WO2025035357A1 - Object detection method, device, and system - Google Patents

Abstract

The present application relates to the field of wireless communications, and provides an object detection method, a device, and a system. In the method, a sensing management device can acquire, at a first moment, first position information used for indicating the position of a first object at a second moment, and acquire first sensing information, wherein the second moment is later than the first moment, and the first sensing information indicates information of the first object sensed at the second moment on the basis of the first position information. The first sensing information is obtained by sensing the first object at the second moment on the basis of the position indicated by the first position information, which is more targeted, and thus the acquired first sensing information is relatively accurate. Subsequently, the sensing management device can determine position information of the first object at the second moment on the basis of the first sensing information. The first sensing information is relatively accurate, and thus the position information obtained on the basis of the first sensing information is relatively accurate. Therefore, the object detection method, device, and system provided by the present application can improve the positioning precision.

Description

Target detection method, device and system Technical Field

The present application relates to the field of wireless communications, and in particular to a target detection method, device and system.

Background Art

With the development of communication technology, more and more communication scenarios have emerged, such as human-connected scenarios, Internet of Things scenarios, or vehicle-connected scenarios. In order to enhance the business capabilities in these scenarios, the concept of integrated sensing and communication (ISAC) is proposed. ISAC means that network devices and/or terminals have sensing capabilities in addition to communication capabilities to detect characteristics such as the location or speed of the target. However, the current methods for detecting and locating targets are not very accurate.

Summary of the invention

The present application provides a target detection method, device and system, which can improve the accuracy of target detection.

In order to achieve the above purpose, the present application adopts the following technical solutions:

In the first aspect, a target detection method is provided, which can be executed by a perception management device; or, it can also be executed by a module applied to the perception management device, such as a chip, a chip system or a circuit; or, it can also be implemented by a logical node, a logical module or software that can realize all or part of the functions of the perception management device, without limitation. For the convenience of description, the following is an example of execution by a perception management device. It should be understood that the perception management device can be the perception management device itself, or a module in the perception management device, or a logical node, a logical module or software that can realize all or part of the functions of the perception management device. The method includes: obtaining first position information of a first target at a first moment, the first position information is used to indicate the position of the first target at a second moment after the first moment; obtaining first perception information, the first perception information is used to indicate the information of the first target perceived at the second moment according to the first position information; determining the position information of the first target at the second moment according to the first perception information.

Based on the method provided in the first aspect above, the perception management device can predict the position of the first target at the second moment and obtain the first perception information. Among them, the first perception information is obtained for the second moment and the aforementioned predicted position, which is more targeted, so the probability of detecting the first target can be improved, and the obtained first perception information can be made more accurate. Subsequently, the perception management device can determine the actual position of the first target at the second moment based on the first perception information. Since the first perception information is more accurate, the actual position of the first target at the second moment obtained based on the first perception information is also more accurate. Therefore, the method provided in the first aspect above can improve the probability of detecting the first target and the positioning accuracy.

In a possible implementation, obtaining the first perception information includes: sending the first position information to a first perception device; and receiving the first perception information from the first perception device.

Based on the above possible implementation methods, the first position information can be sent to the first sensing device so that the first sensing device can emit a beam in the direction of the position indicated by the first position information to sense the first target and obtain more accurate first sensing information.

In one possible implementation, the first perception information includes first angle information or second position information, the first angle information is used to indicate the azimuth between the first target and the first perception device at the second moment, and the second position information is used to indicate the position of the first target at the second moment.

Based on the above possible implementation methods, the first perception information can indicate the azimuth between the first target and the first perception device at the second moment or the position of the first target at the second moment, so that the perception management device determines the position of the first target at the second moment based on the azimuth or position.

In a possible implementation, the first perception information also includes at least one of the following: information of the second moment, first indication information, first delay information or first Doppler information; wherein the first indication information is used to indicate whether the first target is detected at the second moment, the first delay information is used to indicate the transmission delay of the first perception signal, the first Doppler information is used to indicate the Doppler frequency shift of the first perception signal, and the first perception signal is a signal used to perceive the first target.

Based on the above possible implementations, the first perception information may further include at least one of the above information. The information can be used by the perception management device to determine the second moment, and then know that the position of the first target at the second moment is determined. The first indication information can be used by the perception management device to determine whether the first target is detected at the second moment. The first delay information can be used by the perception management device to determine the transmission delay of the first perception signal, and then assist in determining the position information of the first target at the second moment to improve positioning accuracy. The first Doppler information can be used by the perception management device to determine the Doppler frequency shift of the first perception signal, and then determine the movement speed of the first target at the second moment based on the Doppler frequency shift. Optionally, the perception management device can also determine the movement direction of the first target at the second moment based on the Doppler frequency shift.

In a possible implementation, the method further includes: sending second indication information to the first sensing device, where the second indication information is used to indicate that the sensing mode of the first sensing information is a single-station sensing mode or a dual-station sensing mode.

Based on the above possible implementations, the perception management device can instruct the first perception device to perceive the first target through a single-station perception mode or a dual-station perception mode to adapt to different communication scenarios. For example, when the distance between the perception devices is far, the perception management device can indicate a single-station perception mode, and when there are multiple perception devices near the first target, the perception management device can indicate a dual-station perception mode.

In one possible implementation, the perception mode of the first perception information is a dual-station perception mode, and the method further includes: sending third indication information to the first perception device, the third indication information being used to indicate a device for sending a perception signal and/or a device for receiving a perception signal in the dual-station perception mode.

Based on the above possible implementation methods, when the perception mode of the first perception information is a dual-station perception mode, the perception management device can also indicate to the first perception device the device that sends perception signals and/or the device that receives perception signals in the dual-station perception mode, so that the first perception device can determine whether it is a device that sends perception signals or a device that receives perception signals.

In a possible implementation, the method further includes: sending information of the second moment to the first sensing device.

Based on the above possible implementation methods, the perception management device also sends information of the second moment to the first perception device, so that the first perception device determines to perceive the first target at the second moment.

In one possible implementation, obtaining first position information of a first target at a first moment includes: obtaining second perception information, the second perception information being used to indicate information of the first target perceived at a third moment before the first moment; and determining the first position information at the first moment based on the second perception information.

Based on the above possible implementation methods, the perception management device can obtain information about the first target perceived at the third moment before the first moment, and predict the position of the first target at the second moment based on the information, so that the first perception device can emit a beam in the direction of the position to accurately perceive the first target.

In a possible implementation, acquiring the second perception information includes: receiving the second perception information from a second perception device.

Based on the above possible implementations, the perception management device can obtain the second perception information from the second perception device. In other words, the second perception information is obtained by the second perception device sensing the first target at the third moment. In the present application, the second perception device is the same as or different from the first perception device.

In a possible implementation, the method further includes: sending fourth indication information to the second sensing device, where the fourth indication information is used to indicate a sensing target.

Based on the above possible implementations, the sensing management device can instruct the second sensing device to sense the target. In this way, the second sensing device can scan its own sensing area according to the instruction of the sensing management device and find the first target.

In a possible implementation, the method further includes: acquiring position information of the first sensing device, where the position information of the first sensing device is used to determine the position information of the first target at the second moment.

Based on the above possible implementation methods, the perception management device can obtain the location information of the first perception device so as to determine the location of the first target at the second moment according to the location information and the first perception information.

In a possible implementation, the method further includes: acquiring array orientation information of the first sensing device, wherein the array orientation information of the first sensing device is used to determine position information of the first target at the second moment.

Based on the above possible implementation methods, the perception management device can obtain the array orientation information of the first perception device, so as to determine the position of the first target at the second moment according to the array orientation information and the first perception information.

In a possible implementation, the first sensing device may be both a network device and a terminal.

Based on the above possible implementation methods, the network device and/or the terminal can be used to perceive the first target and obtain corresponding perception information.

In a second aspect, a target detection method is provided. The method can be performed by a sensing device (such as a first sensing device and/or a second sensing device). It may be executed by a sensing device); or, it may be executed by a module applied in the sensing device, such as a chip, a chip system or a circuit; or, it may be implemented by a logical node, a logical module or software that can realize all or part of the functions of the sensing device, without limitation. For the convenience of description, the following is explained by taking the execution by the sensing device as an example. It should be understood that the sensing device may be the sensing device itself, or a module in the sensing device, or a logical node, a logical module or software that can realize all or part of the functions of the sensing device. It can be understood that the sensing device may be a network device or a terminal. The method includes: acquiring first position information of a first target at a fourth moment, the first position information being used to indicate the position of the first target at a second moment after the fourth moment; sending first perception information, the first perception information being obtained by sensing the first target at the second moment based on the first position information, and the first perception information being used to determine the position information of the first target at the second moment.

Based on the method provided in the second aspect above, the perception device can obtain the predicted position of the first target at the second moment, and send the first perception information obtained based on the position, so that the device that receives the first perception information, such as the perception management device, determines the position of the first target at the second moment based on the first perception information. It can be understood that the first perception information is obtained for a specific moment (such as the second moment) and a specific position (such as the predicted position of the first target at the second moment), so it is more accurate. For example, at the second moment, the perception device can emit a beam in the direction of the aforementioned predicted position to perceive the first target and obtain the first perception information. And the accurate first perception information can make the position of the first target determined by the perception management device at the second moment more accurate. Therefore, the method provided in the second aspect can improve positioning accuracy.

In one possible implementation, the first perception information includes first angle information or second position information, the first angle information is used to indicate the azimuth between the first target and the first perception device at the second moment, and the second position information is used to indicate the position of the first target at the second moment.

Based on the above possible implementation methods, the first perception information can indicate the azimuth between the first target and the first perception device at the second moment or the position of the first target at the second moment, so that the device receiving the first perception information determines the position of the first target at the second moment based on the azimuth or position.

In a possible implementation, the first perception information also includes at least one of the following: information of the second moment, first indication information, first delay information or first Doppler information; wherein the first indication information is used to indicate whether the first target is detected at the second moment, the first delay information is used to indicate the transmission delay of the first perception signal, the first Doppler information is used to indicate the Doppler frequency shift of the first perception signal, and the first perception signal is a signal used to perceive the first target.

Based on the above possible implementation methods, the first perception information may also include at least one of the above information. Among them, the information at the second moment can be used by the device that receives the first perception information to determine the second moment, and then know that the position of the first target at the second moment is determined. The first indication information can be used by the device that receives the first perception information to determine whether the first target is detected at the second moment. The first delay information can be used by the device that receives the first perception information to determine the transmission delay of the first perception signal, and then assist in determining the position information of the first target at the second moment to improve the positioning accuracy. The first Doppler information can be used by the device that receives the first perception information to determine the Doppler frequency shift of the first perception signal, and then determine the movement speed of the first target at the second moment based on the Doppler frequency shift. Optionally, the device that receives the first perception information can also determine the movement direction of the first target at the second moment based on the Doppler frequency shift.

In a possible implementation, the method further includes: receiving second indication information, where the second indication information is used to indicate that the perception mode of the first perception information is a single-station perception mode or a dual-station perception mode.

Based on the above possible implementation methods, the sensing device can determine whether to use a single-station sensing mode or a dual-station sensing mode to sense the first target according to the indication, so as to be applicable to different communication scenarios. For example, when the sensing devices are far apart, the device that sends the second indication information, such as the sensing management device, can indicate a single-station sensing mode, and the sensing device senses the first target according to the indication using the single-station sensing mode. When there are multiple sensing devices near the first target, the device that sends the second indication information can indicate a dual-station sensing mode, and the sensing device senses the first target according to the indication using the dual-station sensing mode.

In a possible implementation, the perception mode of the first perception information is a dual-station perception mode, and the method further includes: receiving third indication information, where the third indication information is used to indicate a device for sending a perception signal and/or a device for receiving a perception signal in the dual-station perception mode.

Based on the above possible implementation methods, when the perception mode of the first perception information is a dual-station perception mode, the perception device can also determine whether it is a device sending a perception signal or a device receiving a perception signal according to the indication of a device sending the third indication information, such as a perception management device.

In a possible implementation manner, the method further includes: receiving information at a second moment.

Based on the above possible implementation methods, the sensing device may determine to sense the first target at the second moment.

In one possible implementation, obtaining first position information of the first target at a fourth moment includes: sending second perception information, where the second perception information is used to indicate information of the first target perceived at a second moment before the first moment; and receiving the first position information at the fourth moment.

Based on the above possible implementation methods, second perception information can be sent so that a device that receives the second perception information, such as a perception management device, obtains the first location information based on the second perception information and sends the first location information to the perception device, so that the perception device obtains the first location information at a fourth moment.

In a possible implementation manner, the method further includes: receiving fourth indication information, where the fourth indication information is used to indicate a perception target.

Based on the possible implementation manners described above, the target may be sensed within the sensing area of the sensing device according to the instruction of the device that sends the fourth indication information, such as the sensing management device.

In a possible implementation manner, the method further includes: sending information about first time-frequency resources, where the information about the first time-frequency resources is used to indicate a time-frequency resource of a perception signal used to perceive the first target at the third moment.

Based on the above possible implementation methods, communication resources can be configured for a device that receives information about the first time-frequency resource, such as a second perception device, so that the device perceives the first target through the configured communication resources and obtains second perception information.

In a possible implementation manner, the method further includes: receiving the second perception information, where the second perception information is information perceived on the first time-frequency resource.

Based on the above possible implementation methods, the second perception information can be received so as to send the second perception information to the perception management device, so as to facilitate the perception management device to determine the first location information according to the second perception information.

In a possible implementation manner, the method further includes: sending information about a second time-frequency resource, where the information about the second time-frequency resource is used to indicate a time-frequency resource of a perception signal used to perceive the first target at the second moment.

Based on the above possible implementation methods, communication resources can be configured for a device that receives information about the second time-frequency resources, such as a first perception device, so that the device perceives the first target through the configured communication resources and obtains first perception information.

In a possible implementation, the method further includes: receiving the first perception information, where the first perception information is obtained by sensing the first target at the second moment based on the information of the second time-frequency resource and the first position information.

Based on the above possible implementation methods, the first perception information can be received so as to send the first perception information to the perception management device, so as to facilitate the perception management device to determine the position of the first target at the second moment according to the first perception information.

