Methods for providing and receiving requested sensing data in a communication network

Abstract

A method for providing sensing data to a node (14) of a communication network (10), comprising: - Receiving, by a first node (12) of the communication network (10), a request message from a second node (14) of the communication network (10), wherein the request message comprises a request for sensing data and specifies a temporal requirement on the requested sensing data; - Determining, by the first node (12), whether the requested sensing data with the specified temporal requirement can be provided to the second node (14); and - Transmitting, by the first node (12), based on a result of the determining, a response message comprising · the requested sensing data for providing the requested sensing data to the second node (14), or · an offer to provide alternative sensing data to the second node (14) instead of the requested sensing data.

Description

[0001] R. 416041

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[0003] Specification

[0004] Title

[0005] Methods for providing and receiving requested sensing data in a communication network

[0006] The invention concerns a method for providing sensing data to a node of a communication network, and a corresponding method of receiving sensing data from a node in a communication network. Further, the invention concerns a first node, a second node, a computer program, and a non-transitory computer readable medium.

[0007] Background

[0008] The current focus of cellular networks, such as LTE and 5G-NR, is primarily on communication services. However, the emergence of Integrated Sensing and Communication (ISAC) heralds the anticipation of sensing becoming an additional service offered by the 6G infrastructure. ISAC leverages radio-based sensing to utilize communication signals for environmental sensing, generating radar-like images.

[0009] ISAC is categorized into two primary classes: infrastructure-based sensing and device-side sensing. Infrastructure-based sensing refers to sensing performed by the network infrastructure, specifically 3GPP-infrastructure based sensing, while device-side sensing involves the user device carrying out the sensing functionality.

[0010] Infrastructure-based ISAC may present several advantages over traditional automotive radars, particularly in terms of integration with existing communication networks. However, ISAC alone may not achieve optimal performance in key radio-based sensing indicators such as resolution, range, and velocity. Therefore, incorporating measurements from other sensor modalities like camera, radar, R. 416041

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[0012] lidar or ultrasonic sensors is essential to enhance overall system performance through techniques like sensor fusion.

[0013] Consequently, it is imperative to define an interface with specific requirements between a non-3GPP sensor entity or sensor fusion entity and the 3GPP network (or another third-party application). Establishing this interface will enable the seamless integration of diverse sensor data with the 3GPP infrastructure, leading to improved accuracy and reliability in sensing applications.

[0014] Disclosure of the invention

[0015] According to a first aspect, there is provided a method for providing sensing data to a node of a communication network.

[0016] The method according to the first aspect comprises:

[0017] Receiving, by a first node of the communication network, a request message from a second node of the communication network, wherein the request message comprises a request for sensing data and specifies a temporal requirement on the requested sensing data;

[0018] Determining, by the first node, whether the requested sensing data with the specified temporal requirement can be provided to the second node; and

[0019] Transmitting, by the first node, based on a result of the determining, a response message comprising

[0020] o the requested sensing data for providing the requested sensing data to the second node, or

[0021] o an offer to provide alternative sensing data to the second node instead of the requested sensing data.

[0022] The method according to the first aspect can be understood as a method performed by first node of the communication network, specifically of operating the first node.

[0023] According to a second aspect, there is provided a method for receiving sensing data from a first node of a communication network. R. 416041

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[0025] The method according to the second aspect comprises:

[0026] Transmitting, by a second node of the communication network, a request message to the first node,

[0027] wherein the request message comprises a request for sensing data and specifies a temporal requirement on the requested sensing data; and Receiving, by the second node, a response message comprising

[0028] o the requested sensing data, or

[0029] o an offer by the first node to provide alternative sensing data node instead of the requested sensing data.

[0030] The method according to the second aspect can be understood as a method of performed by the second node of the communication network, specifically of operating the second node.

[0031] According to a third aspect, there is provided a first node of a communication network, wherein the first node is configured to execute the method according to the first aspect, or its embodiments.

[0032] According to a fourth aspect, there is provided a second node of a communication network, wherein the second node is configured to execute the method according to the second aspect, or its embodiments.

[0033] According to a fifth aspect, there is provided a computer program comprising machine-readable instructions to cause

[0034] the first node as defined by the third aspect to execute the method according the first aspect, and / or its embodiments, and / or

[0035] the second node as defined by the fourth aspect to execute the method according the second aspect, and / or its embodiments.

[0036] According to a sixth aspect, there is provided a non-transitory computer readable medium having stored thereon the computer program as defined by the fifth aspect.

[0037] The communication network is preferably a wireless communication network. The wireless communication network may be configured as a cellular network, preferably according to 3GPP specifications, e.g., according to 3GPP release 18 R. 416041

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[0039] or beyond, or as a wireless Local Area Network (LAN), preferably according to IEEE 802.11 specifications.

