Sensing method and device

Abstract

The present application relates to the technical field of communications, and in particular to a sensing method and device, for use in improving coverage of a sensing area and improving sensing performance. The method may be executed by a sensing fusion node. The method comprises: receiving a service request from a service requester, wherein the service request is used for requesting a sensing service, and the service request comprises a first sensing area of the sensing service; and sending first information on the basis of the first sensing area and sensing ranges of M sensing sensors, wherein the first information indicates N sensing sensors used for executing the sensing service, the N sensing sensors belong to the M sensing sensors, and N is less than or equal to M.

Description

A sensing method and device

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411753714.X, filed on November 29, 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] In perception scenarios, multiple sensors often work together to achieve perception performance by complementing each other's perspectives and fusing perception capabilities. For example, in intelligent transportation-assisted vehicle navigation systems, roadside cameras, vehicle-mounted cameras, vehicle-mounted radar, base stations, and other perception sensors work together to achieve perception services such as target detection in a certain area.

[0005] Currently, the selection of sensing sensors is usually based on their location, such as choosing sensors located within or close to the sensing area. However, this selection method cannot guarantee the coverage of the sensing area, easily leading to missed detections and thus affecting sensing performance. Therefore, how to improve the coverage of the sensing area and thereby enhance sensing performance has become an urgent problem to be solved. Summary of the Invention

[0006] This application provides a sensing method and apparatus to improve the coverage of the sensing area and enhance sensing performance.

[0007] In a first aspect, embodiments of this application provide a sensing method. The executing entity of this method can be a sensing fusion node, or a processor, module, chip, or chip system on the sensing fusion node side. Taking the sensing fusion node as the executing entity as an example, the method includes: receiving a service request from a service requester, the service request being used to request a sensing service, the service request including a first sensing area of ​​the sensing service; and sending first information based on the first sensing area and the sensing range of M sensing sensors, the first information indicating N sensing sensors used to execute the sensing service, the N sensing sensors belonging to the M sensing sensors, and N being less than or equal to M.

[0008] Through the above design, the perception fusion node can select the perception sensor to perform the perception service based on the perception range of the perception sensor and the first perception area of ​​the perception service. This can reduce the problem of missed detection caused by the perception angle and range of the perception sensor when selecting the perception sensor based on the position of the perception sensor. It can also improve the coverage of the first perception area by the perception sensor performing the perception service, thereby improving the perception performance.

[0009] In one possible design, before sending the first information based on the first sensing area and the sensing range of the M sensing sensors, the method further includes: sending second information to the sensing data provider, the second information being used to trigger the adjustment of the sensing range of the P sensing sensors, the P sensing sensors belonging to the M sensing sensors; wherein, the sensing range of the M sensing sensors includes the adjusted sensing range of the P sensing sensors, and P is less than or equal to M.

[0010] The above design allows for adjustment of the sensing range of the sensing sensor. For example, the sensing range of the sensing sensor can be adjusted according to the first sensing area, which helps to improve the coverage of the sensing sensor over the first sensing area.

[0011] In one possible design, the method further includes: determining the adjustment method of the P sensing sensors based on the first sensing area, the sensing range adjustment capability of the P sensing sensors, and the sensing range of the P sensing sensors before adjustment; wherein the second information includes the adjustment method of the P sensing sensors.

[0012] Through the above design, the adjustment method of the sensing sensor can be determined based on the first sensing area, the sensing range adjustment capability of the sensing sensor, and the sensing range of the sensing sensor before adjustment. This helps to improve the efficiency and accuracy of adjusting the sensing range of the sensing sensor, so that the sensing sensor can cover the first sensing area as much as possible.

[0013] In one possible design, the service request also includes the first sensing area coverage requirement of the sensing service; based on the first sensing area, the sensing range adjustment capability of P sensing sensors, and the sensing range of P sensing sensors before adjustment, the adjustment method of P sensing sensors is determined, including: based on the first sensing area, the first sensing area coverage requirement, the sensing range adjustment capability of P sensing sensors, and the sensing range of P sensing sensors before adjustment, the adjustment method of P sensing sensors is determined.

[0014] Through the above design, the adjustment method of the sensing sensor can be determined based on the coverage requirement of the first sensing area, which is conducive to ensuring that the sensing range of the adjusted sensing sensor can meet the coverage requirement of the first sensing area.

[0015] In one possible design, the method also includes the ability to receive sensing range adjustment capabilities from P sensing sensors provided by a sensing data provider.

[0016] The above design helps the perception fusion node to accurately determine the sensing range adjustment capability of the perception sensor.

[0017] In one possible design, the service request also includes a first sensing area coverage requirement for sensing services; based on the first sensing area and the sensing range of M sensing sensors, sending first information includes: based on the first sensing area, the first sensing area coverage requirement, and the sensing range of M sensing sensors, sending first information.

[0018] The above design helps to ensure the coverage of the first sensing area by the sensing sensors performing the sensing services, thus meeting the coverage requirements of the first sensing area.

[0019] In one possible design, the first sensing area coverage requirement includes the coverage requirement of a first type of sensing sensor for the first sensing area and the coverage requirement of a second type of sensing sensor for the first sensing area; wherein, among the N sensing sensors, there are A first-type sensing sensors, and the coverage of the A first-type sensing sensors for the first sensing area meets the coverage requirement of the first-type sensing sensors for the first sensing area; and among the N sensing sensors, there are B second-type sensing sensors, and the coverage of the B second-type sensing sensors for the first sensing area meets the coverage requirement of the second-type sensing sensors for the first sensing area.

[0020] Through the above design, the sensing sensor that performs sensing services can meet multiple first sensing area coverage requirements, which is beneficial to meeting the needs of sensing services with different coverage requirements.

[0021] In one possible design, the method further includes: sending third information to a sensing data provider, the third information being used to trigger the reporting of the sensing range of the sensing sensors, wherein the sensing data provider manages M sensing sensors; and receiving the sensing range of the M sensing sensors from the sensing data provider.

[0022] Through the above design, the sensing data provider can report the sensing range of the sensing sensors according to the needs of the sensing fusion node, which helps to save signaling overhead.

[0023] In one possible design, the method further includes: sending the perception coverage rate of the perception sensors used to perform the perception service to the service requester of the first perception area, based on the first perception area and the perception range of N perception sensors.

[0024] The above design allows the service requester to know the sensing coverage rate of the sensing sensor executing the sensing service over the first sensing area, thereby knowing the sensing coverage performance and adjusting the sensing coverage requirements of the sensing service.

[0025] Secondly, embodiments of this application provide a sensing method. The executing entity of this method can be a sensing data provider, or a processor, module, chip, or chip system on the sensing data provider side. Here, the sensing data provider can also be called a sensing data providing device, which can be a terminal device, access network device, or camera management device, etc. Taking the sensing data provider as the executing entity as a sensing data provider as an example, the method includes: sending the sensing range of M sensing sensors to a sensing fusion node; receiving first information from the sensing fusion node, the first information indicating N sensing sensors used to perform sensing services, where N sensing sensors belong to M sensing sensors, and N is less than or equal to M.

[0026] In one possible design, before receiving the first information from the perception fusion node, the method further includes: receiving second information from the perception fusion node, the second information being used to trigger adjustment of the perception range of P perception sensors, where the P perception sensors belong to M perception sensors; and adjusting the perception range of the P perception sensors according to the second information, where P is less than or equal to M.

[0027] In one possible design, the second information includes the adjustment method of the P sensing sensors. Based on the second information, the sensing range of the P sensing sensors is adjusted, including: adjusting the sensing range of the P sensing sensors according to the adjustment method of the P sensing sensors.

[0028] In one possible design, the method further includes sending the sensing range adjustment capability of P sensing sensors to the sensing fusion node.

[0029] In one possible design, before sending the sensing ranges of the M sensing sensors to the sensing fusion node, the method further includes receiving third information from the sensing fusion node, the third information being used to trigger the reporting of the sensing ranges of the sensing sensors.

[0030] Thirdly, embodiments of this application provide a sensing method. The executing entity of this method can be a sensing fusion node, or a processor, module, chip, or chip system on the sensing fusion node side. Taking the sensing fusion node as the executing entity as an example, the method includes: receiving a service request from a service requester, the service request being used to request sensing services, the service request including a first sensing area of ​​the sensing services; and sending a second sensing area to a sensing data provider based on the first sensing area, the second sensing area intersecting with the first sensing area.

[0031] Through the above design, the perception fusion node can determine the second perception area of ​​the perception data provider based on the first perception area of ​​the perception service. This avoids the perception data provider from providing the perception fusion node with information such as the perception range of the perception sensors it manages, which helps to save signaling overhead and protect the privacy of the perception data provider.

[0032] In one possible design, sending a second sensing area to the sensing data provider based on the first sensing area includes: determining the second sensing area based on the first sensing area and the location information of the sensing data provider; and sending the second sensing area to the sensing data provider.