In a possible implementation manner, the method further includes: sending first information, where the first information is used to determine the first location information.

Based on the above possible implementations, the first information may be sent so that a device that receives the first information, such as a first sensing device, determines the first position information according to the first information. For example, the first information includes the first position information, or includes the angle between the position indicated by the first position information and the antenna array of the first sensing device.

In a possible implementation, the method further includes: receiving information of a first time-frequency resource; and sensing the first target at the third moment according to the information of the first time-frequency resource to obtain the second sensing information.

Based on the above possible implementation methods, the information of the first time-frequency resource can be received, and at the third moment, a signal can be received through the time-frequency resource indicated by the information of the first time-frequency resource to obtain the second perception information.

In a possible implementation, the method further includes: receiving information of a second time-frequency resource; and sensing the first target at the second moment according to the first position information and the information of the second time-frequency resource to obtain the first sensing information.

Based on the above possible implementation methods, information of the second time-frequency resource can be received, and a signal can be received at a second moment in the direction of the position indicated by the first position information through the time-frequency resource indicated by the information of the second time-frequency resource to obtain the first perception information.

In a possible implementation, the method further includes: sending array orientation information of the first sensing device, where the array orientation information of the first sensing device is used to determine position information of the first target at the second moment.

Based on the above possible implementation methods, the array orientation information of the first sensing device can be sent so that a device that receives the array orientation information, such as a sensing management device, can determine the position of the first target at the second moment based on the array orientation information and the first sensing information.

In a third aspect, a target detection method is provided, which can be performed by a sensing device (such as a fifth sensing device and/or a sixth sensing device); or, it can also be performed by a module applied to the sensing device, such as a chip, a chip system or a circuit; or Alternatively, it may be implemented by a logical node, a logical module or software that can implement all or part of the functions of the perception device, without limitation. For ease of description, the following is explained by taking the execution by the perception device as an example. It should be understood that the perception device may be the perception device itself, or a module in the perception device, or a logical node, a logical module or software that can implement all or part of the functions of the perception device. It can be understood that the perception device may be a network device. The method includes: sending information about a first time-frequency resource, the information about the first time-frequency resource is used to indicate the time-frequency resource of a perception signal used to perceive the first target at a third moment; receiving second perception information, the second perception information is obtained by perceiving the first target at the third moment based on the information about the first time-frequency resource.

Based on the method provided in the third aspect above, the time-frequency resources of the perception signal used to perceive the first target at the third moment can be sent down, so that a device that obtains the time-frequency resources, such as the second perception device, receives the perception signal through the time-frequency resources at the third moment to obtain the second perception information.

In a possible implementation manner, the method further includes: sending the second perception information.

Based on the possible implementation methods described above, a device that receives the second perception information, such as a perception management device, can determine the first location information according to the second perception information.

In one possible implementation, the second perception information includes second angle information or third position information, the second angle information is used to indicate the azimuth between the first target and the second perception device at the third moment, and the third position information is used to indicate the position of the first target at the third moment.

Based on the above possible implementation methods, the second perception information can indicate the azimuth between the first target and the second perception device at the third moment or the position of the first target at the third moment, so that the device receiving the second perception information determines the first position information based on the azimuth or position.

In a possible implementation, the second perception information also includes at least one of the following: information at the third moment, fifth indication information, second delay information or second Doppler information; wherein the fifth indication information is used to indicate whether the first target is detected at the third moment, the second delay information is used to indicate the transmission delay of the second perception signal, and the second Doppler information is used to indicate the Doppler frequency shift of the second perception signal, and the second perception signal is a signal used to perceive the first target.

Based on the above possible implementation methods, the second perception information may also include at least one of the above information. Among them, the information at the third moment can be used by the device that receives the second perception information to determine the second moment, and then know that the position of the first target at the third moment is determined. The fifth indication information can be used by the device that receives the second perception information to determine whether the first target is detected at the third moment. The second delay information can be used by the device that receives the second perception information to determine the transmission delay of the second perception signal, and then assist in determining the position information of the first target at the third moment to improve positioning accuracy. The second Doppler information can be used by the device that receives the second perception information to determine the Doppler frequency shift of the second perception signal, and then determine the movement speed of the first target at the third moment based on the Doppler frequency shift. Optionally, the device that receives the second perception information can also determine the movement direction of the first target at the third moment based on the Doppler frequency shift.

In a possible implementation manner, the method further includes: receiving fourth indication information, where the fourth indication information is used to indicate a perception target.

Based on the possible implementation manners described above, the target may be sensed within the sensing area of the sensing device according to the instruction of the device that sends the fourth indication information, such as the sensing management device.

In a fourth aspect, a communication device is provided for implementing the above method. The communication device may be the perception management device in the above first aspect, or a device including the above perception management device, or a module in the perception management device in the above first aspect, such as a chip, a chip system or a circuit, or a logical node, a logical module or a software implementation that can realize part or all of the functions of the perception management device; or, the communication device may be the perception device in the above second aspect, or a device including the above perception device, or a module in the perception device in the above second aspect, such as a chip, a chip system or a circuit, or a logical node, a logical module or a software implementation that can realize part or all of the functions of the perception device; or, the communication device may be the perception device in the above third aspect, or a device including the above perception device, or a module in the perception device in the above third aspect, such as a chip, a chip system or a circuit, or a logical node, a logical module or a software implementation that can realize part or all of the functions of the perception device. The communication device includes a module, a unit, or a means corresponding to the implementation of the above method, and the module, the unit, or the means may be implemented by hardware, software, or by hardware executing the corresponding software implementation. The hardware or software includes one or more modules or units corresponding to the above functions.

In conjunction with the fourth aspect, in a possible implementation, the communication device may include a processing module. The processing module may be used to implement the processing functions in any of the above aspects and any possible implementations thereof. The processing module may be, for example, a processing module. device.

In conjunction with the fourth aspect, in a possible implementation, the communication device may further include an interface module. The interface module, which may also be referred to as an interface unit, is used to implement the sending and/or receiving functions in any of the above aspects and any possible implementations thereof. The interface module may be composed of an interface circuit, a transceiver, a transceiver or a communication interface.

In combination with the fourth aspect above, in a possible implementation, the interface module includes a sending module and a receiving module, which are respectively used to implement the sending and receiving functions in any of the above aspects and any possible implementations thereof.

In a fifth aspect, a communication device is provided, comprising: a processor; the processor is used to couple with a memory, and after reading the instruction in the memory, execute the method as described in any of the above aspects according to the instruction. The communication device can be the perception management device in the above first aspect, or a device including the above perception management device, or a module in the perception management device in the above first aspect, such as a chip, a chip system or a circuit, or a logical node, a logical module or a software implementation that can realize part or all of the functions of the perception management device; or, the communication device can be the perception device in the above second aspect, or a device including the above perception device, or a module in the perception device in the above second aspect, such as a chip, a chip system or a circuit, or a logical node, a logical module or a software implementation that can realize part or all of the functions of the perception device; or, the communication device can be the perception device in the above third aspect, or a device including the above perception device, or a module in the perception device in the above third aspect, such as a chip, a chip system or a circuit, or a logical node, a logical module or a software implementation that can realize part or all of the functions of the perception device.

In combination with the fifth aspect above, in a possible implementation, the communication device also includes a memory, and the memory is used to store program instructions and data.

In conjunction with the fifth aspect, in a possible implementation, the communication device is a chip or a chip system. Optionally, when the communication device is a chip system, it can be composed of a chip, or it can include a chip and other discrete devices.

In a sixth aspect, a communication device is provided, comprising: a processor and an interface circuit; the interface circuit is used to receive a computer program or instruction and transmit it to the processor; the processor is used to execute the computer program or instruction so that the communication device executes the method described in any of the above aspects. The communication device can be the perception management device in the above first aspect, or a device including the above perception management device, or a module in the perception management device in the above first aspect, such as a chip, a chip system or a circuit, or a logical node, a logical module or a software implementation that can realize part or all of the functions of the perception management device; or, the communication device can be the perception device in the above second aspect, or a device including the above perception device, or a module in the perception device in the above second aspect, such as a chip, a chip system or a circuit, or a logical node, a logical module or a software implementation that can realize part or all of the functions of the perception device; or, the communication device can be the perception device in the above third aspect, or a device including the above perception device, or a module in the perception device in the above third aspect, such as a chip, a chip system or a circuit, or a logical node, a logical module or a software implementation that can realize part or all of the functions of the perception device.

In conjunction with the sixth aspect, in a possible implementation, the communication device is a chip or a chip system. Optionally, when the communication device is a chip system, it can be composed of a chip, or it can include a chip and other discrete devices.

In a seventh aspect, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium is run on a computer, the computer can execute the method described in any one of the above aspects.

In an eighth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the method described in any one of the above aspects.

In a ninth aspect, a communication system is provided, which includes at least one of the following: a perception management device for executing the method described in the first aspect, a perception device for executing the method described in the second aspect, or a perception device for executing the method described in the third aspect.

Among them, the technical effects brought about by any possible implementation method of the third to ninth aspects can be referred to the technical effects brought about by any aspect of the first to third aspects or different possible implementation methods of any aspect, and will not be repeated here.

It can be understood that, under the premise that the solutions are not contradictory, the solutions in the above aspects can be combined.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1A is a schematic diagram of the array orientation of the sensing device provided in the present application;

FIG1B is a schematic diagram of the azimuth angle of a target provided by the present application;

FIG1C is a schematic diagram of a beam of a sensing device provided in the present application;

FIG1D is a schematic diagram 1 of a perception mode provided by the present application;

FIG1E is a second schematic diagram of the perception mode provided by the present application;

FIG1F is a schematic diagram of an application scenario of the target detection method provided in the present application;

FIG1G is a second schematic diagram of an application scenario of the target detection method provided in the present application;

FIG2 is a schematic diagram of a communication system architecture provided by the present application;

FIG3A is a schematic diagram 1 of a communication scenario provided by the present application;

FIG3B is a second schematic diagram of a communication scenario provided by the present application;

FIG3C is a third schematic diagram of a communication scenario provided by the present application;

FIG3D is a fourth schematic diagram of a communication scenario provided by the present application;

FIG3E is a fifth schematic diagram of a communication scenario provided by the present application;

FIG4 is a schematic diagram of the hardware structure of the communication device provided by the present application;

FIG5 is a flow chart of a target detection method provided by the present application;

FIG6 is a second flow chart of the target detection method provided by the present application;

FIG7 is a schematic diagram of the time relationship between the first moment, the second moment and the fourth moment provided by the present application;

FIG8 is a schematic diagram of the structure of the communication device provided in the present application.

DETAILED DESCRIPTION

Before introducing the technical solution of the present application, the relevant technical terms involved in the present application are explained. It is understandable that these explanations are intended to make the present application easier to understand and should not be regarded as limiting the scope of protection claimed by the present application.

1. Sensing device

The sensing device in the present application, such as the sensing device 202, the sensing device 205, the first sensing device or the second sensing device in the following embodiments, has sensing capability and communication capability, and can sense the target by transmitting a signal. For example, the sensing device can send a signal and receive a reflected signal (or echo signal) of the signal, sense the target according to the reflected signal, and obtain sensing information of the target. Exemplarily, the sensing device is a network device or a terminal.

The network equipment in this application may also be referred to as radio access network (RAN) equipment or RAN node, etc. Network equipment includes, but is not limited to: evolved base stations (NodeB or eNB or e-NodeB, evolutional Node B) in long term evolution (LTE), evolved base stations (next generation eNB, ng-eNB) in next generation LTE, base stations (gNodeB or gNB) in new radio (NR), transmitting points (transmitting point, TP) or transmission receiving points (transmission receiving point/transmission reception point, TRP), base stations of subsequent evolution of 3GPP, next generation base stations (next generation NodeB, gNB), next generation base stations in sixth generation (6G) mobile communication systems, base stations in future mobile communication systems, access nodes in wireless fidelity (WiFi) systems, wireless relay nodes, wireless backhaul nodes, integrated access and backhaul (IAB) nodes, etc. Among them, the base station can be: a macro base station, a micro base station, a pico base station, a small station, a relay station, or a balloon station, etc. Multiple base stations can support the network of the same technology mentioned above, or they can support the network of different technologies mentioned above. The base station can include one or more co-sited or non-co-sited TRPs. The network device can also be a device that acts as a base station in device-to-device (D2D) communication, Internet of Vehicles communication, drone communication, and machine communication. The network device can also be a wireless controller in a cloud radio access network (CRAN) scenario. The RAN node can also be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), a radio unit (RU), a road side unit (RSU) with base station function, a wired access gateway or a core network element, etc. The network device can also be a server, a wearable device, a machine communication device or a vehicle-mounted device, etc. For example, the network device in vehicle to everything (V2X) technology may be a road side unit (RSU).

In the present application, CU and DU may be separately configured, or may be included in the same network element, such as a baseband unit (BBU). RU may be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU) or a remote radio head (RRH). It is understood that CU may be classified as a network device in an access network, or may be classified as a network device in a core network, without limitation.

It is understandable that in different systems, CU (or CU-CP and CU-UP), DU or RU may have different names, but those skilled in the art can understand their meanings. For example, in an open radio access network (ORAN) system, CU may also be referred to as O-CU (open CU), DU may also be referred to as O-DU, CU-CP may also be referred to as O-CU-CP, CU-UP may also be referred to as O-CU-UP, and RU may also be referred to as O-RU. In addition, any unit of CU (or CU-CP, CU-UP), DU and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

The terminal in this application can be deployed on land, including indoors, outdoors, handheld or vehicle-mounted; it can also be deployed on the water surface (such as ships, etc.); it can also be deployed in the air (such as airplanes, balloons and satellites, etc.). The terminal can also be called a terminal device, and the terminal device can be a user equipment (user equipment, UE), a mobile station (mobile station, MS), a mobile terminal (mobile terminal, MT), etc., or a device for providing voice or data connectivity to users. Among them, UE includes handheld devices with wireless communication functions, vehicle-mounted devices (for example, devices set in cars, bicycles, electric vehicles, airplanes, ships, trains, high-speed railways, etc.), wearable devices (such as smart watches, smart bracelets, pedometers, etc.) or computing devices. Exemplarily, UE can be a mobile phone (mobile phone), a mobile Internet device (mobile internet device, MID) or a computer with wireless transceiver function. UE can also be a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless modem, an intelligent point of sale (POS) machine, a customer-premises equipment (CPE), an intelligent robot, a robotic arm, workshop equipment, a wireless terminal in industrial control, a wireless terminal in unmanned driving, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a vehicle terminal, a roadside unit (RSU) with a terminal function, or a flying device (e.g., an intelligent robot, a hot air balloon, a drone, an airplane), etc. The terminal can also be other devices with terminal functions, for example, the terminal can also be a device that serves as a terminal in D2D communication.

