the second sensing sensor, the second sensing data being sensing data of the first sensing service; and sending the second sensing data to the first device.

[0043] The method provided in this application can request sensing data from sensing sensors outside of 3GPP networks. Collecting sensing data through sensing sensors outside of 3GPP networks is beneficial for improving sensing performance.

[0044] In one possible design, the method further includes sending the viewing angle parameters of the second sensing sensor to the first device. This design helps improve the accuracy of the sensing.

[0045] In one possible design, the viewing angle parameter is the viewing angle parameter when the second sensing sensor collects the second sensing data. This design allows the first device to acquire the viewing angle parameter of the collected sensing data, thereby improving the accuracy of the sensing.

[0046] In one possible design, the method further includes sending the viewing angle parameters of the second sensing sensor to the registration device. This design reduces parameter transmission overhead by pre-registering the viewing angle parameters with the registration device.

[0047] In one possible design, the viewing angle parameters of the second sensing sensor include at least one of the following: the position information of the second sensing sensor, the viewing angle of the second sensing sensor, or the camera intrinsic parameters of the second sensing sensor.

[0048] In one possible design, the second information includes at least one of the following: the number of sensing sensors performing the first sensing service in the sensing sensors managed by the third device, the data format of the sensing data of the first sensing service collected by the sensing sensors managed by the third device, the data size of the sensing data of the first sensing service collected by the sensing sensors managed by the third device, the collection duration of the first sensing service, or the collection frequency of the first sensing service.

[0049] In one possible design, the data format is either point cloud data format or image data format.

[0050] In one possible design, the data size is either the point cloud data size or the image data size.

[0051] Fourthly, this application provides a communication method. The execution subject of this method can be a registration device, or a chip or circuit on the registration device side. Taking a registration device as an example, the method includes: receiving registration information from a second device and registration information from a third device, wherein the registration information of the second device includes viewing angle parameters of a first sensing sensor managed by the second device, and the registration information of the third device includes viewing angle parameters of a second sensing sensor managed by the third device; receiving a third request message and a fourth request message from a first device, wherein the third request message is used to request the viewing angle parameters of the first sensing sensor, and the fourth request message is used to request the viewing angle parameters of the second sensing sensor; and sending the viewing angle parameters of the first sensing sensor and the viewing angle parameters of the second sensing sensor to the first device.

[0052] The above design reduces parameter transmission overhead by pre-registering the viewing angle parameters to the registration device.

[0053] In one possible design, the third request message includes the identification information of the first sensing sensor and / or the type of the first sensing sensor, and the fourth request message includes the identification information of the second sensing sensor and / or the type of the second sensing sensor. This design facilitates the acquisition of accurate viewing angle parameters, thereby improving the accuracy of perception.

[0054] In one possible design, the viewing angle parameter of the first sensing sensor includes at least one of the following: the position information of the first sensing sensor, or the viewing angle of the first sensing sensor;

[0055] The viewing angle parameters of the second sensing sensor include at least one of the following: the position information of the second sensing sensor, the viewing angle of the second sensing sensor, or the camera intrinsic parameters of the second sensing transmitter.

[0056] Fifthly, this application also provides a communication device that implements any of the methods provided in the first aspect. This communication device can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the functions described above.

[0057] In one possible implementation, the communication device includes a processor configured to support the communication device in performing the corresponding functions of the first device in the method described above. The communication device may also include a memory coupled to the processor, which stores necessary program instructions and data for the communication device. Optionally, the communication device further includes interface circuitry for supporting communication between the communication device and devices such as a second, third, or fourth device.

[0058] In one possible implementation, the communication device includes corresponding functional modules, each used to implement the steps in the above method. The functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above.

[0059] In one possible implementation, the communication device includes a processing unit and a communication unit, which can perform the corresponding functions in the above method examples, as described in the method provided in the first aspect, and will not be repeated here.

[0060] Sixthly, this application also provides a communication device having any of the methods provided in the second aspect above. This communication device can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the functions described above.

[0061] In one possible implementation, the communication device includes a processor configured to support the communication device in performing corresponding functions of the second device in the method described above. The communication device may also include a memory coupled to the processor, which stores necessary program instructions and data for the communication device. Optionally, the communication device further includes interface circuitry for supporting communication between the communication device and devices such as the first device and the first sensing sensor.

[0062] In one possible implementation, the communication device includes corresponding functional modules, each used to implement the steps in the above method. The functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above.

[0063] In one possible implementation, the communication device includes a processing unit and a communication unit, which can perform the corresponding functions in the above method examples, as described in the method provided in the second aspect, and will not be repeated here.

[0064] Seventhly, this application also provides a communication device having any of the methods provided in the third aspect above. This communication device can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the functions described above.

[0065] In one possible implementation, the communication device includes a processor configured to support the communication device in performing corresponding functions of the third device in the methods described above. The communication device may also include a memory coupled to the processor, which stores necessary program instructions and data for the communication device. Optionally, the communication device further includes interface circuitry for supporting communication between the communication device and devices such as the first device and the second sensing sensor.

[0066] In one possible implementation, the communication device includes corresponding functional modules, each used to implement the steps in the above method. The functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above.

[0067] In one possible implementation, the communication device includes a processing unit and a communication unit, which can perform the corresponding functions in the above method examples, as described in the method provided in the third aspect, and will not be repeated here.

[0068] Eighthly, this application also provides a communication device having any of the methods provided in the fourth aspect above. This communication device can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the functions described above.

[0069] In one possible implementation, the communication device includes a processor configured to support the communication device in performing the corresponding functions of the fourth device in the method described above. The communication device may also include a memory coupled to the processor, which stores necessary program instructions and data for the communication device. Optionally, the communication device further includes interface circuitry for supporting communication between the communication device and devices such as the first device, the second device, and the third device.

[0070] In one possible implementation, the communication device includes corresponding functional modules, each used to implement the steps in the above method. The functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above.

[0071] In one possible implementation, the communication device includes a processing unit and a communication unit, which can perform the corresponding functions in the above method examples, as described in the method provided in the fourth aspect, and will not be repeated here.

[0072] A ninth aspect provides a communication device including a processor and an interface circuit, the interface circuit being configured to receive signals from other communication devices outside the communication device and transmit them to the processor or to send signals from the processor to other communication devices outside the communication device, the processor being configured to implement the methods of the first aspect and any possible design via logic circuits or execution code instructions.

[0073] In a tenth aspect, a communication device is provided, including a processor and an interface circuit. The interface circuit is configured to receive signals from other communication devices outside the communication device and transmit them to the processor, or to send signals from the processor to other communication devices outside the communication device. The processor is configured to implement the methods of the aforementioned second aspect and any possible design through logic circuits or execution code instructions.

[0074] Eleventhly, a communication device is provided, including a processor and an interface circuit. The interface circuit is used to receive signals from other communication devices outside the communication device and transmit them to the processor, or to send signals from the processor to other communication devices outside the communication device. The processor is used to implement the methods of the aforementioned third aspect and any possible design through logic circuits or execution code instructions.

[0075] In a twelfth aspect, a communication device is provided, including a processor and an interface circuit. The interface circuit is configured to receive signals from other communication devices outside the communication device and transmit them to the processor, or to send signals from the processor to other communication devices outside the communication device. The processor is configured to implement the methods described in the fourth aspect above and any possible design via logic circuits or execution code instructions.

[0076] In a thirteenth aspect, a computer-readable storage medium is provided that stores a computer program or instructions which, when executed by a processor, implement the methods in any possible design of the first aspect and any other aspect.

[0077] In a fourteenth aspect, a computer-readable storage medium is provided that stores a computer program or instructions which, when executed by a processor, implement the methods in any possible design of the second aspect and any other aspect described above.

[0078] In a fifteenth aspect, a computer-readable storage medium is provided that stores a computer program or instructions which, when executed by a processor, implement the methods in any possible design of the third aspect and any of the aforementioned aspects.

[0079] In a sixteenth aspect, a computer-readable storage medium is provided that stores a computer program or instructions which, when executed by a processor, implement the methods in any possible design of the fourth aspect and any other aspect described above.

[0080] In a seventeenth aspect, a chip system is provided, comprising a processor and potentially a memory, for implementing the methods of any possible design in the first aspect and any of the aforementioned aspects. The chip system may be composed of chips or may include chips and other discrete devices.

[0081] Eighteenthly, a chip system is provided, comprising a processor and potentially a memory, for implementing the methods of any possible design in the second aspect and any of the aforementioned aspects. The chip system may be composed of chips or may include chips and other discrete devices.

[0082] In a nineteenth aspect, a chip system is provided, comprising a processor and potentially a memory, for implementing the methods of any possible design in the third aspect and any of the aforementioned aspects. The chip system may be composed of chips or may include chips and other discrete devices.

[0083] In a twentieth aspect, a chip system is provided, comprising a processor and potentially a memory, for implementing the methods of any possible design in the fourth aspect and any other aspect described above. The chip system may be composed of chips or may include chips and other discrete devices.

[0084] In a twenty-first aspect, a communication system is provided, the system comprising the apparatus described in the first aspect (such as a first device), the apparatus described in the second aspect (such as a second device), and the apparatus described in the third aspect (such as a third device), and may further include the fourth device involved in the first aspect. Optionally, it may also include the registration device described in the fourth aspect.

