WO2023174342A1 - Procédé et appareil de traitement de perception, dispositif de communication et support de stockage lisible - Google Patents

Procédé et appareil de traitement de perception, dispositif de communication et support de stockage lisible Download PDF

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Publication number
WO2023174342A1
WO2023174342A1 PCT/CN2023/081695 CN2023081695W WO2023174342A1 WO 2023174342 A1 WO2023174342 A1 WO 2023174342A1 CN 2023081695 W CN2023081695 W CN 2023081695W WO 2023174342 A1 WO2023174342 A1 WO 2023174342A1
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sensing
information
indicator
target
perception
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PCT/CN2023/081695
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English (en)
Chinese (zh)
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丁圣利
姜大洁
姚健
李健之
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维沃移动通信有限公司
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Publication of WO2023174342A1 publication Critical patent/WO2023174342A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/02—Arrangements for optimising operational condition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/16—Central resource management; Negotiation of resources or communication parameters, e.g. negotiating bandwidth or QoS [Quality of Service]

Definitions

  • This application belongs to the field of communication technology, and specifically relates to a sensing processing method, device, communication equipment and readable storage medium.
  • synaesthesia integration can be realized in communication systems.
  • communication and perception there are two types of services: communication and perception.
  • a fixed perception time resource allocation method is usually used.
  • communication services and/or one or more perception services there are communication services and/or one or more perception services, and the communication load or perception scenarios are constantly changing.
  • Using a fixed perception time resource allocation method may easily cause time resource redundancy or fail to meet the perception performance. need.
  • Embodiments of the present application provide a sensing processing method, device, communication device, and readable storage medium, which can minimize the occupation of time resources by sensing while meeting sensing performance requirements.
  • the first aspect provides a perceptual processing method, including:
  • the first device acquires a first indicator, where the first indicator is used to represent the perceptual performance of the perceptual object;
  • the first device adjusts a sensing update period according to the first indicator, and one of the sensing update periods includes at least one sensing frame period for sensing the sensing object.
  • the second aspect provides a perception processing method, including:
  • the second device receives first indication information from the first device, and the first indicator is used to represent the sensing performance of the sensing object, and the second device receives the first indication information from the first device.
  • the first indication information is used to indicate the length of the adjusted sensing update period, and one of the sensing update periods includes at least one sensing frame period for sensing the sensing object;
  • the second device when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; the first device is a sensing node.
  • the second device In the case of a receiving device, the second device includes at least one of a sending device in a sensing node and a sensing function network element; when the first device is a sending device in a sensing node, the second device The device includes at least one of a receiving device in a sensing node and a sensing function network element.
  • a perception processing device applied to the first device, including:
  • An acquisition module configured to acquire a first indicator, where the first indicator is used to represent the perceptual performance of the perceptual object
  • An adjustment module configured to adjust a perception update period according to the first indicator.
  • One of the perception update periods includes at least one perception frame period for sensing the perception object.
  • a perception processing device applied to a second device, including:
  • a first receiving module configured to, when the first device adjusts the perception update cycle according to a first indicator, the second device receive first indication information from the first device, the first indicator being used to represent the perception update period. Perception performance of the object, the first indication information is used to indicate the length of the adjusted perception update cycle, and one of the perception update cycles includes at least one perception frame period for perceiving the perception object;
  • the second device when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; the first device is a sensing node.
  • the second device In the case of a receiving device, the second device includes at least one of a sending device in a sensing node and a sensing function network element; when the first device is a sending device in a sensing node, the second device The device includes at least one of a receiving device in a sensing node and a sensing function network element.
  • a communication device in a fifth aspect, includes a processor and a memory.
  • the memory stores programs or instructions that can be run on the processor.
  • the program or instructions are executed by the processor, the following is implemented: The steps of the method described in the first aspect, or the steps of implementing the method described in the second aspect.
  • a communication device including a processor and a communication interface, wherein when the communication device is a first device, the communication interface is used to obtain a first indicator, and the first indicator Used to represent the sensing performance of the sensing object; the processor is configured to adjust the sensing update period according to the first indicator, and one of the sensing update cycles includes at least one sensing frame period for sensing the sensing object;
  • the communication interface is used to receive the first indication information from the first device when the first device adjusts the sensing update cycle according to the first indicator, so
  • the first indicator is used to represent the sensing performance of the sensing object
  • the first indication information is used to indicate the length of the adjusted sensing update cycle.
  • One of the sensing update cycles includes at least one for performing sensing on the sensing object. Perceived perceptual frame period;
  • the second device when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; the first device is a sensing node.
  • the second device In the case of a receiving device, the second device includes at least one of a sending device in a sensing node and a sensing function network element; when the first device is a sending device in a sensing node, the second device The device includes at least one of a receiving device in a sensing node and a sensing function network element.
  • a seventh aspect provides a communication system, including: a first device and a second device.
  • the first device can be used to perform the steps of the perception processing method as described in the first aspect.
  • the second device can be used to perform The steps of the perception processing method described in the second aspect.
  • a readable storage medium is provided. Programs or instructions are stored on the readable storage medium. When the programs or instructions are executed by a processor, the steps of the method described in the first aspect are implemented, or the steps of the method are implemented as described in the first aspect. The steps of the method described in the second aspect.
  • a chip in a ninth aspect, includes a processor and a communication interface.
  • the communication interface is coupled to the processor.
  • the processor is used to run programs or instructions to implement the method described in the first aspect. steps, or steps to implement the method described in the second aspect.
  • a computer program product is provided, the computer program product is stored in a storage medium, and the computer program product is executed by at least one processor to implement the steps of the method as described in the first aspect, or to implement The steps of the method as described in the second aspect.
  • the first device obtains a first indicator, and the first indicator is used to represent the perceptual performance of the perceptual object; the first device adjusts the perceptual update cycle according to the first indicator, and one of the perceptual updates
  • the period includes at least one sensing frame for sensing the sensing object. cycle.
  • Figure 1 is a structural diagram of a network system to which embodiments of the present application can be applied.
  • Figure 2 is a schematic flowchart of a perception processing method provided by an embodiment of the present application.
  • Figures 3A to 3C are diagrams illustrating different durations of the perception update cycle in a perception processing method provided by an embodiment of the present application
  • Figure 4 is one of the perception example diagrams of the application of a perception processing method provided by the embodiment of the present application.
  • Figure 5 is the second example diagram of perception applied by a perception processing method provided by the embodiment of the present application.
  • FIG. 6 is a schematic flowchart of another perception processing method provided by an embodiment of the present application.
  • Figure 7 is a structural diagram of a perception processing device provided by an embodiment of the present application.
  • Figure 8 is a structural diagram of another perception processing device provided by an embodiment of the present application.
  • Figure 9 is a structural diagram of a communication device provided by an embodiment of the present application.
  • Figure 10 is a structural diagram of a terminal provided by an embodiment of the present application.
  • Figure 11 is a structural diagram of a network side device provided by an embodiment of the present application.
  • first, second, etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances so that the embodiments of the present application can be practiced in sequences other than those illustrated or described herein, and that "first" and “second” are distinguished objects It is usually one type, and the number of objects is not limited.
  • the first object can be one or multiple.
  • “and/or” in the description and claims indicates at least one of the connected objects, and the character “/" generally indicates that the related objects are in an "or” relationship.
  • LTE Long Term Evolution
  • LTE-Advanced, LTE-A Long Term Evolution
  • CDMA Code Division Multiple Access
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • SC-FDMA Single-carrier Frequency Division Multiple Access
  • system and “network” in the embodiments of this application are often used interchangeably, and the described technology can be used not only for the above-mentioned systems and radio technologies, but also for other systems and radio technologies.
  • NR New Radio
  • the following description describes a New Radio (NR) system for example purposes, and uses NR terminology in much of the following description, but these techniques can also be applied to applications other than NR system applications, such as 6th Generation , 6G) communication system.
  • NR New Radio
  • FIG. 1 shows a block diagram of a wireless communication system to which embodiments of the present application are applicable.
  • the wireless communication system includes a terminal 11 and a network side device 12.
  • the terminal 11 may be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer), or a notebook computer, a personal digital assistant (Personal Digital Assistant, PDA), a palmtop computer, a netbook, or a super mobile personal computer.
  • Tablet Personal Computer Tablet Personal Computer
  • laptop computer laptop computer
  • PDA Personal Digital Assistant
  • PDA Personal Digital Assistant
  • UMPC ultra-mobile personal computer
  • UMPC mobile Internet device
  • MID mobile Internet Device
  • AR augmented reality
  • VR virtual reality
  • robots wearable devices
  • WUE Vehicle User Equipment
  • PUE Pedestrian User Equipment
  • smart home home equipment with wireless communication functions, such as refrigerators, TVs, washing machines or furniture, etc.