The terminal of the present application may be a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip or a vehicle-mounted unit built into a vehicle as one or more components or units, and the vehicle may implement the method of the present application through the built-in vehicle-mounted module, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip or vehicle-mounted unit. Therefore, the present application may be applied to vehicle networking, such as vehicle to everything (V2X), long term evolution vehicle (LTE-V), vehicle to vehicle (V2V), etc.

It is understandable that in some scenarios, the roles of network devices and terminals are relative. For example, a helicopter or drone that is usually configured as a terminal can also be configured as a mobile base station, and the device that accesses the network device through the helicopter or drone is configured as a terminal.

In the present application, the sensing device may be arranged as required. For example, in some scenarios, in order to allow the sensing device to have a sufficient direct line of sight, the sensing device may be arranged on roadside objects such as street lamps or roadside trees.

2. Array orientation of the sensing device (hereinafter referred to as array orientation)

In this application, the array face direction refers to the direction of the antenna array face of the sensing device (hereinafter referred to as the antenna array face). It can be understood that the array face direction can be expressed in many ways. This application uses the horizontal azimuth angle, downtilt angle and tilt angle shown in Figure 1A as an example for explanation.

As an example, the array face orientation is represented by the horizontal azimuth angle α, downtilt angle β and tilt angle γ of the local coordinate system where the antenna array face is located relative to the three-dimensional global coordinate system. For example, in FIG1A , the global coordinate system o-xyz is transformed to the local coordinate system where the antenna array face 101 is located The process includes: first rotating the global coordinate system o-xyz around the z axis by an angle α to obtain the coordinate system o- Then the coordinate system by The axis is rotated by an angle β to obtain the coordinate system Then the coordinate system by The axis is rotated by an angle of γ to obtain the coordinate system That is the local coordinate system where the antenna array surface 101 is located. In the figure, the normal direction of the antenna array 101 points to In the positive direction of the axis, the two edges of the antenna array 101 are located Axis and On axis.

3. Goal

The target in this application, such as the target 203, the first target or the second target in the following embodiments, is a person or object that can be sensed by the sensing device and has mobility. The target may or may not have communication capabilities. For example, the target includes but is not limited to: people, various means of transport or various terminals described above. Among them, the means of transport can be used to transport people or goods, such as vehicles, trains, high-speed trains, airplanes or drones.

4. Target azimuth

In this application, the azimuth angle of the target is the angle between the azimuth of the target and the antenna array of the sensing device. It can be understood that the azimuth angle of the target can be expressed in many ways. This application uses the zenith angle and horizontal azimuth angle shown in Figure 1B as an example for explanation.

As an example, the azimuth of the target can be represented by the zenith angle and the horizontal azimuth angle. For example, in FIG1B , the target is located at point A, the antenna array 111 is located in the yoz plane, and the positive direction of the x-axis is the normal direction of the antenna array 111. The azimuth of the target is the angle between oA and the antenna array 111, which can be obtained by the angle θ between oA and the z-axis (i.e., the zenith angle corresponding to point A or oA), and the angle between the projection oa of oA on the xoy plane and the x-axis. (i.e. the horizontal azimuth corresponding to point A or oA). That is, the azimuth of the target can be expressed as (θ, ).

5. Beamforming

In the present application, the sensing device has a multi-antenna array and can perform beamforming so that the transmission power is concentrated in the direction pointed by the beam. Therefore, compared with the beam without beamforming, the transmission power in the direction pointed by the beam can be higher. For example, the sensing device can form one or more transmit beams and/or one or more receive beams in space by adjusting the antenna weights. Among them, the transmit beam is used to send signals and the receive beam is used to receive signals. It can be understood that the directions of the transmit beam and the receive beam can be the same or different.

For example, in FIG1C , the sensing device transmits four beams, namely beams 121 to 124. Among them, beams 121 to 124 are all transmitting beams or receiving beams; or, beams 121 and 122 are transmitting beams, and beams 123 and 124 are receiving beams; or, beams 121 to 123 are transmitting beams, and beam 124 is a receiving beam; or, at time 1, beam 121 is a receiving beam, and at time 2, beam 121 is a transmitting beam, without limitation.

In this application, beamforming may also be referred to as beamforming or spatial filtering.

6. Perception Mode

In this application, the sensing mode refers to the mode in which the sensing device senses the target, including a single-station sensing mode, a dual-station sensing mode, or a multi-station sensing mode. Among them, the single-station sensing mode, the dual-station sensing mode, and the multi-station sensing mode are distinguished according to the number of sensing devices and whether the devices transmitting and receiving signals are the same. The following is a detailed explanation.

The single-station sensing mode refers to a mode in which a target is sensed by a sensing device, in which the devices for transmitting and receiving signals are the same. For example, in FIG1D , the sensing device sends a signal and receives a reflected signal of the signal, and senses the target based on the received reflected signal.

The dual-station sensing mode refers to a mode in which a target is sensed by two sensing devices, in which the devices for transmitting and receiving signals are different. For example, in FIG. 1E , sensing device 1 sends a signal, and sensing device 2 receives a reflected signal of the signal, and senses the target based on the received reflected signal.

The multi-station sensing mode refers to a mode in which a target is sensed by three or more sensing devices. Among them, some of the sensing devices are used to send signals, and the other sensing devices are used to receive reflected signals of the signals, and sense the target based on the reflected signals. Taking three sensing devices as an example, one of the sensing devices sends a signal, and the other two sensing devices are used to receive reflected signals of the signal, and sense the target based on the reflected signals; or, two of the sensing devices send signals, and the other sensing device is used to receive reflected signals of the signals sent by the above two sensing devices, and sense the target based on the reflected signals.

This application mainly uses the single-station sensing mode sensing target and the dual-station sensing mode sensing target as examples for explanation. The logic of the multi-station sensing mode sensing target is similar to that of the dual-station sensing mode sensing target. The difference is the number of sensing devices that send signals and/or the number of sensing devices that receive signals. Therefore, the introduction of the multi-station sensing mode sensing target can refer to the description of the dual-station sensing mode sensing target in this application, and will not be repeated here.

As mentioned above, the sensing device can sense the target, and therefore, the target can be detected based on the sensing of the sensing device. For example, the position of the target can be detected by the following three methods.

Method 1: Referring to FIG. 1F , at least two sensing devices, such as sensing device 1 and sensing device 2, send signals to the target. After receiving the signals, the target determines the transmission delay of each signal and sends the transmission delay to the positioning device, so that the positioning device determines the position of the target according to the received transmission delay and the positions of the at least two sensing devices.

In method 1, the positioning device can determine the location of the target. However, the target needs to have communication capabilities, so method 1 is only applicable to scenarios where the target has communication capabilities. In addition, the sensing device usually sends signals by broadcasting, which makes the power of the target receiving the signal low, so the signal-to-noise ratio of the received signal is also low. Therefore, the accuracy of the target estimating the transmission delay is not high, which will lead to Affects the positioning accuracy of the positioning device.

Method 2: Please refer to Figure 1G, the sensing device sends a signal and receives the reflected signal of the signal, thereby determining the transmission delay of the signal and the azimuth of the target, and sending the transmission delay and the azimuth of the target to the sensing management device. Subsequently, the sensing management device can determine the location of the target based on the transmission delay, the azimuth of the target and the location of the sensing device.

In method 2, the perception management device can determine the location of the target, and the target may not have communication capabilities, so method 2 is applicable not only to scenarios where the target has communication capabilities, but also to scenarios where the target does not have communication capabilities. However, when the target does not have communication capabilities or the radar cross section of the target is small, for example, when the target is a person or a drone, the signal power reflected back to the perception device is weak, resulting in a low received power of the reflected signal, and a low received signal-to-noise ratio of the reflected signal, which results in inaccurate information perceived by the perception device (such as the transmission delay of the signal and the azimuth of the target), which in turn has a certain impact on the probability of the perception management device detecting the target and the positioning accuracy of the target.

Method 3: The perception management device predicts the position of the target at time 1 (hereinafter referred to as the predicted position), obtains the first perception information, and determines the actual position of the target at time 1 according to the first perception information. The first perception information is the information of the target perceived at time 1 according to the predicted position.

In method 3, the perception management device can determine the actual position of the target at time 1, and the target may not have communication capabilities, so method 3 is applicable not only to scenarios where the target has communication capabilities, but also to scenarios where the target does not have communication capabilities. In addition, the first perception information is perceived at time 1 based on the predicted position, that is, the first perception information is obtained for a specific time and a specific position, which is more targeted, so the first perception information is more accurate. Therefore, the perception management device determines the actual position of the target at time 1 based on the first perception information, which can improve the probability of detecting the target and the positioning accuracy. The specific implementation of method 3 will be specifically described in the methods shown in Figures 5 and 6 below, and will not be repeated here.

It can be understood that the method provided in the present application can be used in various communication systems. For example, the communication system can be an LTE system, a fifth generation (5th generation, 5G) communication system, a wireless fidelity (wireless fidelity, WiFi) system, a third generation partnership project (3rd generation partnership project, 3GPP) related communication system, a future evolving communication system (such as: sixth generation (6th generation, 6G) communication system, etc.), or a system integrating multiple systems, etc., without limitation. Among them, 5G can also be called NR. The method provided in the present application is described below by taking the communication system 20 shown in Figure 2 as an example. Figure 2 is only a schematic diagram and does not constitute a limitation on the applicable scenarios of the technical solution provided in the present application.

As shown in Figure 2, it is a schematic diagram of the architecture of the communication system 20 provided in the present application. In Figure 2, the communication system 20 includes at least one perception management device 201 (Figure 2 shows only one), a perception device 202 that is communicatively connected to the perception management device 201, and a target 203 located within the perception area of the perception device 202. Optionally, the communication system 20 also includes a perception device 204 that is communicatively connected to the perception management device 201. Optionally, the target 203 is also located within the perception area of the perception device 204. Optionally, the perception device 202 and the perception device 204 are communicatively connected.

The perception management device in this application, such as perception management device 201, is a device with communication capabilities and computing capabilities, for example, a server, a cloud server, a core network element, an access network element, a cloud, or a computing device with communication capabilities, etc., without limitation. The introduction of perception device 202, perception device 205, and target 203 can refer to the description of perception devices and targets in the previous text, and will not be repeated here.

Optionally, the communication system 20 further includes a positioning device 205, which is used to determine the location of the sensing device 202 and/or the sensing device 205, and indicate the location to the sensing management device 201. Exemplarily, the positioning device 205 is a device with communication capabilities and computing capabilities, such as a server, a cloud server, a core network element, an access network element, a cloud, or a computing device with communication capabilities, etc., without limitation.

In Figure 2, the perception management device, the positioning device and the perception device are different physical devices. However, in a specific application, at least two of the logical functions of the perception management device, the logical functions of the positioning device and the logical functions of the perception device can be integrated into the same physical device. For example, the logical functions of the perception management device 201 are integrated into the perception device 202 or the perception device 205. In this case, the perception device 202 or the perception device 205 has the logical functions of the perception management device 201 and can perform the operations of the perception management device 201, such as determining the position of the target based on the perception information of the target. Similarly, the logical functions of the positioning device 205 can be integrated into the perception device 202 or the perception device 205, or the logical functions of the perception management device 201 and the logical functions of the positioning device 205 can be integrated into the perception device 202 or the perception device 205.

It is understandable that the communication system 20 shown in FIG2 is only used as an example and is not used to limit the technical solution of the present application. Those skilled in the art should understand that in the specific implementation process, the communication system 20 may also include other devices, and may also be based on The number of sensing management devices, sensing devices, targets or positioning devices is determined according to specific needs and is not limited. For example, the communication system 20 may also include sensing devices other than the sensing device 202 and the sensing device 205, such as the sensing device 206 (not shown in FIG. 2, but shown in FIG. 3E below).

It is understandable that the communication system 20 can be applied to a variety of different communication scenarios. This application is described by taking the communication scenarios shown in the following Figures 3A to 3E as examples.

Based on the above introduction, it can be understood that the sensing device can be a terminal or a network device, etc., and the sensing mode includes a single-station sensing mode or a dual-station sensing mode, etc. Therefore, the communication scenarios can be divided based on the type of sensing device and the sensing mode.

Communication scenario 31: The communication system 20 includes a sensing management device 201, a sensing device 202, and a target 203. The sensing device 202 is a network device, and the sensing mode includes a single-station sensing mode.

Exemplarily, the communication system 20 can be applied to the communication scenario 31 shown in Figure 3A. In Figure 3A, the sensing device 202 can obtain the sensing information of the target 203 through the single-station sensing mode, and send the sensing information to the sensing management device 201 so that the sensing management device 201 can locate the target 203.

Communication scenario 32: Communication system 20 includes a sensing management device 201, a sensing device 202, a sensing device 204, and a target 203. Among them, sensing device 202 is a network device, sensing device 204 is a terminal, and the sensing mode includes a single-station sensing mode.

Exemplarily, the communication system 20 can be applied to the communication scenario 32 shown in FIG3B . In FIG3B , the sensing device 202 can configure communication resources for the sensing device 204, so that the sensing device 204 uses a single-station sensing mode to obtain the sensing information of the target 203 according to the communication resources. Subsequently, the sensing device 204 can send the sensing information to the sensing management device 201 so that the sensing management device 201 can locate the target 203.