[0040] The communication network comprises at least the first node and the second node. The first node and the second node may be connected via a wired or preferably a wireless communication link. The first node and / or the second node may be (a) radio node(s) of the wireless communication network. The first node and / or the second node may a base station, or a user equipment, or comprised by a base station, or a user equipment. The first node and / or the second node may also be a server or a computing node of the network. The user equipment may be a connectivity unit of a vehicle, a smartphone, a wearable, or any other loT device. Preferably, the second node is part of a wireless part of the communication system, e.g., a base station, and the first node is part of a wired part of the communication system, e.g., a server.

[0041] Sensing data can be understood as data representing an environment, preferably of the first and / or the second node. The sensing data can be sensing data of a specific type or sensing modality, e.g., radar data, lidar data, sonar data, camera data. The sensing data may comprise sensing data with specific abstraction level. More specifically the sensing data may comprise raw data, e.g., raw images, and / or rich data, e.g., radar or lidar point clouds, and / or object-level data, e.g., object lists, i.e., the abstraction level may be selected from a group of levels comprising raw data level, rich data level, object data level.

[0042] More specifically, raw data refer to slightly pre-processed or un-processed measurements with minimal to no information loss. Rich (pre-processed) data refer to pre-processed measurements, and may include noise filtering and other minimal processing steps. As an example, rich data may refer to data slightly processed to make it plausible (corresponding to locations for radar or lidar, and measured shapes for camera). Rich data may also be interpretable or understandable by a third party, like a customer of a sensing service based on the proposed methods. Rich data may include, e.g., point clouds from radar or lidar sensors in combination with meta data for simplifying an interpretation of the point clouds. Object-level data refer to data describing real-world objects such as a car or a pedestrian in form of an object hypothesis. R. 416041

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[0044] Determining, whether the requested sensing data can be provided may comprise determining, whether the requested sensing data are (already) available at the first node. Determining, whether the requested sensing data can be provided may additionally or alternatively comprise determining, whether the requested sensing data

[0045] can be determined, by the first node, and / or

[0046] requested, by the first node, from a further node of the communication network and / or from a sensor connected to or connectable with the communication network.

[0047] The step of determining, whether the requested sensing data with the specified temporal requirement can be provided to the second node, is preferably carried out in response to receiving / upon reception of the request message.

[0048] The response message comprising the requested sensing data is transmitted to the second node in case the requested sensing data with the specified temporal requirement can be provided, by the first node, to the second node. In case the requested sensing data with the specified temporal requirement cannot be provided, by the first node, to the second node, the response message may further comprise a decline regarding the requested sensing data. Whether the requested sensing data can or cannot be provided to the first node may depend on

[0049] an availability of the requested sensing data at the first node, and / or an access information indicating whether the second node fulfills a set of access requirements for being provided with the requested sensing data by the second node.

[0050] The sensing data may be requested for a specific task, e.g., for scanning a defined area, tracking a specific object, or for obtaining rich data from one or multiple specific sensor modalities, e.g., radar, camera, lidar, ultrasonic. A type of the requested sensing data may be selected based on the specific task. For scanning a defined area, sensing data representing an occupancy grid may be requested. For tracking an object, sensing data representing an object list may be requested.

[0051] The request message may be transmitted on one of a Physical Uplink Shared Channel (PUSCH), Physical Downlink Shared Channel (PDSCH), Physical R. 416041

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[0053] Sidelink Shared Channel (PSSCH) of the wireless communication network.

[0054] Correspondingly, the response message may be transmitted on one of PDSCH, PUSCH, PSSCH. The request and / or the response message may also be transmitted using a wired or wireless communication link according to one of the IEEE 802.11 standards, or IEEE 802.3.

[0055] The proposed solution addresses the challenge of requesting and providing sensing data in a communication network. To this end, a communication protocol is provided as a suitable interface to manage and respond to requests for sensing data with specific temporal requirements in a communication network. Particularly, this allows to support the provision of sensing data as camera, radar, lidar, or ultrasonic data for a cellular communication network. Consequently, sensing data generated by radio nodes of the cellular communication network by performing (radar) sensing using radio resources of the communication network can be supplemented by sensing data generated without using radio resources of the cellular communication network.

[0056] According to an embodiment of the first aspect, the method further comprises:

[0057] Requesting, by the first node, preferably in response to the received request message, sensing information from at least one sensor connectable with or connected to the first node,

[0058] wherein the requested sensing data comprise the sensing information and / or are determined, by the first node, based on the sensing information.

[0059] The sensor may be a radar, a camera, a lidar, an ultrasonic sensor, or a joint or integrated sensing and communication unit.