[0085] The technical effects that can be achieved by any of the technical solutions in aspects 5 to 21 above can be described with reference to the technical effects that can be achieved by the technical solution in aspect 1 above, and the repeated parts will not be repeated. Attached Figure Description

[0086] Figure 1 is a schematic diagram of a perception network architecture according to an embodiment of this application;

[0087] Figure 2 is a schematic diagram of a perception network architecture according to an embodiment of this application;

[0088] Figure 3 is a schematic diagram of a perception network architecture according to an embodiment of this application;

[0089] Figure 4 is a flowchart illustrating a communication method according to an embodiment of this application;

[0090] Figure 5 is a schematic diagram of the structure of a communication device according to an embodiment of this application;

[0091] Figure 6 is a schematic diagram of the structure of a communication device according to an embodiment of this application. Detailed Implementation

[0092] The technical solutions of this application embodiment are applicable to integrated sensing and communication (ISAC) systems. An integrated sensing and communication system refers to a system that integrates communication and sensing, also known as a harmonized communication and sensing (HCS) system. The core idea of ​​integrated sensing and communication is to add sensing-related capabilities to the communication system, building capabilities such as target detection, tracking, and imaging, thereby integrating communication and sensing capabilities into a single network. The communication system can be a cellular system related to the 3rd Generation Partnership Project (3GPP). Examples include Long Term Evolution (LTE), the sixth generation (5G) mobile communication system / new radio (NR) communication system, future communication systems, or other similar communication systems. Other similar communication systems may include wireless fidelity (WIFI), vehicle-to-everything (V2X), Internet of Things (IoT) systems, non-terrestrial network (NTN) communication systems, etc.

[0093] Before introducing the technical solutions provided in the embodiments of this application, the terminology and applicable network architecture involved in the embodiments of this application will be introduced first.

[0094] (1) Perception

[0095] Perception can be understood as a technology capable of acquiring information about the characteristics of the environment and / or objects within it. This information includes, but is not limited to, shape, size, orientation, speed, position, distance between objects, or relative motion. The working principle of perception is as follows: the transmitting end sends a signal for perception (also called a sensing signal), and the receiving end receives the signal reflected from the sensing target (also called an echo signal). Based on the processing of the echo signal, the perception result can be obtained, such as speed, distance, shape, and size. The sensing target can also be called a target, the object being sensed, the object being detected, or the object being sensed, etc., without limitation. The sensing target can be any tangible object in the environment capable of reflecting electromagnetic waves. For example, the sensing target can be a stationary object such as a building. Alternatively, the sensing target can also be a mobile object such as a vehicle, drone, or terminal device.

[0096] Perception can also be replaced by: sensing process, sensing operation, sensing detection, or detection processing.

[0097] Sensing signals are also called detection signals, linear frequency modulated signals, radar signals, radar sensing signals, radar detection signals, environmental sensing signals, etc. Sensing signals can be pulse signals or any signal that may exist in a wireless communication system, such as orthogonal frequency division multiplexing (OFDM) signals. For example, sensing signals include (or may be) sounding reference signals (SRS), demodulation reference signals (DMRS), positioning reference signals (PRS), sidelink positioning reference signals (SL-PRS), channel state information reference signals (CSI), reference signals (RS), synchronization signal blocks (SSB), synchronization signal / physical broadcast channel blocks (SS / PBCH blocks), tracking reference signals (TRS), phase tracking reference signals (PTRS), beam manager reference signals (BMRS), or cell reference signals (CRS), etc. Sensing signals can also include communication information, such as signals carried on the physical downlink shared channel (PDSCH) or the physical sidelink shared channel (PSSCH).

[0098] An echo signal is the signal reflected back to the receiver after a sensing signal is emitted from a transmitter to a target object. By performing autocorrelation processing on the echo signal and the sensing signal, and then transforming them, the time delay of the echo signal relative to the sensing signal in the time domain can be analyzed. This allows us to determine the distance of the sensing target from the transmitter. By comparing the echo signals reflected back from the same target by different transmitted signals, we can convert the signal to the Doppler domain. Combining the Doppler and range domain analyses, we can determine the distance and velocity of the sensing target. Furthermore, the direction of the sensing target relative to the transmitter can be determined by the beam direction of the antenna emitting the sensing signal. The echo signal can be understood as a reflected sensing signal; therefore, it can also be called a sensing signal.

[0099] (2) Sensing Sensor

[0100] Sensing sensors are responsible for sensing, measuring, and generating sensing data. Sensing sensors can be communication network devices, such as access network equipment and terminal devices. They can also be non-communication network devices, such as cameras, millimeter-wave radar, and lidar.

[0101] (3) Perceived data and perception results

[0102] Sensing data, also known as sensing measurement data, refers to the data obtained after processing echo signals. The processing of echo signals involves multiple stages, and the data obtained from each stage can be called sensing data. For example, the echo signal processing flow may include the following stages: (1) Performing symbol extraction and cyclic prefix removal on the echo signal to obtain the time-domain data of the radar frame, separating in-phase (I / quadrature, IQ) data; (2) Performing time-frequency transformation, effective subcarrier extraction, signal estimation, and inverse fast fourier transform (IFFT) on the IQ data to obtain the range (R) spectrum; (3) Performing inter-symbol windowing and fast fourier transform on the R spectrum. (4) Perform FFT on the channel dimension of the RD spectrum to obtain the range / doppler (RDA) spectrum; (5) Detect all valid point target information from the RD spectrum or RDA spectrum to obtain multiple data points. The set of these multiple data points is also called a point cloud. Each data point is used to represent a relative position or an absolute position relative to the sensing device; (6) Cluster the multiple data points to obtain the centroid of the real target.

[0103] Sensing data can represent one or more of the following: time delay, Doppler effect, angle, and intensity of a sampling point; it can also represent one or more of the following: position, distance, velocity, and intensity of a sampling point. For example, sensing data includes, but is not limited to, one or more of the following: IQ data, RD spectrum, RDA spectrum, distance / velocity (DV) spectrum, distance / velocity / angle (DVA) spectrum, range / velocity (RV) spectrum, range / velocity / angle (RVA) spectrum, set of coordinate points, point cloud, point cluster, cluster trace, centroid of a real target, etc.

[0104] Perception results refer to the results related to business functions and performance obtained through calculation and analysis of perceived data. For example, perception results include the existence of the target to be perceived and information about the target (e.g., speed, distance, angle, orientation, acceleration, position, movement trajectory, imaging results, facial expression, breathing / heart rate, etc.). Some perception results can also be considered as perception data; for example, speed and distance information can be considered as perception data. Perception results also vary depending on the target being perceived. For example, if the target is air, the perception results include air quality and the composition of gases in the air; another example is vehicles, where the perception results include the number of vehicles, their positions, and their movement trajectories.

[0105] Perception results can also be viewed as a type of perception data.

[0106] (4) Sensory area

[0107] The sensing area is the geographical area to be sensed. It can be represented by a geographical location, such as latitude and longitude information, distance, radius, etc., or it can be cell information, gNB information, or tracking area (TA) information, or information specifically introduced to indicate the sensing area.

[0108] In the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0109] Furthermore, unless otherwise stated, the ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects and are not used to limit the size, content, order, timing, priority, or importance of multiple objects.

[0110] The preceding text introduced some terms and concepts involved in the embodiments of this application. The following text introduces the technical background involved in the embodiments of this application.

[0111] Communication-sensing integration combines wireless communication and sensing functions into a single system. It utilizes the various propagation characteristics of wireless signals to achieve sensing functions such as target localization, detection, imaging, and identification, thereby acquiring information about the surrounding physical environment, improving communication performance, and enhancing user experience. In communication-sensing integration technology, sensing is performed by sending sensing signals and receiving echo signals to obtain information such as the position and velocity of targets in the environment.

[0112] In integrated communication and sensing technology, sensing can be performed using wireless signals; that is, the sensing signal in integrated communication and sensing technology is a wireless signal. However, because the point cloud provided by wireless signals is very sparse, the sensing accuracy is low, and it is impossible to describe the geometric features, colors, text, and other detailed information of the perceived target object. In some specific scenarios (such as target detection, semantic segmentation, and other tasks), it is difficult to meet the business sensing performance requirements.

[0113] Based on this, embodiments of this application provide a communication method and apparatus. This application defines a sensing convergence function (SCF). The SCF can request sensing data from both internal and external sensing data providers based on the consumer's service requests. By fusing the sensing data from the internal and external providers, and leveraging their complementary effects, sensing performance is improved.

[0114] In one possible implementation, SCF can communicate with external sensing data providers through open functions.

[0115] The following section introduces three possible architectures for a perception system.

[0116] Example 1: SCF can be deployed in a 3GPP management system, such as an NMS or EMS-RAN management system. See Figure 1 for example. The following is a brief introduction to the functions of some network elements that may be involved in a 3GPP management system.

[0117] (1) Cross-Domain Management Function Unit: Also known as a network management function (NMF) or cross-domain management system (NMS), the following embodiments use NMS as an example. The cross-domain management function unit is responsible for the operation, management, and maintenance of the network. A cross-domain management function unit can manage one or more domain management function units, such as a domain management function unit that manages the RAN domain and a domain management function unit that manages the CN domain.