  • game consoles personal computers (personal computer, PC), teller machine or self-service machine and other terminal-side devices.
  • Wearable devices include: smart watches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart bracelets, smart rings, smart necklaces, smart anklets) bracelets, smart anklets, etc.), smart wristbands, smart clothing, etc.
  • the network side device 12 may include an access network device or a core network device, where the access network device may also be called a radio access network device, a radio access network (Radio Access Network, RAN), a radio access network function or a wireless access network unit.
  • Access network equipment may include base stations, Wireless Local Area Network (WLAN) access points or WiFi nodes, etc.
  • Base stations May be called Node B, Evolved Node B (eNB), Access Point, Base Transceiver Station (BTS), Radio Base Station, Radio Transceiver, Basic Service Set (BSS), Extended Service Set (Extended Service Set, ESS), home B-node, home evolved B-node, transmission and reception point (Transmission Reception Point, TRP) or some other appropriate term in the field, as long as the same technical effect is achieved, the above-mentioned
  • the base station is not limited to specific technical terms. It should be noted that in the embodiment of this application, only the base station in the NR system is used as an example for introduction, and the specific type of the base station is not limited.
  • Core network equipment may include but is not limited to at least one of the following: core network nodes, core network functions, mobility management entities (Mobility Management Entity, MME), access mobility management functions (Access and Mobility Management Function, AMF), session management functions (Session Management Function, SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Service Discovery function (Edge Application Server Discovery Function, EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), centralized network configuration ( Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (Local NEF, or L-NEF), Binding Support Function (Binding Support Function, BSF), application function (Application Function, AF), etc.
  • MME mobility management entities
  • AMF Access and Mobility Management Function
  • SMF Session Management Function
  • UPF User Plane Function
  • PCF Policy Control Function
  • Synesthesia integration can also be called Integrated Sensing And Communication (ISAC).
  • ISAC achieves integrated low-cost implementation of dual functions of communication and sensing through hardware device sharing and software-defined functions.
  • the main features are: first, unified and simplified architecture; second, reconfigurable and scalable functions; third, efficiency improvement and cost reduce.
  • the advantages of communication perception integration mainly include three aspects: first, reduced equipment cost and size, second, improved spectrum utilization, and third, improved system performance.
  • ISAC development of ISAC is divided into four stages: coexistence, co-operation, co-design and co-collaboration.
  • Coexistence Communication and perception are two separate systems. The two will interfere with each other.
  • the main methods to solve the interference are: distance isolation, frequency band isolation, time-division work, Multiple Input Multiple Output (MIMO) technology and prediction Coding etc.
  • MIMO Multiple Input Multiple Output
  • Co-operation Communication and perception share a hardware platform and use shared information to improve common performance.
  • the power allocation between the two has a greater impact on system performance.
  • Co-design Communication and perception become a complete joint system, including joint signal design, waveform design, coding design, etc.
  • linear frequency modulation waveforms In the early stage, there were linear frequency modulation waveforms, spread spectrum waveforms, etc., and later focused on Orthogonal Frequency Division Multiplexing technology (Orthogonal Frequency Division) Multiplexing, OFDM) waveforms, MIMO technology, etc.
  • OFDM Orthogonal Frequency Division Multiplexing
  • radar detection of targets not only measures the distance of the target, but also measures the speed, azimuth angle, and pitch angle of the target, and extracts more information about the target from the above information, including the size and shape of the target. wait.
  • Radar technology was originally used for military purposes to detect aircraft, missiles, vehicles, ships and other targets. With the development of technology and the evolution of society, radar is increasingly used in civilian scenarios. A typical application is that weather radar measures the echoes of meteorological targets such as clouds and rain to determine the location, intensity and other information about clouds and rain for weather forecasting. Furthermore, with the vigorous development of the electronic information industry, Internet of Things, communication technology, etc., radar technology has begun to enter people's daily life applications, greatly improving the convenience and safety of work and life. For example, automotive radar provides early warning information for vehicle driving by measuring the distance and relative speed between vehicles, between vehicles and surrounding objects, and between vehicles and pedestrians, which greatly improves the safety level of road traffic.
  • radar is classified in many ways. According to the positional relationship between radar transceiver sites, it can be divided into: single-station radar and dual-station radar, as shown in the figure below.
  • single-station radar the signal transmitter and receiver are integrated and share an antenna; the advantage is that the target echo signal and the local oscillator of the receiver are naturally coherent, and signal processing is more convenient; the disadvantage is that signal transmission and reception cannot be performed at the same time, and can only be have The signal waveform with a certain duty cycle creates a blind spot in detection, which requires the use of complex algorithms to compensate; or the signals can be sent and received at the same time, with strict isolation between sending and receiving, but this is difficult to achieve for high-power military radars.
  • the signal transmitter and receiver are located at different locations; the advantage is that signal transmission and reception can be carried out simultaneously, and continuous wave waveforms can be used for detection; the disadvantage is that it is difficult to achieve the same frequency and coherence between the receiver and transmitter, and the signal The processing is more complicated.
  • radar technology can adopt single-station radar mode or dual-station radar mode.
  • the transmitting and receiving signals share the same antenna, and the receiving and transmitting signals enter different radio frequency processing links through the circulator; in this mode, the continuous wave signal waveform can be used to achieve detection without blind zones, provided that the receiving signal It needs good isolation from the transmitting signal, usually about 100dB, to eliminate the leakage of the transmitting signal from flooding the receiving signal. Since the single-station radar receiver has all the information of the transmitted signal, it can perform signal processing through matched filtering (pulse compression) to obtain higher signal processing gain.
  • the measurement range of distance and speed can meet the measurement needs of common targets such as cars and pedestrians.
  • the measurement accuracy of dual-station radar is related to the position of the transceiver station relative to the target. It is necessary to select an appropriate transceiver station pair to improve detection performance.
  • a resource scheduling method with variable tracking data rate will be used to balance the tracking performance of the target and the number of tracking targets in order to meet a certain tracking performance (especially for fine tracking targets or main tracking targets).
  • Target to maximize the number of tracking targets, the length of the tracking period (the reciprocal of the tracking data rate) for a specific target is generally an integer multiple of the frame period.
  • the time resources occupied by the sensing services can also be optimized and designed to minimize the time resources occupied by the sensing services while satisfying the sensing performance. Time resources other than performing specific sensing services can be used to perform other sensing services or perform data communication.
  • the perception processing method includes:
  • Step 201 The first device obtains a first indicator, where the first indicator is used to represent the perceptual performance of the perceptual object;
  • Step 202 The first device adjusts a sensing update period according to the first indicator.
  • One of the sensing update periods includes at least one sensing frame period for sensing the sensing object.
  • the above-mentioned first indicator can be determined based on the sensing result obtained by executing the sensing service.
  • the sensing node performs sensing measurement on the sensing object by sending and receiving the first signal to obtain the measurement result of the sensing object.
  • the first signal may be a sensory signal or a synaesthesia integrated signal.
  • the above-mentioned first device may be a sensing node or a sensing function network element, and the sensing node includes at least one of a sending device and a receiving device.
  • the above-mentioned sensing update period can be understood as the time when the sensing node performs signal processing of the slow time dimension of the first signal and obtains the first parameter of the sensing object once in the M1th sensing frame period and in the M2th sensing frame period.
  • M1 and M2 are both positive integers, and the difference between M2 and M1 is equal to the number of sensing frame periods included in the sensing update period.
  • the first parameter is used to represent at least one of the position information and motion information of the sensing object.
  • the slow time dimension signal processing of a first signal can be understood as: the signal processing of the first signal of all sensing signal periods within a sensing frame period.
  • the sensing frame period can be understood as the length of time required for the sensing node to perform signal processing in the slow time dimension of the first signal and obtain the first parameter of the sensing object.
  • it may include a first time slot and a second time slot, where the first time slot may include multiple sensing signal periods, and the second time slot may be understood as a time slot used for tasks such as signal processing, resource scheduling, and signal waveform generation. Comprehensive processing of time slots.
  • the time length of the sensing signal period is equal to the time length of the sensing signal corresponding to the sensing node performing signal processing of the first signal fast time dimension.
  • Fast-time dimensional signal processing of a first signal can be understood as signal processing of the first signal within one signal period.
  • the first signal may adopt a pulse signal system, and the sensing signal period may be understood as a pulse period, or may be called a pulse repetition period.