[0060] The integrated sensing and communication unit may be configured to perform (radar) sensing of its environment or surroundings using radio resources of the communication network. Performing sensing preferably includes transmitting a radar waveform using radio resources of the communication network. Preferably, performing sensing further includes receiving a reflection of the radar waveform of one or multiple objects or radar targets in the environment. The reflection of the radar waveform may comprise reflected and / or (back-)scattered components of the transmitted radar waveform. The objects may be vehicles, vulnerable road users like pedestrians, infrastructure elements, buildings, etc. R. 416041

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[0062] The sensor may be connected via a wired or wireless communication link with the first node. The sensing information may comprise raw sensing data, preprocessed sensing data, or fused sensing data. Requesting the sensing information may preferably comprise including the specified temporal requirement in the request for obtaining sensing information fulfilling the specified temporal requirement. This allows for flexibly providing the requested sensing data to the second node.

[0063] According to an embodiment of the first aspect, the method further comprises:

[0064] Requesting, by the first node, preferably in response to the received request message, further sensing information from at least one further sensor connectable with or connected to the first node,

[0065] wherein the requested sensing data are determined, by the first node, by fusing the sensing information and the further sensing information.

[0066] The provided sensing data preferably correspond to a result of the fusing of the sensing information and the further sensing information. This allows for providing information with high information gain to the second node while saving resources compared to transmitting all received sensing information independently.

[0067] According to an embodiment of the first and / or the second aspect, the temporal requirement represents

[0068] a start time and / or an end time and / or a duration of a sensing window for the requested sensing data, and / or

[0069] a rate for providing the requested sensing data.

[0070] The sensing window may represent a period for sensing the environment or capturing the sensing data representing the environment. The rate may represent in which time intervals the sensing data shall be updated or refreshed. This allows for effectively using the resources of the communication network by matching the specific requirements of the second node.

[0071] According to an embodiment of the first and / or the second aspect, the request message further specifies a requirement on an abstraction level of the requested sensing data, wherein the abstraction level may be selected from a group comprising: raw data level, rich data level, object data level, occupancy grid data level. The request message may also specify that the requested sensing data R. 416041

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[0073] shall be provided with different abstraction levels. This allows to avoid wastage of sensing and / or communication resources by providing the sensing data with an abstraction level matching the specific requirement of the second node.

[0074] According to an embodiment of the first and / or the second aspect, the request message further specifies a requirement on an area to be represented by the requested sensing data. The area may be the full field of view or a subset of a field of view of one or multiple sensors connectable to or connected with the first node. This allows to effectively utilize the sensing and / or communication resources by providing the sensing data with for the area as specifically required by the second node.

[0075] According to an embodiment of the first and / or the second aspect, the request message further specifies a requirement on a type or modality, respectively, of the requested sensing data, wherein the type / modality may be selected from a group comprising: ISAC sensing data, radar sensing data, camera sensing data, lidar sensing data, ultrasonic sensing data. Here, sensing data from multiple types or modalities may be requested by the second node. This allows to further tailor the provision of the sensing data to the requirements of the second node.

[0076] According to an embodiment of the first and / or the second aspect, the request message further specifies a requirement on a quality of the requested sensing data. Depending on a data structure (objects or grid) and abstraction level (point clouds, objects, features) the quality can be determined by means of different performance indicators, e.g., range and / or velocity resolution, i.e., the ability to distinguish or resolve between two adjacent objects, sensing / measurement uncertainty, detection probability representing a probability that a real object is sensed or measured by the sensor. Based on the specified quality requirement, an amount of sensing resources for generating the requested sensing data may be determined. This also allows to tailor the provision of the sensing data to the requirements of the second node.

[0077] According to an embodiment of the first and / or the second aspect, the requested sensing data are comprised in the response message in terms of occupancy probabilities and / or emptiness probabilities for a multitude of grids cells of a defined grid. The grid is a representation of a defined area within a field of view of R. 416041

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[0079] the one or multiple sensors. This is particularly beneficial for a task of scanning or sensing an area.

[0080] According to an embodiment of the first and / or the second aspect, the requested sensing data are comprised in the response message in terms of a or multiple state vector(s) representing a state of objects. The state vector may comprise one or multiple attributes of the respective object, e.g., position, velocity, acceleration, size, yaw rate, etc. This is particularly beneficial for a task of tracking an object based on the requested sensing data.

[0081] According to an embodiment of the first and / or the second aspect, the requested sensing data are comprised in the response message in terms of range information and / or velocity information and / or angle information and / or signal strength information. Here, a periodogram may be comprised by the response message. This is particularly beneficial when requesting rich data.

[0082] According to a further aspect of the invention, there is provided a communication network comprising at least the first node according to the third aspect and the second node according to the fourth aspect.

[0083] According to a further aspect of the invention, there is provided a method of operating the communication network. The method of operating the communication network comprises the steps of the method according to the first aspect, or its embodiments, and the steps of the method according to the second aspect, or its embodiments.