[0118] (2) Domain Management Function Unit: Also known as a single-domain management function unit or single-domain management system (EMS). In the following embodiments, the domain management function unit is taken as an example as EMS. EMS includes, for example, subnetwork management function (NMF), network element / function management function, RAN domain EMS (EMS-RAN), or core network domain EMS. An EMS can manage one or more network elements. For example, the RAN domain EMS can manage access network devices, etc., and the CN domain EMS can manage network data analytics function (NWDAF) network elements, user plane function (UPF) network elements, session management function (SMF), access and mobility management function (AMF), etc.

[0119] NMS and EMS-RAN can also be collectively referred to as the 3GPP management system or the Operations Administration and Maintenance (OAM) module.

[0120] (3) Application Programming Interface (API) Exposing Function (AEF): API exposing function in the 3GPP SA6 Common API Framework (CAPIF) architecture, serving as the entry point for communication between the service API provider, API invoker, and service API.

[0121] (4) Exposure governance management function (EGMF): The logical management function that enables the management domain to open its management capabilities to the outside world.

[0122] (5) SCF: responsible for generating sensing control parameters, requesting multimodal sensing data from data providers, and performing sensing fusion processing, etc.

[0123] (6) Consumers: Consumers can initiate perception fusion service requests to the SCF. Consumers can be application functions (AFs), terminal devices, etc. Consumers can interact with the SCF through perception service open functions.

[0124] In this example, the awareness service open function can be an EGMF called via AEF, a directly called EGMF, or other functions. When the consumer is an end device, the consumer can interact with the SCF through the RAN and the management service (MnS) interface.

[0125] (7) Radio Access Network (RAN): Provides connectivity between terminal equipment and the core network. The RAN can be a 3GPP-related cellular system, such as a 5G / NR mobile communication system, or a future-oriented evolution system. The RAN can also be an open RAN (O-RAN or ORAN), a cloud radio access network (CRAN), a virtualized RAN (vRAN), a non-terrestrial network (NTN), etc. The RAN can also be a communication system that integrates two or more of the above systems. The radio access network can include at least one access network device. Access network devices can also be referred to as RAN nodes, RAN entities, or access nodes, etc.

[0126] In one possible scenario, a RAN node can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next-generation NodeB (gNB), or a base station in a future mobile communication system. RAN nodes can also be macro base stations, micro base stations, indoor stations, relay nodes, donor / host nodes, or radio controllers. RAN nodes can also be servers, wearable devices, vehicles, or in-vehicle equipment. For example, in V2X technology, the RAN node can be a roadside unit (RSU).

[0127] In another possible scenario, the RAN node can be a module or unit that performs some of the functions of the base station; or multiple RAN nodes can cooperate to assist terminal equipment in achieving wireless access, with different RAN nodes performing some of the functions of the base station. For example, the RAN node can be a CU, DU, or RU. The function of the CU can be implemented by a single entity or by different entities. For example, the function of the CU can be further divided, that is, the control plane and the user plane can be separated and implemented by different entities, namely the control plane CU entity (i.e., CU-control plane (CP) entity) and the user plane CU entity (i.e., CU-user plane (UP) entity). The CU-CP entity and the CU-UP entity can be coupled with the DU to jointly complete the function of the RAN node. The CU and DU can be set up separately or included in the same network element, such as in the baseband unit (BBU). Any of the units among the CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented by software modules, hardware modules, or a combination of software modules and hardware modules.

[0128] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples.

[0129] The CU and DU can be configured according to the protocol layer functions of the wireless network they implement: for example, the CU can be configured to implement the functions of the Packet Data Convergence Protocol (PDCP) layer and above (such as the Radio Resource Control (RRC) layer and / or the Service Data Adaptation Protocol (SDAP) layer); the DU can be configured to implement the functions of the protocol layers below the PDCP layer (such as the Radio Link Control (RLC) layer, the Media Access Control (MAC) layer, and / or the Physical (PHY) layer). For specific descriptions of the above protocol layers, please refer to the relevant 3GPP technical specifications or the technical specifications of other applicable communication protocols.

[0130] The above division of the processing functions of CU and DU according to protocol layers is merely an example; other division methods are also possible, and this application does not limit this. For example, in one design, CU or DU can be further divided into processing functions with protocol layers. In one design, some functions of the RLC layer and the functions of the protocol layer above the RLC layer are located in the CU, while the remaining functions of the RLC layer and the functions of the protocol layer below the RLC layer are located in the DU.

[0131] In another possible design, the DU and RU collaborate to implement the PHY layer functionality, or, more specifically, a portion of the PHY layer functionality of the DU can be moved to the RU. A DU can be connected to one or more RUs. The functions of the DU and RU can be configured in various ways depending on the design. For example, the DU may be configured to implement baseband functions, and the RU may be configured to implement mid-RF functions. Alternatively, the DU may be configured to implement higher-level functions in the PHY layer, and the RU may be configured to implement lower-level functions in the PHY layer, or both lower-level and RF functions. Higher-level functions in the physical layer may include a portion of the physical layer's functionality closer to the MAC layer, and lower-level functions may include another portion of the physical layer's functionality closer to the mid-RF side. This application does not limit the specific functions of the DU and RU. The interface between the DU and RU can be called a fronthaul interface. In one design, the CU may not have a PDCP layer; for example, the CU may only include an RRC layer. The CU-CP may not have PDCP-C. The CU-UP may not have PDCP-U, or may not have a CU-UP. In one design, the DU may not have an RLC layer; for example, the DU may only have a MAC and a higher PHY layer.

[0132] When the RAN is O-RAN, it can also have artificial intelligence (AI) capabilities. For example, O-RAN includes an intelligent controller. The intelligent controller can be a non-real-time RAN intelligent controller (RIC / non-RT RIC / NRT RIC) or a near-real-time RAN intelligent controller (RIC / near-RT RIC / nRT RIC). A non-real-time RIC can be used to implement non-real-time intelligent management of RAN functions, enabling workflows including model training and model updates, and guiding applications / functions in the nRT RIC based on policies. A near-real-time RIC can be used to implement near-real-time intelligent management of the RAN. Through data collection and related operations on the E2 interface, near-real-time control and optimization of O-RAN modules and resources are achieved.

[0133] In the embodiments of this application, the device used to implement the function of the access network device can be the access network device itself, or it can be a device that supports the access network device in implementing the function, such as a chip system or a combination device or component that can implement the function of the access network device. The device can be installed in the access network device. The embodiments of this application do not limit the specific technology or specific device form used in the access network device.

[0134] (8) Terminal Equipment: In this embodiment, any device capable of data communication with network equipment can be considered a terminal equipment. Terminal equipment is also called a terminal, terminal device, user equipment (UE), user terminal, mobile station, or mobile terminal, etc. Terminal equipment can be widely used in various scenarios. For example, terminal equipment can be: mobile phone, computer, mobile internet device (MID), wearable device, virtual reality (VR) device, augmented reality (AR) device, station (STA), robotic arm, camera, robot, vehicle, drone, helicopter, airplane, ship, or smart home device (e.g., TV, air conditioner, robot vacuum cleaner, speaker, set-top box), relay, customer premise equipment (CPE), etc.

[0135] Furthermore, in this embodiment, the terminal device can also be a terminal device in an IoT system, such as a water meter or electricity meter. IoT is an important component of future information technology development. Its main technical characteristic is connecting objects to networks through communication technology, thereby realizing an intelligent network that enables human-machine interconnection and object-to-object interconnection.

[0136] When the terminal device is applied to V2X, it can also be called a V2X device, such as a smart car, digital car, unmanned car, driverless car, pilotless car, autonomous car, pure electric vehicle, hybrid electric vehicle (HEV), range-extended electric vehicle (REEV), plug-in hybrid electric vehicle (PHEV), new energy vehicle, and RSU.

[0137] The various terminal devices described above, if located on a vehicle (e.g., placed / installed inside the vehicle), can all be considered in-vehicle terminal devices. In-vehicle terminal devices can be built into a vehicle's in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit as one or more components or units. The vehicle can implement the methods of this application through the built-in in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit. In-vehicle terminal devices can be vehicle equipment, in-vehicle modules, vehicles, in-vehicle units (on-board units, OBUs), remote sensing units (RSUs), in-vehicle infotainment systems (or in-vehicle transmission units) (telematics boxes, T-boxes), chips, or systems on a chip (SOCs), etc. These chips or SOCs can be installed in the vehicle, OBU, RSU, or T-box.

[0138] In the embodiments of this application, the device for implementing the functions of the terminal device can be the terminal device itself, or a device capable of supporting the terminal device in implementing the functions, such as a chip system or a combination of devices or components capable of implementing the functions of the terminal device. This device can be installed in the terminal device. The embodiments of this application do not limit the specific technology or specific device form used in the terminal device.

[0139] (9) Internal Sensing Data Provider: Provides internal sensing data within the 3GPP network, such as point clouds, to the SCF. The internal sensing data provider can manage at least one sensing sensor, which is a sensing sensor within the 3GPP network, such as access network equipment or terminal equipment. The internal sensing data provider can interact with the SCF through the sensing data interaction function.