[0033] By combining the above design with the location information of the sensing data provider to determine the second sensing area, it is beneficial to improve the coverage of the sensing data sensors managed by the sensing data provider in the second sensing area, thereby improving the sensing performance.

[0034] In one possible design, the service request also includes a first sensing coverage requirement for sensing services, and the method further includes sending a second sensing area coverage requirement to the sensing data provider based on the first sensing area coverage requirement.

[0035] The above design enables the sensing data provider to provide sensing data that meets the coverage requirements of the second sensing area, which is beneficial to improving sensing performance.

[0036] In one possible design, the method further includes: receiving sensing coverage information from a sensing data provider, the sensing coverage information including the coverage range and / or sensing coverage rate of the sensing sensor used to perform sensing services over the second sensing area.

[0037] The above design helps the perception fusion node to obtain the perception coverage information of the perception data provider and, based on the perception coverage information, to understand the performance of perception service execution.

[0038] In one possible design, the method further includes: sending the perception coverage rate of the perception sensor used to perform the perception service to the service requester for the perception coverage rate of the first perception area, based on the perception coverage information.

[0039] The above design allows the service requester to know the sensing coverage of the sensing sensor performing the sensing service in the first sensing area, to know the sensing performance, and to adjust the requirements of the sensing service.

[0040] Fourthly, embodiments of this application provide a sensing method. The executing entity of this method can be a sensing data provider, or a processor, module, chip, or chip system on the sensing data provider side. Here, the sensing data provider can also be called a sensing data providing device, which can be a terminal device, access network device, or camera management device, etc. Taking the sensing data provider as the executing entity as an example, the method includes: receiving a second sensing area from a sensing fusion node; determining S sensing sensors based on the second sensing area and the sensing range of R sensing sensors, wherein the S sensing sensors are used to collect sensing data of the second sensing area, and the S sensing sensors belong to the R sensing sensors, where S is less than or equal to R.

[0041] In one possible design, the method further includes: receiving a second sensing coverage requirement from a sensing fusion node; and determining S sensing sensors based on a second sensing region and the sensing ranges of R sensing sensors, including determining the S sensing sensors based on the second sensing region, the second sensing coverage requirement, and the sensing ranges of R sensing sensors.

[0042] In one possible design, the method further includes sending sensing coverage information to the sensing fusion node, the sensing coverage information including the coverage range and / or sensing coverage rate of the second sensing area by the S sensing sensors.

[0043] In one possible design, the method further includes sending sensing data from S sensing sensors to the sensing fusion node.

[0044] Fifthly, embodiments of this application provide a sensing method. The executing entity of this method can be a service requester, or a processor, module, chip, or chip system on the service requester side. Here, the service requester can also be referred to as a service requesting device, which can be a terminal device, access network device, or application function (AF), etc. Taking the executing entity as a service requester as an example, the method includes: sending a service request to a sensing fusion node, the service request being used to request sensing services, the service request including a first sensing area and a coverage requirement of the first sensing area; and receiving sensing results from the sensing fusion node.

[0045] In one possible design, the method further includes: receiving the perception coverage of the first perception area from the perception sensors used to perform perception services from the perception fusion node.

[0046] Sixthly, embodiments of this application provide a communication device that has the function of implementing the methods of any one of the first to fifth aspects described above. The function can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions, such as an interface unit and a processing unit.

[0047] In one possible design, the device can be a chip or an integrated circuit.

[0048] In one possible design, the device includes a memory and a processor, the memory being used to store instructions executed by the processor, and when the instructions are executed by the processor, the device can perform the methods of any one of the first to fifth aspects.

[0049] In a seventh aspect, embodiments of this application provide a communication device including an interface circuit and a processor, wherein the processor and the interface circuit are coupled to each other. The interface circuit is used for inputting and / or outputting signals, and the processor is used to implement the methods of any one of the first to fifth aspects described above through logic circuits or executing instructions. It is understood that the interface circuit can be a transceiver, a transceiver device, or an input / output interface.

[0050] Optionally, the communication device may also include a memory for storing instructions executed by the processor, or storing input data required by the processor to execute instructions, or storing data generated after the processor executes instructions. The memory may be a physically independent unit, or it may be coupled to the processor, or the processor may include the memory (i.e., the processor and the memory are integrated together).

[0051] In one possible implementation, the communication device is a chip or chip system.

[0052] Eighthly, embodiments of this application provide a communication system, which includes a perception fusion node and a perception data provider. The perception fusion node is used to implement the method of the first aspect described above; the perception data provider is used to implement the method of the second aspect described above.

[0053] In one possible design, the system also includes a business requester, which is used to implement the method described in the fifth aspect above.

[0054] Ninthly, embodiments of this application provide a communication system, which includes a perception fusion node and a perception data provider. The perception fusion node is used to implement the method described in the third aspect above; the perception data provider is used to implement the method described in the fourth aspect above.

[0055] In one possible design, the system also includes a business requester, which is used to implement the method described in the fifth aspect above.

[0056] In a tenth aspect, embodiments of this application provide a computer-readable storage medium storing a computer program or instructions that, when executed by a processor, can implement the methods of any one of the first to fifth aspects described above.

[0057] Eleventhly, embodiments of this application also provide a computer program product, including a computer program or instructions, which, when executed by a processor, can implement the methods of any one of the first to fifth aspects described above.

[0058] In a twelfth aspect, embodiments of this application also provide a chip system including a processor, the processor being coupled to a memory, the memory being used to store programs or instructions, and when the program or instructions are executed by the processor, the methods of any one of the first to fifth aspects described above can be implemented.

[0059] The technical effects that can be achieved by the second, fourth to twelfth aspects mentioned above should be referred to the technical effects that can be achieved by the first or third aspects mentioned above, and will not be repeated here. Attached Figure Description

[0060] Figures 1, 2, and 3 are schematic diagrams of the perception network architecture applicable to the embodiments of this application;

[0061] Figures 4, 8, and 9 are schematic diagrams of the sensing method provided in the embodiments of this application;

[0062] Figure 5 is a schematic diagram of the first sensing area and the sensing range of the sensing sensor provided in an embodiment of this application;

[0063] Figure 6 is a schematic diagram of the sensing range acquisition method of the sensing sensor provided in the embodiment of this application;

[0064] Figure 7 is a schematic diagram of sensing range adjustment provided in an embodiment of this application;

[0065] Figure 10 is a schematic diagram of the determination of the second sensing area provided in an embodiment of this application;

[0066] Figures 11 and 12 are schematic diagrams of the communication device provided in the embodiments of this application. Detailed Implementation

[0067] 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) communication systems, 5th Generation (5G) communication systems / New Radio (NR) communication systems, 5G-Advanced (5G-A) communication systems, 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, and so on.

[0068] 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.

[0069] (1) Perception

[0070] 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.

[0071] Perception can also be replaced by: sensing process, sensing operation, sensing detection, or detection processing.

[0072] 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).

[0073] An echo signal is a sensing signal emitted by a transmitter, reflected by the sensing target, and received by a receiver. By calculating the difference between the transmission and reception times of the sensing signal and the transmission time, the time required for the sensing signal to travel one round trip between the transmitter and the sensing target can be obtained. Based on this time and the propagation speed of the sensing signal (usually the speed of light), the distance from the sensing target to the transmitter can be calculated. The speed of the sensing target can also be calculated using the distances calculated at different times. Furthermore, the direction of the antenna transmitting the sensing signal can be used to determine the direction of the sensing target relative to the transmitter. An echo signal can be understood as a reflected sensing signal; therefore, an echo signal can also be called a sensing signal.

[0074] (2) Sensing sensor

[0075] 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.

[0076] (3) Sensory area

[0077] The sensing area is the area being sensed, which can be a geographical location, represented by geographic coordinates such as latitude and longitude, distance, and radius. The sensing area can also be represented by cell information, gNB information, or tracking area (TA) information, or by specific information introduced to indicate the sensing area.

[0078] (4) Perceived data and perception results

[0079] Sensing data, also known as sensing measurement data, can refer to the data obtained after processing echo signals. Echo signal processing can involve 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 and 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.

[0080] 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.

[0081] Perception results can refer to outcomes related to business functions and performance obtained through calculations and analysis of perceived data. For example, perception results include the presence of a target to be perceived and information about that 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 viewed as perception data. Perception results 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.

[0082] Perception results can also be viewed as a type of perception data.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] In perception scenarios, multiple sensors often work together to achieve perception performance by complementing each other's perspectives and fusing perception capabilities. For example, in intelligent transportation-assisted vehicle navigation systems, roadside cameras, vehicle-mounted cameras, vehicle-mounted radar, base stations, and other perception sensors work together to achieve perception services such as target detection in a certain area.

[0087] Currently, the selection of sensing sensors is usually based on their location, such as choosing sensors located within or close to the sensing area. However, this selection method cannot guarantee the coverage of the sensing area, easily leading to missed detections and thus affecting sensing performance. Therefore, how to improve the coverage of the sensing area and thereby enhance sensing performance has become an urgent problem to be solved.