Communication scenario 33: Communication system 20 includes a sensing management device 201, a sensing device 202, a sensing device 204, and a target 203. Among them, sensing device 202 and sensing device 204 are network devices, and the sensing mode includes a dual-station sensing mode.

Exemplarily, the communication system 20 can be applied to the communication scenario 33 shown in FIG3C . In FIG3C , the sensing device 202 and the sensing device 204 sense the target 203 through the dual-station sensing mode. The sensing device 202 or the sensing device 204 can obtain the sensing information of the target 203 and send the sensing information to the sensing management device 201 so that the sensing management device 201 can locate the target 203. It can be understood that in FIG3C , the sensing device 202 sends a signal and the sensing device 204 receives a reflected signal of the signal; or, the sensing device 204 sends a signal and the sensing device 202 receives a reflected signal of the signal.

Communication scenario 34: Communication system 20 includes a sensing management device 201, a sensing device 202, a sensing device 204, and a target 203. Among them, sensing device 202 is a network device, sensing device 204 is a terminal, and the sensing mode includes a dual-station sensing mode.

Exemplarily, the communication system 20 can be applied to the communication scenario 34 shown in FIG3D. In FIG3D, the sensing device 202 configures communication resources for the sensing device 204, so that the sensing device 204 senses the target 203 using the dual-station sensing mode with the sensing device 202 according to the communication resources. The sensing device 202 or the sensing device 204 can obtain the sensing information of the target 203 and send the sensing information to the sensing management device 201 so that the sensing management device 201 can locate the target 203. It can be understood that in FIG3D, the sensing device 202 sends a signal and the sensing device 204 receives a reflected signal of the signal; or, the sensing device 204 sends a signal and the sensing device 202 receives a reflected signal of the signal.

Communication scenario 35: Communication system 20 includes a sensing management device 201, a sensing device 202, a sensing device 204, a sensing device 206 and a target 203. Among them, sensing device 202 is a network device, sensing device 204 and sensing device 206 are terminals, and the sensing mode includes a dual-station sensing mode.

Exemplarily, the communication system 20 can be applied to the communication scenario 35 shown in FIG3E. In FIG3E, the sensing device 202 configures communication resources for the sensing device 204 and the sensing device 206 respectively, so that the sensing device 204 and the sensing device 206 adopt a dual-station sensing mode to sense the target 203 according to the configured communication resources. The sensing device 204 or the sensing device 206 can obtain the sensing information of the target 203 and send the sensing information to the sensing management device 201 so that the sensing management device 201 can locate the target 203. It can be understood that in FIG3E, the sensing device 204 sends a signal and the sensing device 206 receives a reflected signal of the signal; or, the sensing device 206 sends a signal and the sensing device 204 receives a reflected signal of the signal.

Optionally, the above communication scenario 31, communication scenario 32, communication scenario 33, communication scenario 34 or communication scenario 35 also includes a positioning device 205.

It can be understood that the above-mentioned communication scenarios 31 to 35 are merely examples of communication scenarios. In specific applications, the communication system 20 can also be applied to other communication scenarios without limitation.

Optionally, each device in FIG. 2 of the present application (such as a sensing management device, a sensing device or a positioning device, etc.) may also be referred to as The communication device may be a general device or a dedicated device, and this application does not make any specific limitation on this.

Optionally, the related functions of each device in FIG. 2 of the present application (such as a perception management device, a perception device, or a positioning device, etc.) can be implemented by one device, or by multiple devices together, or by one or more functional modules in one device, and the present application does not make specific restrictions on this. It is understandable that the above functions can be network elements in hardware devices, software functions running on dedicated hardware, or a combination of hardware and software, or virtualization functions instantiated on a platform (for example, a cloud platform).

In specific implementation, each device in FIG. 2 of the present application (such as a perception management device, a perception device or a positioning device, etc.) can adopt the composition structure shown in FIG. 4, or include the components shown in FIG. 4. FIG. 4 is a schematic diagram of the hardware structure of a communication device applicable to the present application. The communication device 40 includes at least one processor 401 and at least one communication interface 404, which are used to implement the method provided by the present application. The communication device 40 may also include a communication line 402 and a memory 403.

Processor 401 can be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application.

The communication link 402 may include a path to transmit information between the above-mentioned components, such as a bus.

The communication interface 404 is used to communicate with other devices or communication networks. The communication interface 404 can be any transceiver-like device, such as an Ethernet interface, a radio access network (RAN) interface, a wireless local area network (WLAN) interface, or a wireless LAN interface.

(wireless local area networks, WLAN) interface, transceiver, pin, bus, interface circuit or transceiver circuit, etc.

The memory 403 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be coupled to the processor 401 through the communication line 402. The memory 403 may also be integrated with the processor 401. The memory provided in the present application may generally be non-volatile.

Among them, the memory 403 is used to store the computer execution instructions involved in executing the solution provided by this application, and the execution is controlled by the processor 401. The processor 401 is used to execute the computer execution instructions stored in the memory 403, so as to implement the method provided by this application. Alternatively, optionally, in this application, the processor 401 may also perform the processing-related functions in the method provided below in this application, and the communication interface 404 is responsible for communicating with other devices or communication networks, which is not specifically limited in this application.

Optionally, the computer-executable instructions in the present application may also be referred to as application code, which is not specifically limited in the present application.

The coupling in this application is an indirect coupling or communication connection between devices, units or modules, which can be electrical, mechanical or other forms, and is used for information exchange between devices, units or modules.

As an embodiment, the processor 401 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 4 .

As an embodiment, the communication device 40 may include multiple processors, such as the processor 401 and the processor 407 in FIG. 4. Each of these processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. The processor here may refer to one or more devices, circuits, and/or processing cores for processing data (such as computer program instructions).

As an embodiment, the communication device 40 may further include an output device 405 and/or an input device 406. The output device 405 is coupled to the processor 401 and can display information in a variety of ways. For example, the output device 405 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector. The input device 406 is coupled to the processor 401 and can receive user input in a variety of ways. For example, the input device 406 may be a mouse, a keyboard, a touch screen device, or a sensor device.

It is understandable that the composition structure shown in FIG. 4 does not constitute a limitation on the communication device. In addition to the components shown in FIG. 4 , the communication device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

The method provided by the present application will be described below in conjunction with the accompanying drawings. Each device in the following embodiments may have the components shown in FIG4 , which will not be described in detail.

It is understandable that the information names between the various devices or the names of the various parameters in the information in the following embodiments of the present application are only examples, and other names may be used in specific implementations, and the present application does not make specific limitations on this.

It is understandable that in the present application, "/" can indicate that the objects associated with each other are in an "or" relationship, for example, A/B can indicate A or B; "and/or" can be used to describe that there are three relationships between the associated objects, for example, A and/or B can indicate: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In addition, expressions similar to "at least one of A, B and C" or "at least one of A, B or C" are usually used to indicate any of the following: A exists alone; B exists alone; C exists alone; A and B exist at the same time; A and C exist at the same time; B and C exist at the same time; A, B and C exist at the same time. The above uses A, B and C as an example to illustrate the optional items of the item. When there are more elements in the expression, the meaning of the expression can be obtained according to the above rules.

In order to facilitate the description of the technical solution of the present application, in the present application, words such as "first" and "second" may be used to distinguish between technical features with the same or similar functions. The words such as "first" and "second" do not limit the quantity and execution order, and the words such as "first" and "second" do not necessarily limit them to be different. In the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations, and any embodiment or design described as "exemplary" or "for example" should not be interpreted as being more preferred or more advantageous than other embodiments or designs. The use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way for easy understanding.

It is understood that the "embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the various embodiments in the entire specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It is understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the present application.

It can be understood that in the present application, "when...", "in the case of...", "if" and "if" all mean that corresponding processing will be taken under certain objective circumstances, but do not limit the time, nor do they require any judgment action when implementing them, nor do they mean the existence of other limitations.

In this application, unless otherwise specified, "multiple" can be understood as two or more than two. For example, multiple targets can be understood as two or more than two targets.

In this application, unless otherwise specified, "greater than or equal to" can be replaced by "greater than" or "equal to"; "less than or equal to" can be replaced by "less than" or "equal to". For example, A is greater than or equal to B, which can be replaced by A is greater than B, or A is equal to B; A is less than or equal to B, which can be replaced by A is less than B, or A is equal to B.

It is understandable that some optional features in this application may be implemented independently in some scenarios without relying on other features, such as the solution on which it is currently based, to solve corresponding technical problems and achieve corresponding effects. They may also be combined with other features according to needs in some scenarios. Accordingly, the device provided in this application may also realize these features or functions accordingly, which will not be elaborated here.

It can be understood that the same step or steps or technical features with the same functions in different embodiments of the present application can be referenced to each other.

It is understandable that the processing of user personal information involved in this application, such as collection, storage, use, processing, transmission, provision and disclosure, is in compliance with the relevant laws and regulations and does not violate public order and good morals. For example, in this application, the processing of the location information of the target is carried out with the authorization of the user to whom the target belongs, which is explained here uniformly and will not be repeated below.

It is understandable that in the present application, the perception management device and/or the perception device can perform some or all of the steps in the present application, and these steps are only examples. The present application can also perform other steps or variations of various steps. In addition, the various steps can be performed in different orders presented in the present application, and it is possible that not all the steps in the present application need to be performed.

It is understandable that the method provided below in this application uses the perception management device and the perception device as the execution subject of the interaction diagram as an example to illustrate the method, but this application does not limit the execution subject of the interaction diagram. For example, the perception management device in the method provided in the following embodiments of this application can also be a chip, chip system, or processor that supports the perception management device to implement the method, or a logical node, logical module, or software that can implement all or part of the functions of the perception management device; The sensing device in the provided method may also be a chip, a chip system, or a processor that supports the sensing device to implement the method, or may be a logical node, a logical module, or software that can implement all or part of the functions of the sensing device.

As shown in FIG5 , a target detection method provided by the present application may include the following steps:

S501: The perception management device obtains first location information of a first target at a first moment.

The perception management device may be the perception management device 201 in the communication system 20 shown in FIG. 2 , and the first target may be the target 203 in the communication system 20 .

In the present application, the first location information can be used to indicate the location of the first target at a second moment. The second moment is later than the first moment. That is, the perception management device can predict the location of the first target at a second moment after the first moment at the first moment. The specific process of the perception management device predicting the location of the first target at a second moment after the first moment at the first moment will be introduced in the following S5011-S5012 and will not be repeated here.

In a possible design, the first position information includes the coordinates of the predicted position of the first target at the second moment, or the predicted azimuth of the first target at the second moment. The coordinates are two-dimensional coordinates or three-dimensional coordinates, and the representation method of the predicted azimuth of the first target at the second moment can refer to the description of the azimuth of the target in the previous text.

Exemplarily, the first position information includes (x1, y1), wherein x1 represents the horizontal coordinate of the predicted position of the first target at the second moment in the two-dimensional coordinate system, and y1 represents the vertical coordinate of the predicted position of the first target at the second moment in the two-dimensional coordinate system. Alternatively, the first position information includes (x1, y1, z1), wherein x1 represents the horizontal coordinate of the predicted position of the first target at the second moment in the three-dimensional coordinate system, y1 represents the vertical coordinate of the predicted position of the first target at the second moment in the three-dimensional coordinate system, and z1 represents the vertical coordinate of the predicted position of the first target at the second moment in the three-dimensional coordinate system. Alternatively, the first position information includes (θ ₁ , ), where θ ₁ represents the zenith angle corresponding to the predicted position of the first target at the second moment, represents the horizontal azimuth angle corresponding to the predicted position of the first target at the second moment. Alternatively, the first position information includes (θ ₁ , D1), where D1 represents the distance between the predicted position of the first target at the second moment and the first sensing device, or represents the distance between the predicted position of the first target at the second moment and the sensing management device, or represents the distance between the predicted position of the first target at the second moment and the coordinate system where the first target is located (such as _θ1 and The distance between the origins in the coordinate system where the

In a possible implementation manner, the sensing management device obtains the first location information periodically or aperiodically.

It is understandable that if the perception management device periodically obtains the first location information, the period for obtaining the first location information may be defined by the protocol or predefined, and the period is related to the business and/or the moving speed of the first target. For example, when other conditions are fixed, the business has higher real-time requirements for the location of the first target, and the shorter the period is; the business has lower real-time requirements for the location of the first target, and the longer the period is. For another example, when other conditions are fixed, the faster the moving speed of the first target, the shorter the period is; the slower the moving speed of the first target, the longer the period is.

S502: The perception management device obtains first perception information.

In this application, the first perception information is used to indicate the information of the first target perceived at the second moment according to the first position information. In other words, the first perception information is obtained by perceiving the first target at a specific moment (i.e., the second moment) and a specific position (i.e., the position indicated by the first position information), so the first perception information is relatively accurate.

In a possible design, the first perception information includes first angle information or second position information.

In the present application, the first angle information is used to indicate the azimuth between the first target and the first sensing device at the second moment, and the azimuth can represent the position of the first target relative to the first sensing device at the second moment. Therefore, the first angle information can be used by the sensing management device to determine the actual position of the first target at the second moment. The second position information can be used to indicate the position of the first target at the second moment. The representation method of the second position information can refer to the above introduction to the first position information and will not be repeated. The second position information can be used by the sensing management device to determine the actual position of the first target at the second moment. It should be understood that the position indicated by the second position information is the same as or different from the actual position. In other words, after the sensing management device obtains the second position information, it can determine the position indicated by the second position information as the actual position of the first target at the second moment, or further process the second position information to obtain the above actual position, such as combining the information perceived by the sensing device other than the sensing device that perceives the first sensing information, and/or the position of the first target at a historical moment to determine the above actual position, without limitation.

Exemplarily, the first angle information includes the angle between the reflected signal of the first sensing signal and the antenna array surface of the first sensing device. The first sensing signal is a signal used to sense the first target (such as a signal sensing the first target at the second moment), and the reflected signal of the first sensing signal is a signal after the first sensing signal reaches the first target and is reflected by the first target. It can be understood that for the single-station sensing mode, the first sensing signal is sent by the first sensing device, and the reflected signal of the first sensing signal is a signal after the first sensing signal reaches the first target and is reflected by the first target and reaches the first sensing device. For the dual-station sensing mode, The first perception signal is sent by the third perception device, and the reflected signal of the first perception signal is a signal that reaches the first perception device after the first perception signal reaches the first target and is reflected by the first target.