  • the duration of the perception update cycle is the time between the start or end times of two adjacent perception frame periods. interval; in Figure 3B, the duration of the perception update cycle is equal to an integer multiple of the duration of the perception frame cycle; in Figure 3C, the duration of the perception update cycle is equal to any value, and the perception update cycle is greater than or equal to an integer multiple of the duration of the perception frame cycle. times.
  • the first indicator may be obtained by performing data processing based on the first parameter, and may specifically include at least one of the following: variance or standard deviation of residuals, prediction error covariance, and state estimation error covariance.
  • the above-mentioned first indicator can be understood as a first indicator of the first parameter of the sensing object.
  • the first parameter of the sensing object includes at least one of the following:
  • the parameters in the polar coordinate system directly obtained by the sensing node include at least one of the following: the radial distance of the sensing object relative to the sensing node, the radial velocity of the sensing object relative to the sensing node, and the angle of the sensing object relative to the sensing node.
  • Angle may further include: direction angle and pitch angle;
  • the parameters in the rectangular coordinate system after coordinate transformation include at least one of the following: the coordinates of the sensing object in the rectangular coordinate system (such as x-axis coordinates, y-axis coordinates, and z-axis coordinates) and the coordinates of the sensing object in the rectangular coordinate system speed (such as x-direction speed, y-direction speed and z-direction speed).
  • the first indicator may include at least one of the following: variance or standard deviation of residuals; prediction error covariance; state estimation error covariance.
  • the adjustment of the perception update period by the first device according to the first indicator can be understood as adaptively adjusting the perception update period according to the first indicator, which may include, for example, increasing or decreasing the perception update period, or may include keeping the perception frame period unchanged. changing circumstances.
  • the minimum sensing update period can be equal to the sensing frame period.
  • the sensing service is in a continuous execution state; if the sensing performance can meet the requirements, a certain amount can be set between two adjacent sensing frame periods.
  • the interval is used for other services.
  • the interval time can be an integer multiple of the sensing frame period, or can be any other value, which is not further limited here. If the sensing performance cannot meet the requirements, the length of the sensing update cycle can be appropriately reduced, so that sensing can be performed at a faster frequency. This will allow more time resources to be used for sensing services, thus improving the sensing performance.
  • the first device obtains a first indicator, and the first indicator is used to represent the perceptual performance of the perceptual object; the first device adjusts the perceptual update cycle according to the first indicator, and one of the perceptual updates
  • the period includes at least one sensing frame period for sensing the sensing object.
  • the method further includes at least one of the following:
  • the first device includes a sending device in a sensing node
  • the first device sends the first signal according to the adjusted sensing update cycle
  • the first device receives the first signal according to the adjusted sensing update cycle.
  • the first device may perform sensing services by sending and/or receiving a first signal, thereby realizing adaptive adjustment of the sensing update cycle. It should be understood that, in the case where the first device includes a receiving device in a sensing node, after receiving the first signal and obtaining the echo data, the first device may further include one of the following actions:
  • the second operation is part of the first operation.
  • the method before the first device obtains the first indicator, the method further includes:
  • the first device obtains first information
  • the first device determines a sensing configuration based on the first information, where the sensing configuration includes at least one of an initial duration of the sensing update cycle and a target value range;
  • the duration of the sensing update cycle is within the target value range
  • the first information includes at least one of the following: sensing target area, sensing object type, sensing quality of service (QoS), sensing priority
  • QoS quality of service
  • sensing priority The detection information, the location information of the sensing node, the first time resource information associated with the sensing service and the adjustment method of the sensing update cycle.
  • the duration before the perception update cycle is adjusted can be the above-mentioned initial duration, or the duration after one or more adjustments to the initial duration.
  • the duration of the perception update cycle corresponding to the first perception frame can be adjusted to obtain the duration of the perception update cycle corresponding to the second perception frame. Since the target value range is determined based on the first information, and the adjustment range of the duration of the perception update cycle is limited based on actual perception requirements, excessive adjustment of the duration of the perception update cycle can be avoided.
  • the above-mentioned sensing target area refers to the location area where the sensing object may exist, or the location area that needs to be imaged or three-dimensionally reconstructed.
  • the above-mentioned sensing object type may be determined based on at least one of the following: motion speed of typical sensing objects, motion acceleration of typical sensing objects, and radar cross-section (RCS). That is to say, the type of sensing object includes information such as the motion speed of typical sensing objects, the motion acceleration of typical sensing objects, and typical RCS. Among them, typical RCS can be understood as the reflection cross-sectional area of the sensing object.
  • Perception QoS can be understood as a performance indicator for sensing the sensing target area or sensing object, which can include at least one of the following: sensing resolution requirements, sensing accuracy requirements, sensing range requirements, sensing delay requirements, sensing update rate requirements, detection Probability requirements and false alarm probability requirements.
  • the perception resolution requirements include further divided into ranging resolution requirements, angle measurement resolution requirements, speed measurement resolution requirements and imaging resolution requirements, etc.; perception accuracy requirements can be further divided into ranging accuracy requirements, angle measurement accuracy requirements, Speed measurement accuracy requirements and positioning accuracy requirements, etc.; sensing range requirements can be further divided into distance measurement range requirements, speed measurement range requirements, angle measurement range requirements, imaging range requirements, etc.;
  • the sensing delay requirement can be understood as the time interval requirement from sending the sensing signal to obtaining the sensing result, or the time interval requirement from the initiation of the sensing requirement to obtaining the sensing result;
  • the sensing update rate requirement can be understood as the time interval requirement for performing sensing twice in a row and obtaining the sensing result.
  • the time interval requirement; the detection probability requirement can be understood as the probability requirement of being correctly detected when the sensing object exists; the false alarm probability can be understood as the probability of being incorrectly detected when the sensing object does not exist.
  • the sensing prior information refers to the information provided to the sensing node about the spatial extent and/or motion attributes of the sensing object or sensing target area, and helps the sensing node narrow the search range. Specifically include at least one of the following:
  • Spatial range prior information such as the distance or position range of the object to be sensed or the sensing target area, and/or the angle range, etc.
  • Prior information on motion attributes such as the speed range and/or acceleration range of the object to be sensed, etc.
  • the location information of the sensing node can include the following two situations:
  • the location information of the sensing node is known. It can be obtained by accessing the network function that stores the location information of the sensing node (such as network management system, unified data management), or by reporting it by the sensing node. location information;
  • the sensing function network element should first obtain the location information of the sensing node.
  • the method of obtaining location information may be to request and obtain location information from the positioning management function or other service functions.
  • the positioning management function may be a location management function (LMF), a network function that receives location information from the Minimization of Drive Test (MDT);
  • the positioning service function may be an application service (Application Function, AF) , the AF can be a positioning server such as Wi-Fi, Bluetooth, or Ultra Wide Band (UWB), or it can be an application function that can obtain positioning information such as Global Positioning System (GPS). , such as map application (Application, APP).
  • Case 1 In the case where the first device is a sensing function network element, the sensing function network element obtains the first information or the first part of the first information from the sensing application server and/or the sensing service initiator; when the sensing function network element obtains the first information In the case of the first part of the information, the network element is updated by the sensing function according to the The first part of the first information generates a second part of the first information.
  • Case 2 In the case where the first device is a sensing node, the sensing node obtains the first information or the first part of the first information from the sensing function network element and/or the sensing application server and/or the sensing service initiator; the sensing node obtains In the case of the first part of the first information, the sensing node generates the second part of the first information based on the acquired first part of the first information.
  • Case 3 In the case where the first device is a sensing node, the sensing function network element obtains the first part of the first information from the sensing application server and/or the sensing service initiator, and generates the first part of the first information based on the first part of the first information.
  • the second part the sensing node generates the third part of the first information based on the first part and/or the second part of the first information.
  • the sensing function network element can be understood as the core network and/or a network node in the core network responsible for at least one function such as sensing request processing, sensing resource scheduling, sensing information interaction, and sensing data processing, and can be based on the 5G network.
  • AMF or LMF upgrade can also be other network nodes or newly defined network nodes, which are not further limited here.
  • the first time resource information includes any of the following:
  • the time unit and the time resource allocation that can be used to execute the sensing service within the time unit are The time unit and the time resource allocation that can be used to execute the sensing service within the time unit.
  • fixed time resources can be allocated to execute the current sensing service; this time resource configuration method is based on dividing time resources according to a certain granularity; the granularity can be: OFDM in 5G communication services Symbol period, time slot, half frame or frame, etc.; or, time unit such as seconds, milliseconds, microseconds, etc.