[0088] Based on this, embodiments of this application provide a sensing method and apparatus. This application defines a sensing convergence function (SCF), which can select sensing sensors to perform sensing based on the sensing area of ​​the sensing service requested by the consumer and the coverage range of the sensing sensors, in order to improve the coverage of the sensing area and enhance sensing performance.

[0089] In one possible implementation, SCF can communicate with external sensing data providers through open functions.

[0090] The following section introduces three possible architectures for a perception system.

[0091] 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.

[0092] (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.

[0093] (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, and the CN domain EMS can manage network data analytics function (NWDAF), user plane function (UPF), session management function (SMF), access and mobility management function (AMF), and other network elements.

[0094] NMS and EMS-RAN can also be collectively referred to as the 3GPP management system or the Operations Administration and Maintenance (OAM) module.

[0095] (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.

[0096] (4) Exposure governance management function (EGMF): The logical management function that enables the management domain to open its management capabilities to the outside world.

[0097] (5) SCF: Responsible for generating perception control parameters, requesting perception data from perception data providers, performing perception data fusion processing, and determining perception results, etc.

[0098] (6) Consumers: Consumers can initiate awareness service requests to the SCF. Consumers can be application functions (AFs), terminal devices, etc. Consumers can interact with the SCF through the awareness service opening function.

[0099] 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.

[0100] (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.

[0101] 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).

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] (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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] (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.

[0115] 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.

[0116] (10) External Sensing Data Provider: Also known as a third-party sensing 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.

[0117] 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.

[0118] The terms "internal sensing data provider" and "external sensing data provider" can also be used, and this application does not impose any specific restrictions.

[0119] 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.

[0120] (1) Consumers: For details, please refer to the relevant description of consumers in Example 1.

[0121] 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.

[0122] (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).

[0123] Among them, the network exposure function (NEF) is responsible for managing external applications that expose network data to the outside world.

[0124] 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.

[0125] 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.

[0126] Access and mobility management function (AMF): Performs registration, connection, accessibility, and mobility management.

[0127] (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.

[0128] (4) Terminal equipment: For details, please refer to the relevant description of terminal equipment in Example 1.

[0129] (5) Internal sensing data provider: For details, please refer to the relevant description of the internal sensing data provider in Example 1.

[0130] 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.

[0131] (6) External sensing data provider: For details, please refer to the relevant description of the external sensing data provider in Example 1.

[0132] In this example, the open function can be a call to NEF via AEF, a direct call to NEF, or other functions.

[0133] Example 3: The SCF can be deployed in an Open RAN (Open Radio Access Network, O-RAN) 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.

[0134] (1) Consumers. For details, please refer to the relevant description of consumers in Example 1.

[0135] 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.

[0136] (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.

[0137] (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.

[0138] (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.

[0139] (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.

[0140] (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.

[0141] (4) Terminal equipment. Please refer to the relevant description of terminal equipment in Example 1 for details.

[0142] (5) Internal sensing data provider: For details, please refer to the relevant description of the internal sensing data provider in Example 1.

[0143] 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.

[0144] (6) External sensing data provider: For details, please refer to the relevant description of the external sensing data provider in Example 1.

[0145] In this example, the open functionality can be achieved through the service interface / O1 / A1, or other functional interfaces.

[0146] 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.

[0147] 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.

[0148] 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.

[0149] Figure 4 is a schematic diagram of one of the sensing methods provided in an embodiment of this application. The method includes:

[0150] S401: The business request direction-aware fusion node sends a business request.

[0151] Accordingly, the perception fusion node receives service requests.

[0152] The service request can be used to request a sensing service. Specifically, the service request may include the identifier of the sensing service.

[0153] In this embodiment of the application, the service requester can be a consumer of the sensing service, such as an AF (Automatic Field Controller), a terminal device, etc. For details, please refer to the relevant description of consumers in the network architecture introduction above.

[0154] The sensing fusion node can be a device with an SCF deployed. For example, when the SCF is deployed in the 3GPP management system, the sensing fusion node can be an NMS or EMS-RAN, etc. When the SCF is deployed in the 3GPP core network, the sensing fusion node can be an SF, or when the SCF is deployed in O-RAN, the sensing fusion node can be a RIC. For details, please refer to the relevant description of SCF in the network architecture introduction above.

[0155] Optionally, the service request includes information about the first sensing area of ​​the sensing service. Specifically, the service request can be used to request the execution of a sensing service on the first sensing area.

[0156] Furthermore, the service request may also include one or more of the following information: the type of sensing service, the coverage requirement of the first sensing area of ​​the sensing service, the sensing performance indicators of the sensing service, or the sensing data requirements of the sensing service, etc.

[0157] For example, the first sensing area of ​​the sensing service can be a geographical location area, and the information of the first sensing area can be the latitude and longitude information of the geographical location area, the coordinate information under the geodetic coordinate system, etc.; the first sensing area can also be cell information or TA, and correspondingly, the information of the first sensing area can be cell information or TA information, etc., and this application does not make specific limitations in this regard.

[0158] The types of sensing services can include moving target detection, static target detection, environment reconstruction, etc., and this application does not make specific limitations.

[0159] The coverage requirement of the first sensing area for the sensing service may include the total coverage requirement of the sensing sensors performing the sensing service to the first sensing area, the coverage requirement of each type of sensing sensor performing the sensing service to the first sensing area, the coverage requirement of the intersection of the sensing ranges of at least two types of sensing sensors performing the sensing service to the first sensing area, or the coverage requirement of the union of the sensing ranges of at least two types of sensing sensors performing the sensing service to the first sensing area, etc.

[0160] The types of sensing sensors can include cameras, radar, access network equipment, or terminal equipment. For example, if the sensing sensors performing this sensing service include camera-type sensing sensors and radar-type sensing sensors, then the coverage requirements of each type of sensing sensor performing this sensing service for the first sensing area can include: the coverage requirements of camera-type sensing sensors for the first sensing area, and the coverage requirements of radar-type sensing sensors for the first sensing area.

[0161] It should be noted that the total coverage requirement of the sensing sensors performing the sensing service over the first sensing area can refer to the coverage requirement of the first sensing area based on the union of the sensing ranges of all sensing sensors performing the sensing service. The types of sensing sensors performing the sensing service can be one or more, and this application does not limit this. For example, if the sensing sensors performing the sensing service include camera-type sensing sensors and radar-type sensing sensors, then the total coverage requirement of the sensing sensors performing the sensing service over the first sensing area can refer to the coverage requirement of the first sensing area based on the union of the sensing ranges of the camera-type sensing sensors and the radar-type sensing sensors performing the sensing service.

[0162] The sensing data requirements for sensing services may include at least one of the following: the type of sensing sensor performing the sensing service, the number of sensing sensors performing the sensing service, the data format of the sensing data of the sensing service, the data size of the sensing data of the sensing service, the acquisition duration of the sensing service, or the acquisition frequency of the sensing service.

[0163] The types of sensing sensors can include cameras, radar, access network equipment, or terminal equipment.

[0164] The number of sensing sensors performing the sensing service can be either the total number of sensing sensors required by the sensing service or the number of sensing sensors of each type required by the sensing service. For example, if the sensing sensors performing the sensing service include camera-type sensing sensors and radar-type sensing sensors, then the number of sensing sensors of each type required by the sensing service can include: the number of camera-type sensing sensors required by the sensing service, and the number of radar-type sensing sensors required by the sensing service.

[0165] The data format can be the data format required by the sensing data of this sensing service, such as point cloud data format, image data format, point cloud data format and image data format, etc.

[0166] The data size can be the data size required for the sensing data of this 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.

[0167] S402: The perception fusion node sends the first information to the perception data provider based on the first perception area and the perception range of the M perception sensors.

[0168] Accordingly, the data provider receives the first information.

[0169] The first information indicates N sensing sensors used to perform the sensing service, where the N sensing sensors belong to M sensing sensors, and N is less than or equal to M. For example, the first information may include the identifiers of the N sensing sensors. This application does not limit the manner in which the first information indicates the N sensing sensors used to perform the sensing service.

[0170] In this embodiment, the sensing data provider can be an access network device, a terminal device, an autofocus (AF), etc. The sensing data provider manages one or more sensing sensors, acquires sensing data collected by these sensors, and provides it to the sensing fusion node. When the sensing data provider manages only one sensing sensor, or has only one sensing sensor, and can communicate with the sensing fusion node, that sensing sensor can also be a sensing data provider. Sensing data providers can be categorized as internal or external. Internal sensing data providers belong to the 3GPP network, and the sensing sensors they manage are 3GPP sensors, such as terminal devices and access network devices. External sensing data providers do not belong to the 3GPP network, and the sensing sensors they manage are non-3GPP sensors, such as cameras and radar.