For example, the first angle information includes (θ ₂ , ). Wherein, θ ₂ represents the zenith angle corresponding to the reflected signal of the first perception signal, represents the horizontal azimuth angle corresponding to the reflected signal of the first perception signal. Taking the coordinate system shown in FIG1B as an example, if the direction from A to o is the transmission direction of the reflected signal of the first perception signal, the zenith angle corresponding to the reflected signal of the first perception signal is θ in FIG1B, and the horizontal azimuth angle corresponding to the reflected signal of the first perception signal is Alternatively, the first angle information includes (θ ₂ , D2), where D2 represents the distance between the position of the first target at the second moment and the first sensing device.

Optionally, the first perception information further includes at least one of the following: information at the second moment, first indication information, first delay information, or first Doppler information. The above information is introduced below respectively.

In the present application, the information of the second moment is used to indicate the second moment. For example, the information of the second moment includes the second moment, or includes the difference between the second moment and the reference moment, or includes the information of the time domain resources where the second moment is located. Among them, the reference moment is a moment defined in the protocol or a pre-set moment. The information of the time domain resources where the second moment is located includes the identifier of the time slot where the second moment is located, or includes the identifier of the symbol where the second moment is located and the identifier of the time slot where the symbol is located, or includes the identifier of the symbol where the second moment is located, the identifier of the time slot where the symbol is located, and the identifier of the subframe where the time slot is located, or includes the identifier of the symbol where the second moment is located, the identifier of the time slot where the symbol is located, the identifier of the subframe where the time slot is located, and the identifier of the frame where the subframe is located. Optionally, the second moment is determined by the perception management device as needed.

In the present application, the first indication information is used to indicate whether the first target is detected at the second moment. For example, the first indication information includes 1 bit, and when the value of the 1 bit is "0", it indicates that the first target is not detected at the second moment, and when the value of the 1 bit is "1", it indicates that the first target is detected at the second moment, and vice versa.

In the present application, the first delay information is used to indicate the transmission delay of the first perception signal. For example, for a single-station perception mode, the transmission delay of the first perception signal is the time between the first perception device sending the first perception signal and receiving the reflected signal of the first perception signal. For a multi-station perception mode, the transmission delay of the first perception signal is the time between the third perception device sending the first perception signal and the first perception device receiving the reflected signal of the first perception signal.

In one possible design, the first delay information includes the transmission delay of the first perception signal, or includes the time when the first perception device sends the first perception signal and the time when the reflected signal of the first perception signal is received, or includes the time when the third perception device sends the first perception signal and the time when the first perception device receives the reflected signal of the first perception signal.

In the present application, the first Doppler information is used to indicate the Doppler frequency shift of the first perception signal. For example, the first Doppler information includes the Doppler frequency shift.

It can be understood that the information at the second moment can be used by the perception management device to determine the second moment, and then know that the position of the first target at the second moment is determined. The first indication information can be used by the perception management device to determine whether the first target is detected at the second moment. The first delay information can be used by the perception management device to determine the transmission delay of the first perception signal, and then assist in determining the position information of the first target at the second moment to improve positioning accuracy. The first Doppler information can be used by the perception management device to determine the Doppler frequency shift of the first perception signal, and then determine the movement speed of the first target at the second moment based on the Doppler frequency shift. Optionally, the perception management device can also determine the movement direction of the first target at the second moment based on the Doppler frequency shift.

The specific process of the perception management device acquiring the first perception information will be introduced in the following S5021-S5022 and will not be repeated here.

S503: The perception management device determines the location information of the first target at the second moment based on the first perception information.

In the present application, the position information of the first target at the second moment is used to indicate the actual position of the first target at the second moment.

In a possible design, the position information includes the coordinates of the actual position of the first target at the second moment, or the actual azimuth of the first target at the second moment. The coordinates are two-dimensional coordinates or three-dimensional coordinates. The coordinate system corresponding to the position information in S503 and the coordinate system corresponding to the first position information in S501 may be the same or different. The representation of the actual azimuth of the first target at the second moment can refer to the description of the azimuth of the target in the previous text.

Exemplarily, the position information includes (x2, y2), wherein x2 represents the horizontal coordinate of the actual position of the first target at the second moment in the two-dimensional coordinate system, and y2 represents the vertical coordinate of the actual position of the first target at the second moment in the two-dimensional coordinate system. Alternatively, the position information includes (x2, y2, z2), wherein x2 represents the horizontal coordinate of the actual position of the first target at the second moment in the three-dimensional coordinate system, y2 represents the vertical coordinate of the actual position of the first target at the second moment in the three-dimensional coordinate system, and z2 represents the vertical coordinate of the actual position of the first target at the second moment in the three-dimensional coordinate system. Alternatively, the position information includes (θ ₃ , D2), Wherein, θ ₃ represents the zenith angle corresponding to the actual position of the first target at the second moment, represents the horizontal azimuth corresponding to the actual position of the first target at the second moment, D2 represents the distance between the actual position of the first target at the second moment and the first sensing device, or represents the distance between the actual position of the first target at the second moment and the sensing management device, or represents the distance between the actual position of the first target at the second moment and the coordinate system where the first target is located (such as _θ3 and The distance between the origins in the coordinate system where the

In a possible implementation, the perception management device determines the location information of the first target at the second moment according to the second location information included in the first perception information.

Another possible implementation manner is that the perception management device determines the position information of the first target at the second moment based on the first perception information, the position information of the first perception device, and the array orientation information of the first perception device.

For example, the perception management device determines the position of the first perception device based on the position information of the first perception device, determines the array orientation of the first perception device based on the array orientation information of the first perception device, and determines the position information of the first target at the second moment based on the position, the first perception information (such as the first angle information included therein, or the first angle information and the first time delay information included therein) and the array orientation of the first perception device.

Optionally, before S503, the sensing management device obtains the array orientation information of the first sensing device. For example, the first sensing device sends the above array orientation information to the sensing management device, and the sensing management device receives the array orientation information, that is, obtains the array orientation information. Alternatively, the array orientation information is stored in the sensing management device, and the array orientation information can be obtained locally.

Optionally, before S503, the perception management device obtains the location information of the first perception device. For example, the positioning device (such as the positioning device 205 in FIG. 2 ) sends the location information of the first perception device to the perception management device, and the perception management device receives the location information, that is, obtains the location information. Alternatively, the location information is stored in the perception management device, and the location information can be obtained locally.

Optionally, the perception management device may also determine the movement speed of the first target at the second moment according to the first perception information. For example, when the first perception information includes the first angle information and the first Doppler information, the perception management device determines the position information of the first target at the second moment according to the first angle information, and determines the movement speed of the first target at the second moment according to the first Doppler information.

Optionally, when determining the location information of the first target at the second moment, the perception management device may also refer to the location information of the first target at a moment before the second moment (i.e., a historical moment), so that the determined location information is more accurate. For example, the perception management device determines the location of the first target at 8 o'clock according to S501-S503 above. When the perception management device determines the location of the first target again at 8:05, it may refer to the location of the first target determined at 8 o'clock.

It can be understood that the above S501-S503 is a specific process for the perception management device to determine the location information of the first target at the second moment. In a specific application, in addition to the first target, there are other targets, such as the second target. The perception management device can use a method similar to the above S501-S503 to determine the location of the second target.

It can be understood that the perception management device can repeatedly execute the above S501-S503 to achieve tracking of the first target.

It can be understood that the actions of the perception management device in the above S501-S503 can be executed by the processor 401 in the communication device 40 shown in Figure 4 calling the application code stored in the memory 403, and this application does not impose any restrictions on this.

Based on the method shown in FIG5 , the perception management device can predict the position of the first target at the second moment and obtain the first perception information. Among them, the first perception information is obtained for the second moment and the predicted position, which is more targeted, so the probability of detecting the first target can be improved, and the obtained first perception information can be more accurate. Subsequently, the perception management device can determine the actual position of the first target at the second moment according to the first perception information. Since the first perception information is more accurate, the actual position of the first target at the second moment obtained according to the first perception information is also more accurate. Therefore, the method shown in FIG5 can improve the probability of detecting the first target and the positioning accuracy. In addition, in the method shown in FIG5 , the first target may or may not have communication capabilities, so the method shown in FIG5 is not only applicable to scenarios where the target has communication capabilities, but also to scenarios where the target does not have communication capabilities, and the application scenarios are relatively wide.

Optionally, in a possible implementation of the method shown in FIG5 , the perception management device may obtain the second perception information and predict the position of the first target at the second moment according to the second perception information. The second perception information may be used to indicate information of the first target perceived at a third moment before the first moment. For example, as shown in FIG6 , the above S501 may include the following steps:

S5011: The perception management device obtains second perception information.

In a possible design, the second perception information includes second angle information or third position information. In the present application, the second angle information is used to indicate the azimuth between the first target and the second perception device at the third moment. The azimuth can represent the position of the first target relative to the second perception device at the third moment. The second angle information can be used by the perception management device to predict the position of the first target at the second moment.

Exemplarily, the second angle information includes the angle between the reflected signal of the second sensing signal and the antenna array of the second sensing device. Among them, the second sensing signal is a signal for sensing the first target (such as a signal sensing the first target at the third moment), and the reflected signal of the second sensing signal is a signal after the second sensing signal reaches the first target and is reflected by the first target. It can be understood that for the single-station sensing mode, the second sensing signal is sent by the second sensing device, and the reflected signal of the second sensing signal is a signal after the second sensing signal reaches the first target and is reflected by the first target and reaches the second sensing device. For the dual-station sensing mode, the second sensing signal is sent by the fourth sensing device, and the reflected signal of the second sensing signal is a signal after the second sensing signal reaches the first target and is reflected by the first target and reaches the second sensing device. Among them, the fourth sensing device and the third sensing device are the same or different. It should be understood that the content included in the second angle information is similar to the content included in the first angle information. Specifically, you can refer to the description of the first angle information in the previous text, and no further details will be given.

In the present application, the second sensing device is the same as or different from the first sensing device. It can be understood that the second sensing device is a sensing device that is currently closer to the first target, so that the second sensing device senses the first target and obtains the second sensing information.

In the present application, the third position information can be used to indicate the position of the first target at the third moment. The representation method of the third position information can refer to the above introduction to the first position information and will not be repeated here. The third position information can be used by the perception management device to predict the position of the first target at the second moment. It should be understood that the position indicated by the third position information is the same as or different from the position predicted by the perception management device. In other words, after the perception management device obtains the third position information, it can determine the position indicated by the third position information as the predicted position of the first target at the second moment, or further process the third position information to obtain the above-mentioned predicted position of the first target at the second moment, such as combining the information perceived by the perception device other than the perception device that perceives the second perception information, and/or the position of the first target at a historical moment, to predict the position of the first target at the second moment, without limitation.

Optionally, the second perception information further includes at least one of the following: information at the third moment, fifth indication information, second delay information, or second Doppler information. The above information is introduced below respectively.

In the present application, the information of the third moment is used to indicate the third moment. For example, the information of the third moment includes the third moment, or includes the difference between the third moment and the reference moment, or includes the information of the time domain resource where the third moment is located. Specifically, reference may be made to the description of the information of the second moment above.

In the present application, the fifth indication information is used to indicate whether the first target is detected at the third moment. For example, the fifth indication information includes 1 bit, and when the value of the 1 bit is "0", it indicates that the first target is not detected at the third moment, and when the value of the 1 bit is "1", it indicates that the first target is detected at the third moment, and vice versa.

In the present application, the second delay information is used to indicate the transmission delay of the second perception signal. For example, for a single-station perception mode, the transmission delay of the second perception signal is the time between the second perception device sending the second perception signal and receiving the reflected signal of the second perception signal. For a multi-station perception mode, the transmission delay of the second perception signal is the time between the fourth perception device sending the second perception signal and the second perception device receiving the reflected signal of the second perception signal.

In one possible design, the second delay information includes the transmission delay of the second perception signal, or includes the time when the second perception device sends the second perception signal and the time when the reflected signal of the second perception signal is received, or includes the time when the fourth perception device sends the second perception signal and the time when the second perception device receives the reflected signal of the second perception signal.

In the present application, the second Doppler information is used to indicate the Doppler frequency shift of the second perception signal. For example, the second Doppler information includes the Doppler frequency shift.

It can be understood that the information at the third moment can be used by the perception management device to determine the third moment, and then know that the second perception device perceives the information of the first target at the third moment. The fifth indication information can be used by the perception management device to determine whether the first target is detected at the third moment. The second delay information can be used by the perception management device to determine the transmission delay of the second perception signal, and then predict the position information of the first target at the second moment to improve the accuracy of the predicted position. The second Doppler information can be used by the perception management device to determine the Doppler frequency shift of the second perception signal, and then determine the movement speed of the first target at the third moment based on the Doppler frequency shift. Optionally, the perception management device can also determine the movement direction of the first target at the third moment based on the Doppler frequency shift. The above-mentioned movement speed and direction can be used to predict the position information of the first target at the second moment.

In a possible implementation, the second perception device acquires the second perception information and sends the second perception information to the perception management device. Correspondingly, the perception management device receives the second perception information.

It is understandable that in different communication scenarios, the second perception device acquires the second perception information in different ways. The following describes the ways in which the second perception device acquires the first perception information in combination with the aforementioned communication scenarios 31 to 35.

Method 1: The second sensing device sends a second sensing signal at the third time, and receives a reflected signal of the second sensing signal. The second sensing information is determined according to the reflected signal. For example, the second sensing device is the sensing device 202 in the communication scenario 31 shown in FIG3A , or the second sensing device is the sensing device 204 in the communication scenario 32 shown in FIG3B .