  • allocation can be done in the following ways
  • Bitmap mode Configure the time resources allocated to the sensing service in the form of a bitmap.
  • a 1 in the bitmap means that the corresponding time resources are allocated to the sensing service, and a 0 in the bitmap means that the corresponding time resources are not allocated to the sensing service. ;
  • This method can configure any type of time resources that are continuous or discontinuous, periodic or aperiodic;
  • Length plus period method Specify the length of each time period resource allocated to the sensing service, and give the period of occurrence of each time period resource allocated to the sensing service; this method can configure periodic time resources.
  • this time resource configuration method may also include an offset of each time period resource allocated to the sensing service relative to a certain time point.
  • time resource ratio that can be occupied by the current sensing service and the corresponding time resource ratio.
  • time unit the specific time resources occupied can be flexibly set according to perceived needs as long as this ratio is not exceeded.
  • the first time resource information satisfies any of the following:
  • the first time resource information includes second time resource information obtained by the first device from the first target device;
  • the first time resource information is determined based on the third information and the second time resource information obtained by the first device from the first target device;
  • the first time resource information includes third time resource information determined by the first device based on the second information
  • the first time resource information is determined based on the third information and the third time resource information determined by the first device based on the second information;
  • the second time resource information and the third time resource information are both associated with the sensing service;
  • the second information includes at least one of the sensing target area, the sensing object type and the sensing QoS.
  • the third information includes at least one of the workload of the sensing node and the priority of the sensing service;
  • the first target device includes an application At least one of the server and the initiator of the sensing service.
  • the first target device includes a sensing function network element, an application server and the initiator of the sensing service. at least one of.
  • the initiator of the above sensing service may include a third-party application server, terminal or network side device, etc., which is not further limited here.
  • the corresponding behavior is different, specifically including the following situations:
  • the sensing function network element or sensing node can obtain the first information or part of the first information from the sensing application service and/or the sensing service initiator.
  • the first information or part of the first information includes the first time. resource information;
  • the sensing function network element or sensing node can determine the first time resource information based on the sensing demand information in the first information
  • Scenario 3 The sensing function network element or sensing node is combined, from the sensing application server and/or sensing industry The second time resource information obtained by the service initiator, or the third time resource information determined according to the sensing demand information in the first information, and the workload of the sensing node and the global priority of the sensing service determine the first Time resource information.
  • the target value range satisfies at least one of the following:
  • the lower limit of the target value range is determined based on the first time resource information
  • the upper limit of the target value range is determined based on the sensing object type or communication rate.
  • the upper limit and lower limit of the target value range may further consider the sensing update cycle requirements.
  • the sensing update period required by the sensing update period may be the reciprocal of the sensing update rate. That is to say: the target value range satisfies at least one of the following: the lower limit of the target value range is determined based on the first time resource information and the sensing update period requirement; The upper limit value is determined based on the sensing update cycle requirement and the sensing object type or communication rate.
  • the lower limit of the target value range may be the larger value of the lower limit determined based on the first time resource information and the lower limit determined based on the sensing update period requirements;
  • the target value range The upper limit value of may be the smaller value of the upper limit value determined based on the first time resource information and the upper limit value determined based on the sensing update period requirement.
  • the lower limit of the target value range is determined based on the first time resource information, and the lower limit of the target value range satisfies at least one of the following:
  • the lower limit of the target value range is based on the length of the sensing frame period or the fixed time resource. The duration of the cycle is determined;
  • the lower limit of the target value range is equal to the sensing frame period and The ratio of the time resource allocation.
  • the lower limit of the above target value range can be understood as the lower limit of the duration of the sensing update cycle, and can also be called the lower limit of the sensing update cycle or the lower limit of the sensing update cycle; the target value range
  • the upper limit value of can be understood as the upper limit value of the duration of the sensing update cycle, which can also be called the upper limit value of the sensing update cycle or the upper limit value of the sensing update cycle.
  • the lower limit of the target value range is equal to the length of the sensing frame period or equal to the The duration of the period of the fixed-time resource.
  • the lower limit of the target value range may be equal to the duration of the sensing frame period or equal to the duration of the fixed time resource period plus a preset offset value.
  • the lower limit of the sensing update cycle within a single time resource segment is the sensing frame period, and the sensing frame between time resource segments The cycle will change; or the lower limit of the sensing update cycle is the cycle of allocated time resources.
  • the first time resource information includes a time unit and a time resource ratio that can be used to perform the sensing service within the time unit
  • the time resource ratio is 50%
  • the lower limit of the sensing update period is It is twice the sensing frame period, that is, the duration of one sensing frame period between two adjacent sensing frame periods is used to perform other services.
  • the sensing node keeps tracking of the sensing object based on the prediction algorithm: in the The n sensing frame predicts the position of the sensing object in the n+1th sensing frame based on the previously acquired first parameter of the sensing object; in the n+1th frame, the sensing node aims the beam at the predicted position to detect the sensing object.
  • the upper limit of the sensing update period is set according to the communication rate requirement.
  • point A represents the position of the sensing object in the nth frame
  • point B represents the position of the sensing object in the n+1th frame
  • point C1 represents the actual position of the sensing object in the n+2th frame
  • point D1 represents the n+th The predicted position of the sensing object in frame 2
  • point C2 represents the actual position of the sensing object in frame n+2 after limiting the sensing update cycle
  • point D2 represents the predicted position of the sensing object in frame n+2 after limiting the sensing update cycle.
  • the sensing node predicts the position of the sensing object in the n+1th sensing frame; the sensing node detects the sensing object near the predicted position, and based on the newly acquired first parameter of the sensing object, predicts the position of the sensing object in The position of the n+2th sensing frame; however, the sensing object undergoes a large maneuver after the n+1th sensing frame, causing the sensing object to deviate from the beam range centered on the predicted position at the n+2th sensing frame, then The sensing node cannot detect the sensing object. If the value of the sensing update cycle is restricted, and the sensing object appears at point C2 and D2 in the figure at the n+2th sensing frame, then the sensing node may still detect the sensing object.
  • the lower limit value of the sensing update period may be set to the initial duration of the sensing update period.
  • the initial duration of the sensing update cycle is set according to the time resources allocated to the sensing service.
  • the setting method is to minimize the sensing update cycle within the allowed range of allocated time resources.
  • the sensing node performs an initial search and initial tracking of the sensing object and/or sensing target area with the initial duration of the sensing update cycle. After the stable motion trajectory of the sensing object is established, it enters the adjustment of the sensing update cycle.
  • the curve represents the motion trajectory of the sensing object. From the nth sensing frame to the n+2th sensing frame, the sensing object approximately moves in a straight line at a uniform speed. The predicted position and filtered position of the sensing object are relatively close to the actual position, that is, the variance or standard deviation of the residual, the covariance of the prediction error, The state estimation error covariance is small. During this period, a larger sensing update cycle can be used to maintain tracking of the sensing object, and the time vacated between adjacent sensing frames can be used to perform other services.
  • the sensing object starts from the n+3th sensing frame, the sensing object makes a curved motion.
  • the prediction of the n+2th sensing frame to the n+3 sensing frame is based on the uniform linear motion of the sensing object before the n+2th sensing frame, and the time between the n+3th sensing frame and the n+2th sensing frame The interval is large; therefore, the error between the predicted position and the actual position of the n+3th sensing frame is large, and there is also a certain error between the filtered position and the actual position of the n+3th sensing frame.
  • the sensing update cycle should be reduced.
  • the smaller distance between the n+4th sensing frame and the n+3rd sensing frame indicates that the sensing update cycle is reduced.
  • the first device adjusting the sensing update period according to the first indicator includes:
  • the first device adjusts the perception update period according to the first indicator, the preset threshold value and the adjustment method of the perception update period.
  • the perception update period corresponding to the second perception frame can be adjusted based on the first indicator obtained from the first perception frame, where the first perception frame is the current perception frame, and the second perception frame is located after the first perception frame.
  • perceptual frame a sensing frame period can be understood as a sensing frame, and the corresponding duration of each sensing frame is the duration of the sensing frame period.
  • the adjustment method of the sensing update cycle includes any of the following:
  • the perception update cycle is adjusted according to a perception update cycle parameter table, where the perception update cycle parameter table includes at least two first values, and the first values are the duration of the perception update cycle.
  • the target ratio is a ratio between a target value and the first indicator, and the target value is determined based on the preset threshold value.
  • the method of determining the target value can be set according to actual needs. For example, when the preset threshold value includes a threshold value, the above target value is equal to the preset threshold value. When the preset threshold value includes two threshold values, the target value may be equal to the geometric mean or arithmetic mean of the two threshold values.