[0171] Upon receiving a service request, the perception fusion node can determine N sensing sensors to perform the service based on the first sensing area and the sensing ranges of the M sensing sensors included in the service request. For example, the node can select N sensors from the M sensors whose sensing ranges intersect with the first sensing area to perform the service; alternatively, it can select N sensors from the M sensors whose sensing ranges cover the first sensing area at a rate greater than or equal to a set coverage threshold. This reduces the problem of sensing sensors performing the service having no overlap with the first sensing area or providing insufficient coverage, thus improving the coverage of the first sensing area and enhancing perception performance.

[0172] Referring to the schematic diagram of the first sensing area and the sensing range of the sensing sensors shown in Figure 5, the first sensing area is a rectangular area enclosed by four points (x1, y1), (x2, y2), (x3, y3), and (x4, y4) as vertices, M=4. The M sensing sensors include sensing sensors A1, A2, A3, and A4. The sensing range of sensing sensor A1 is B1, the sensing range of sensing sensor A2 is B2, the sensing range of sensing sensor A3 is B3, and the sensing range of sensing sensor A4 is B4. The sensing ranges B1, B2, and B4 intersect with the first sensing area. The sensing fusion node can determine that the sensing sensors used to perform sensing services are sensing sensors A1, A2, and A4, i.e., N=3.

[0173] In some embodiments, assuming that the sensing service request also includes information such as the first sensing area coverage requirement of the sensing service and / or the sensing data requirement of the sensing service, then the sensing fusion node can combine the information such as the first sensing area coverage requirement of the sensing service and / or the sensing data requirement of the sensing service to determine N sensing sensors for performing the sensing service.

[0174] Taking the requirement in the perception service request that the total coverage of the first perception area of ​​the perception sensors performing the perception service is not less than 40% as an example, and the schematic diagram of the perception range of the first perception area and the perception sensors is still shown in Figure 5, assuming that the coverage of the first perception area by the perception sensors A1, A2, and A4 (i.e., perception areas B1, B2, and B4) is 45%, and the coverage of the first perception area by the perception sensors A1 and A4 (i.e., perception areas B1 and B4) is 43%, both of which meet the requirement that the total coverage of the first perception area is not less than 40%, the perception fusion node can determine that the perception sensors used to perform the perception service are perception sensors A1, A2, and A4, or it can determine that the perception sensors used to perform the perception service are perception sensors A1 and A4.

[0175] For example, the perception service request also includes a total number of perception sensors used to perform the perception service that is greater than or equal to 3. The perception fusion node can determine that the perception sensors used to perform the perception service are perception sensors A1, A2, and A4.

[0176] As described above, the perception fusion node can determine the N perception sensors used to perform perception services based on the first perception area and the perception range of the M perception sensors. This section introduces the possible ways the perception fusion node obtains the perception range of the M perception sensors.

[0177] Method 1: The perception data provides the perception range of M perception sensors reported by the direction perception fusion node.

[0178] As an example, after deployment, the sensing data provider sends registration information to the sensing fusion node. This registration information includes the sensing range of at least one sensing sensor managed by the provider, and may also include information such as the type and identifier of that sensor. Therefore, upon receiving the registration information from the sensing data provider, the sensing fusion node can obtain information about the sensing range of at least one sensing sensor managed by the provider, as well as information such as the type and identifier of that sensor.

[0179] It is understandable that the M sensing sensors can be managed by one sensing data provider or by multiple sensing data providers. If the M sensing sensors are managed by multiple sensing data providers, the sensing fusion node can obtain the sensing range of the M sensing sensors through the registration information sent by the multiple sensing data providers.

[0180] Method 2: After receiving a sensing service request, the sensing fusion node requests the sensing range of M sensing sensors from the sensing data provider.

[0181] As an example: Referring to Figure 6, after receiving a service request from the service requester, the perception fusion node sends third information to the perception data provider. This third information is used to trigger the reporting of the sensing range of the sensing sensors. After receiving the third information, the perception data provider sends the sensing range of at least one sensing sensor under its management to the perception fusion node.

[0182] It is understood that the perception fusion node may send third information to one or more perception data providers, whose perception sensors include the aforementioned M perception sensors.

[0183] In one possible implementation, after receiving a business request from the business requester, the perception fusion node sends third-party information to the perception data provider according to the business request in order to obtain the perception range of M perception sensors.

[0184] For example: The perception fusion node can store the location information of multiple perception data providers with which it has established connections. After receiving a service request from a service requester, the perception fusion node can send third information to at least one perception data provider located within the first perception area, based on the first perception area included in the service request, to trigger the at least one perception data provider to report the perception range of the perception sensors it manages.

[0185] Alternatively, after receiving a service request from a service requester, the perception fusion node may, based on the first perception area included in the service request, send third information to at least one perception data provider located within the first perception area or at a distance less than a first distance threshold from the boundary of the first perception area, to trigger the at least one perception data provider to report the perception range of the perception sensors it manages.

[0186] For example, the sensing range of the sensing sensor reported by the business requester can be a geographical area, which can be expressed by the latitude and longitude information of the geographical area, or the coordinate information under the geodetic coordinate system; or it can be information such as the viewing angle parameters and sensing capabilities of the sensing sensor used to determine the sensing range.

[0187] The viewing angle parameters may include the position information of the sensing sensor, the horizontal angle of the sensing sensor (0-360°), or the vertical angle of the sensing sensor (0-180°), etc.

[0188] Perception capabilities can include perception depth, horizontal perception angle range, or vertical perception angle range, etc.

[0189] It should be noted that the horizontal angle, vertical angle, horizontal sensing angle range, and vertical sensing angle range of the sensing sensor are determined based on a certain set coordinate system (such as the world coordinate system, geodetic coordinate system, etc.). The sensing data provider and the sensing fusion node can negotiate to determine this coordinate system, or pre-configure the coordinate system in the sensing data provider and the sensing fusion node. This application does not limit the method by which the sensing data provider and the sensing fusion node determine the coordinate system.

[0190] The way in which the perception fusion node obtains the perception range of M perception sensors is not limited to the above methods. For example, the perception data provider can also report the perception range of one or more perception sensors it manages to the registration device, and the perception fusion node can also obtain the perception range of M perception sensors through the registration device, etc. This application does not limit the way in which the perception fusion node obtains the perception range of M perception sensors.

[0191] After determining the N sensing sensors used to perform sensing services, the sensing fusion node can send first information to the sensing data provider. The first information may include the identifiers and / or names of the N sensing sensors, etc., to indicate the N sensing sensors performing the sensing services.

[0192] After receiving the first information, the sensing data provider can obtain the sensing data collected by these N sensing sensors and send the sensing data collected by these N sensing sensors to the sensing fusion node. The sensing fusion node can determine the sensing result based on the sensing data collected by these N sensing sensors and send the sensing result to the sensing data requester.

[0193] In one possible implementation, if the sensing service request also includes at least one of the sensing data requirements such as the data format of the sensing data, the data size of the sensing data, the collection duration of the sensing service, or the collection frequency of the sensing service, the first information may also include the aforementioned sensing data requirements. The sensing data provider may control the sensing data sensor to obtain sensing data according to the aforementioned sensing data requirements.

[0194] In one possible implementation, the perception fusion node determines the perception coverage rate of the perception sensors used to perform perception services over the first perception area based on the first perception area and the perception range of N perception sensors, and sends the perception coverage rate of the perception sensors used to perform perception services over the first perception area to the service requester so that the service requester can know the perception coverage-related performance.

[0195] It is understood that the sensing coverage of the first sensing area by the sensing sensor performing the sensing service can be sent to the service requester through the same message as the sensing result, or it can be sent to the service requester through different messages. This application does not limit this.

[0196] In some embodiments, before the perception fusion node sends first information instructing the N perception sensors to perform perception services based on the first perception area and the perception range of the M perception sensors, it may also send second information to the perception data provider to trigger the adjustment of the perception range of the P perception sensors, in order to improve the coverage of the perception sensors over the first perception area. Here, the P perception sensors belong to the M perception sensors, and P is less than or equal to M.

[0197] As an example: M is 4, and the M (M=4) sensing sensors include sensing sensors A1, A2, A3, and A4. The sensing ranges corresponding to sensing sensors A1, A2, A3, and A4 are B1, B2, B3, and B4, respectively. Sensing sensors A2 and A3 have the capability to adjust their sensing ranges. The sensing fusion node can send second information, including the identifiers of sensing sensors A2 and A3, to the sensing data provider, triggering the provider to adjust the sensing ranges of A2 and A3. After adjusting the sensing ranges of A2 and A3, the provider can also send the adjusted sensing ranges to the sensing fusion node, allowing the node to update the original sensing ranges of A2 and A3 to the adjusted ranges.

[0198] In one possible implementation, the second information also includes a first sensing region, and the sensing data provider adjusts the sensing range of the sensing sensor based on the first sensing region. For example, by adjusting the sensing range of the sensing sensor, the coverage of the sensing sensor over the first sensing region can be increased as much as possible, that is, the intersection between the sensing range of the sensing sensor and the first sensing region can be increased as much as possible.