[0084] The non-transitory computer readable medium is preferably configured to store the computer program to be executed by a processor of the first node and / or the second node. The non-transitory computer readable media may include RAM, ROM, EEPROM, and any other non-volatile storage device.

[0085] Description of the figures

[0086] Exemplary embodiments of the present invention are depicted in the figures, which are not to be construed as limiting the claims, and are explained in greater detail below. R. 416041

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[0088] Fig. 1 schematically illustrates a wireless communication network according to an embodiment of the invention;

[0089] Fig. 2 schematically illustrates an architecture of a communication network according to an embodiment of the invention;

[0090] Fig. 3 schematically illustrate methods according to embodiments of the invention;

[0091] Fig. 4 schematically illustrate methods according to embodiments of the invention; and

[0092] Fig. 5 schematically illustrate methods according to embodiments of the invention.

[0093] Fig. 1 schematically illustrates a wireless communication network 10 according to an aspect of the invention. The communication network 10 comprises a first node 12, configured as a server 12, a second node 14, configured as a base station 14 and a further node 16, configured as a user equipment 16. The further node 16 is arranged on a vehicle 18.

[0094] The first node 12 is connected to the second node 14 via a wired or wireless communication link 20. Further, the first node 12 is connected to sensor units 18a, 18b configured as stationary radar sensors 18a, 18b via wired or wireless communication links 22a, 22b. The radar sensors 18a, 18b may be part of or configured as road site units.

[0095] For, e.g., increasing a field of view of an onboard sensor system of the vehicle 18, the further node 16 may be configured to request sensing data regarding an area 24 from the second node 14. For providing the requested sensing data to the further node 16, the second node 14 may be configured to request respective sensing data from the server 12. R. 416041

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[0097] To this end, the second node 14 preferably comprises a non-transitory computer readable medium comprising machine-readable instructions, and a processor configured to load and to execute the machine-readable instructions to cause the second node 14 to request sensing data according to the method of the second aspect, as further illustrated in Fig. 3.

[0098] Accordingly, the first node 12 preferably comprises a non-transitory computer readable medium comprising machine-readable instructions, and a processor configured to load and to execute the machine-readable instructions to cause the first node 12 to provide sensing data according to the method of the first aspect, as further illustrated in Fig. 3.

[0099] The sensing data are requested with a specified temporal requirement, specifically at least one of

[0100] a start time and / or an end time of a sensing window for the requested sensing data, and / or

[0101] a rate for providing the requested sensing data.

[0102] The specified temporal requirement may depend on a task the sensing data is requested / provided for.

[0103] The sensing data may be requested for a task selected from scanning the area 24, tracking a specific object which may be located in the area 24, or for obtaining rich data from one or multiple specific sensor modalities, e.g., radar, camera, lidar, ultrasonic. A type of the requested sensing data may be selected based on the specific task. For scanning a defined area, sensing data representing an occupancy grid may be requested. For tracking an object, sensing data representing an object list may be requested.

[0104] Here, scanning an area can be understood as (repeatedly) sensing a specified region of interest within a defined timeframe. Tracking one or multiple objects can be understood as determining a trajectory of one or multiple moving objects within a defined timeframe, preferably as long as the object(s) are within a defined area, e.g., an aera observed (sensed) by one or multiple sensors assigned to an application provider. For tracking an object, the object may be first identified using sensing data. A (unique) identifier may be assigned to the identified object for tagging the object. R. 416041

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[0106] Requesting rich data from one or multiple sensor modalities can be understood as an acquisition or generation of specific sensor data in a basic form, e.g., sensing data like point clouds from radar sensors or radio nodes performing integrated sensing and communication, preferably supplemented by meta data. In case of a request for rich sensing data, the provided sensing data are preferably provided without fusion of the sensing data.

[0107] Fig. 2 schematically illustrates an architecture of a communication network 10’ according to an embodiment of the invention. The illustrated architecture allows a requesting node of the communication network 10’ to request preferably fused sensing data from one or multiple (non 3GPP) sensors as camera, radar, lidar or ultrasonic sensors.

[0108] The communication network 10’ comprises a wireless, specifically a cellular communication network 10a’ with a base station 14a’ and a core network 14b’. The base station 14a’ and the core network 14b’ are connected via a communication link 15’, e.g., a Xn communication link according to 3GPP specifications. The base station 14a’ may be configured to perform (radar) sensing of an area 24’ using radio resources of the wireless communication network 10a’. To this end, the base station 14a’ may be configured to transmit a sensing signal S1 and to receive a reflection signal R1 generated by a reflection of the sensing signal S1 in the area 24’.