[0140] In this example, the sensing data interaction function can be the MnS interface, or it can be other functions. When the internal sensing data provider is a terminal device, the internal sensing data provider can interact with the SCF through the RAN and MnS interfaces. For example, the internal sensing data provider can be an access network device, a terminal device, etc.

[0141] (10) External Sensing Data Provider: Also known as a third-party data provider, this provider offers external sensing data to the SCF, such as images and external radar point clouds. An external sensing data provider can manage at least one sensing sensor. These sensors can be located outside of 3GPP networks, such as external radar, external cameras, or external webcams. The external sensing data provider can interact with the SCF through open functions.

[0142] In this example, the open function can be an EGMF invoked via AEF, a directly invoked EGMF, or other functions. For example, the sensing sensors managed by the external sensing data provider can be cameras, LiDAR, millimeter-wave radar, etc.

[0143] The terms "internal sensing data provider" and "external sensing data provider" can also be used, and this application does not impose any specific restrictions.

[0144] Example 2: SCF can be deployed in the 3GPP core network. For example, the SCF is implemented by the SF with sensing fusion capabilities in the core network, as shown in Figure 2. The functions of some network elements that may be involved in the core network are briefly described below.

[0145] (1) Consumers: For details, please refer to the relevant description of consumers in Example 1.

[0146] In this example, the Aware Service Opening function can call the NEF via AEF, directly call the NEF, or use other functions. When the consumer is a terminal device, the Aware Service Opening function can also interact with the SCF via AMF (such as non-access stratum (NAS) signaling) or via RAN and AMF.

[0147] (2) Core network (CN): Primarily provides user connectivity, user management, and service delivery, serving as the interface to external networks. It may include network elements such as network exposure function (NEF), sensing function (SF), network repository function (NRF), and access and mobility management function (AMF).

[0148] Among them, the network exposure function (NEF) is responsible for managing external applications that expose network data to the outside world.

[0149] Sensing function (SF): SF can be a device or component that provides sensing functionality, or it may have other names. SF can implement basic sensing functions, such as sensing authorization, sensing control, and processing or outputting sensing measurement data. Optionally, SF can also implement sensing data fusion.

[0150] Network repository function (NRF): Supports service discovery, receives NF discovery requests from network function (NF) instances, and provides the discovered NF instance (discovered) information to the NF instance.

[0151] Access and mobility management function (AMF): Performs registration, connection, accessibility, and mobility management.

[0152] (3) Radio Access Network (RAN): Provides the connection between terminal equipment and the core network. See Example 1 for a detailed description of the radio access network.

[0153] (4) Terminal equipment: Please refer to the relevant description of terminal equipment in Example 1 for details.

[0154] (5) Internal sensing data provider: For details, please refer to the relevant description of the internal sensing data provider in Example 1.

[0155] In this example, the sense data interaction function can be an AMF (Awareness Function Foundation) or other functions. When the internal sense data provider is an end device, the sense data interaction function can also interact with the SCF (Sense Function Foundation) through the RAN (Radio Router) and AMF.

[0156] (6) External sensing data provider: For details, please refer to the relevant description of the external sensing data provider in Example 1.

[0157] In this example, the open function can be a call to NEF via AEF, a direct call to NEF, or other functions.

[0158] Example 3: The SCF can be deployed in an open RAN (open radio access network) architecture. For example, the SCF can be deployed in a RAN intelligent controller (RIC), as shown in Figure 3. The following is a brief introduction to the modules and interfaces that may be involved in an open RAN architecture.

[0159] (1) Consumers. For details, please refer to the relevant description of consumers in Example 1.

[0160] In this example, the Aware Service Opening Function can be implemented through the service interface / O1 / A1 interface, or other functional interfaces. When the consumer is a UE, the Aware Service Opening Function can also interact with the SCF through the RAN and E2 interfaces.

[0161] (2) RIC: RIC is further divided into non-real-time radio access network intelligent controller (O-RAN non-real-time RAN intelligent controller, Non-RT RIC) and near-real-time radio access network intelligent controller (O-RAN near real-time RAN intelligent controller, Near-RT RIC). SCF can be deployed in Non-RT RIC or Near-RT RIC.

[0162] (3) A1 interface: The interface between Non-RT RIC and Near-RT RIC, which can realize machine learning (ML) model management (such as ML model deployment and update), policy management and rich information transmission functions, respectively corresponding to A1-ML, A1-P and A1-EI.

[0163] (4) O1 interface: The interface between the OAM management entity and the O-RAN network element. FCAPS management, software management, file management, etc. can be realized through the O1 interface.

[0164] (5) E2 interface: The interface between Near-RT RIC and RAN functional network elements, enabling Near-RT RIC to control RAN functional network elements, and RAN functional network elements can report performance data through the E2 interface.

[0165] (6) Radio Access Network (RAN): Provides connectivity between terminal equipment and the core network. See Example 1 for a detailed description of the radio access network.

[0166] (7) Terminal equipment. For details, please refer to the relevant description of terminal equipment in Example 1.

[0167] (8) Internal sensing data provider: For details, please refer to the relevant description of the internal sensing data provider in Example 1.

[0168] In this example, the sensing data interaction function can be an E2 interface or other functions. When the internal sensing data provider is a terminal device, the sensing data interaction function can also interact with the SCF through the RAN and E2 interfaces.

[0169] (9) External sensing data provider: For details, please refer to the relevant description of the external sensing data provider in Example 1.

[0170] In this example, the open functionality can be achieved through the service interface / O1 / A1, or other functional interfaces.

[0171] The network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0172] In the embodiments of this application, "when," "if," and "if" all refer to the device taking corresponding actions under certain objective circumstances, and are not time-limited, nor do they require the device to perform a judgment action, nor do they imply any other limitations. Unless otherwise specified, "if" and "if" can be substituted, and "when" and "in the case of" can be substituted. "When" and "if" / "if" can be substituted.

[0173] It should be noted that the naming of each message / information in this application is only illustrative and limits the names of each message / information.

[0174] Figure 4 shows a flowchart of a communication method provided in an embodiment of this application. The method includes:

[0175] S401, the fourth device sends a service request to the first device. Correspondingly, the first device receives the service request from the fourth device.

[0176] Among them, the business request is used to request the execution of the first perception business.

[0177] In this application, the fourth device is a consumer, which can be an AF, terminal device, etc. For details, please refer to the relevant description of consumers in the network architecture introduction above.

[0178] The first device is the device that has deployed SCF. When SCF is deployed in the 3GPP management system, the first device can be NMS or EMS-RAN, etc. When SCF is deployed in the 3GPP core network, the first device can be SF. When SCF is deployed in O-RAN, the first device can be RIC. For details, please refer to the relevant description of SCF in the network architecture introduction above.

[0179] For example, a service request may include at least one of the following: the sensing service type of the first sensing service, the sensing area of ​​the first sensing service, the sensing performance indicators of the first sensing service, the fusion strategy of the first sensing service, or the sensing data requirements of the first sensing service.

[0180] For example, the sensing service type of the first sensing service can be moving target detection, static target detection, environment reconstruction, etc., and this application does not make specific limitations.

[0181] The perception performance indicators of the first perception service can be perception accuracy, processing latency, refresh rate, etc., and this application does not make specific limitations.

[0182] The integration strategy for first-level perception services can include data-level integration, feature-level integration, and target-level integration (also known as decision-level integration).

[0183] The sensing data requirements for the first sensing service may include at least one of the following: the type of sensing sensor performing the first sensing service, the number of sensing sensors performing the first sensing service, the data source of the first sensing service, the data format of the sensing data of the first sensing service, or the data size of the sensing data of the first sensing service, the acquisition duration of the first sensing service, and the acquisition frequency of the first sensing service.

[0184] The types of sensing sensors can include sensing sensors in 3GPP networks and sensing sensors outside of 3GPP networks. Alternatively, the types of sensing sensors can include access network equipment, terminal equipment, and sensing sensors outside of 3GPP networks. Sensing sensors in 3GPP networks can also be described as internal sensing sensors, etc. Sensing sensors outside of 3GPP networks can also be described as third-party, third-party sensing sensors, external sensing sensors, etc.

[0185] The number of sensing sensors performing the first sensing service can be the total number of sensing sensors performing the first sensing service, or it can be the number of sensing sensors performing the first sensing service among the sensing sensors managed by the second device and the number of sensing sensors performing the first sensing service among the sensing sensors managed by the third device.

[0186] The data source can indicate a second and / or a third device. For example, if the first sensing service has an external sensing data requirement, the data source of the first sensing service can indicate a third device. As another example, if the first sensing service has an internal sensing data requirement, the data source of the first sensing service can indicate a second device.

[0187] The data format can be any format of the sensing data from the first sensing service, such as point cloud data format, image data format, point cloud data format, and image data format. For example, the point cloud data format can be PCD, and the image data format can be JPG, etc.

[0188] The data size can include all data sizes of the sensing data of the first sensing service. For example, the data size can include the point cloud data size and / or image data size. For instance, the point cloud data size can be the number of points, and the image data size can be the image resolution.

[0189] S402, the first device sends first information to the second device according to the service request. Correspondingly, the second device receives the first information from the first device.