[0199] In another possible implementation, the second information also includes the adjustment method of the P sensing sensors, and the sensing data provider can also adjust the sensing orientation of the P sensing sensors according to the adjustment method of the P sensing sensors.

[0200] The perception fusion node can determine the adjustment method of the P perception sensors based on the first perception area, the adjustment capability of the perception range of the P perception sensors, and the perception range of the P perception sensors before adjustment. The adjustment method refers to how the perception sensors adjust their perception range. For example, the adjustment method of the perception sensors can be a counterclockwise rotation of x° or a clockwise rotation of y°, etc. By changing the viewing angle (or orientation) of the perception sensors, the perception range of the perception sensors can be changed.

[0201] Taking sensor A5 as an example, referring to the sensing range adjustment diagram shown in Figure 7, the sensing range of sensor A5 before adjustment is B5'. The horizontal angle of sensor A5 is 0°, the horizontal sensing angle is ±α, and the horizontal sensing boundary is ±θ, where θ is greater than α, and θ-α=λ. The adjustment method for sensor A5 can be a counterclockwise rotation of the horizontal angle by λ. The sensing range of sensor A5 after adjustment is B5, which increases the coverage area (or coverage rate) of the first sensing region compared to before adjustment.

[0202] In some embodiments, assuming the service request includes a first sensing area coverage requirement for sensing services, the sensing fusion node, when determining the adjustment method of the P sensing sensors, can determine the adjustment method of the P sensing sensors based on the first sensing area, the first sensing area coverage requirement, the sensing range adjustment capability of the P sensing sensors, and the sensing range of the P sensing sensors before adjustment, so as to ensure that the coverage of the first sensing area by the N sensing sensors, including the P sensing sensors, used to perform sensing services, meets the first sensing coverage requirement.

[0203] As an example, the perception fusion node can determine the adjustment method of the P perception sensors based on the first perception area, the coverage requirement of the first perception area, the perception range adjustment capability of the P perception sensors, the perception range of the P perception sensors before adjustment, and the perception range of the NP perception sensors, so that the combined perception range of the P perception sensors after adjustment and the perception range of the NP perception sensors can meet the coverage requirement of the first perception area.

[0204] The sensing range adjustment capability of the sensing sensor may include at least one of the following: whether the sensing sensor supports sensing range adjustment, the viewing angle parameter adjustment boundary of the sensing sensor, or the sensing range adjustment boundary of the sensing sensor.

[0205] Specifically, the perception fusion node can obtain the perception range adjustment capability of the perception sensor by providing direction to the perception data, reporting the perception range adjustment capability of the perception sensor, or requesting the perception range adjustment capability of the perception sensor by providing direction to the perception data. The implementation of the perception fusion node obtaining the perception range adjustment capability of the perception sensor can refer to the implementation of the perception fusion node obtaining the perception range of the perception sensor, and will not be elaborated further.

[0206] Additionally, it is understood that in the embodiments of this application, the first coverage requirement may include the total coverage requirement of the sensing sensors performing the sensing service to the first sensing area, or it may include the coverage requirements of various types of sensing sensors performing the sensing service to the first sensing area, etc.

[0207] As an example: the coverage requirement of the first sensing area includes the coverage requirement of a first type of sensing sensor to the first sensing area and the coverage requirement of a second type of sensing sensor to the first sensing area. The sensing fusion node may select N sensing sensors from M sensing sensors to perform sensing services, including: A first-type sensing sensors selected based on the first sensing area, the coverage requirement of the first type of sensing sensor to the first sensing area, the types of the M sensing sensors, and the sensing range of the M sensing sensors; and B second-type sensing sensors selected based on the first sensing area, the coverage requirement of the second type of sensing sensor to the first sensing area, the types of the M sensing sensors, and the sensing range of the M sensing sensors.

[0208] In other words, in this application, the N sensing sensors used to perform the sensing service include A first-type sensing sensors and B second-type sensing sensors. The coverage of the first sensing area by the A first-type sensing sensors meets the coverage requirement of the first-type sensing sensors for the first sensing area; the coverage of the first sensing area by the B second-type sensing sensors meets the coverage requirement of the second-type sensing sensors for the first sensing area.

[0209] The embodiments of Figure 4 described above will be explained below with reference to the specific embodiments in Figure 8. Figure 8 is a second schematic diagram of the sensing method provided in the embodiments of this application, which includes:

[0210] S801: The perception data provides the direction perception fusion node with the perception range and perception range adjustment capability of sending M perception sensors.

[0211] Accordingly, the perception fusion node receives the perception range and perception range adjustment capability of M perception sensors.

[0212] S802: The perception fusion node receives business requests from the business requester.

[0213] Accordingly, the perception fusion node receives service requests.

[0214] The business request may include the first sensing area and the coverage requirement of the first sensing area.

[0215] If there is a combination of N sensors among the M sensing sensors that achieves the coverage of the first sensing area that meets the coverage requirement of the first sensing area, proceed to step S805; if there is no combination of N sensors among the M sensing sensors that achieves the coverage of the first sensing area that meets the coverage requirement of the first sensing area, proceed to step S803.

[0216] S803: The perception fusion node sends a second message to the perception data provider.

[0217] Accordingly, the sensing data provider receives the second information.

[0218] The second piece of information includes the adjustment method for the P sensing sensors, which is used to trigger adjustments to the sensing range of the P sensing sensors. The P sensing sensors belong to the M sensing sensors, where P is less than or equal to M.

[0219] For example, the perception fusion node can determine the adjustment method for P of the M perception sensors based on information such as the perception range of the M perception sensors (where the perception range of P perception sensors is the perception range of P perception sensors before adjustment), the perception range adjustment capability of the M perception sensors, and the first perception area, so as to increase the intersection of the coverage range of the P perception sensors and the first perception area.

[0220] In addition, the adjusted sensing data provider can also send the adjustment results to the sensing fusion node. The adjustment results can include the adjusted sensing range of P sensing sensors.

[0221] It is understandable that the sensing range after adjustment of the P sensing sensors can also be determined by the sensing fusion node based on the sensing range before adjustment of the P sensing sensors and the adjustment method of the P sensing sensors.

[0222] If, after adjustment, there is a combination of N sensors among the M sensing sensors that achieves coverage of the first sensing area that meets the coverage requirement of the first sensing area, then proceed to step S805; if there is no combination of N sensors among the M sensing sensors that achieves coverage of the first sensing area that meets the coverage requirement of the first sensing area, then proceed to step S804.

[0223] S804: The perception fusion node sends a task failure message to the service requester.

[0224] Accordingly, the requesting party receives a task failure message.

[0225] The task failure message can carry the reason for the task failure, such as the inability to meet the coverage requirements of the sensing area.

[0226] S805: The perception fusion node sends the first information to the perception data provider.

[0227] Accordingly, the data provider receives the first information.

[0228] The first information may indicate N sensing sensors used to perform sensing services, such as the identifiers of the N sensing sensors. This application embodiment does not limit the way the first information indicates the N sensing sensors used to perform sensing services.

[0229] S806: Perception data provides direction perception fusion node to send perception data from N perception sensors.

[0230] Accordingly, the perception fusion node receives perception data.

[0231] S807: The perception fusion node sends the perception results to the service requester.

[0232] Accordingly, the business requester receives the perception result.

[0233] The perception results may include the speed, shape, or size of the perceived target within the first perception area. The perceived target may be a vehicle or a drone located within the first perception area.

[0234] After receiving the first information, the sensing data provider can obtain the sensing data collected by these N sensing sensors and send the sensing data collected by these N sensing sensors to the sensing fusion node. The sensing fusion node can determine the sensing result based on the sensing data collected by these N sensing sensors and send the sensing result to the sensing data requester.

[0235] In one possible implementation, the perception fusion node can also determine the perception coverage rate of the perception sensors used to perform perception services over the first perception area based on the first perception area and the perception range of N perception sensors, and send the perception coverage rate of the perception sensors used to perform perception services over the first perception area to the service requester so that the service requester can know the perception coverage-related performance.

[0236] It is understood that the sensing coverage of the first sensing area by the sensing sensor performing the sensing service can be sent to the service requester through the same message as the sensing result, or it can be sent to the service requester through different messages. This application does not limit this.

[0237] In some embodiments, the sensing data provider may not disclose information such as the sensing range and sensing range adjustment capability of the sensing sensors to the sensing fusion node. The sensing data provider may decompose the sensing coverage requirements to the sensing data provider.

[0238] Figure 9 is a third schematic diagram of the sensing method provided in the embodiment of this application. The method includes:

[0239] S901: The business request direction-aware fusion node sends a business request.

[0240] Accordingly, the perception fusion node receives service requests.

[0241] Among them, the business request is used to request the perception business, and the business request includes the first perception area of ​​the perception business.

[0242] The implementation of step S901 can be referred to the implementation of step S401 above, and the repeated parts will not be described again.

[0243] S902: The perception fusion node sends the second perception area to the perception data provider based on the first perception area.