[0109] The communication network 10’ further comprises a server 12’. The server 12’, e.g., an application server or a cloud computing unit, is connected to a plurality of sensors 18a’, 18b’, ..., 18i’. The sensors 18a’, 18b’, ..., 18i’ are configured to capture the area 22’. Each of the sensors 18a’, 18b’, ..., 18i’ is configured to provide respective sensing information representing at least parts of the area 22’ to the server 12’. The sensors 18a’, 18b’, ..., 18i’ may be configured as radar sensors, cameras, lidars, or ultrasonic sensors. The server 12’ preferably comprises a sensor fusion unit 12’ configured to fuse the sensing information provided by the sensors 18a’, 18b’ ..., 18i’ to generate a representation of the area 22’. R. 416041

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[0111] Besides, the communication network 10’ comprises a further server 26’, e.g., an application server of a service provider.

[0112] The server 12’, the further server 26’ and the cellular communication network 10a’ are connected via one or multiple wired and / or wireless communication links 28a’, 28b’, 28c’, 28d’.

[0113] According to an embodiment of the invention, one of the nodes 14a’, 14b’ of the cellular communication network 10a’ is configured to request sensing data from the server 12’. Accordingly, the server 12’ is configured to receive a respective request and provide the requested sensing data.

[0114] Furthermore, the server 12’ may be configured to request sensing data generated by the base station 14a’. The further server 24’ may be configured to request sensing data generated by the base station 14a’ and / or provided by the server 12’. The base station 14a’ and / or the server 12’ may be configured to provide the requested sensing data to the further server 26’.

[0115] Fig. 3 schematically illustrates methods 100, 200 according to embodiments of the invention.

[0116] The method 200 for receiving sensing data from a first node 12’ of a communication network, e.g., the first node 12’ of Fig. 2, comprises transmitting, by a second node 14a’ of the communication network, e.g., the base station 14a’ or the core network 14b’ of Fig. 2, a request message to the first node 12’, wherein the request message comprises a request for sensing data and specifies a temporal requirement on the requested sensing data. The request message may further specify at least one requirement selected from a group comprising: a sensing task, a type of a sensing result, a sensing area, a quality of sensing.

[0117] The method 100 for providing sensing data to the node 14a’ of the communication network comprises a step 110 of receiving, by the first node 12’, the request message transmitted from the second node 14a’, wherein the request message comprises the request for the sensing data and specifies the temporal requirement on the requested sensing data. R. 416041

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[0119] The method 100 further comprises a step 120 of determining, by the first node 12’, whether the requested sensing data with the specified temporal requirement, and preferably the further specified requirements, can be provided to the second node 14a’.

[0120] Besides, the method 100 comprises a step 130 of transmitting, by the first node 12’, based on a result of the determining, a response message comprising the requested sensing data for providing the requested sensing data to the second node 14a’, or an offer to provide alternative sensing data to the second node 14a’ instead of the requested sensing data. The response message may comprise a sensing report comprising sensing data with the specified requirements.

[0121] The method 200 comprises a further step 220 of receiving, by the second node 14a’, the response message comprising the requested sensing data, or the offer by the first node 12’ to provide the alternative sensing data node instead of the requested sensing data.

[0122] A format and / or a content of the request message / or the response message may depend on the task the sensing data is requested for. The request message and / or the response message may be configured as a data structure comprising a plurality of data fields.

[0123] For the task of scanning an area, the request message may comprise

[0124] a first data field indicating a type of the requested sensing data, specifically the type “occupancy grid”,

[0125] a second data field indicating a start time of a sensing window for generating the requested sensing data,

[0126] a third data field indicating an end time of the sensing window and / or a duration of the sensing window,

[0127] a fourth data field indicating a refresh rate for refreshing or updating the requested sensing data, e.g., twice per second,

[0128] a fifth data field indicating a defined area to be sensed or scanned for generating the requested sensing data,

[0129] a sixth data field indicating a quality of the sensing data, e.g., represented by a quality level, and / or a size and / or a shape of the occupancy grid. R. 416041

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[0131] For the task of scanning an area, the response message may comprise

[0132] a first data field indicating a time stamp of the requested sensing data a second data field indicating a size and / or a shape of the grid and / or a number of cells of the grid,

[0133] a third data field indicating an origin of a coordinate system for the grid a fourth data field, preferably comprising a plurality of subfields, wherein the fourth data field, preferably the plurality of subfields, indicates, for each of the cells of the grid an occupancy probability and / or an emptiness probability and / or an uncertainty,

[0134] optionally, a fifth data field indicating a height level, e.g., ground level, bridge level etc.

[0135] optionally, a sixth data field indicating a velocity in one or two dimensions, e.g., x and y.

[0136] The response message may comprise further data fields for including a movement pattern by including results from multiple preceding sensing or scanning procedures of the area, e.g., for indicating a direction of motion of occupied or empty cells. This is beneficial for beam selection algorithms.

[0137] Additionally or alternatively, the response message may comprise further data fields indicating types and / or identifier of one or multiple objects in the scanned area.