  • the above-mentioned preset threshold value may include one or more threshold values.
  • the included threshold values are different, the corresponding methods of adjusting the sensing update period are different.
  • the preset threshold value includes a threshold value
  • the adjustment rule of the sensing update period satisfies at least one of the following:
  • the sensing update period is increased.
  • the preset threshold value includes a first threshold value and a second threshold value, wherein the first threshold value is less than the second threshold value, and the adjustment of the sensing update period
  • the rules satisfy at least one of the following:
  • the sensing update period is increased.
  • the preset threshold value includes a third threshold value and a fourth threshold value
  • the adjustment rule of the sensing update period satisfies at least one of the following:
  • the sensing update period is reduced.
  • the sensing update period is increased.
  • the following is an exemplary description of the adjustment of the perception update cycle based on different adjustment methods of the perception update cycle.
  • the first indicator is greater than the preset threshold value, then the value of the sensing update period corresponding to the first sensing frame is reduced by a fixed duration and used as the second The value of the perception update cycle of the perception frame; if the first indicator is less than the preset threshold value, then the value of the perception update cycle corresponding to the first perception frame is increased by a fixed length of time as the perception update cycle of the second perception frame Take value.
  • the value of the sensing update period may be kept unchanged.
  • the preset threshold value may be one threshold value, or may include a first threshold value and a second threshold value, and the first threshold value is smaller than the second threshold value.
  • the preset threshold value includes a first threshold value and a second threshold value
  • the first indicator being greater than the preset threshold value can be understood as the first indicator being greater than the second threshold value, and the first indicator being less than the preset threshold value.
  • the value can be understood as the first indicator being less than the first threshold value.
  • the value T' of the sensing update period of the second sensing frame is: Among them, Q represents the value of the first indicator, and Q0 represents the target value.
  • the first preset threshold is a threshold value
  • Q0 is the preset threshold value
  • the preset threshold value includes a first threshold value and a second threshold value
  • the first threshold value When the value is less than the second threshold value, the geometric mean or arithmetic mean value of the first threshold value and the second threshold value can be used as Q0, and the first indicator is greater than the preset threshold value, which can be understood as the first If the indicator is greater than the second threshold value and the first indicator is less than the preset threshold value, it can be understood that the first indicator is less than the first threshold value.
  • the perception update cycle parameter table includes at least one array, and the array includes a plurality of first values of different sizes, and the first value represents the perception update cycle.
  • the preset threshold value includes the third threshold and the fourth threshold. If the first indicator is greater than the third threshold, and the deviation between the first indicator and the third threshold is greater than the fourth threshold, then a new reduced value is selected in the array.
  • the first value of is used as the value of the updated perception update cycle; if the first indicator is less than the third threshold, and the deviation between the fourth threshold and the first indicator is greater than the fourth threshold, select a new and increased value in the array First The value is used as the value of the updated perception update period.
  • the perception update period parameter table contains several typical values of the perception frame period (such as the second value), and each value of the perception frame period has several values of the perception update period (i.e., the first value). value). That is, the values of several sensing update periods corresponding to the value of each sensing frame period are an array.
  • the array can first be determined based on the current sensing frame period, and then the sensing update period can be adjusted based on the determined array. For example, when the deviation between the first indicator and the third threshold value exceeds the fourth threshold value, the value of the perception update cycle can be reselected from the perception update cycle parameter table according to the value of the first indicator.
  • the method for determining the first indicator can be set according to actual needs.
  • the first device includes a receiving device in the sensing node
  • the first device Obtaining the first indicators includes:
  • the first device receives the first signal according to the current sensing update cycle to obtain echo data
  • the first device determines a target sensing result based on the echo data, and the target sensing result satisfies: the target sensing result includes result information of whether the sensing object is detected; in the case where the sensing object is detected , the target sensing result also includes a first parameter, the first parameter is used to represent at least one of the position information and motion information of the sensing object;
  • the first device determines a first indicator based on the first parameter.
  • the method when the first device is a sensing function network element or a sending device in a sensing node, before the first device acquires the first indicator, the method further includes:
  • the first device receives fourth information from the receiving device in the sensing node.
  • the fourth information includes echo data, an intermediate sensing result obtained by performing a first operation on the echo data, and an intermediate sensing result obtained by performing a second operation on the echo data.
  • the first device determines a first indicator based on the fourth information.
  • the first device when the first device is a sending device in a sensing node, The first device also needs to send the first signal based on the current sensing update cycle.
  • the first device when the fourth information includes echo data, can perform a second operation on the echo data to obtain the first parameter, and then determine the first indicator; when the fourth information includes an intermediate sensing result, the first device The remaining operations in the second operation except the first operation can be performed on the intermediate sensing result to obtain the first parameter, and then the first index is determined.
  • the fourth information includes the target sensing result, the first device can directly parse and obtain the first parameter from the fourth information, and then determine the first indicator.
  • the first parameter includes at least one of the following: parameters in a polar coordinate system; parameters in a rectangular coordinate system.
  • the method also includes at least one of the following:
  • the first device When the first device is a receiving device in a sensing node, the first device sends first indication information to the second target device, where the first indication information is used to indicate the adjusted duration of the sensing update cycle.
  • the second target device includes a sending device in the sensing node, or includes a sending device and a sensing function network element in the sensing node;
  • the first device When the first device is a sending device in a sensing node, the first device sends first indication information to the third target device, where the first indication information is used to indicate the adjusted duration of the sensing update cycle.
  • the third target device includes a receiving device in the sensing node, or includes a receiving device and a sensing function network element in the sensing node;
  • the first device When the first device is a sensing function network element, the first device sends first indication information to the sending device and the receiving device in the sensing node, and the first indication information is used to indicate the adjusted sensing update.
  • the length of the cycle The length of the cycle.
  • the sending device of the sensing node and the receiving device of the sensing node belong to the same device.
  • the process of adaptive adjustment of the sensing update cycle is as follows:
  • Step 1 The sensing node or sensing function network element obtains first information used to set the sensing update cycle.
  • Step 2 The sensing node or sensing function network element sets the value range and initial duration of the sensing update cycle according to the first time resource information and the sensing object type in the sensing requirement.
  • the sensing function network element also sends the initial duration of the sensing update cycle to the sensing node.
  • Step 3 The sensing node sends and receives the first signal according to the sensing update cycle and obtains the echo data; the sensing node and/or the sensing function network element performs sensing signal processing on the echo data, including one of the following options
  • the sensing node performs sensing signal processing on the echo data to generate target sensing results
  • the sensing node performs part of the sensing signal processing operation on the echo data to obtain an intermediate sensing result, and sends the intermediate sensing result to the sensing function network element.
  • the sensing function network element performs the remaining part of the sensing signal processing operation to generate the target sensing result;
  • the sensing node sends the echo data to the sensing function network element, and the sensing function network element performs sensing signal processing on the echo data to generate target sensing results.
  • the target sensing result includes: whether the sensing object is detected, and if the sensing object is detected, the first parameter of the sensing object.
  • this step is executed in a loop; if the target sensing result shows that the sensing object is detected, the next step is entered.
  • Step 4 The sensing node or sensing function network element adjusts the sensing update cycle according to the first indicator of the first parameter in the target sensing result.
  • the device that performs sensing update cycle adjustment is the sensing node or sensing function network element, including one of the following situations:
  • the target sensing result is generated by the sensing node, and the device that performs sensing update cycle adjustment is the sensing node, so there is no need to interact with the sensing result and sensing update cycle;
  • the target sensing result is generated by the sensing node, and the device that performs the sensing update cycle adjustment is the sensing function network element.
  • the sensing node Before performing the sensing update cycle adjustment, the sensing node needs to send the target sensing result to the sensing function network element. After performing the sensing update cycle adjustment, Afterwards, the sensing function network element needs to send the adjusted sensing update cycle to the sensing node;
  • the target sensing result is generated by the sensing function network element, and the device that performs sensing update cycle adjustment is a sensing node. Before performing sensing update cycle adjustment, the sensing function network element needs to send the target sensing result to the sensing node;
  • the target sensing result is generated by the sensing function network element, and the device that performs the sensing update cycle adjustment is the sensing function network element. After performing the sensing update cycle adjustment, the sensing function network element needs to report to the sensing node. Click to send the adjusted sensing update period.