[0244] Accordingly, the sensing data provider receives the second sensing area. The second sensing area overlaps with the first sensing area.

[0245] It is understood that, in the embodiments of this application, the perception fusion node may send the second perception area to one perception data provider or to multiple perception data providers. If the second perception area is sent to multiple perception data providers, the second perception areas sent to the multiple perception data providers may be different.

[0246] For example, a perception fusion node can determine a second perception area based on the location information of the first perception area and the perception data provider.

[0247] Referring to Figure 10, the location of the sensing data provider 1 is L1, which is located within the first sensing area. The sensing fusion node can determine that the second sensing area S1 is a circular area with L1 as the center and a radius of R (where R can be a pre-configured value), and can send the second sensing area S1 to the sensing data provider 1, such as sending the radius R of the second sensing area S1, or the radius R of the second sensing area and the coordinates of L1.

[0248] The location of the sensing data provider 2 is L2. The minimum distance D2 between L2 and the boundary of the first sensing area is not greater than (i.e. less than or equal to) the first distance threshold T1. The sensing fusion node can determine that the second sensing area S2 is a circular area with radius R centered on L2, and can send the second sensing area S2 to the sensing data provider 2, such as sending the radius R of the second sensing area S2, or the radius R of the second sensing area and the coordinates of L2.

[0249] The location of the sensing data provider 3 is L3. The minimum distance D3 between L3 and the boundary of the first sensing area is greater than the first distance threshold T1. The sensing fusion node can determine that the sensing data provider cannot provide sensing data for the sensing service. It can be uncertain about the second sensing area of ​​the corresponding sensing data provider 3 (or the second sensing area of ​​the corresponding sensing data provider 3 is empty), and will not send the information of the second sensing area to the sensing data provider 3.

[0250] It should be noted that the above is only one example of determining the second sensing area. For example, when the location of the sensing data provider is within the first sensing area, a rectangle centered on the location of the sensing data provider can also be determined as the second sensing area corresponding to the sensing data provider, etc. This application does not limit the method of determining the second sensing area.

[0251] In some embodiments, the perception fusion node may also send a second perception area to a perception data provider capable of providing perception data for the perception service, based on at least one of the information included in the service request, such as the type of perception sensor performing the perception service or the first perception coverage requirement of the perception service.

[0252] As an example: the service request includes a first type of sensing sensor performing the sensing service, at least one sensing sensor managed by sensing data provider 1 is of the first type, and at least one sensing sensor managed by sensing data provider 2 is of the second type. The sensing fusion node can determine that sensing data provider 1 can provide sensing data for the sensing service, can determine the second sensing area corresponding to sensing data provider 1, and send the second sensing area to sensing data provider 1.

[0253] As another example: the service request includes the coverage requirements of a first type of sensing sensor to a first sensing area and the coverage requirements of a second type of sensing sensor to the first sensing area. At least one sensing sensor managed by sensing data provider 1 is of the first type, at least one sensing sensor managed by sensing data provider 2 is of the second type, and at least one sensing sensor managed by sensing data provider 3 is of the third type. The sensing fusion node can determine that sensing data provider 1 and sensing data provider 2 can provide sensing data for the sensing service, can determine the second sensing area corresponding to sensing data provider 1 and the second sensing area corresponding to sensing data provider 2, and send the second sensing area to sensing data provider 1 and sensing data provider 2.

[0254] After receiving the second sensing area, the sensing data provider can determine S sensing sensors from the R sensing sensors based on the sensing range of its own associated sensing sensors. These S sensing sensors are used to collect sensing data of the second sensing area, where S is less than or equal to R.

[0255] Understandably, before determining S sensing sensors from the R sensing sensors based on their sensing ranges, the sensing data provider can adjust the sensing ranges of some or all of the R sensing sensors based on their sensing range adjustment capabilities, in order to increase the sensing coverage of the second area by the sensing sensors it manages.

[0256] In some embodiments, assuming the service request also includes a first sensing coverage requirement for sensing services, the sensing fusion node may also send a second sensing area coverage requirement to the sensing data provider based on the first sensing area coverage requirement.

[0257] As an example: the coverage requirement for the first sensing area is that the coverage of the first sensing area by the first type of sensing sensor is greater than or equal to 30%, at least one sensor managed by the sensing data provider 1 is of the first type, the sensing fusion node sends a second sensing area to the sensing data provider 1, and the sensing fusion node can also send a second sensing area coverage requirement to the sensing data provider, such as the coverage of the second sensing area being greater than or equal to 40%, etc.

[0258] In one possible implementation, the perception fusion node determines the coverage requirement of the second perception area based on the first perception area, the second perception area, and the coverage requirement of the first perception area.

[0259] As an example: the coverage requirement for the first sensing area is that the coverage of the first sensing area by the first type of sensing sensor is greater than or equal to 30%, and the sensing data provider 1 manages at least one sensing sensor of the first type. The sensing fusion node sends a second sensing area to the sensing data provider 1. The intersection of the second sensing area and the first sensing area accounts for 50% of the first sensing area. Then the sensing fusion node can determine that the coverage requirement for the second sensing area is that the coverage of the second sensing area is greater than or equal to 60%.

[0260] It should be noted that if the sensing data provider receives a second sensing area coverage requirement from the sensing fusion node in addition to the second sensing area, the sensing data provider determines, based on the sensing range of its associated S sensing sensors, that the coverage of the second sensing area by the S sensing sensors among the R sensing sensors should meet the second sensing coverage requirement.

[0261] In some embodiments, the sensing data provider may also send sensing coverage information to the sensing fusion node. This sensing coverage information may include the coverage area and / or sensing coverage rate of the second sensing area by the S sensing sensors selected by the sensing data provider. The sensing fusion node may also determine the sensing data providers that need to provide sensing data to the sensing fusion node based on the sensing coverage information reported by one or more sensing data providers.

[0262] Understandably, if a sensing data provider is unable to identify S sensing sensors among the R sensing sensors it manages that meet the requirements of its corresponding second sensing coverage rate, the sensing coverage information sent by the sensing data provider to the sensing fusion node may include indication information indicating that the sensing coverage rate does not meet the requirements of the second sensing coverage rate, or indication information indicating that it is unable to provide sensing data.

[0263] As an example: The sensing coverage information sent by sensing data provider 1 includes a sensing coverage rate of 77% for the second sensing area S1 corresponding to the sensing data provider, and the sensing coverage information sent by sensing data provider 2 includes a sensing coverage rate of 90% for the second sensing area S2 corresponding to the sensing data provider. The coverage rate requirement for the first sensing area is 50%, and the intersection of the second sensing area S2 and the first sensing area accounts for 70% of the first sensing area. 70% * 90% = 63%, and 63% > 50%. The sensing fusion node can send sensing data acquisition instruction information only to sensing data provider 2, instructing sensing data provider 2 to provide sensing data to the sensing fusion node; of course, the sensing fusion node can also send sensing data acquisition instruction information to both sensing data provider 1 and sensing data provider 2, instructing them to provide sensing data to the sensing fusion node.

[0264] In one possible implementation, it is assumed that the sensing service request also includes at least one of the sensing data requirements, such as the data format of the sensing data, the data size of the sensing data, the collection duration of the sensing service, or the collection frequency of the sensing service. The sensing fusion node can also send the above sensing data requirements to the sensing data provider, and the sensing data provider can control the sensing data sensor to obtain the sensing data according to the above sensing data requirements.

[0265] After obtaining the perception data from the perception data provider, the perception fusion node can determine the perception result based on the perception data and send the perception result to the perception data requester.

[0266] In one possible implementation, the perception fusion node can also determine the perception coverage rate of the perception sensor performing the perception service over the first perception area based on the perception coverage information of one or more perception data providers that provide the perception data, and send the perception coverage rate to the perception data provider so that the perception data provider can more accurately know the perception coverage performance.

[0267] The communication device provided in the embodiments of this application is described below. Please refer to FIG11, which is a structural schematic diagram of the communication device in the embodiments of this application. The communication device may include units or modules corresponding to all or part of the steps in the above method embodiments, and may be used to execute the steps executed by the perception fusion node, perception data provider, or service requester in the above embodiments. For details, please refer to the relevant descriptions in the above method embodiments.

[0268] As shown in Figure 11, the communication device 1100 includes a processing unit 1110 and an interface unit 1120. The processing unit 1110 can be a processor or a processing circuit, and the interface unit 1120 can be a transceiver unit or an input / output interface. The communication device 1100 can be used to implement the steps performed by the sensing fusion node, sensing data provider, or service requester in the above embodiments.

[0269] When the communication device 1100 is used to implement the steps performed by the perception fusion node in the above embodiments:

[0270] Interface unit 1120 is used to receive a business request from a business requester. The business request is used to request a sensing business and includes a first sensing area for the sensing business.

[0271] Processing unit 1110 is used to determine first information based on the first sensing area and the sensing range of M sensing sensors. The first information indicates N sensing sensors used to perform sensing services. The N sensing sensors belong to M sensing sensors, and N is less than or equal to M.