[0138] For transmitting the response message, a data rate of about 64 Mbps may be required when covering a scanning area of 200 meters by 200 meters with a resolution of 0.1 m per cell. Note that different resolutions and / or different requested parameters would yield different data rates.

[0139] For the task of tracking an object, the request message may comprise

[0140] a first data field indicating a type of the requested sensing data, specifically the type “object list” , wherein the object list may comprise object hypothesis like vehicles, pedestrians etc.,

[0141] a second data field indicating a start time of a sensing window for generating the requested sensing data,

[0142] a third data field indicating an end time of the sensing window and / or a duration of the sensing window,

[0143] optionally, a fourth data field indicating a refresh rate for refreshing or updating the requested sensing data, R. 416041

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[0145] a fifth data field indicating a defined area to be sensed or scanned for generating the requested sensing data,

[0146] a sixth data field indicating a quality of the sensing data, e.g., represented by a quality level.

[0147] For the task of tracking an object, the response message may comprise, preferably for each identified object,

[0148] a first data field indicating an object identifier,

[0149] a second data field comprising a time indication,

[0150] a third data field indicating a state vector of the object, e.g., comprising at least one of a position, a velocity, a size of the object,

[0151] optionally, a fourth data field indicating determined or estimated attributes of the object state, e.g., an acceleration, a yaw rate of the object, optionally, a fifth data field indicating a type, class or category of the object, e.g., car, pedestrian, tree, house, bridge, ...,

[0152] a sixth data field indicating an uncertainty measure for one or multiple elements or attributes of the state vector, e.g., a covariance matrix, a seventh data field indicating an existence probability of the object, i.e., how likely describes the object hypothesis an object in the real world, an eight data field indicating a detection probability, which may depend on a position of the object inside a field of view of the sensor capturing the object,

[0153] optionally, a ninth data field indicating further attributes or elements of the state vector, e.g., an age since spawning.

[0154] The time indication may comprise a time stamp corresponding to the generation of the sensing data, e.g., referring to the point in time at which a state vector of an object is recorded, specifically in case for which the sensing data consists of a snapshot of the environment. The time indication may additionally or alternatively comprise a time interval or a time duration, particularly of the time interval, e.g., in case a measurement of the environment is valid for more than a snapshot or multiple observations are transmitted within the same response message.

[0155] The detection probability describes the probability that a real object is measured by the sensor. Usually that is dependent on the location (distance) and the type of the object (i.e., car vs. pedestrian). The existence probability describes the probability that an estimated object, which is based on one or multiple detections, R. 416041

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[0157] is present in reality. Usually, the existence probability starts at low level with the first detection and reaches a value close to 1.0 after some sensing cycles. Then, it stays at a high level even if there are a few missed detections.

[0158] For transmitting the response message, a data rate of about 1 Mbps may be required when using high performance radar sensors with 10k locations per frame.

[0159] For the task of requesting rich data, the request message may comprise

[0160] a first data field indicating one or multiple sensor modalities, e.g., radar, camera, lidar, ultrasonic, integrated sensing and communication, a second data field indicating a start time of a sensing window for generating the requested sensing data,

[0161] a third data field indicating an end time of the sensing window and / or a duration of the sensing window,

[0162] a fourth data field indicating a refresh rate for refreshing or updating the requested sensing data,

[0163] a fifth data field indicating a defined area to be sensed or scanned for generating the requested sensing data,

[0164] a sixth data field indicating a quality of the sensing data, e.g., represented by a quality level.

[0165] For the task of requesting rich data, the response message may comprise

[0166] a first data field indicating a time stamp of the requested sensing data a second data field indicating an angular information, specifically representing an angle of arrival of a (reflected) sensing signal received by the sensor that generated the sensing information or the sensing data angle,

[0167] a third data field indicating a periodogram with parameters selected from range, velocity, signal strength, preferably represented as a heat map, optionally, a fourth data field indicating channel state information, e.g., amplitude and / or phase values of received sensing signals for one or multiple subcarriers when using radio resources for sensing the area.

[0168] For transmitting the response message, a data rate of about 20 Gbps may be required when using radar sensor or integrated sensing and communication for R. 416041

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[0170] generating the sensing data and transmitting spectral data, specifically periodograms.

[0171] Consequently, the proposed solution supports different task or use cases, allows for providing sensing data with different abstraction levels (rich data, point clouds, objects lists, periodograms etc.), and enables an estimation of the required data rate for the respective task.

[0172] Fig. 4 schematically illustrates methods 300, 400 according to embodiments of the invention. The methods 300, 400 illustrate an embodiment for a sensing triggering operation from, e.g., an application server to one or multiple sensors managed or controlled by the application server.

[0173] The method 300 of operating a first node 12’ of a communication network, e.g., the first node 12’ of Fig. 2, comprises a step 310 of transmitting a service request to one or multiple sensors 18a’, 18b’, ..., 18i’ connectable with or connected to the first node 12’ for requesting a sensing service. The one or multiple sensors 18a’, 18b’, ..., 18i’ may be under the first node’s 12’ control or may be at least accessible by the first node 12’.