  • Step 5 The sensing node adjusts the sending and receiving of the first signal according to the adjusted sensing update cycle, and obtains the echo data; the sensing node and/or the sensing function network element performs sensing signal processing and/or data processing on the echo data. Processing to obtain the echo signal quality and/or the first parameter of the perceived object, including one of the following situations:
  • the sensing node performs sensing signal processing and/or data processing on the echo data to obtain the target sensing result
  • the sensing node performs some operations of sensing signal processing and/or data processing on the echo data to obtain an intermediate sensing result, and sends the intermediate sensing result to the sensing function network element, which performs sensing signal processing and/or data processing. The remaining part of the operation is performed to obtain the target perception result;
  • the sensing node sends the echo data to the sensing function network element, and the sensing function network element performs sensing signal processing and/or data processing on the echo data to obtain the target sensing result.
  • step 4 and step 5 are executed in a loop until the sensing process ends.
  • the sending device of the sensing node and the receiving device of the sensing node belong to different devices.
  • the sensing update period is The process of adaptive adjustment is as follows:
  • Step 1 The sending end device, the receiving end device, or the sensing function network element obtains the first information used to set the sensing update cycle.
  • Step 2 The sending end device, or the receiving end device, or the sensing function network element sets the value range and initial duration of the sensing update cycle according to the first time resource information and the sensing object type in the sensing requirement.
  • the sensing function network element sends the initial duration of the sensing update cycle to the sending device and the receiving device; if the device that performs the above operation is The sending device, after performing the above process, sends the initial duration of the sensing update cycle to the receiving device or the receiving device and the sensing function network element; if the device performing the above operation is the receiving device, after performing the above process Afterwards, the receiving end device sends the initial duration of the sensing update cycle to the sending end device or the sending end device and the sensing function network element.
  • Step 3 The sending end device and the receiving end device transmit and receive the first signal according to the initial duration of the sensing update cycle, and the receiving end device obtains the echo data; the receiving end device and/or the sensing function
  • the network element can perform sensing signal processing on the echo data, including one of the following options:
  • the receiving device performs sensing signal processing on the echo data to generate target sensing results
  • the receiving end device performs part of the sensing signal processing operation on the echo data to obtain an intermediate sensing result, and sends the intermediate sensing result to the sensing function network element.
  • the sensing function network element performs the remaining part of the sensing signal processing operation to generate the target sensing result.
  • the receiving end device sends the echo data to the sensing function network element, and the sensing function network element performs sensing signal processing on the echo data to generate target sensing results.
  • the target sensing result includes: whether the sensing object is detected, and if the sensing object is detected, the first parameter of the sensing object.
  • this step is executed in a loop; if the target sensing result shows that the sensing object is detected, the next step is entered.
  • Step 4 The sending end device, the receiving end device, or the sensing function network element adjusts the sensing update cycle according to the first indicator of the first parameter in the target sensing result.
  • the target sensing result is generated by the receiving device or the sensing function network element, and the device that performs sensing update cycle adjustment is the sending device, or the receiving device or the sensing function network element, including one of the following situations:
  • the target sensing result is generated by the receiving device, and the device that performs the sensing update cycle adjustment is the receiving device. After performing the sensing update cycle adjustment, the receiving device needs to send the adjusted sensing update cycle to the sending device;
  • the target sensing result is generated by the receiving device, and the device that performs the sensing update cycle adjustment is the sensing function network element.
  • the receiving device Before performing the sensing update cycle adjustment, the receiving device needs to send the target sensing result to the sensing function network element.
  • the sensing function network element After performing the sensing update After the cycle adjustment, the sensing function network element needs to send the adjusted sensing update cycle to the sending end device and the receiving end device;
  • the target sensing result is generated by the receiving device, and the device that performs the sensing update cycle adjustment is the sending device.
  • the receiving device Before performing the sensing update cycle adjustment, the receiving device needs to send the target sensing result to the sending device. After performing the sensing update cycle adjustment, Afterwards, the sending device needs to send the adjusted sensing update cycle to the receiving device;
  • the target sensing result is generated by the sensing function network element, and the device that performs the sensing update cycle adjustment is the sensing function network element. After performing the sensing update cycle adjustment, the sensing function network element needs to report to the sending end. The device and the receiving device send the adjusted sensing update cycle;
  • the target sensing result is generated by the sensing function network element, and the device that performs the sensing update cycle adjustment is the sending device.
  • the sensing function network element needs to send the target sensing result to the sending device.
  • the sending device needs to send the adjusted sensing update cycle to the receiving device and the sensing function network element;
  • the target sensing result is generated by the sensing function network element, and the device that performs the sensing update cycle adjustment is the receiving device.
  • the sensing function network element Before performing the sensing update cycle adjustment, the sensing function network element needs to send the target sensing result to the receiving device.
  • the receiving device Before performing the sensing update After the cycle adjustment, the receiving device needs to send the adjusted sensing update cycle to the sending device and the sensing function network element.
  • Step 5 The sending end device and the receiving end device adjust the sending and receiving of the first signal according to the adjusted sensing update cycle, and the receiving end device obtains the echo data; the receiving end device and/or the sensing function network element analyzes the echo data Perform sensing signal processing and/or data processing to obtain echo signal quality and/or first parameters of the sensing object, including one of the following options:
  • the receiving device performs sensing signal processing and/or data processing on the echo data to obtain target sensing results
  • the receiving end device performs some operations of sensing signal processing and/or data processing on the echo data to obtain an intermediate sensing result, and sends the intermediate sensing result to the sensing function network element, which performs sensing signal processing and/or data processing.
  • the remaining part of the processing is calculated to obtain the target perception result;
  • the receiving end device sends the echo data to the sensing function network element, and the sensing function network element performs sensing signal processing and/or data processing on the echo data to obtain the target sensing result.
  • step 4 and step 5 are executed in a loop until the sensing process ends.
  • the perception processing method includes:
  • Step 601 When the first device adjusts the sensing update cycle according to a first indicator, the second device receives first indication information from the first device, and the first indicator is used to represent the sensing performance of the sensing object. , the first indication information is used to indicate the length of the adjusted sensing update cycle, and one of the sensing update cycles includes at least one sensing frame period for sensing the sensing object;
  • the second device when the first device is a sensing function network element, the second device includes sensing function At least one of a receiving device in a node and a sending device in a sensing node; when the first device is a receiving device in a sensing node, the second device includes a sending device in a sensing node and a sensing function network at least one of the elements; if the first device is a sending device in a sensing node, the second device includes at least one of a receiving device in the sensing node and a sensing function network element.
  • first index can be understood as a first index of the first parameter of the sensing object.
  • the method also includes at least one of the following:
  • the second device includes a sending device in a sensing node
  • the second device sends the first signal according to the adjusted sensing update cycle
  • the second device receives the first signal according to the adjusted sensing update cycle to obtain echo data, and sends the echo data to the first device or sensing function network element.
  • the fourth information includes any one of the echo data, the intermediate sensing result obtained by performing the first operation on the echo data, the target sensing result obtained by performing the second operation on the echo data, and the first indicator.
  • the target sensing result includes result information of whether the sensing object is detected; in the case where the sensing object is detected, the target sensing result also includes a first parameter, and the first parameter is used to represent the sensing object. At least one of position information and motion information.
  • the method before the second device receives the first indication information from the first device, the method further includes:
  • the second device receives second indication information from the first device, where the second indication information is used to indicate the initial duration of the sensing update cycle.
  • the adjustment method of the sensing update cycle includes any of the following:
  • the perception update cycle is adjusted according to a perception update cycle parameter table, where the perception update cycle parameter table includes at least two first values, and the first values are the duration of the perception update cycle.
  • the target ratio is the ratio of the target value to the first indicator, and the target value is based on Determined at the preset threshold value.
  • the first indicator includes at least one of the following:
  • the execution subject may be a perception processing device.
  • the perception processing device executing the perception processing method is taken as an example to illustrate the perception processing device provided by the embodiment of the present application.
  • the perception processing device 700 includes:
  • the acquisition module 701 is used to acquire a first indicator, where the first indicator is used to represent the perceptual performance of the perceptual object;
  • the adjustment module 702 is configured to adjust a perception update cycle according to the first indicator.
  • One perception update cycle includes at least one perception frame cycle for sensing the perception object.
  • the perception processing device 700 further includes: a first determination module,
  • the acquisition module 701 is also used to acquire the first information
  • the first determination module is configured to determine a sensing configuration according to the first information, where the sensing configuration includes at least one of the initial duration of the sensing update cycle and a target value range;
  • the duration of the sensing update cycle is within the target value range
  • the first information includes at least one of the following: sensing target area, sensing object type, sensing quality of service QoS, sensing prior information, sensing node Location information, first time resource information associated with the sensing service, and adjustment method of the sensing update cycle.