[0190] The first information is used by the sensing sensors managed by the second device to collect sensing data. For example, the first information includes at least one of the following: the number of sensing sensors performing the first sensing service among the sensing sensors managed by the second device, the data format of the sensing data collected by the sensing sensors of the first sensing service, the data size of the sensing data collected by the sensing sensors of the first sensing service, the collection duration of the first sensing service, or the collection frequency of the first sensing service. The data format in the first information can be a point cloud data format, and the data size can be a point cloud data size.

[0191] In this application, the second device belongs to a 3GPP network and manages at least one sensing sensor, which can be a sensing sensor in the 3GPP network, such as access network equipment, terminal equipment, etc.

[0192] For example, the second device is an internal sensing data provider, and you can refer to the relevant description of the internal sensing data provider in the network architecture introduction above.

[0193] This application uses the first sensing sensor managed by the second device as an example. The first information can also request other sensing sensors managed by the second device to collect sensing data, which is not specifically limited here.

[0194] S403, the first device sends second information to the third device according to the service request. Correspondingly, the third device receives the second information from the first device.

[0195] The second information is used by the second sensing sensor managed by the third device to collect sensing data. For example, the second information includes at least one of the following: the number of sensing sensors performing the first sensing service among the sensing sensors managed by the third device, the data format of the sensing data collected by the sensing sensors of the first sensing service, the data size of the sensing data collected by the sensing sensors of the first sensing service, the collection duration of the first sensing service, or the collection frequency of the first sensing service. The data format in the second information can be a point cloud data format or an image data format, and the data size can be the point cloud data size or the image data size.

[0196] In one implementation, the first and second information mentioned above can be generated by the first device based on one or more of the following information: business request, and the capabilities of the first device.

[0197] Example 1: Taking the generation of the first and second information mentioned above based on a business request as an example, the first device can generate the first and second information based on the perception data requirements in the business request.

[0198] For example, if a service request includes the number of sensing sensors in a 3GPP network (assuming 7) and the number of sensing sensors in a non-3GPP network (assuming 3), then the number of sensing sensors in the first information can be 7, and the number of sensing sensors in the second information below can be 3.

[0199] If the business request includes a data format (assuming it is a point cloud data format), then the data format in the first information is the point cloud data format, and the data format in the second information is the point cloud data format.

[0200] If the business request includes data formats (assuming point cloud data format and image data format), then the data format in the first information is the point cloud data format, and the data format in the second information below is the image data format.

[0201] If the business request includes data size (assuming it is point cloud data size), then the data size in the first information is the point cloud data size, and the data size in the second information is the point cloud data size.

[0202] If the business request includes data size (assuming it is point cloud data size and image data size), then the data size in the first information is the point cloud data size, and the data size in the second information below is the image data size.

[0203] In one possible approach, the first device can generate perception control parameters based on a service request, and generate the aforementioned first information and second information based on the perception control parameters. The perception control parameters may include at least one of the following: the type of perception sensor performing the first perception service; the number of perception sensors performing the first perception service among the perception sensors managed by the second device; the number of perception sensors performing the first perception service among the perception sensors managed by the third device; the data source of the first perception service; the data format of the perception data of the first perception service (e.g., point cloud data format, image data format, point cloud data format, and image data format, etc.); the data size of the perception data of the first perception service (e.g., point cloud data size, image data size, point cloud data size, and image data size, etc.); the acquisition duration of the first perception service; and the acquisition frequency of the first perception service.

[0204] For example, if a service request includes the number of sensing sensors in a 3GPP network (assuming 7) and the number of sensing sensors in a non-3GPP network (assuming 3), then the sensing control parameters can include the number of sensing sensors in a 3GPP network (i.e., 7) and the number of sensing sensors in a non-3GPP network (i.e., 3). Accordingly, the number of sensing sensors in the first information can be 7, and the number of sensing sensors in the second information below can be 3.

[0205] If the business request includes a data format (assuming it is a point cloud data format), then the perception control parameters can include the data format (i.e., the point cloud data format). Accordingly, the data format in the first information is the point cloud data format, and the data format in the second information is the point cloud data format.

[0206] If the business request includes a data format (assuming it is a point cloud data format and an image data format), then the perception control parameters can include the data format (i.e., the point cloud data format and the image data format). Accordingly, the data format in the first information is the point cloud data format, and the data format in the second information below is the image data format.

[0207] If the business request includes data size (assuming it is point cloud data size), then the perception control parameters can include data size (i.e. point cloud data size). Accordingly, the data size in the first information is the point cloud data size, and the data size in the second information is the point cloud data size.

[0208] If the business request includes data size (assuming it is point cloud data size and image data size), then the perception control parameters can include data size (i.e., point cloud data size and image data size). Accordingly, the data size in the first information is the point cloud data size, and the data size in the second information below is the image data size.

[0209] Example 2: Taking the generation of the first and second information mentioned above based on the capabilities of the first device as an example, the first device can determine the data size of the first sensing service based on its capabilities. For example, it can determine the data size of the sensing data of the first sensing service collected by the sensing sensors managed by the second device, as well as the data size of the sensing data of the first sensing service collected by the sensing sensors managed by the third device.

[0210] In one possible approach, the first device can generate sensing control parameters based on its capabilities, and then generate the first and second information mentioned earlier based on these sensing control parameters. The sensing control parameters are described previously and will not be repeated here.

[0211] In this application, the third device is not part of a 3GPP network. The third device manages at least one sensing sensor, which can be a sensing sensor outside of a 3GPP network, such as an external radar, external camera, or external video camera.

[0212] For example, the third device is an external sensing data provider, and you can refer to the relevant description of the external sensing data provider in the network architecture introduction above.

[0213] This application uses a second sensing sensor managed by a third device as an example. The second information can also request other sensing sensors managed by the third device to collect sensing data; this is not specifically limited here.

[0214] In one possible implementation, the service request includes a data source, and the first device can determine the second and / or third device based on the data source in the service request. For example, if the data source indicates the second device, the first device can determine the second device, that is, determine to request the execution of the first sensing service from the second device. As another example, if the data source indicates the third device, the first device can determine the third device, that is, determine to request the execution of the first sensing service from the third device.

[0215] In another possible implementation, the business request does not include a data source, and the first device can determine the second and / or third device based on the performance requirements of the first sensing service.

[0216] It should be noted that this application does not limit the execution order of S402 and S403.

[0217] S404, the second device sends a first request message to the first sensing sensor. Correspondingly, the first sensing sensor receives the first request message from the second device.

[0218] The first request message is used to request the first sensing sensor to collect sensing data.

[0219] S405, the third device sends a second request message to the second sensing sensor. Correspondingly, the second sensing sensor receives the second request message from the third device.

[0220] The second request message is used to request the second sensing sensor to collect sensing data.

[0221] It should be noted that this application does not limit the execution order of S404 and S405.

[0222] S406, the first sensing sensor collects the first sensing data.

[0223] Among them, the first perception data is the perception data of the first perception service.

[0224] S407, the second sensing sensor collects second sensing data.

[0225] Among them, the second perception data is the perception data of the first perception service.

[0226] It should be noted that this application does not limit the execution order of S406 and S407.

[0227] S408, the first sensing sensor sends first sensing data to the second device. Correspondingly, the second device receives the first sensing data from the first sensing sensor.

[0228] S409, the second sensing sensor sends second sensing data to the third device. Correspondingly, the third device receives the second sensing data from the second sensing sensor.

[0229] It should be noted that this application does not limit the execution order of S408 and S409.

[0230] S410, the second device sends first sensing data to the first device. Correspondingly, the first device receives the first sensing data from the second device.

[0231] Optionally, the second device may not exist in the network. In this implementation, S402 and S404 can be replaced by the first device sending a request message to the first sensing sensor, the request message being used to request the first sensing sensor to collect sensing data. Correspondingly, S408 and S410 can be replaced by the first sensing sensor sending first sensing data to the first device.

[0232] Similarly, if there is a need for other sensing sensors in the 3GPP network to collect sensing data, the first device can also send request messages to these other sensing sensors in the 3GPP network to request them to collect sensing data. Correspondingly, the other sensing sensors can send the collected sensing data back to the first device.

[0233] S411, the third device sends the second sensing data to the first device. Correspondingly, the first device receives the first sensing data from the third device.

[0234] Optionally, a third device may not be present in the network. In this implementation, S403 and S405 can be replaced by the first device sending a request message to the second sensing sensor, the request message being used to request the second sensing sensor to collect sensing data. Correspondingly, S408 and S410 can be replaced by the second sensing sensor sending second sensing data to the first device.

[0235] Similarly, if there is a need for other sensing sensors outside the 3GPP network to collect sensing data, the first device can also send request messages to these other sensing sensors to request them to collect sensing data. Correspondingly, the other sensing sensors can send the collected sensing data back to the first device.

[0236] S412, the first device sends fused data to the fourth device based on the first sensing data and the second sensing data. Correspondingly, the fourth device receives the fused data from the first device.

[0237] In one possible implementation, the first device can fuse the first sensing data and the second sensing data to obtain the aforementioned fused data.

[0238] As an alternative approach, before fusing the first and second sensing data, the first device can perform time alignment based on the timestamps of the sensing data. For example, the first device can determine the sensing data that meets the time alignment conditions based on the timestamps of the sensing data. Thus, the first device can fuse the sensing data that meets the time alignment conditions.