[0174] The method 400 of operating the one or multiple sensors 18a’, 18b’, ..., 18i’ connectable with or connected to the first node 12’ comprises a step 410 of receiving the service request transmitted from the first node 12’.

[0175] The method 400 comprises a step 420 of transmitting a sensing setup complete message from the one or each of the multiple sensors 18a’, 18b’, ..., 18i’ to the first node 12’ upon completion of a sensing setup.

[0176] The method 300 comprises a step 320 of receiving the sensing setup complete message transmitted from the one or each of the multiple sensors 18a’, 18b’, ..., 18i’.

[0177] The method 300 comprises a step 330 of transmitting a sensing activation request message to the one or multiple sensors 18a’, 18b’, ..., 18i’ in response to receiving the sensing setup complete message. R. 416041

[0178] - 19 -

[0179] The method 400 comprises a step 430 of receiving the sensing activation request message transmitted from the first node 12’.

[0180] The method 400 further comprises a step 440 of transmitting a sensing activation response message from the one or each of the multiple sensors 18a’, 18b’, ..., 18i’ to the first node 12’ in response to receiving the sensing activation request message for confirming or declining the sensing activation request

[0181] The method 300 comprises a step 340 of receiving the sensing activation response message transmitted from the one or each of the multiple sensors 18a’, 18b’, ..., 18i’.

[0182] The method further comprises a step 450 of performing sensing by the one or multiple sensors 18a’, 18b’, ..., 18i’ and transmitting a sensing report message to the first node 12’ comprising a result of the performed sensing.

[0183] The method 300 comprises a step 350 of receiving the sensing report message transmitted from the one or each of the multiple sensors 18a’, 18b’, ..., 18i’.

[0184] Fig. 5 schematically illustrates methods 500, 600, 700 according to embodiments of the invention. The methods 500, 600, 700 illustrate an embodiment for a sensing triggering operation from, e.g., an application server to a sensor system 30’ or a sensing agent with one or multiple sensors 18a’, 18b’, ..., 18i’.

[0185] The method 500 of operating a first node 12’ of a communication network, e.g., the first node 12’ of Fig. 2, comprises a step 510 of transmitting a sensing activation request message to the sensing system 30’ with a sensing management function 32’ and the one or multiple sensors 18a’, 18b’, ..., 18i’.

[0186] The method 600 of operating the sensing management function 32’ comprises a step 610 of receiving the sensing activation request message transmitted from the first node 12’.

[0187] The method 600 comprises a step 620 of transmitting a sensing setup message to the one or multiple sensors 18a’, 18b’, ..., 18i’. R. 416041

[0188] - 20 -

[0189] The method 700 of operating the one or multiple sensors 18a’, 18b’, ..., 18i’ comprises a step 710 of receiving the sensing setup message transmitted from the sensing management function 32’.

[0190] The method 700 comprises a step 720 of transmitting a sensing setup complete message from the one or multiple sensors 18a’, 18b’, ..., 18i’ to the sensing management function 32’ upon completion of a sensing setup.

[0191] The method 600 comprises a step 630 of receiving the sensing setup complete message transmitted from the one or multiple sensors 18a’, 18b’, ..., 18i’.

[0192] The method 600 comprises a step 640 of transmitting a sensing activation request message to the one or multiple sensors 18a’, 18b’, ..., 18i’ for activating a sensing procedure by the one or multiple sensors 18a’, 18b’, ..., 18i’.

[0193] The method 700 comprises a step 730 of receiving the sensing activation request message by the one or multiple sensors 18a’, 18b’, ..., 18i’.

[0194] The method 700 further comprises a step 740 of transmitting a sensing activation response message from the one or each of the multiple sensors 18a’, 18b’, ..., 18i’ to the sensing management function 32’ in response to receiving the sensing activation request message for confirming or declining the sensing activation request.

[0195] The method 600 comprises a step 650 of receiving the sensing activation response message transmitted from the one or each of the multiple sensors 18a’, 18b’, ..., 18i’.

[0196] The method 600 comprises a step 660 of transmitting a sensing activation response message transmitted from the sensing management function 32’ to the first node 12’.

[0197] The method 500 comprises a step 520 of receiving the sensing activation response message transmitted from the sensing management function 32’. R. 416041

[0198] - 21 -

[0199] The method 700 comprises a step 750 of performing sensing by the one or multiple sensors 18a’, 18b’, ..., 18i’ and transmitting a sensing report message to the sensing management function 32’ comprising a result of the performed sensing.

[0200] The method 600 comprises a step 670 of receiving the sensing report message transmitted from the one or each of the multiple sensors 18a’, 18b’, ..., 18i’.