[0272] Interface unit 1120 is also used to send the first information.

[0273] In one possible design, before sending the first information, the interface unit 1120 is also used to send a second information to the sensing data provider. The second information is used to trigger the adjustment of the sensing range of P sensing sensors, where P sensing sensors belong to M sensing sensors. The sensing range of the M sensing sensors includes the adjusted sensing range of the P sensing sensors, and P is less than or equal to M.

[0274] In one possible design, the processing unit 1110 is further configured to determine the adjustment method of the P sensing sensors based on the first sensing area, the sensing range adjustment capability of the P sensing sensors, and the sensing range of the P sensing sensors before adjustment; wherein the second information includes the adjustment method of the P sensing sensors.

[0275] In one possible design, the service request also includes a first sensing area coverage requirement for the sensing service; when the processing unit 1110 determines the adjustment method of the P sensing sensors based on the first sensing area, the sensing range adjustment capability of the P sensing sensors, and the sensing range of the P sensing sensors before adjustment, it is specifically used to determine the adjustment method of the P sensing sensors based on the first sensing area, the first sensing area coverage requirement, the sensing range adjustment capability of the P sensing sensors, and the sensing range of the P sensing sensors before adjustment.

[0276] In one possible design, the interface unit 1120 is also used to receive the sensing range adjustment capability of P sensing sensors from the sensing data provider.

[0277] In one possible design, the service request also includes a first sensing area coverage requirement for sensing services; when the processing unit 1110 determines the first information based on the first sensing area and the sensing range of the M sensing sensors, it is specifically used to determine the first information based on the first sensing area, the first sensing area coverage requirement, and the sensing range of the M sensing sensors.

[0278] In one possible design, the coverage requirement of the first sensing area includes the coverage requirement of a first type of sensing sensor and the coverage requirement of a second type of sensing sensor in the first sensing area; wherein, among the N sensing sensors, there are A first-type sensing sensors, and the coverage of the first sensing area by the A first-type sensing sensors meets the coverage requirement of the first-type sensing sensors in the first sensing area; and among the N sensing sensors, there are B second-type sensing sensors, and the coverage of the first sensing area by the B second-type sensing sensors meets the coverage requirement of the second-type sensing sensors in the first sensing area.

[0279] In one possible design, interface unit 1120 is also used to send third information to the sensing data provider, the third information being used to trigger the reporting of the sensing range of the sensing sensors, wherein the sensing data provider manages M sensing sensors; and receives the sensing range of the M sensing sensors from the sensing data provider.

[0280] In one possible design, the interface unit 1120 is also used to send the sensing coverage rate of the sensing sensors for performing sensing services to the service requester, based on the first sensing area and the sensing range of the N sensing sensors.

[0281] When the communication device 1100 is used to implement the steps performed by the sensing data provider in the above embodiments:

[0282] Processing unit 1110 is used to obtain the sensing range of M sensing sensors;

[0283] Interface unit 1120 is used to send the sensing range of M sensing sensors to the sensing fusion node; and to receive first information from the sensing fusion node, the first information indicating N sensing sensors used to perform sensing services, the N sensing sensors belonging to the M sensing sensors.

[0284] In one possible design, the interface unit 1120 is also used to receive second information from the perception fusion node, the second information being used to trigger the adjustment of the perception range of P perception sensors, the P perception sensors belonging to N perception sensors; the processing unit 1110 is used to adjust the perception range of the P perception sensors according to the second information.

[0285] In one possible design, the second information includes the adjustment method of the P sensing sensors. When the processing unit 1110 adjusts the sensing range of the P sensing sensors according to the second information, it is specifically used to adjust the sensing range of the P sensing sensors according to the adjustment method of the P sensing sensors.

[0286] In one possible design, the interface unit 1120 is also used to send the sensing range adjustment capability of P sensing sensors to the sensing fusion node.

[0287] In one possible design, the interface unit 1120 is also used to receive third information from the perception fusion node before sending the perception range of the M perception sensors to the perception fusion node. The third information is used to trigger the reporting of the perception range of the perception sensors.

[0288] When the communication device 1100 is used to implement the steps performed by the perception fusion node in the above embodiments:

[0289] Interface unit 1120 is used to receive a business request from a business requester. The business request is used to request a sensing business and includes a first sensing area for the sensing business.

[0290] Processing unit 1110 is used to determine a second sensing region based on a first sensing region, wherein the second sensing region intersects with the first sensing region;

[0291] The interface unit 1120 is also used to send the second sensing area to the sensing data provider.

[0292] In one possible design, when the processing unit 1110 determines the second sensing area based on the first sensing area, it is specifically used to determine the second sensing area based on the first sensing area and the location information of the sensing data provider.

[0293] In one possible design, the business request also includes a first perception coverage requirement for the perception business, and the interface unit 1120 is also used to send a second perception area coverage requirement to the perception data provider based on the first perception area coverage requirement.

[0294] In one possible design, the interface unit 1120 is also configured to receive sensing coverage information from a sensing data provider, the sensing coverage information including the coverage range and / or sensing coverage rate of the sensing sensor used to perform sensing services over the second sensing area.

[0295] In one possible design, the interface unit 1120 is also used to send the perception coverage rate of the first perception area by the perception sensor used to perform the perception service to the service requester, based on the perception coverage information.

[0296] When the communication device 1100 is used to implement the steps performed by the sensing data provider in the above embodiments:

[0297] Interface unit 1120 is used to receive a second sensing area from the sensing fusion node;

[0298] The processing unit 1110 is used to determine S sensing sensors based on the second sensing area and the sensing range of R sensing sensors. The S sensing sensors are used to collect sensing data of the second sensing area. The S sensing sensors belong to the R sensing sensors, and S is less than or equal to R.

[0299] In one possible design, the interface unit 1120 is also used to receive a second sensing coverage requirement from the sensing fusion node; when the processing unit 1110 determines S sensing sensors based on the second sensing area and the sensing range of the R sensing sensors, it is specifically used to determine S sensing sensors based on the second sensing area, the second sensing coverage requirement, and the sensing range of the R sensing sensors.

[0300] In one possible design, the interface unit 1120 is also used to send sensing coverage information to the sensing fusion node, the sensing coverage information including the coverage range and / or sensing coverage rate of the second sensing area by the S sensing sensors.

[0301] In one possible design, the interface unit 1120 is also used to send sensing data from S sensing sensors to the sensing fusion node.

[0302] When the communication device 1100 is used to implement the steps performed by the service requester in the above embodiments:

[0303] Processing unit 1110 is used to determine a service request. The service request is used to request a sensing service. The service request includes the first sensing area and the coverage requirement of the first sensing area.

[0304] Interface unit 1120 is used to send service requests to the perception fusion node and receive perception results from the perception fusion node.

[0305] In one possible design, the interface unit 1120 is also used to receive the perception coverage of the first perception area from the perception sensors used to perform perception services from the perception fusion node.

[0306] As shown in Figure 12, this application also provides a communication device 1200, including a processor 1210 and a communication interface 1220. The processor 1210 and the communication interface 1220 are coupled to each other. It is understood that the communication interface 1220 can be a transceiver, an input / output interface, an input interface, an output interface, an interface circuit, etc. Optionally, the communication device 1200 may also include a memory 1230 for storing instructions executed by the processor 1210, or storing input data required by the processor 1210 to execute instructions, or storing data generated after the processor 1210 executes instructions. The memory 1230 can be a physically independent unit, or it can be coupled to the processor 1210, or the processor 1210 may include the memory 1230.

[0307] When the communication device 1200 is used to implement the steps performed by the perception fusion node, perception data provider, or service requester in the above embodiments, the processor 1210 can be used to implement the function of the processing unit 1110, and the communication interface 1220 can be used to implement the function of the interface unit 1120.

[0308] In this application embodiment, the processor (e.g., processor 1210) can be one or more central processing units (CPUs). If the processor is a CPU, it can be a single-core CPU or a multi-core CPU. The processor can also be one or a combination of several of the following: CPU, general-purpose processor, application-specific integrated circuit (ASIC), digital signal processor (DSP), microprocessor unit (MPU), microcontroller unit (MCU), graphics processing unit (GPU), field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, artificial intelligence processor (AI processor), or neural processing unit (NPU). The processor can implement or execute the methods, steps, and logic block diagrams disclosed in this application embodiment. The steps of the methods disclosed in this application embodiment can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0309] In this embodiment, the memory (e.g., memory 1230) may include, but is not limited to, cache, read-only memory (ROM), random access memory (RAM), synchronous dynamic random access memory (SDRAM), hard disk drive (HDD) or solid-state drive (SSD), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM), etc. Memory is any other medium capable of carrying or storing desired program code having an instruction or data structure form and accessible by a computer, but is not limited thereto. The memory in this embodiment may also be a circuit or any other device capable of implementing storage functions for storing computer programs or instructions, and / or data.