[0239] Based on this method, if the timestamps of the first sensing data and the second sensing data meet the time alignment condition, the first device can fuse the first sensing data and the second sensing data.

[0240] For example, the time alignment condition can be that the timestamps are the same, or the time alignment condition can be that the difference between the timestamps is less than or equal to a preset duration, or the time alignment condition can be that the timestamps are in the same time window, etc.

[0241] As an alternative solution, before fusing the first sensing data and the second sensing data, the first device can perform spatial alignment based on the viewing angle parameters of the sensing sensors that collected the sensing data. For example, the first device can perform viewing angle transformation on the first sensing data and the second sensing data according to the viewing angle parameters of the first sensing sensor and the second sensing sensor, so that the first sensing data and the second sensing data are aligned to the same viewing angle space.

[0242] For example, view transformation can be to project the point cloud of the LiDAR-top (LIDAR_TOP view) to the camera-front view (CAM_FRONT view), or view transformation can be to achieve a unified global view of displacement and rotation of data space coordinates by using the sensor extrinsic parameters (calib) and vehicle view (ego) parameters in the sampled data (sample_data).

[0243] For example, the viewing angle parameters of the sensing sensor managed by the second device (e.g., the first sensing sensor) include at least one of the following: position information or viewing angle; the viewing angle parameters of the sensing sensor managed by the third device (e.g., the second sensing sensor) include at least one of the following: position information, viewing angle, or camera intrinsic parameters. It should be noted that the above parameters are only illustrative examples, and the viewing angle parameters may also include other parameters that can affect the sensing range, which will not be listed here.

[0244] It should be noted that the two schemes described above can be implemented individually. Alternatively, they can be combined into one scheme. For example, before sending fused data to the fourth device based on the first and second sensing data, the first device can perform time alignment based on the timestamps of the sensing data and spatial alignment based on the viewing angle parameters of the sensing sensors that collected the sensing data. For instance, sensing data that meets the time alignment conditions can be selected based on the timestamps, and the selected sensing data can be transformed according to the viewing angle parameters of the sensing sensors, thereby transforming the selected sensing data into the same viewing angle space. Based on this method, the first device can determine which first and second sensing data that meet the time alignment conditions will be fused based on the timestamps of the first and second sensing data. Before fusion, the first and second sensing data can be transformed according to the viewing angle parameters of the first and second sensing sensors, aligning the first and second sensing data into the same viewing angle space.

[0245] As described above, the first device can perform time alignment based on the timestamps of the sensed data. Here, we introduce one method for the first device to obtain the timestamps of the first and second sensed data: the first sensor can send the timestamp of the first sensed data to the second device, which then sends it back to the first device; similarly, the second sensor can send the timestamp of the second sensed data to a third device, which then sends it back to the first device. For example, when the first sensor sends the first sensed data to the second device, it also sends the timestamp of the first sensed data to the second device; and when the second sensor sends the second sensed data to the third device, it also sends the timestamp of the second sensed data to the third device.

[0246] As described above, the first device can perform spatial alignment based on the viewing angle parameters of the sensing sensors. Here, we introduce three methods by which the first device obtains the viewing angle parameters of the first and second sensing sensors.

[0247] In one method, the first device can obtain the viewing angle parameters of the first sensing sensor and the second sensing sensor from the registered device.

[0248] In one possible implementation, the second and third devices can register viewpoint parameters with a registration device. For example, the second and third devices respectively send registration information to the registration device. The registration information of the second device includes viewpoint parameters of at least one sensing sensor managed by the second device, which includes a first sensing sensor. The registration information of the third device includes viewpoint parameters of at least one sensing sensor managed by the third device, which includes a second sensing sensor.

[0249] Therefore, after receiving the first sensing data, the first device can request the viewing angle parameters of the first sensing sensor and the second sensing sensor from the registered device.

[0250] The first device can simultaneously request the viewing angle parameters of both the first and second sensing sensors using a single request message. For example, after receiving the first and second sensing data, it can request the viewing angle parameters of both sensors using a single request message. Alternatively, the first device can obtain the viewing angle parameters of the first and second sensing sensors separately using two separate request messages.

[0251] Optionally, the registration information of the second device may include the identification information and / or type of the sensing sensor. For example, the registration information of the second device may include the viewing angle parameters of the first sensing sensor, and may also include the identification information and / or type of the first sensing sensor. Accordingly, the first device may carry the identification information and / or type of the first sensing sensor in the request message for requesting the viewing angle parameters of the first sensing sensor, so that after receiving the request message, the registration device can match the viewing angle parameters of the first sensing sensor according to the identification information and / or type of the first sensing sensor.

[0252] Similarly, the registration information of the third device may include the identification information and / or type of the sensing sensor. For example, the registration information of the third device may include the viewing angle parameters of the second sensing sensor, as well as the identification information and / or type of the second sensing sensor. Accordingly, the first device may carry the identification information and / or type of the second sensing sensor in the request message for requesting the viewing angle parameters of the second sensing sensor, so that after receiving the request message, the registration device can match the viewing angle parameters of the second sensing sensor according to the identification information and / or type of the second sensing sensor.

[0253] The above method can be applied in scenarios where the viewing angle parameters of the sensing sensor change relatively little (e.g., the viewing angle parameters are fixed, or the frequency or magnitude of change is small). Optionally, the second and / or third devices can also update the viewing angle parameters of the sensing sensor to the registered device.

[0254] Method 2: The first device can obtain the viewing angle parameters of the first sensing sensor from the second device and the viewing angle parameters of the second sensing sensor from the third device.

[0255] In one possible implementation, the first device requests viewing angle parameters of a first sensing sensor from a second device, and requests viewing angle parameters of a second sensing sensor from a third device. The message requesting the viewing angle parameters of the first sensing sensor may include identification information and / or the type of the first sensing sensor, and the message requesting the viewing angle parameters of the second sensing sensor may include identification information and / or the type of the second sensing sensor. Thus, the second device can send the viewing angle parameters of the first sensing sensor to the first device, and the third device can send the viewing angle parameters of the second sensing sensor to the first device. Optionally, in this implementation, the viewing angle parameters of the first sensing sensor can be the viewing angle parameters for acquiring first sensing data, or the viewing angle parameters corresponding to the first sensing data. The viewing angle parameters of the second sensing sensor can be the viewing angle parameters for acquiring second sensing data, or the viewing angle parameters corresponding to the second sensing data.

[0256] In another possible implementation, the first sensing sensor can send its viewing angle parameters when sending the first sensing data, and the second sensing sensor can send its viewing angle parameters when sending the second sensing data. Optionally, in this approach, the viewing angle parameters of the first sensing sensor can be the viewing angle parameters used by the first sensing sensor to acquire the first sensing data, or the viewing angle parameters corresponding to the first sensing data. Similarly, the viewing angle parameters of the second sensing sensor can be the viewing angle parameters used by the second sensing sensor to acquire the second sensing data, or the viewing angle parameters corresponding to the second sensing data.

[0257] Method 3: The first device can obtain the viewing angle parameters of the first sensing sensor and the second sensing sensor from itself.

[0258] In one possible implementation, the second and third devices can register viewpoint parameters with a registration device. For example, the second and third devices respectively send registration information to the registration device. The registration information of the second device includes viewpoint parameters of at least one sensing sensor managed by the second device, which includes a first sensing sensor. The registration information of the third device includes viewpoint parameters of at least one sensing sensor managed by the third device, which includes a second sensing sensor.

[0259] Therefore, the first device can request and save the viewing angle parameters of the first and second sensing sensors from the registered device before receiving the sensing data. Thus, the first device can retrieve the viewing angle parameters of the first and second sensing sensors from itself after receiving the first and second sensing data.

[0260] Optionally, the registration information of the second device may include the identification information and / or type of the sensing sensor. For example, the registration information of the second device may include the viewing angle parameters of the first sensing sensor, and may also include the identification information and / or type of the first sensing sensor. When sending the viewing angle parameters of the first sensing sensor to the first device, the registration device may send the identification information and / or type of the first sensing sensor. When sending the first sensing data, the first sensing sensor may send its identification information and / or type, whereby the first sensing data can be understood as the sensing data corresponding to the identification information and / or type of the first sensing sensor. Thus, after receiving the first sensing data, the first device can match the viewing angle parameters of the first sensing sensor according to the identification information and / or type of the first sensing sensor.

[0261] Similarly, the registration information of the third device may include the identification information and / or type of the sensing sensor. For example, the registration information of the third device may include the viewing angle parameters of the second sensing sensor, and may also include the identification information and / or type of the second sensing sensor. When sending the viewing angle parameters of the second sensing sensor to the first device, the registration device may send the identification information and / or type of the second sensing sensor. When sending the second sensing data, the second sensing sensor may send its identification information and / or type, whereby the second sensing data can be understood as the sensing data corresponding to the identification information and / or type of the second sensing sensor. Thus, after receiving the second sensing data, the first device can match the viewing angle parameters of the second sensing sensor according to its identification information and / or type.

[0262] In one possible approach, the first device can fuse the first sensing data and the second sensing data according to a fusion strategy.