A possible implementation method is that if the second perception device is the perception device 204 in Figure 3B, that is, the second perception device is a terminal, the second perception device can perceive the first target based on the network device to which it is connected (such as the sixth perception device) or the communication resources configured by the perception management device. For example, the sixth perception device sends information about the first time-frequency resource to the second perception device. After the second perception device receives the information about the first time-frequency resource, it perceives the first target at the third moment based on the information about the first time-frequency resource to obtain the second perception information. Among them, the information about the first time-frequency resource is used to indicate the time-frequency resource of the perception signal used to perceive the first target at the third moment. In other words, the second perception device sends the second perception signal on the time-frequency resource indicated by the information about the first time-frequency resource.

Optionally, after the second perception device obtains the second perception information, it sends the second perception information to the perception management device through the sixth perception device.

Optionally, the second sensing device obtains the second sensing information according to the instruction of the sensing management device. For example, the sensing management device sends fourth indication information to the second sensing device. The fourth indication information is used to indicate the sensing target. After receiving the fourth indication information, the second sensing device scans its sensing area, senses the first target at the third moment, and obtains the second sensing information.

It can be understood that in order to cover the perception area of the second perception device, the second perception device can send perception signals in different directions. When the second perception device detects that the receiving power of the reflected signal of the perception signal in a certain direction is greater than a certain threshold value, it can be determined that there is a target in that direction, and the corresponding perception information can be determined based on the reflected signal of the perception signal in that direction.

Optionally, the perception management device sends sixth indication information to the second perception device. The sixth indication information is used to indicate that the perception mode of the second perception information is a single-station perception mode or a dual-station perception mode. After receiving the sixth indication information, the second perception device can perceive the first target according to the perception mode indicated by the sixth indication information to obtain the second perception information. Alternatively, the perception management device sends the sixth indication information to the sixth perception device so that the sixth perception device indicates the perception mode of the second perception information to the second perception device, so that the second perception device perceives the first target according to the perception mode to obtain the second perception information.

Exemplarily, the sixth indication information includes 1 bit. If the value of the 1 bit is "0", the sixth indication information indicates a single-station sensing mode. If the value of the 1 bit is "1", the sixth indication information indicates a dual-station sensing mode, and vice versa.

Optionally, if the perception mode of the second perception information is a dual-station perception mode, the perception management device sends seventh indication information to the second perception device. The seventh indication information is used to indicate the device that sends the perception signal and/or the device that receives the perception signal in the dual-station perception mode. After the second perception device receives the seventh indication information, it can determine whether it sends the second perception signal or receives the reflected signal of the second perception signal based on the seventh indication information. Alternatively, the perception management device sends the seventh indication information to the sixth perception device so that the sixth perception device indicates to the second perception device whether the second perception device sends the second perception signal or receives the reflected signal of the second perception signal.

Exemplarily, if the second perception device is a device that sends a perception signal, the seventh indication information includes the identifier of the second perception device, and after the second perception device receives the seventh indication information, it can determine that it sends the second perception signal. Alternatively, if the second perception device is a device that receives a perception signal, the seventh indication information includes the identifier of the second perception device, and after the second perception device receives the seventh indication information, it can determine that it receives the second perception signal. Alternatively, the seventh indication information includes the identifier of the device that sends the perception signal and the identifier of the device that receives the perception signal, and the above two identifiers are arranged in the order of the identifier of the device that sends the perception signal first and the identifier of the device that receives the perception signal later, or the above two identifiers are arranged in the order of the identifier of the device that sends the perception signal first and the identifier of the device that receives the perception signal later.

It can be understood that the above are merely examples of the sixth indication information and the seventh indication information. In a specific application, the sixth indication information and the seventh indication information may also indicate corresponding information in other ways without limitation.

The above describes that the perception management device instructs the second perception device to perceive the first target at the third moment. In a specific application, in addition to the second perception device, the perception management device can also instruct other perception devices to perceive the first target at the third moment, and combine the second perception information and the perception information obtained by other perception devices (such as the fifth perception information) to predict the position of the first target at the second moment, so as to further improve the positioning accuracy. It should be understood that other perception devices can obtain perception information through method 1, the following method 2 or multi-station perception mode without limitation.

Mode 2: The fourth sensing device sends the second sensing signal at the third moment, and the second sensing device receives the reflected signal of the second sensing signal, and determines the second sensing information according to the reflected signal. Exemplarily, taking the communication scenario 33 shown in FIG. 3C or the communication scenario 34 shown in FIG. 3D as an example, the second sensing device is sensing device 202, and the fourth sensing device is sensing device 204, or the second sensing device is sensing device 204, and the fourth sensing device is sensing device 202. Taking the communication scenario 35 shown in FIG. 3E as an example, the second sensing device is sensing device 202, and the fourth sensing device is sensing device 204. The second sensing device is sensing device 204 and the fourth sensing device is sensing device 206 , or the second sensing device is sensing device 206 and the fourth sensing device is sensing device 204 .

It can be understood that, similar to the logic of method 1, if the second perception device or the fourth perception device is a terminal, the two can perceive the first target based on the communication resources configured by the network device (such as the sixth perception device) or the perception management device to which they are connected. For example, the sixth perception device sends information about the first time-frequency resource to the second perception device (or the fourth perception device), and after the second perception device (or the fourth perception device) receives the information about the first time-frequency resource, it perceives the first target at the third moment based on the information about the first time-frequency resource, and obtains the second perception information. In other words, the fourth perception device sends the second perception signal on the time-frequency resource indicated by the information about the first time-frequency resource, and the second perception device receives the reflected signal on the time-frequency resource indicated by the information about the first time-frequency resource.

Optionally, after the second perception device obtains the second perception information, it sends the second perception information to the perception management device through the sixth perception device.

It is understandable that if the second sensing device is a terminal and the fourth sensing device is a network device, the sixth sensing device and the fourth sensing device may be the same or different. Similarly, if the fourth sensing device is a terminal and the second sensing device is a network device, the sixth sensing device and the second sensing device may be the same or different.

It can be understood that in method 2, the fourth perception device can obtain the fourth indication information in a similar manner to the second perception device to send perception signals in different directions, and/or, sixth indication information, and/or, seventh indication information.

The above describes that the perception management device instructs the second perception device and the fourth perception device to use the dual-station perception mode to perceive the first target at the third moment. In a specific application, in addition to the second perception device and the fourth perception device, the perception management device can also instruct other perception devices to perceive the first target at the third moment, and combine the second perception information and the perception information obtained by other perception devices (such as the sixth perception information) to predict the position of the first target at the third moment, so as to further improve the accuracy of the predicted position. It should be understood that other perception devices can obtain perception information through the above-mentioned method 1, method 2 or multi-station perception mode without limitation.

S5012: The perception management device determines the first location information based on the second perception information at the first moment.

In a possible implementation manner, the perception management device determines the first location information according to the third location information included in the second perception information.

Another possible implementation is that the perception management device determines the position of the first target at the third moment based on the second perception information, the position information of the second perception device, and the array orientation information of the second perception device, and determines the first position information based on the position.

For example, if the second perception information includes second angle information, the perception management device determines the position of the first target at the third moment based on the second angle information, the position information of the second perception device, and the array orientation information of the second perception device, and determines the first position information based on the position.

For another example, if the second perception information includes second angle information and second delay information, the perception management device determines the position of the first target at the third moment based on the second angle information, the second delay information, the position information of the second perception device, and the array orientation information of the second perception device, and determines the first position information based on the position.

For another example, if the second perception information includes second angle information and second Doppler information, the perception management device determines the position of the first target at the third moment based on the second angle information, the position information of the second perception device, and the array orientation information of the second perception device, determines the movement speed and movement direction of the first target at the third moment based on the second Doppler information, and determines the first position information based on the position, the movement speed, and the movement direction.

Optionally, the sensing management device obtains the array orientation information of the second sensing device. For example, the second sensing device sends the array orientation information to the sensing management device, and the sensing management device receives the array orientation information, that is, obtains the array orientation information. Alternatively, the array orientation information is stored in the sensing management device, and the array orientation information can be obtained locally.

Optionally, the perception management device obtains the location information of the second perception device. For example, a positioning device (such as positioning device 205 in FIG. 2 ) sends the location information of the second perception device to the perception management device, and the perception management device receives the location information, that is, obtains the location information. Alternatively, the perception management device stores the location information and can obtain the location information locally.

Optionally, when determining the first position information, the perception management device may also refer to the position information of the first target at a moment before the third moment, so that the predicted position information is more accurate.

Optionally, in a possible implementation of the method shown in FIG5, the perception management device may send the first location information to the first perception device, so that the first perception device transmits a beam using a beamforming technology according to the first location information, so that the transmitted beam has a higher transmission power in the direction of the location indicated by the first location information, thereby better perceiving the first target and obtaining more accurate first perception information. For example, as shown in FIG6, the above S502 may include the following steps:

S5021: The first sensing device obtains the first position information at the fourth moment.

It can be understood that the first perception device can obtain the first location information directly from the perception management device, or the first perception device can obtain the first location information from the perception management device through other perception devices, such as the fifth perception device. For example, in the above-mentioned communication scenario 31 or communication scenario 33, the first perception device directly obtains the first location information from the perception management device. In the above-mentioned communication scenario 32 or communication scenario 35, the first perception device obtains the first location information from the perception management device through the fifth perception device. In the above-mentioned communication scenario 34, the first perception device directly obtains the first location information from the perception management device, or the first perception device obtains the first location information from the perception management device through the fifth perception device. The following is a detailed explanation.

Exemplarily, for the above-mentioned communication scenario 31, the first sensing device is the sensing device 202, the sensing management device sends the first location information to the first sensing device, and the first sensing device receives the first location information at the fourth moment, that is, the first location information is obtained.

Exemplarily, for the above-mentioned communication scenario 32, the fifth sensing device is the sensing device 202, the first sensing device is the sensing device 204, and the sensing management device sends the first location information to the fifth sensing device. After receiving the first location information, the fifth sensing device sends the first information to the first sensing device. Among them, the first information is used to determine the first location information. For example, the first information includes the first location information, or includes the angle between the position indicated by the first location information and the antenna array surface of the first sensing device. If the first information includes the first location information, the first sensing device receives the first information at the fourth moment, that is, the first location information is obtained. If the first information includes the above-mentioned angle, after the first sensing device receives the first information, it determines the first location information at the fourth moment according to the first information, the position of the first sensing device and the direction of the antenna array surface of the first sensing device.

Exemplarily, for the above-mentioned communication scenario 33, the first sensing device is sensing device 202 or sensing device 204, the sensing management device sends the first location information to the first sensing device, and the first sensing device receives the first location information at the fourth moment, that is, the first location information is obtained. It can be understood that if the first sensing device is sensing device 202, after sensing device 202 receives the first location information, it sends the first information to sensing device 204 so that sensing device 204 determines the first location information. Similarly, if the first sensing device is sensing device 204, after sensing device 204 receives the first location information, it sends the first information to sensing device 202 so that sensing device 202 determines the first location information.

Exemplarily, for the above-mentioned communication scenario 34, the first sensing device is sensing device 202, the sensing management device sends the first location information to the first sensing device, and the first sensing device receives the first location information at the fourth moment, that is, the first location information is obtained. After the first sensing device obtains the first location information, it sends the first information to sensing device 204. Alternatively, the first sensing device is sensing device 204, and the fifth sensing device is sensing device 202, and the sensing management device sends the first location information to the fifth sensing device. After the fifth sensing device receives the first location information, it sends the first information to the first sensing device. If the first information includes the first location information, the first sensing device receives the first information at the fourth moment, that is, the first location information is obtained. If the first information includes the above-mentioned angle, after the first sensing device receives the first information, it determines the first location information at the fourth moment according to the first information, the position of the first sensing device and the antenna array orientation of the first sensing device.

Exemplarily, for the above-mentioned communication scenario 35, the first sensing device is sensing device 204 and sensing device 206, the fifth sensing device is sensing device 202, and the sensing management device sends the first location information to the fifth sensing device. After receiving the first location information, the fifth sensing device sends the first information to the first sensing device. If the first information includes the first location information, the first sensing device receives the first information at the fourth moment, and the first location information is obtained. If the first information includes the above-mentioned angle, after the first sensing device receives the first information, it determines the first location information at the fourth moment based on the first information, the position of the first sensing device, and the antenna array orientation of the first sensing device.

In the present application, the second moment is later than the fourth moment. Exemplarily, the relationship between the first moment, the second moment, and the fourth moment can be shown in FIG7. It can be understood from FIG7 that the perception management device first obtains the first location information at the first moment and then sends the first location information. After the first perception device obtains the first location information at the fourth moment, it perceives the first target according to the first location information at the second moment.

In a possible implementation manner, the perception management device may send the first location information when the configuration of the perception signal used to perceive the first target changes.

Exemplarily, the sensing management device sends the first location information when the beam corresponding to the sensing signal used to sense the first target is switched, or when the first target moves from one cell to another. Taking the first sensing device as the sensing device shown in FIG. 1C as an example, when the beam corresponding to the sensing signal used to sense the first target is switched from beam 121 to beam 122, the sensing management device sends the first location information to the first sensing device. Alternatively, when the first target moves from the first sensing device to the first sensing device, the sensing management device sends the first location information to the first sensing device. When a cell moves to another cell, the sensing management device sends the first location information to the first sensing device. Alternatively, when the first target moves from a cell of a sensing device other than the first sensing device to the cell of the first sensing device, the sensing management device sends the first location information to the first sensing device.

Optionally, the first sensing device is a sensing device near the position indicated by the first position information, for example, the distance between the first sensing device and the position indicated by the first position information is less than or equal to the first value. In this way, the first target can be accurately sensed, so that the obtained first sensing information is more accurate.

Optionally, the perception management device sends information about the second moment to the first perception device so that the first perception device determines the second moment and perceives the first target at the second moment. Alternatively, the perception management device sends information about the second moment to the fifth perception device so that the fifth perception device indicates the second moment to the first perception device so that the first perception device determines the second moment and perceives the first target at the second moment.

Optionally, the perception management device sends second indication information to the first perception device. The second indication information is used to indicate that the perception mode of the first perception information is a single-station perception mode or a dual-station perception mode. After receiving the second indication information, the first perception device can perceive the first target according to the perception mode indicated by the second indication information to obtain the first perception information. Alternatively, the perception management device sends the second indication information to the fifth perception device so that the fifth perception device indicates the perception mode of the first perception information to the first perception device, so that the first perception device perceives the first target according to the perception mode to obtain the first perception information.