[0201] The method 600 comprises a step 680 of transmitting the received sensing report message to the first node 12’.

[0202] The method 500 comprises a step 530 of receiving the sensing report message transmitted from the sensing management function 32’.

Claims

1. R. 4160412.- 22 -3.Claims1. A method (100) for providing sensing data to a node of a communication network (10; 10’), comprising:5.Receiving (110), by a first node (12; 12’) of the communication network (10; 10’), a request message from a second node (14; 14a’, 14b’) of the communication network (10; 10’),6.wherein the request message comprises a request for sensing data and specifies a temporal requirement on the requested sensing data;7.Determining (120), by the first node (12; 12’), whether the requested sensing data with the specified temporal requirement can be provided to the second node (14; 14a’, 14b’); and8.Transmitting (130), by the first node (12; 12’), based on a result of the determining (120), a response message comprising9.o the requested sensing data for providing the requested sensing data to the second node (14; 14a’, 14b’), or10.o an offer to provide alternative sensing data to the second node (14; 14a’, 14b’) instead of the requested sensing data.

2. The method (100) according to claim 1 , further comprising:12.Requesting, by the first node (12; 12’), preferably in response to the received request message, sensing information from at least one sensor (18a, 18b; 18a’, 18b’, ..., 18i’) connectable with or connected to the first node (12; 12’),13.wherein the requested sensing data comprise the sensing information and / or are determined, by the first node (12; 12’), based on the sensing information.

3. The method (100) according to claim 2, further comprising:15.Requesting, by the first node (12; 12’), preferably in response to the received request message, further sensing information from at least one further sensor (18a, 18b; 18a’, 18b’, ..., 18i’) connectable with or R. 41604116.- 23 -17.connected to the first node (12; 12’),18.wherein the requested sensing data are determined, by the first node (12; 12’), by fusing the sensing information and the further sensing information.

4. A method (200) for receiving sensing data from a first node (12; 12’) of a communication network (10; 10’), comprising:20.Transmitting (210), by a second node (14; 14a’, 14b’) of the communication network (10; 10’), a request message to the first node (12; 12’),21.wherein the request message comprises a request for sensing data and specifies a temporal requirement on the requested sensing data; and Receiving (220), by the second node (14; 14a’, 14b’), a response message comprising22.o the requested sensing data, or23.o an offer by the first node (12; 12’) to provide alternative sensing data node instead of the requested sensing data.

5. The method(s) (100, 200) according to one of the preceding claims, wherein the temporal requirement represents25.a start time and / or an end time and / or a duration of a sensing window for the requested sensing data, and / or26.a rate for providing the requested sensing data.

6. The method(s) (100, 200) according to one of the preceding claims, wherein the request message further specifies a requirement on an abstraction level of the requested sensing data, wherein the abstraction level may be selected from a group comprising: raw data level, rich data level, object data level, occupancy grid data level.

7. The method(s) (100, 200) according to one of the preceding claims, wherein the request message further specifies a requirement on an area (24) to be represented by the requested sensing data.

8. The method(s) (100, 200) according to one of the preceding claims, wherein the request message further specifies a requirement on a type of theR. 41604130.- 24 -31.requested sensing data, wherein the type may be selected from a group comprising: Integrated Sensing and Communication, ISAC, sensing data, radar sensing data, camera sensing data, lidar sensing data, ultrasonic sensing data.

9. The method(s) (100, 200) according to one of the preceding claims, wherein the request message further specifies a requirement on a quality of the requested sensing data.

10. The method(s) (100, 200) according to one of the preceding claims, wherein the requested sensing data are comprised in the response message in terms of occupancy probabilities and / or emptiness probabilities for a multitude of grids cells of a defined grid.

11. The method(s) (100, 200) according to one of the preceding claims, wherein the requested sensing data are comprised in the response message in terms of a or multiple state vector(s) representing a state of objects.

12. The method(s) (100, 200) according to one of the preceding claims, wherein the requested sensing data are comprised in the response message in terms of range information and / or velocity information and / or angle information and / or signal strength information.

13. A first node (12; 12’) of a communication network (10; 10’), wherein the first node (12; 12’) is configured to execute the method (100) according to one of claims 1 to 3 or 5 to 12.

14. A second node (14; 14a’, 14b’) of a communication network (10; 10’), wherein the second node (14; 14a’, 14b’) is configured to execute the method (200) according to one of claims 4 to 12.

15. A computer program comprising machine-readable instructions to cause the first node (12; 12’) according to claim 13 to execute the method (100) according to one of claims 1 to 3 or 5 to 12, and / or39.the second node (14; 14a’, 14b’) according to claim 14 to execute the method (200) according to one of claims 4 to 12. R. 41604140.- 25 -16. A non-transitory computer readable medium having stored thereon the computer program according to claim 15.

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