[0263] Optionally, before fusing the sensing data according to the fusion strategy, the first and second sensing data can be time-aligned and / or spatially aligned. For example, taking time alignment as an example, the first device can time-align the sensing data, determine that the first and second sensing data meet the time alignment conditions, and then fuse the first and second sensing data according to the fusion strategy. As another example, taking spatial alignment as an example, the first device can perform perspective transformation on the first and second sensing data based on the perspective parameters of the first and second sensing sensors to obtain third and fourth sensing data, and then fuse the third and fourth sensing data according to the fusion strategy. As yet another example, taking time and spatial alignment as an example, the first device can time-align the sensing data, determine that the first and second sensing data meet the time alignment conditions, and then perform perspective transformation on the first and second sensing data based on the perspective parameters of the first and second sensing sensors to obtain third and fourth sensing data, and then fuse the third and fourth sensing data according to the fusion strategy.

[0264] For details on time and spatial alignment, please refer to the previous descriptions; they will not be repeated here.

[0265] The following section uses first-sensor data and second-sensor data as examples to introduce fusion methods in conjunction with three fusion strategies.

[0266] Example 1: If the fusion strategy is data-level fusion, the first device can fuse the first and second sensing data and extract features from the fused data. The first device then performs target detection on the extracted features, and the result of the target detection is the fused data.

[0267] Example 2: If the fusion strategy is feature-level fusion, the first device can extract features from the first sensing data to obtain a first feature, extract features from the second sensing data to obtain a second feature, and then fuse the first and second features. The first device performs target detection on the fused result, and the result of the target detection is the fused data.

[0268] Example 3: If the fusion strategy is target-level fusion, the first device can extract features from the first sensing data to obtain a first feature, and then perform target detection on the first feature to obtain a first detection result. The first device can extract features from the second sensing data to obtain a second feature, and then perform target detection on the second feature to obtain a second detection result. The first device can then fuse the first detection result and the second detection result; the fused result is the fused data.

[0269] Understandably, if the first device requests other sensing sensors to collect sensing data, the first device can fuse the sensing data collected by the other sensing sensors with the first sensing data and the second sensing data. The specific fusion method is similar to the fusion method of the first sensing data and the second sensing data, and will not be explained in detail here.

[0270] For example, the first device can determine the fusion strategy as follows: if the service request of the fourth device includes a fusion strategy, the first device can use the fusion strategy indicated by the service request to fuse the sensed data. If the service request of the fourth device does not include a fusion strategy, the first device can use the default fusion strategy to fuse the sensed data.

[0271] The above describes the process of collecting and reporting fused sensing data. Optionally, in addition to the fused data, the first device may also send a sensing report of the first sensing service to the fourth device. The sensing report may indicate at least one of the following: the type of sensing sensor performing the first sensing service, or the number of sensing sensors performing the first sensing service.

[0272] The method provided in this application can request sensing data from sensing sensors within and outside the 3GPP network based on the service requests of consumers. By fusing the sensing data collected by the sensing sensors within and outside the 3GPP network, the complementary effect of the sensing data collected by the sensing sensors within and outside the 3GPP network is utilized to improve sensing performance.

[0273] Based on the same inventive concept as the method embodiment, this application provides a communication device, the structure of which can be as shown in FIG5, including a communication unit 501 and a processing unit 502.

[0274] In one embodiment, the communication device can specifically be used to implement the method executed by the first device in the embodiment of FIG4. The device can be the first device itself, or a chip or chipset within the first device, or a part of a chip used to execute related method functions. Specifically, the communication unit 501 is used to receive a service request from a fourth device, the service request being for requesting the execution of a first sensing service. The processing unit 502 is used to send first information to a second device via the communication unit 501 according to the service request, the first information being used for sensing sensors managed by the second device to collect sensing data for the first sensing service, the second device belonging to a 3GPP network; and to send second information to a third device via the communication unit 501 according to the service request, the second information being used for sensing sensors managed by the third device to collect sensing data for the first sensing service, the third device not belonging to a 3GPP network. The communication unit 501 is also used to receive first sensing data from the first sensing sensor and second sensing data from the second sensing sensor, both of which are sensing data for the first sensing service, the first sensing sensor being managed by the second device, and the first sensing device being managed by the third device. The processing unit 502 is also configured to send fused data to the fourth device via the communication unit 501 based on the first sensing data and the second sensing data.

[0275] For example, when the processing unit 502 sends the fused data to the fourth device through the communication unit 501 based on the first sensing data and the second sensing data, it is specifically used to: fuse the first sensing data and the second sensing data to obtain the fused data; and send the fused data to the fourth device through the communication unit 501.

[0276] For example, when the processing unit 502 fuses the first sensing data and the second sensing data, it is specifically used to: fuse the first sensing data and the second sensing data according to a fusion strategy.

[0277] Optionally, the processing unit 502, when fusing the first sensing data and the second sensing data, is specifically configured to: spatially align the first sensing data and the second sensing data according to the viewing angle parameters of the first sensing sensor and the second sensing sensor to obtain third sensing data and fourth sensing data; and fuse the third sensing data and the fourth sensing data.

[0278] Optionally, the processing unit 502 is further configured to: acquire the viewing angle parameters of the first sensing sensor and the viewing angle parameters of the second sensing sensor.

[0279] For example, when processing unit 502 acquires the viewing angle parameters of the first sensing sensor and the second sensing sensor, it is specifically used to: receive the viewing angle parameters of the first sensing sensor and the second sensing sensor from the registered device through communication unit 501; or, receive the viewing angle parameters of the first sensing sensor from the second device and the viewing angle parameters of the second sensing sensor from the third device through communication unit 501.

[0280] Optionally, the processing unit 502 is further configured to: request the viewing angle parameters of the first sensing sensor and the second sensing sensor from the registration device via the communication unit 501.

[0281] For example, when the processing unit 502 sends first information to the first sensing sensor and second sensing sensor through the communication unit 501 according to the service request, it is specifically used to: generate the first information and the second information according to the sensing data requirements in the service request; and send the first information and the second information through the communication unit 501.

[0282] Optionally, the processing unit 502 is further configured to: determine the third device based on the data source in the service request.

[0283] Optionally, the communication unit 501 is further configured to: send a perception report to the fourth device, the perception report indicating at least one of the following: the type of perception sensor performing the first perception service, or the number of perception sensors performing the first perception service.

[0284] In one embodiment, the communication device can specifically be used to implement the method executed by the second device in the embodiment of FIG4. The device can be the second device itself, or a chip or chipset within the second device, or a part of a chip for executing related method functions. Specifically, the processing unit 502 is configured to receive first information from the first device via the communication unit 501, the first information being used for sensing data of a first sensing service collected by a sensing sensor managed by the second device; and, based on the first information, send a first request message to the first sensing sensor managed by the second device via the communication unit 501, the first request message being used to request the first sensing sensor to collect sensing data of the first sensing service; receive first sensing data from the first sensing sensor via the communication unit 501, the first sensing data being sensing data of the first sensing service; and send the first sensing data to the first device via the communication unit 501.

[0285] Optionally, the processing unit 502 is further configured to: send the viewing angle parameters of the first sensing sensor to the first device via the communication unit 501.

[0286] Optionally, the processing unit 502 is further configured to: send the viewing angle parameters of the first sensing sensor to the registration device via the communication unit 501.

[0287] In one embodiment, the communication device can specifically be used to implement the method executed by the third device in the embodiment of FIG4. The device can be the third device itself, or a chip or chipset within the third device, or a part of a chip for executing related method functions. Specifically, the processing unit 502 is configured to receive second information from the first device via the communication unit 501, the second information being used for sensing data of a first sensing service collected by a sensing sensor managed by the third device; and, based on the second information, send a second request message to a second sensing sensor managed by the third device via the communication unit 501, the second request message being used to request the second sensing sensor to collect sensing data of the first sensing service; receive second sensing data from the second sensing sensor via the communication unit 501, the second sensing data being sensing data of the first sensing service; and send the second sensing data to the first device via the communication unit 501.

[0288] Optionally, the processing unit 502 is further configured to: send the viewing angle parameters of the second sensing sensor to the first device via the communication unit 501.

[0289] Optionally, the processing unit 502 is further configured to: send the viewing angle parameters of the second sensing sensor to the registration device via the communication unit 501.

[0290] The module division in this application embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional modules in the various embodiments of this application can be integrated into a single processor, exist as separate physical entities, or be integrated into a single module. The integrated modules described above can be implemented in hardware or as software functional modules. It is understood that the functions or implementations of the modules in the embodiments of this application can be further described in the relevant descriptions of the method embodiments.

[0291] In one possible embodiment, the communication device can be as shown in FIG6. This device can be a communication equipment or a chip within a communication equipment, wherein the communication equipment can be either the first device or the second device described in the above embodiments. The device includes a processor 601 and a communication interface 602, and may also include a memory 603. The processing unit 602 can be the processor 601. The communication unit 601 can be the communication interface 602. Optionally, the processor 601 and the memory 603 can also be integrated together.

[0292] The processor 601 can be a CPU, a digital processing unit, or something similar. The communication interface 602 can be a transceiver, an interface circuit such as a transceiver circuit, or a transceiver chip, etc. The device also includes a memory 603 for storing the program executed by the processor 601. The memory 603 can be non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), or it can be volatile memory, such as random-access memory (RAM). The memory 603 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited to this.