Exemplarily, the second indication information includes 1 bit. If the value of the 1 bit is "0", the second indication information indicates a single-station sensing mode; if the value of the 1 bit is "1", the second indication information indicates a dual-station sensing mode, and vice versa.

Optionally, if the perception mode of the first perception information is a dual-station perception mode, the perception management device sends a third indication message to the first perception device. The third indication message is used to indicate a device that sends a perception signal and/or a device that receives a perception signal in the dual-station perception mode. After the first perception device receives the third indication message, it can determine whether it is sending a first perception signal or receiving a reflected signal of the first perception signal based on the third indication message. Alternatively, the perception management device sends the third indication message to the fifth perception device so that the fifth perception device indicates to the first perception device whether the first perception device is sending a first perception signal or receiving a reflected signal of the first perception signal.

Exemplarily, if the first perception device is a device that sends a perception signal, the third indication information includes an identifier of the first perception device, and after the first perception device receives the third indication information, it can determine that it sends the first perception signal. Alternatively, if the first perception device is a device that receives a perception signal, the third indication information includes an identifier of the first perception device, and after the first perception device receives the third indication information, it can determine that it receives the first perception signal. Alternatively, the third indication information includes an identifier of the device that sends the perception signal and an identifier of the device that receives the perception signal, and the two identifiers are arranged in the order of the identifier of the device that sends the perception signal first and the identifier of the device that receives the perception signal later, or the two identifiers are arranged in the order of the identifier of the device that sends the perception signal first and the identifier of the device that receives the perception signal later.

It can be understood that the above are only examples of the second indication information and the third indication information. In specific applications, the second indication information and the third indication information may also indicate corresponding information in other ways without limitation.

S5022: The first sensing device sends first sensing information to the sensing management device. Correspondingly, the sensing management device receives the first sensing information from the first sensing device.

It can be understood that after the first sensing device obtains the first location information, it can obtain first perception information based on the first location information and send the first perception information to the perception management device so that the perception management device can determine the position of the first target at the second moment based on the first perception information.

It is understandable that in different communication scenarios, the first perception device acquires the first perception information in different ways. The following describes the ways in which the first perception device acquires the first perception information in combination with the aforementioned communication scenarios 31 to 35.

Mode 3: The first sensing device sends a first sensing signal at a second moment according to the first location information, receives a reflection signal of the first sensing signal, and determines the first sensing information according to the reflection signal. For example, the first sensing device is the sensing device 202 in the communication scenario 31 shown in FIG. 3A , or the first sensing device is the sensing device 204 in the communication scenario 32 shown in FIG. 3B .

In a possible implementation, if the first sensing device is the sensing device 204 in FIG. 3B , that is, the first sensing device is a terminal, the first sensing device may sense the first target based on the network device to which it is connected (such as the fifth sensing device) or the communication resources configured by the sensing management device. For example, the fifth sensing device sends information about the second time-frequency resource to the first sensing device. After the first sensing device receives the information about the second time-frequency resource, it senses the first target at the second moment based on the first position information and the information about the second time-frequency resource, and obtains the first sensing information. The information about the second time-frequency resource is used to indicate the information used to sense the first target at the second moment. In other words, the first perception device sends the first perception signal on the time-frequency resource indicated by the information of the second time-frequency resource.

Optionally, after the first perception device obtains the first perception information, the first perception information is sent to the perception management device through the fifth perception device.

It can be understood that in method 3, the first sensing device obtains the first position information before sending the first sensing signal, so the beamforming technology can be used to transmit a transmission beam in the direction of the position indicated by the first position information, and the first sensing signal is sent through the transmission beam to increase the transmission power of the first sensing signal, thereby increasing the receiving power of the reflected signal of the first sensing signal and the receiving signal-to-noise ratio of the reflected signal. Subsequently, the first sensing device uses the beamforming technology to transmit a receiving beam in the direction of the position indicated by the first position information, and receives the above-mentioned reflected signal through the receiving beam to increase the receiving power and the receiving signal-to-noise ratio of the reflected signal, so that the acquired first sensing information is more accurate, thereby increasing the probability of detecting the first target and the positioning accuracy.

The above describes that the perception management device instructs the first perception device to perceive the first target at the second moment. In a specific application, in addition to the first perception device, the perception management device can also instruct other perception devices to perceive the first target at the second moment, and combine the first perception information and the perception information obtained by other perception devices (such as the third perception information) to determine the position of the first target at the second moment, so as to further improve the positioning accuracy. It should be understood that other perception devices can obtain perception information through method 3, the following method 4 or multi-station perception mode without limitation.

Mode 4: The third sensing device sends a first sensing signal at a second moment according to the first location information, and the first sensing device receives a reflection signal of the first sensing signal, and determines the first sensing information according to the reflection signal. Exemplarily, taking the communication scenario 33 shown in FIG. 3C or the communication scenario 34 shown in FIG. 3D as an example, the first sensing device is sensing device 202, the third sensing device is sensing device 204, or the first sensing device is sensing device 204, and the third sensing device is sensing device 202. Taking the communication scenario 35 shown in FIG. 3E as an example, the first sensing device is sensing device 204, the third sensing device is sensing device 206, or the first sensing device is sensing device 206, and the third sensing device is sensing device 204.

It can be understood that, similar to the logic of method 3, if the first sensing device or the third sensing device is a terminal, the two can sense the first target based on the network device (such as the fifth sensing device) to which they are connected or the communication resources configured by the sensing management device. For example, the fifth sensing device sends information about the second time-frequency resource to the first sensing device (or the third sensing device). After the first sensing device (or the third sensing device) receives the information about the second time-frequency resource, it senses the first target at the second moment based on the first position information and the information about the second time-frequency resource, and obtains the first sensing information. In other words, the third sensing device sends the first sensing signal on the time-frequency resource indicated by the information about the second time-frequency resource, and the first sensing device receives the reflected signal on the time-frequency resource indicated by the information about the second time-frequency resource.

Optionally, after the first perception device obtains the first perception information, the first perception information is sent to the perception management device through the fifth perception device.

It is understandable that if the first sensing device is a terminal and the third sensing device is a network device, the fifth sensing device and the third sensing device may be the same or different. Similarly, if the third sensing device is a terminal and the first sensing device is a network device, the fifth sensing device and the first sensing device may be the same or different.

It can be understood that in mode 4, the third sensing device obtains the first position information before sending the first sensing signal, so the beamforming technology can be used to transmit a transmission beam in the direction of the position indicated by the first position information, and the first sensing signal is sent through the transmission beam to increase the transmission power of the first sensing signal, thereby increasing the receiving power of the reflected signal of the first sensing signal and the receiving signal-to-noise ratio of the reflected signal. The first sensing device obtains the first position information before receiving the reflected signal of the first sensing signal, so the beamforming technology can be used to transmit a receiving beam in the direction of the position indicated by the first position information, and the reflected signal is received through the receiving beam to increase the receiving power and the receiving signal-to-noise ratio of the reflected signal, so that the acquired first sensing information is more accurate, thereby increasing the probability of detecting the first target and the positioning accuracy.

The above describes that the perception management device instructs the first perception device and the third perception device to use the dual-station perception mode to perceive the first target at the second moment. In a specific application, in addition to the first perception device and the third perception device, the perception management device can also instruct other perception devices to perceive the first target at the second moment, and combine the first perception information and the perception information obtained by other perception devices (such as the fourth perception information) to determine the position of the first target at the second moment, so as to further improve the positioning accuracy. It should be understood that other perception devices can obtain perception information through the above-mentioned method 3, method 4 or multi-station perception mode without limitation.

It can be understood that in mode 4, the third sensing device can obtain the first position in a similar manner as the first sensing device. Information, and/or, information at the second moment, and/or, second indication information, and/or, third indication information.

It can be understood that the actions of the perception management device, the first perception device, the second perception device, the third perception device or the fourth perception device in the above S5011-S5012 and S5021-S5022 can be executed by the processor 401 in the communication device 40 shown in Figure 4 calling the application code stored in the memory 403, and this application does not impose any restrictions on this.

It can be understood that the method shown in Figure 5 or Figure 6 can accurately locate the first target. Therefore, the method described in Figure 5 or Figure 6 can be used for vehicle tracking, drone tracking and navigation in intelligent traffic scenarios, and detection and positioning of people, animals, vehicles or drones on the road.

The above mainly introduces the scheme provided by the present application from the perspective of interaction between various devices. Accordingly, the present application also provides a communication device, which can be a perception management device in the above method embodiment, or a device including the above perception management device, or a component that can be used for the perception management device; or, the communication device can be a perception device (such as a first perception device, a second perception device, a third perception device, a fourth perception device, a fifth perception device or a sixth perception device, etc.) in the above method embodiment, or a device including the above perception device, or a component that can be used for the perception device. It can be understood that the above perception management device or perception device, etc., in order to realize the above functions, includes a hardware structure and/or software module corresponding to each function. Those skilled in the art should easily realize that, in combination with the units and algorithm operations of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

The present application can divide the functional modules of the perception management device or the perception device according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It can be understood that the division of modules in the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

For example, in the case of dividing each functional module in an integrated manner, FIG8 shows a schematic diagram of the structure of a communication device 80. The communication device 80 includes a processing module 801. Optionally, the communication device 80 also includes an interface module 802. The processing module 801, which may also be referred to as a processing unit, is used to perform operations other than transceiver operations, such as a processing circuit or a processor. The interface module 802, which may also be referred to as an interface unit, is used to perform transceiver operations, such as an interface circuit, a transceiver, a transceiver or a communication interface.

In some embodiments, the communication device 80 may further include a storage module (not shown in FIG. 8 ) for storing program instructions and data.

Exemplarily, the communication device 80 is used to implement the function of the perception management device. The communication device 80 is, for example, the perception management device described in the embodiment shown in FIG5 or the embodiment shown in FIG6.

The processing module 801 is used to obtain first position information of a first target at a first moment. The first position information is used to indicate the position of the first target at a second moment, and the second moment is later than the first moment. For example, the processing module 801 can be used to execute S501.

The processing module 801 is further used to obtain first perception information. The first perception information is used to indicate information of the first target perceived at the second moment according to the first position information. For example, the processing module 801 can be used to execute S802.

The processing module 801 is further configured to determine the position information of the first target at the second moment according to the first perception information. For example, the processing module 801 can be configured to execute S803.

In a possible implementation, the processing module 801 is specifically used to send the first position information to the first sensing device through the interface module 802; the processing module 801 is also specifically used to receive the first sensing information from the first sensing device through the interface module 802.

In one possible implementation, the first perception information includes first angle information or second position information, the first angle information is used to indicate the azimuth between the first target and the first perception device at the second moment, and the second position information is used to indicate the position of the first target at the second moment.

In a possible implementation manner, the first perception information further includes at least one of the following: information at the second moment, first indication information, first delay information, or first Doppler information; wherein the first indication information is used to indicate whether the first target, the first delay information is used to indicate the transmission delay of the first perception signal, the first Doppler information is used to indicate the Doppler frequency shift of the first perception signal, and the first perception signal is a signal used to perceive the first target.

In a possible implementation, the interface module 802 is used to send second indication information to the first perception device, where the second indication information is used to indicate that the perception mode of the first perception information is a single-station perception mode or a dual-station perception mode.

In one possible implementation, the perception mode of the first perception information is a dual-station perception mode, and the interface module 802 is also used to send third indication information to the first perception device, and the third indication information is used to indicate the device for sending the perception signal and/or the device for receiving the perception signal in the dual-station perception mode.

In a possible implementation, the interface module 802 is further configured to send information at the second moment to the first sensing device.

In one possible implementation, the processing module 801 is specifically used to obtain second perception information, where the second perception information is used to indicate information of a first target perceived at a third moment before the first moment; the processing module 801 is also specifically used to determine the first position information at the first moment based on the second perception information.

In a possible implementation, the processing module 801 is specifically configured to receive second perception information from a second perception device through the interface module 802 .

In a possible implementation, the interface module 802 is further used to send fourth indication information to the second perception device, where the fourth indication information is used to indicate a perception target.

In a possible implementation, the processing module 801 is further used to obtain position information of the first sensing device, and the position information of the first sensing device is used to determine the position information of the first target at the second moment.

In a possible implementation, the processing module 801 is further used to obtain the array orientation information of the first sensing device, and the array orientation information of the first sensing device is used to determine the position information of the first target at the second moment.

In a possible implementation, the first sensing device may be either a network device or a terminal.

When used to implement the functions of the perception management device, regarding other functions that the communication device 80 can implement, reference can be made to the relevant introduction of the embodiment shown in Figure 5 or the embodiment shown in Figure 6, and no further details will be given.

Alternatively, illustratively, the communication device 80 is used to implement the function of the first sensing device or the second sensing device. The communication device 80 is, for example, the first sensing device or the second sensing device described in the embodiment shown in FIG. 5 or the embodiment shown in FIG. 6 .

The processing module 801 is used to obtain the first position information of the first target at the fourth moment. The first position information is used to indicate the position of the first target at the second moment, and the second moment is later than the fourth moment. For example, the processing module 801 can be used to execute S5021.

The interface module 802 is used to send first perception information. The first perception information is obtained by perceiving the first target at the second moment according to the first location information, and the first perception information is used to determine the location information of the first target at the second moment. For example, the interface module 802 can be used to execute S5022.

In one possible implementation, the first perception information includes first angle information or second position information, the first angle information is used to indicate the azimuth between the first target and the first perception device at the second moment, and the second position information is used to indicate the position of the first target at the second moment.

In a possible implementation, the first perception information also includes at least one of the following: information at the second moment, first indication information, first delay information or first Doppler information; wherein the first indication information is used to indicate whether the first target is detected at the second moment, the first delay information is used to indicate the transmission delay of the first perception signal, the first Doppler information is used to indicate the Doppler frequency shift of the first perception signal, and the first perception signal is a signal used to perceive the first target.

In a possible implementation, the interface module 802 is further used to receive second indication information, where the second indication information is used to indicate that the perception mode of the first perception information is a single-station perception mode or a dual-station perception mode.