  • the first time resource information includes any of the following:
  • the time unit and the time resource allocation that can be used to execute the sensing service within the time unit are The time unit and the time resource allocation that can be used to execute the sensing service within the time unit.
  • the sensing object type is determined based on at least one of the following: motion speed of typical sensing objects, motion acceleration of typical sensing objects, and typical radar cross-sectional area.
  • the first time resource information satisfies any of the following:
  • the first time resource information includes the second time resource information obtained by the first device from the first target device. room resource information;
  • the first time resource information is determined based on the third information and the second time resource information obtained by the first device from the first target device;
  • the first time resource information includes third time resource information determined by the first device based on the second information
  • the first time resource information is determined based on the third information and the third time resource information determined by the first device based on the second information;
  • the second time resource information and the third time resource information are both associated with the sensing service;
  • the second information includes at least one of the sensing target area, the sensing object type and the sensing QoS.
  • the third information includes at least one of the workload of the sensing node and the priority of the sensing service;
  • the first target device includes an application At least one of the server and the initiator of the sensing service.
  • the first target device includes a sensing function network element, an application server and the initiator of the sensing service. at least one of.
  • the target value range meets at least one of the following:
  • the lower limit of the target value range is determined based on the first time resource information
  • the upper limit of the target value range is determined based on the sensing object type or communication rate.
  • the lower limit of the target value range is determined based on the first time resource information, and the lower limit of the target value range satisfies at least one of the following:
  • the lower limit of the target value range is based on the length of the sensing frame period or the fixed time resource. The duration of the cycle is determined;
  • the lower limit of the target value range is equal to the sensing frame period and The ratio of the time resource allocation.
  • the adjustment module 702 is specifically configured to adjust the perception update period according to the first indicator, the preset threshold value and the adjustment method of the perception update period.
  • the adjustment method of the sensing update cycle includes any of the following:
  • the perception update cycle is adjusted according to a perception update cycle parameter table, where the perception update cycle parameter table includes at least two first values, and the first values are the duration of the perception update cycle.
  • the target ratio is a ratio between a target value and the first indicator, and the target value is determined based on the preset threshold value.
  • the preset threshold value includes a threshold value
  • the adjustment rule of the sensing update period satisfies at least one of the following:
  • the sensing update period is increased.
  • the preset threshold value includes a first threshold value and a second threshold value, and the first threshold value is less than the second threshold value, and the adjustment rule of the sensing update period satisfies At least one of the following:
  • the sensing update period is increased.
  • the preset threshold value includes a third threshold value and a fourth threshold value
  • the adjustment rule of the sensing update period satisfies at least one of the following:
  • the sensing update period is reduced.
  • the sensing update period is increased.
  • the first indicator includes at least one of the following:
  • the acquisition module 701 is specifically configured to: receive the first signal according to the current sensing update cycle to obtain echo data; The echo data determines the target sensing result, and the target sensing result satisfies: the target sensing result includes the result information of whether the sensing object is detected; in the case of detecting the sensing object, the target sensing result also includes A first parameter, the first parameter is used to represent at least one of the position information and motion information of the sensing object; the first parameter is determined according to the first parameter. index.
  • the obtaining module 701 is specifically configured to: receive the fourth information from a receiving device in the sensing node, so The fourth information includes any one of echo data, an intermediate sensing result obtained by performing a first operation on the echo data, a target sensing result obtained by performing a second operation on the echo data, and a first indicator, wherein, the The echo data is the data obtained by the sensing node executing the sensing service based on the current sensing update cycle.
  • the first operation is part of the second operation.
  • the target sensing result satisfies: the target sensing result includes: Whether the result information of the sensing object is detected; in the case of detecting the sensing object, the target sensing result also includes a first parameter, the first parameter is used to represent the position information and motion information of the sensing object At least one item of; determining the first indicator according to the fourth information.
  • the first parameter includes at least one of the following:
  • the perception processing device 700 further includes a first sending module, configured to perform at least one of the following:
  • first indication information is sent to the second target device, where the first indication information is used to indicate the adjusted length of the sensing update cycle, and the second The target device includes the sending device in the sensing node, or includes the sending device and the sensing function network element in the sensing node;
  • first indication information is sent to the third target device, where the first indication information is used to indicate the adjusted length of the sensing update cycle, and the third
  • the target device includes a receiving device in the sensing node, or includes a receiving device and a sensing function network element in the sensing node;
  • first indication information is sent to the sending device and the receiving device in the sensing node, where the first indication information is used to indicate the adjusted length of the sensing update cycle.
  • the perception processing device 700 further includes:
  • a first sending module used when the first device includes a sending device in a sensing node Next, send the first signal according to the adjusted sensing update cycle;
  • the second receiving module is configured to receive the first signal according to the adjusted sensing update cycle when the first device includes a receiving device in a sensing node.
  • an embodiment of the present application provides a perception processing device applied to a second device.
  • the perception processing device 800 includes:
  • the first receiving module 801 is configured to receive first indication information from the first device when the first device adjusts the sensing update cycle according to a first indicator, where the first indicator is used to represent the perception of the sensing object. Sensing performance, the first indication information is used to indicate the length of the adjusted sensing update cycle, and one of the sensing update cycles includes at least one sensing frame period for sensing the sensing object;
  • the second device when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; the first device is a sensing node.
  • the second device In the case of a receiving device, the second device includes at least one of a sending device in a sensing node and a sensing function network element; when the first device is a sending device in a sensing node, the second device The device includes at least one of a receiving device in a sensing node and a sensing function network element.
  • the perception processing device 800 further includes at least one of the following:
  • a second sending module configured to send the first signal according to the adjusted sensing update cycle when the second device includes a sending device in a sensing node;
  • a third receiving module configured to receive the first signal according to the adjusted sensing update cycle to obtain echo data when the second device includes a receiving device in a sensing node, and send the echo data to the first device or the sensing function network.
  • the fourth information includes echo data, an intermediate sensing result obtained by performing a first operation on the echo data, a target sensing result obtained by performing a second operation on the echo data, and any of the first indicators.
  • the echo data is data obtained by the sensing node performing sensing services based on the adjusted sensing update cycle
  • the first operation is part of the second operation
  • the first receiving module is further configured to: receive second indication information from the first device, where the second indication information is used to indicate an initial duration of the perception update cycle.
  • the adjustment method of the sensing update cycle includes any of the following:
  • the perception update cycle is adjusted according to a perception update cycle parameter table, where the perception update cycle parameter table includes at least two first values, and the first values are the duration of the perception update cycle.
  • the target ratio is a ratio between a target value and the first indicator, and the target value is determined based on a preset threshold value.
  • the first indicator includes at least one of the following:
  • the perception processing device in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or may be a component in the electronic device, such as an integrated circuit or chip.
  • the electronic device may be a terminal or other devices other than the terminal.
  • terminals may include but are not limited to the types of terminals 11 listed above, and other devices may be servers, network attached storage (Network Attached Storage, NAS), etc., which are not specifically limited in the embodiment of this application.
  • the perception processing device provided by the embodiments of the present application can implement each process implemented by the method embodiments of Figures 2 to 6, and achieve the same technical effect. To avoid duplication, the details will not be described here.
  • this embodiment of the present application also provides a communication device 900, which includes a processor 901 and a memory 902.
  • the memory 902 stores programs or instructions that can be run on the processor 901.
  • each step of the above-mentioned perception processing method embodiment is implemented, and the same technical effect can be achieved. To avoid duplication, the details will not be described here.
  • Embodiments of the present application also provide a terminal, including a processor and a communication interface.
  • the terminal is a first device
  • the communication interface is used to obtain a first indicator
  • the first indicator is used to represent a response to a sensing object.
  • Perception performance the processor is configured to adjust a perception update cycle according to the first indicator, and one perception update cycle includes at least one perception frame cycle for sensing the perception object;
  • the communication interface is used to receive the first indication information from the first device when the first device adjusts the sensing update cycle according to the first indicator.
  • the first indicator is used to represent the sensing performance of the sensing object
  • the first indication information is used to indicate the length of the adjusted sensing update cycle
  • one of the sensing update cycles includes at least one for sensing the sensing object.
  • the sensing frame period for the object to sense; wherein, when the first device is a receiving device in a sensing node, the second device includes a sending device in a sensing node; the first device is a sending device in a sensing node In the case of a device, the second device includes a receiving device in a sensing node.
  • FIG. 10 is a schematic diagram of the hardware structure of a terminal that implements an embodiment of the present application.
  • the terminal 1000 includes but is not limited to: a radio frequency unit 1001, a network module 1002, an audio output unit 1003, an input unit 1004, a sensor 1005, a display unit 1006, a user input unit 1007, an interface unit 1008, a memory 1009, a processor 1010, etc. At least some parts.