[0293] The processor 601 is used to execute the program code stored in the memory 603, specifically to perform the actions of the processing unit 502 described above, which will not be described in detail here. The communication interface 602 is specifically used to perform the actions of the communication unit 501 described above, which will not be described in detail here.

[0294] This embodiment does not limit the specific connection medium between the communication interface 602, processor 601, and memory 603. In Figure 6, the memory 603, processor 601, and communication interface 602 are connected via a bus 604, which is represented by a thick line. The connection methods between other components are merely illustrative and not intended to be limiting. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, only one thick line is used in Figure 6, but this does not imply that there is only one bus or one type of bus.

[0295] This application also provides a computer-readable storage medium for storing computer software instructions required to execute the processor, including a program required to execute the processor.

[0296] This application also provides a communication system, including a communication device for implementing the function of a first device in the embodiment of FIG4, a communication device for implementing the function of a second device in the embodiment of FIG4, a communication device for implementing the function of a third device in the embodiment of FIG4, and a communication device for implementing the function of a fourth device in the embodiment of FIG4. Optionally, it may also include a communication device for implementing the function of registering two devices in the embodiment of FIG4.

[0297] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0298] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0299] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0300] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0301] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A sensing method, characterized in that, The method is applied to a first device or a chip of the first device, including: Receive a service request from a fourth device, the service request being used to request the execution of a first sensing service; According to the service request, first information is sent to the second device. The first information is used for the sensing sensors managed by the second device to collect sensing data of the first sensing service. The second device belongs to the 3GPP network. According to the service request, a second message is sent to a third device. The second message is used for the sensing sensors managed by the third device to collect sensing data of the first sensing service. The third device does not belong to the 3GPP network. The system receives first sensing data from a first sensing sensor and second sensing data from a second sensing sensor. Both the first sensing data and the second sensing data are sensing data from the first sensing service. The first sensing sensor is managed by the second device, and the first sensing device is managed by the third device. Based on the first sensing data and the second sensing data, fused data is sent to the fourth device.

2. The method as described in claim 1, characterized in that, Sending fused data to the fourth device based on the first sensing data and the second sensing data includes: The first sensing data and the second sensing data are fused to obtain the fused data; The fused data is sent to the fourth device.

3. The method as described in claim 2, characterized in that, The fusion of the first sensing data and the second sensing data includes: Based on the viewing angle parameters of the first sensing sensor and the second sensing sensor, the first sensing data and the second sensing data are spatially aligned to obtain the third sensing data and the fourth sensing data. The third and fourth sensory data are then fused together.

4. The method as described in claim 3, characterized in that, The method further includes: Obtain the viewing angle parameters of the first sensing sensor and the second sensing sensor.

5. The method as described in claim 4, characterized in that, The step of obtaining the viewing angle parameters of the first sensing sensor and the second sensing sensor includes: Receive the viewing angle parameters of the first sensing sensor and the second sensing sensor from the registered device; Alternatively, it may receive viewing angle parameters from the first sensing sensor of the second device and viewing angle parameters from the second sensing sensor of the third device.

6. The method as described in claim 5, characterized in that, The viewing angle parameter of the first sensing sensor from the second device is the viewing angle parameter of the first sensing sensor when collecting the first sensing data, and the viewing angle parameter of the second sensing sensor from the third device is the viewing angle parameter of the second sensing sensor when collecting the second sensing data.

7. The method as described in claim 5, characterized in that, The method further includes: The system requests the viewing angle parameters of the first sensing sensor and the second sensing sensor from the registration device.

8. The method according to any one of claims 3-7, characterized in that, The viewing angle parameters of the first sensing sensor include at least one of the following: the position information of the first sensing sensor, or the viewing angle of the first sensing sensor; The viewing angle parameters of the second sensing sensor include at least one of the following: the position information of the second sensing sensor, the viewing angle of the second sensing sensor, or the camera intrinsic parameters of the second sensing transmitter.

9. The method according to any one of claims 1-8, characterized in that, The timestamps of the first and second sensed data satisfy the time alignment condition.

10. The method as described in claim 2, characterized in that, The fusion of the first sensing data and the second sensing data includes: The first sensing data and the second sensing data are fused according to the fusion strategy.

11. The method according to any one of claims 1-10, characterized in that, The first information includes at least one of the following: the number of sensing sensors performing the first sensing service in the sensing sensors managed by the second device, the data format of the sensing data of the first sensing service collected by the sensing sensors managed by the second device, the data size of the sensing data of the first sensing service collected by the sensing sensors managed by the second device, the collection duration of the first sensing service, or the collection frequency of the first sensing service. The second information includes at least one of the following: the number of sensing sensors performing the first sensing service in the sensing sensors managed by the third device, the data format of the sensing data of the first sensing service collected by the sensing sensors managed by the third device, the data size of the sensing data of the first sensing service collected by the sensing sensors managed by the third device, the collection duration of the first sensing service, or the collection frequency of the first sensing service.

12. The method as described in claim 11, characterized in that, The data format in the first information is point cloud data format, and the data format in the second information is either point cloud data format or image data format.

13. The method as described in claim 11 or 12, characterized in that, The data size in the first information is the point cloud data size, and the data size in the second information is either the point cloud data size or the image data size.

14. The method according to any one of claims 1-13, characterized in that, The service request includes at least one of the following information for the first sensing service: sensing service type, sensing area, sensing performance indicators, fusion strategy, or sensing data requirements. The sensing data requirements include at least one of the following: the type of sensing sensor executing the first sensing service, the number of sensing sensors executing the first sensing service, the data source of the first sensing service, the data format of the sensing data of the first sensing service, the data size of the sensing data of the first sensing service, the acquisition duration of the first sensing service, and the acquisition frequency of the first sensing service.

15. The method as described in claim 14, characterized in that, The step of sending first information to the first sensing sensor and second sensing sensor according to the service request includes: The first information and the second information are generated based on the perception data requirements in the business request; Send the first information and the second information.

16. The method as described in claim 14 or 15, characterized in that, The method further includes: The third device is determined based on the data source in the service request.

17. The method according to any one of claims 1-16, characterized in that, The method further includes: A perception report is sent to the fourth device, the perception report indicating at least one of the following: the type of perception sensor performing the first perception service, or the number of perception sensors performing the first perception service.

18. The method according to any one of claims 1-17, characterized in that, The first device is deployed in the management system; Alternatively, the first device may be deployed in the core network.

19. The method as described in claim 18, characterized in that, The first device is deployed in the network management system or network element management system.

20. A sensing method, characterized in that, The method is applied to a second device or a chip of the second device, including: Receive first information from the first device, the first information being used by the sensing sensors managed by the second device to collect sensing data for the first sensing service; Based on the first information, a first request message is sent to the first sensing sensor. The first request message is used to request the first sensing sensor to collect sensing data of the first sensing service. The first sensing sensor is managed by the second device. Receive first sensing data from the first sensing sensor, wherein the first sensing data is the sensing data of the first sensing service; Send the first sensing data to the first device.

21. The method as described in claim 20, characterized in that, The method further includes: Send the viewing angle parameters of the first sensing sensor to the first device; Alternatively, the viewing angle parameters of the first sensing sensor can be sent to the registered device.

22. The method as described in claim 21, characterized in that, The viewing angle parameter is the viewing angle parameter of the first sensing sensor when collecting the first sensing data.

23. A sensing method, characterized in that, The method is applied to a third device or a chip of the third device, including: Receive second information from the first device, the second information being used by the sensing sensors managed by the third device to collect sensing data for the first sensing service; Based on the second information, a second request message is sent to the second sensing sensor. The second request message is used to request the second sensing sensor to collect sensing data of the first sensing service. The second sensing sensor is managed by the third device. Receive second sensing data from the second sensing sensor, wherein the second sensing data is the sensing data of the first sensing service; The second sensing data is sent to the first device.

24. The method as described in claim 23, characterized in that, The method further includes: Send the viewing angle parameters of the second sensing sensor to the first device; Alternatively, the viewing angle parameters of the second sensing sensor can be sent to the registered device.

25. The method as described in claim 24, characterized in that, The viewing angle parameter is the viewing angle parameter of the second sensing sensor when collecting the second sensing data.

26. A communication device, characterized in that, It includes units or modules for performing the method as described in any one of claims 1-19, or units or modules for performing the method as described in any one of claims 20-22, or units or modules for performing the method as described in any one of claims 23-25.

27. A communication device, characterized in that, It includes a processor and a memory for storing program instructions, which, when executed by the processor, cause the method of any one of claims 1-19, or the method of any one of claims 20-22, or the method of any one of claims 23-25 ​​to be performed.

28. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-readable instructions that, when executed on a communication device, cause the method of any one of claims 1-19, or the method of any one of claims 20-22, or the method of any one of claims 23-25 ​​to be performed.

29. A computer program product, characterized in that, When the computer program product is run on the device, it causes the device to perform the method of any one of claims 1-19, or the method of any one of claims 20-22, or the method of any one of claims 23-25.

30. A communication system, characterized in that, The system includes apparatus for implementing the method of any one of claims 1-19, apparatus for implementing the method of any one of claims 20-22, and apparatus for implementing the method of any one of claims 23-25.

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