[0310] It is understood that the method steps in the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium well known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Additionally, the ASIC can reside in a network device or a terminal device. Alternatively, the processor and storage medium can exist as discrete components in the network device or terminal device.

[0311] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are performed entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions can be transferred from one network device, terminal, computer, server, or data center to another network device, terminal, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video optical disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both types of storage media.

[0312] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0313] Additionally, it should be understood that in the embodiments of this application, the term "exemplary" is used to indicate that it is an example, illustration, or description. Any embodiment or design scheme described as "exemplary" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the term "exemplary" is intended to present the concept in a concrete manner.

[0314] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and internal logic.

Claims

1. A sensing method, characterized in that, Applied to perception fusion nodes, including: Receive a service request from a service requester, the service request being used to request a sensing service, the service request including a first sensing area of ​​the sensing service; Based on the first sensing area and the sensing range of the M sensing sensors, a first message is sent, which indicates the N sensing sensors used to perform the sensing service, and the N sensing sensors belong to the M sensing sensors.

2. The method as described in claim 1, characterized in that, Before sending the first information based on the first sensing area and the sensing range of the M sensing sensors, the method further includes: Send a second message to the sensing data provider, the second message being used to trigger the adjustment of the sensing range of P sensing sensors, the P sensing sensors belonging to the M sensing sensors; The sensing range of the M sensing sensors includes the adjusted sensing range of the P sensing sensors.

3. The method as described in claim 2, characterized in that, The method further includes: Based on the first sensing area, the sensing range adjustment capability of the P sensing sensors, and the sensing range of the P sensing sensors before adjustment, the adjustment method of the P sensing sensors is determined. The second information includes the adjustment method of the P sensing sensors.

4. The method as described in claim 3, characterized in that, The service request also includes the first sensing area coverage requirement of the sensing service. The step of determining the adjustment method of the P sensing sensors based on the first sensing area, the sensing range adjustment capability of the P sensing sensors, and the sensing range of the P sensing sensors before adjustment includes: Based on the first sensing area, the coverage requirement of the first sensing area, the sensing range adjustment capability of the P sensing sensors, and the sensing range of the P sensing sensors before adjustment, the adjustment method of the P sensing sensors is determined.

5. The method according to any one of claims 2-4, characterized in that, The method further includes: The ability to adjust the sensing range of the P sensing sensors received from the sensing data provider.

6. The method according to any one of claims 1-5, characterized in that, The service request also includes the first sensing area coverage requirement of the sensing service. The step of sending first information based on the first sensing area and the sensing range of the M sensing sensors includes: The first information is sent according to the first sensing area, the coverage requirement of the first sensing area, and the sensing range of the M sensing sensors.

7. The method as described in claim 6, characterized in that, The first sensing area coverage requirement includes the coverage requirement of the first type of sensing sensor for the first sensing area and the coverage requirement of the second type of sensing sensor for the first sensing area. Among the N sensing sensors, there are A sensing sensors of the first type, and the coverage of the first sensing area by the A sensing sensors of the first type meets the coverage requirement of the first type of sensing sensor for the first sensing area. The N sensing sensors include B sensing sensors of the second type, and the coverage of the first sensing area by the B sensing sensors of the second type meets the coverage requirement of the second type of sensing sensors for the first sensing area.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: Send a third message to the sensing data provider, the third message being used to trigger the reporting of the sensing range of the sensing sensors, wherein the sensing data provider manages the M sensing sensors; Receive the sensing range of the M sensing sensors from the sensing data provider.

9. The method according to any one of claims 1-8, characterized in that, The method further includes: Based on the first sensing area and the sensing range of the N sensing sensors, the sensing coverage rate of the sensing sensors used to perform the sensing service over the first sensing area is sent to the service requester.

10. A sensing method, characterized in that, Applied to sensing data providers, including: Send the sensing ranges of M sensing sensors to the sensing fusion node; The system receives first information from the perception fusion node, the first information indicating N perception sensors for performing perception services, the N perception sensors belonging to the M perception sensors.

11. The method as described in claim 10, characterized in that, Before receiving the first information from the perception fusion node, the method further includes: Receive second information from the perception fusion node, the second information being used to trigger adjustment of the perception range of P perception sensors, the P perception sensors belonging to the M perception sensors; Based on the second information, adjust the sensing range of the P sensing sensors.

12. The method as described in claim 11, characterized in that, The second information includes the adjustment method of the P sensing sensors, and adjusting the sensing range of the P sensing sensors according to the second information includes: Adjust the sensing range of the P sensing sensors according to the adjustment method of the P sensing sensors.

13. The method as described in claim 11 or 12, characterized in that, The method further includes: Send the sensing range adjustment capability of the P sensing sensors to the sensing fusion node.

14. The method according to any one of claims 10-13, characterized in that, Before sending the sensing ranges of the M sensing sensors to the sensing fusion node, the method further includes: The third information is received from the perception fusion node, which is used to trigger the reporting of the perception range of the perception sensor.

15. A sensing method, characterized in that, Applied to perception fusion nodes, including: Receive a service request from a service requester, the service request being used to request a sensing service, the service request including a first sensing area of ​​the sensing service; Based on the first sensing area, a second sensing area is sent to the sensing data provider, and the second sensing area overlaps with the first sensing area.

16. The method as described in claim 15, characterized in that, The step of sending a second sensing region to the sensing data provider based on the first sensing region includes: The second sensing area is determined based on the location information of the first sensing area and the sensing data provider; The second sensing area is sent to the sensing data provider.

17. The method as described in claim 15 or 16, characterized in that, The service request also includes a first sensing coverage requirement for the sensing service, and the method further includes: Based on the first sensing area coverage requirement, a second sensing area coverage requirement is sent to the sensing data provider.

18. The method according to any one of claims 15-17, characterized in that, The method further includes: Receive sensing coverage information from the sensing data provider, the sensing coverage information including the coverage range and / or sensing coverage rate of the sensing sensors used to perform the sensing service over the second sensing area.

19. The method as described in claim 18, characterized in that, The method further includes: Based on the perception coverage information, the perception coverage rate of the perception sensor used to perform the perception service over the first perception area is sent to the service requester.

20. A sensing method, characterized in that, Applied to sensing data providers, including: Receive the second sensing region from the sensing fusion node; Based on the second sensing area and the sensing range of the R sensing sensors, S sensing sensors are determined. The S sensing sensors are used to collect sensing data of the second sensing area, and the S sensing sensors belong to the R sensing sensors.

21. The method as described in claim 20, characterized in that, The method further includes: Receive a second sensing coverage requirement from the sensing fusion node; The step of determining S sensing sensors based on the second sensing area and the sensing range of R sensing sensors includes: The S sensing sensors are determined based on the second sensing area, the second sensing coverage requirement, and the sensing range of the R sensing sensors.

22. The method as described in claim 20 or 21, characterized in that, The method further includes: The sensing coverage information is sent to the sensing fusion node. The sensing coverage information includes the coverage range and / or sensing coverage rate of the S sensing sensors over the second sensing area.

23. The method according to any one of claims 20-22, characterized in that, The method further includes: The sensing data from the S sensing sensors are sent to the sensing fusion node.

24. A sensing method, characterized in that, Applied to the business requester, including: Send a service request to the perception fusion node. The service request is used to request a perception service. The service request includes the first perception area and the coverage requirement of the first perception area of ​​the perception service. Receive the perception results from the perception fusion node.

25. The method as described in claim 24, characterized in that, The method further includes: The sensor coverage of the first sensing area is received from the sensing fusion node by the sensing sensors used to perform the sensing service.

26. A communication device, characterized in that, It includes modules or units for performing the method as described in any one of claims 1-9, 15-19; or, it includes modules or units for performing the method as described in any one of claims 10-14, 20-23, or it includes modules or units for performing the method as described in any one of claims 24-25.

27. A communication device, characterized in that, The device includes a processor and an interface circuit, the interface circuit being used to input and / or output signals, and the processor being used to implement the method as described in any one of claims 1-9, 15-19 through logic circuits or execution instructions; or to implement the method as described in any one of claims 10-14, 20-23; or to implement the method as described in any one of claims 24-25.

28. A computer program product, characterized in that, It includes a computer program or instructions that, when executed by a processor, cause the method of any one of claims 1-9, 15-19 to be implemented; or cause the method of any one of claims 10-14, 20-23 to be implemented; or cause the method of any one of claims 24-25 to be implemented.

29. A computer-readable storage medium, characterized in that, The storage medium stores a computer program or instructions that, when executed by a processor, cause the method as described in any one of claims 1-9, 15-19 to be implemented; or cause the method as described in any one of claims 10-14, 20-23 to be implemented; or cause the method as described in any one of claims 24-25 to be implemented.

30. A communication system, characterized in that, The system includes a perception fusion node for implementing the method of any one of claims 1-9 and 15-19, a perception data provider for implementing the method of any one of claims 10-14 and 20-23, and a service requester for implementing the method of any one of claims 24-25.

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