  • the terminal 1000 may also include a power supply (such as a battery) that supplies power to various components.
  • the power supply may be logically connected to the processor 1010 through a power management system, thereby managing charging, discharging, and power consumption through the power management system. Management and other functions.
  • the terminal structure shown in FIG. 10 does not constitute a limitation on the terminal.
  • the terminal may include more or fewer components than shown in the figure, or some components may be combined or arranged differently, which will not be described again here.
  • the input unit 1004 may include a graphics processing unit (GPU) 10041 and a microphone 10042.
  • the graphics processor 10041 is responsible for the image capture device (GPU) in the video capture mode or the image capture mode. Process the image data of still pictures or videos obtained by cameras (such as cameras).
  • the display unit 1006 may include a display panel 10061, which may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like.
  • the user input unit 1007 includes at least one of a touch panel 10071 and other input devices 10072 .
  • Touch panel 10071 also known as touch screen.
  • the touch panel 10071 may include two parts: a touch detection device and a touch controller.
  • Other input devices 10072 may include but are not limited to physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which will not be described again here.
  • the radio frequency unit 1001 after receiving downlink data from the network side device, can transmit it to the processor 1010 for processing; in addition, the radio frequency unit 1001 can send uplink data to the network side device.
  • the radio frequency unit 1001 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.
  • Memory 1009 may be used to store software programs or instructions as well as various data.
  • the memory 1009 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, Image playback function, etc.) etc.
  • memory 1009 may include volatile memory or nonvolatile memory, or memory 1009 may include both volatile and nonvolatile memory.
  • non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically removable memory.
  • Volatile memory can be random access memory (Random Access Memory, RAM), static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDRSDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synch link DRAM) , SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DRRAM).
  • RAM Random Access Memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • synchronous dynamic random access memory Synchronous DRAM, SDRAM
  • Double data rate synchronous dynamic random access memory Double Data Rate SDRAM, DDRSDRAM
  • enhanced SDRAM synchronous dynamic random access memory
  • Synch link DRAM synchronous link dynamic random access memory
  • SLDRAM direct memory bus random access memory
  • Direct Rambus RAM Direct Rambus RAM
  • the processor 1010 may include one or more processing units; optionally, the processor 1010 integrates an application processor and a modem processor, where the application processor mainly handles operations related to the operating system, user interface, application programs, etc., Modem processors mainly process wireless communication signals, such as baseband processors. It can be understood that the above modem processor may not be integrated into the processor 1010.
  • the radio frequency unit 1001 is used to obtain a first indicator
  • the first indicator is used to represent the perceptual performance of the perceptual object
  • the processor 1010 is used to obtain the perceptual performance of the perceptual object according to the first Indicator adjustment sensing update cycle, one of the sensing update cycles includes at least one sensing frame period for sensing the sensing object;
  • the radio frequency unit 1001 is configured to: when the first device adjusts the sensing update cycle according to the first indicator, the second device receives a first indication from the first device.
  • the first indicator is used to represent the sensing performance of the sensing object
  • the first indication information is used to indicate the length of the adjusted sensing update cycle
  • one of the sensing update cycles includes at least one parameter for sensing the sensing object.
  • the sensing frame period during which the sensing object performs sensing wherein, when the first device is a receiving device in a sensing node, the second device includes a sending device in a sensing node; the first device is a receiving device in a sensing node. In the case of a sending device, the second device includes a receiving device in a sensing node.
  • the sensing update cycle can be flexibly adjusted based on the first indicator according to changes in the sensing environment, thereby minimizing the occupation of time resources by sensing while meeting sensing performance requirements.
  • Embodiments of the present application also provide a network side device, including a processor and a communication interface.
  • the network side device is a first device
  • the communication interface is used to obtain a first indicator
  • the first indicator is used to represent Perception performance of the sensing object
  • the processor is configured to adjust a sensing update period according to the first indicator, and one of the sensing update periods includes at least one sensing frame period for sensing the sensing object;
  • the communication interface is used to receive a first indication from the first device when the first device adjusts the sensing update cycle according to the first indicator.
  • the first indicator is used to represent the sensing performance of the sensing object
  • the first indication information is used to indicate the length of the adjusted sensing update cycle
  • one of the sensing update cycles includes at least one parameter for sensing the sensing object.
  • the second device when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; the first device is a sensing node.
  • the second device In the case of a receiving device, the second device includes at least one of a sending device in a sensing node and a sensing function network element; when the first device is a sending device in a sensing node, the second device The device includes at least one of a receiving device in a sensing node and a sensing function network element.
  • This network-side device embodiment corresponds to the above-mentioned network-side device method embodiment.
  • Each implementation process and implementation manner of the above-mentioned method embodiment can be applied to this network-side device embodiment, and can achieve Same technical effect.
  • the embodiment of the present application also provides a network side device.
  • the network side device 1100 includes: an antenna 1101, a radio frequency device 1102, a baseband device 1103, a processor 1104 and a memory 1105.
  • the antenna 1101 is connected to the radio frequency device 1102.
  • the radio frequency device 1102 receives information through the antenna 1101 and sends the received information to the baseband device 1103 for processing.
  • the baseband device 1103 processes the information to be sent and sends it to the radio frequency device 1102.
  • the radio frequency device 1102 processes the received information and then sends it out through the antenna 1101.
  • the method performed by the network side device in the above embodiment can be implemented in the baseband device 1103, which includes a baseband processor.
  • the baseband device 1103 may include, for example, at least one baseband board, which is provided with multiple chips, as shown in FIG. Program to perform the network device operations shown in the above method embodiments.
  • the network side device may also include a network interface 1106, which is, for example, a common public radio interface (CPRI).
  • a network interface 1106, which is, for example, a common public radio interface (CPRI).
  • CPRI common public radio interface
  • the network side device 1100 in the embodiment of the present application also includes: instructions or programs stored in the memory 1105 and executable on the processor 1104.
  • the processor 1104 calls the instructions or programs in the memory 1105 to execute Figure 7 or Figure 8
  • the execution methods of each module are shown and achieve the same technical effect. To avoid repetition, they will not be described in detail here.
  • Embodiments of the present application also provide a readable storage medium.
  • Programs or instructions are stored on the readable storage medium.
  • the program or instructions are executed by a processor, each process of the above embodiments of the perception processing method is implemented and the same can be achieved. The technical effects will not be repeated here to avoid repetition.
  • the processor is the processor in the terminal described in the above embodiment.
  • the readable storage medium includes computer readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disk or optical disk, etc.
  • An embodiment of the present application further provides a chip.
  • the chip includes a processor and a communication interface.
  • the communication interface is coupled to the processor.
  • the processor is used to run programs or instructions to implement the above embodiments of the perception processing method. Each process can achieve the same technical effect. To avoid duplication, it will not be described again here.
  • chips mentioned in the embodiments of this application may also be called system-on-chip, system-on-a-chip, system-on-chip or system-on-chip, etc.
  • Embodiments of the present application further provide a computer program product.
  • the computer program product is stored in a storage medium.
  • the computer program product is executed by at least one processor to implement each process of the above-mentioned perception processing method embodiment, and can To achieve the same technical effect, to avoid repetition, we will not repeat them here.
  • Embodiments of the present application also provide a communication system, including: a first device and a second device.
  • the first device is used to perform various processes in Figure 2 and the above method embodiments.
  • the second device is used to Each process in Figure 6 and the above method embodiments is executed, and the same technical effect can be achieved. To avoid repetition, the details will not be described here.
  • the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better. implementation.
  • the technical solution of the present application can be embodied in the form of a computer software product that is essentially or contributes to the existing technology.
  • the computer software product is stored in a storage medium (such as ROM/RAM, disk , CD), including several instructions to cause a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of this application.

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Abstract

La présente demande appartient au domaine technique des communications. Sont divulgués un procédé et un appareil de traitement de perception, et un dispositif de communication et un support de stockage lisible. Le procédé de traitement de perception dans les modes de réalisation de la présente demande comprend les étapes suivantes : un premier dispositif acquiert un premier indice, le premier indice étant utilisé pour indiquer les performances de perception d'un objet de perception ; et le premier dispositif ajuste une période de mise à jour de perception selon le premier indice, une période de mise à jour de perception comprenant au moins une période de trame de perception utilisée pour percevoir l'objet de perception.
PCT/CN2023/081695 2022-03-18 2023-03-15 Procédé et appareil de traitement de perception, dispositif de communication et support de stockage lisible WO2023174342A1 (fr)

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