In one possible implementation, the perception mode of the first perception information is a dual-station perception mode, and the interface module 802 is also used to receive third indication information, and the third indication information is used to indicate a device for sending a perception signal and/or a device for receiving a perception signal in the dual-station perception mode.

In a possible implementation manner, the interface module 802 is further configured to receive information at the second moment.

In one possible implementation, the processing module 801 is specifically used to send second perception information through the interface module 802, where the second perception information is used to indicate information of the first target perceived at a second moment before the first moment; the processing module 801 is also specifically used to receive the first position information at a fourth moment through the interface module 802.

In a possible implementation, the interface module 802 is further configured to receive fourth indication information, where the fourth indication information is used to indicate the sense Know the goal.

In a possible implementation manner, the interface module 802 is further configured to send information about the first time-frequency resource, where the information about the first time-frequency resource is used to indicate a time-frequency resource used to perceive a perception signal of the first target at a third moment.

In a possible implementation manner, the interface module 802 is further configured to receive second perception information, where the second perception information is information perceived on the first time-frequency resource.

In a possible implementation manner, the interface module 802 is further configured to send information about a second time-frequency resource, where the information about the second time-frequency resource is used to indicate a time-frequency resource used to perceive a perception signal of the first target at a second moment.

In a possible implementation, the interface module 802 is further used to receive first perception information, where the first perception information is obtained by sensing the first target at the second moment based on information about the second time-frequency resource and the first location information.

In a possible implementation manner, the interface module 802 is further configured to send first information, where the first information is used to determine the first location information.

In a possible implementation, the interface module 802 is further used to receive information about the first time-frequency resource; the processing module 801 is further used to perceive the first target according to the information about the first time-frequency resource at a third moment to obtain second perception information.

In a possible implementation, the interface module 802 is further used to receive information about a second time-frequency resource; the processing module 801 is further used to perceive the first target at a second moment based on the first position information and the information about the second time-frequency resource to obtain first perception information.

In a possible implementation, the interface module 802 is further used to send the array orientation information of the first sensing device, and the array orientation information of the first sensing device is used to determine the position information of the first target at the second moment.

When used to implement the function of a sensing device (such as a first sensing device or a second sensing device), regarding other functions that the communication device 80 can implement, reference can be made to the relevant introduction of the embodiment shown in Figure 5 or the embodiment shown in Figure 6, and no further details will be given.

Alternatively, illustratively, the communication device 80 is used to implement the function of a sensing device (such as the fifth sensing device or the sixth sensing device). The communication device 80 is, for example, the sensing device described in the embodiment shown in FIG. 5 or the embodiment shown in FIG. 6 .

The interface module 802 is configured to send information about the first time-frequency resource, wherein the information about the first time-frequency resource is used to indicate a time-frequency resource used to perceive a perception signal of the first target at the third moment.

The interface module 802 is further configured to receive second perception information, wherein the second perception information is obtained by perceiving the first target at a third moment according to information of the first time-frequency resource.

In one possible implementation, the second perception information includes second angle information or third position information, the second angle information is used to indicate the azimuth between the first target and the second perception device at a third moment, and the third position information is used to indicate the position of the first target at the third moment.

In a possible implementation, the second perception information also includes at least one of the following: information at a third moment, fifth indication information, second delay information or second Doppler information; wherein the fifth indication information is used to indicate whether the first target is detected at the third moment, the second delay information is used to indicate the transmission delay of the second perception signal, the second Doppler information is used to indicate the Doppler frequency shift of the second perception signal, and the second perception signal is a signal used to perceive the first target.

In a possible implementation, the interface module 802 is further used to receive fourth indication information, where the fourth indication information is used to indicate a perception target.

When used to implement the functions of a sensing device (such as the fifth sensing device or the sixth sensing device), regarding other functions that the communication device 80 can implement, reference can be made to the relevant introduction of the embodiment shown in Figure 5 or the embodiment shown in Figure 6, and no further details will be given.

In a simple embodiment, those skilled in the art may imagine that the communication device 80 may be in the form shown in Figure 4. For example, the processor 401 in Figure 4 may call the computer-executable instructions stored in the memory 403 to enable the communication device 80 to execute the method described in the above method embodiment.

Exemplarily, the functions/implementation processes of the processing module 801 and the interface module 802 in FIG8 can be implemented by the processor 401 in FIG4 calling the computer execution instructions stored in the memory 403. Alternatively, the functions/implementation processes of the processing module 801 in FIG8 can be implemented by the processor 401 in FIG4 calling the computer execution instructions stored in the memory 403, and the functions/implementation processes of the interface module 802 in FIG8 can be implemented by the communication interface 404 in FIG4.

It is understandable that one or more of the above modules or units can be implemented by software, hardware or a combination of the two. When any of the above modules or units is implemented by software, the software exists in the form of computer program instructions and is stored in a memory, and a processor can be used to execute the program instructions and implement the above method flow. The processor can be built into an SoC (system on chip) or an ASIC, or it can be an independent semiconductor chip. The processor is used to execute software instructions to perform calculations or In addition to the processing core, it may further include necessary hardware accelerators, such as field programmable gate arrays (FPGA), PLDs (programmable logic devices), or logic circuits that implement dedicated logic operations.

When the above modules or units are implemented in hardware, the hardware can be any one or any combination of a CPU, a microprocessor, a digital signal processing (DSP) chip, a microcontroller unit (MCU), an artificial intelligence processor, an ASIC, a SoC, an FPGA, a PLD, a dedicated digital circuit, a hardware accelerator or a non-integrated discrete device, which can run the necessary software or not rely on the software to execute the above method flow.

Optionally, the present application also provides a chip system, including: at least one processor and an interface, the at least one processor is coupled to a memory through the interface, and when the at least one processor executes a computer program or instruction in the memory, the method in any of the above method embodiments is executed. In one possible implementation, the chip system also includes a memory. Optionally, the chip system can be composed of a chip, or it can include a chip and other discrete devices, which is not specifically limited in the present application.

Optionally, the present application also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be completed by a computer program to instruct the relevant hardware, and the program can be stored in the above computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. The computer-readable storage medium can be an internal storage unit of the communication device of any of the above embodiments, such as a hard disk or memory of the communication device. The above computer-readable storage medium can also be an external storage device of the above communication device, such as a plug-in hard disk, a smart memory card (smart media card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc. equipped on the above communication device. Further, the above computer-readable storage medium can also include both the internal storage unit of the above communication device and an external storage device. The above computer-readable storage medium is used to store the above computer program and other programs and data required by the above communication device. The above computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.

Optionally, the present application also provides a computer program product. All or part of the processes in the above method embodiments can be completed by a computer program to instruct related hardware, and the program can be stored in the above computer program product. When the program is executed, it can include the processes of the above method embodiments.

Optionally, the present application also provides a computer instruction. All or part of the processes in the above method embodiments can be completed by computer instructions to instruct related hardware (such as a computer, a processor, a perception management device or the above perception device, etc.). The program can be stored in the above computer-readable storage medium or in the above computer program product.

Optionally, the present application further provides a communication system, comprising: the perception management device and the first perception device in the above embodiment. Optionally, the communication system further comprises at least one of the following: a second perception device, a third perception device, a fourth perception device, a fifth perception device or a sixth perception device.

Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims (34)

A target detection method, characterized in that the method comprises: Acquire first position information of a first target at a first moment, where the first position information is used to indicate a position of the first target at a second moment, where the second moment is later than the first moment; Acquire first perception information, where the first perception information is used to indicate information of the first target perceived at the second moment according to the first position information; Determine the location information of the first target at the second moment based on the first perception information. The method according to claim 1, characterized in that the obtaining of the first perception information comprises: sending the first location information to a first sensing device; Receive the first sensing information from the first sensing device. The method according to claim 2 is characterized in that the first perception information includes first angle information or second position information, the first angle information is used to indicate the azimuth between the first target and the first perception device at the second moment, and the second position information is used to indicate the position of the first target at the second moment. The method according to claim 3 is characterized in that the first perception information further includes at least one of the following: information at the second moment, first indication information, first delay information or first Doppler information; Among them, the first indication information is used to indicate whether the first target is detected at the second moment, the first delay information is used to indicate the transmission delay of the first perception signal, the first Doppler information is used to indicate the Doppler frequency shift of the first perception signal, and the first perception signal is a signal used to perceive the first target. The method according to any one of claims 2 to 4, characterized in that the method further comprises: Send second indication information to the first sensing device, where the second indication information is used to indicate that the sensing mode of the first sensing information is a single-station sensing mode or a dual-station sensing mode. The method according to any one of claims 2 to 5, characterized in that the sensing mode of the first sensing information is a dual-station sensing mode, and the method further comprises: Send third indication information to the first perception device, where the third indication information is used to indicate a device for sending a perception signal and/or a device for receiving a perception signal in the dual-station perception mode. The method according to any one of claims 2 to 6, characterized in that the method further comprises: Send information at the second moment to the first sensing device. The method according to any one of claims 1 to 7, characterized in that acquiring the first position information of the first target at the first moment comprises: Acquire second perception information, where the second perception information is used to indicate information of the first target perceived at a third moment before the first moment; The first position information is determined at the first moment according to the second perception information. The method according to claim 8, characterized in that the obtaining of the second perception information comprises: The second sensing information is received from a second sensing device. The method according to claim 9, characterized in that the method further comprises: Send fourth indication information to the second sensing device, where the fourth indication information is used to indicate a sensing target. The method according to any one of claims 2 to 7, characterized in that the method further comprises: Acquire location information of the first sensing device, where the location information of the first sensing device is used to determine location information of the first target at the second moment. The method according to any one of claims 2 to 7 or 11, characterized in that the method further comprises: Acquire the array orientation information of the first sensing device, where the array orientation information of the first sensing device is used to determine the position information of the first target at the second moment. The method according to any one of claims 2-7, 11 or 12 is characterized in that the first sensing device is a network device or a terminal. A target detection method, characterized in that the method comprises: Acquire first position information of a first target at a fourth moment, where the first position information is used to indicate a position of the first target at a second moment, where the second moment is later than the fourth moment; Send first perception information, where the first perception information is obtained by sensing the first target at the second moment based on the first position information, and the first perception information is used to determine the position information of the first target at the second moment. The method according to claim 14 is characterized in that the first perception information includes first angle information or second position information, the first angle information is used to indicate the azimuth between the first target and the first perception device at the second moment, and the second position information is used to indicate the position of the first target at the second moment. The method according to claim 15, characterized in that the first perception information further includes at least one of the following: information at the second moment, first indication information, first delay information or first Doppler information; Among them, the first indication information is used to indicate whether the first target is detected at the second moment, the first delay information is used to indicate the transmission delay of the first perception signal, the first Doppler information is used to indicate the Doppler frequency shift of the first perception signal, and the first perception signal is a signal used to perceive the first target. The method according to any one of claims 14 to 16, characterized in that the method further comprises: Receive second indication information, where the second indication information is used to indicate that the perception mode of the first perception information is a single-station perception mode or a dual-station perception mode. The method according to any one of claims 14 to 17, characterized in that the sensing mode of the first sensing information is a dual-station sensing mode, and the method further comprises: Receive third indication information, where the third indication information is used to indicate a device for sending a perception signal and/or a device for receiving a perception signal in the dual-station perception mode. The method according to any one of claims 14 to 18, characterized in that the method further comprises: Receive information at the second moment. The method according to any one of claims 14 to 19, characterized in that the acquiring the first position information of the first target at the fourth moment comprises: Sending second perception information, where the second perception information is used to indicate information of the first target perceived at a second moment before the first moment; The first location information is received at the fourth time. The method according to claim 20, characterized in that the method further comprises: Fourth indication information is received, where the fourth indication information is used to indicate a perception target. The method according to claim 20 or 21, characterized in that the method further comprises: Send information about first time-frequency resources, where the information about the first time-frequency resources is used to indicate a time-frequency resource of a perception signal used to perceive the first target at the third moment. The method according to claim 22, characterized in that the method further comprises: The second perception information is received, where the second perception information is information perceived on the first time-frequency resource. The method according to any one of claims 14 to 23, characterized in that the method further comprises: Send information about a second time-frequency resource, where the information about the second time-frequency resource is used to indicate a time-frequency resource of a perception signal used to perceive the first target at the second moment. The method according to claim 24, characterized in that the method further comprises: The first perception information is received, where the first perception information is obtained by sensing the first target at the second moment based on information about the second time-frequency resource and the first location information. The method according to claim 24 or 25, characterized in that the method further comprises: Sending first information, where the first information is used to determine the first location information. The method according to claim 20 or 21, characterized in that the method further comprises: Receiving information of a first time-frequency resource; At the third moment, the first target is sensed according to the information of the first time-frequency resource to obtain the second perception information. The method according to any one of claims 14 to 21 or 27, characterized in that the method further comprises: Receiving information of a second time-frequency resource; The first target is sensed at the second moment according to the first position information and information of the second time-frequency resource to obtain the first perception information. The method according to any one of claims 14 to 28, characterized in that the method further comprises: Sending array orientation information of a first sensing device, where the array orientation information of the first sensing device is used to determine position information of the first target at the second moment. A communication device, characterized by comprising a unit or module for executing the method as claimed in any one of claims 1 to 13, or comprising a unit or module for executing the method as claimed in any one of claims 14 to 29. A communication device, characterized in that it includes: a processor, the processor is coupled to a memory, the memory is used to store programs or instructions, when the program or instructions are executed by the processor, the device executes the method as described in any one of claims 1 to 13, or executes the method as described in any one of claims 14 to 29. A computer-readable storage medium having a computer program or instruction stored thereon, wherein when the computer program or instruction is executed, the computer is caused to execute the method as claimed in any one of claims 1 to 13 or the method as claimed in any one of claims 14 to 29. A computer program product, comprising a computer program code, characterized in that when the computer program code is run on a computer, the computer implements the method described in any one of claims 1 to 13 or implements the method described in any one of claims 14 to 29. A communication system, characterized in that it comprises: an apparatus for executing the method as described in any one of claims 1 to 13, and/or an apparatus for executing the method as described in any one of claims 14 to 29.