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WO2025035357A1 - Procédé de détection d'objet, dispositif et système - Google Patents

Procédé de détection d'objet, dispositif et système Download PDF

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Publication number
WO2025035357A1
WO2025035357A1 PCT/CN2023/112912 CN2023112912W WO2025035357A1 WO 2025035357 A1 WO2025035357 A1 WO 2025035357A1 CN 2023112912 W CN2023112912 W CN 2023112912W WO 2025035357 A1 WO2025035357 A1 WO 2025035357A1
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WO
WIPO (PCT)
Prior art keywords
information
perception
target
moment
sensing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2023/112912
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English (en)
Chinese (zh)
Inventor
张云昊
陈雁
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to PCT/CN2023/112912 priority Critical patent/WO2025035357A1/fr
Publication of WO2025035357A1 publication Critical patent/WO2025035357A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information

Definitions

  • the present application relates to the field of wireless communications, and in particular to a target detection method, device and system.
  • ISAC integrated sensing and communication
  • the present application provides a target detection method, device and system, which can improve the accuracy of target detection.
  • 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.
  • a 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.
  • the perception management device can predict the position of the first target at the second moment and obtain the first perception information.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the second position information is used to indicate the position of the first target at the second moment.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • the perception mode of the first perception information is a dual-station perception mode
  • 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.
  • 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.
  • the method further includes: sending information of the second moment to the first sensing device.
  • 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.
  • 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.
  • 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.
  • acquiring the second perception information includes: receiving the second perception information from a second perception device.
  • the perception management device can obtain the second perception information from the second perception device.
  • the second perception information is obtained by the second perception device sensing the first target at the third moment.
  • the second perception device is the same as or different from the first perception device.
  • 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.
  • the sensing management device can instruct the second sensing device to sense the target.
  • the second sensing device can scan its own sensing area according to the instruction of the sensing management device and find the first target.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first sensing device may be both a network device and a terminal.
  • the network device and/or the terminal can be used to perceive the first target and obtain corresponding perception information.
  • 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.
  • 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.
  • a sensing device such as a first sensing device and/or a second sensing device.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the second position information is used to indicate the position of the first target at the second moment.
  • 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.
  • 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.
  • the first perception information may also include at least one of the above information.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the perception mode of the first perception information is a dual-station perception mode
  • 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.
  • 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.
  • the method further includes: receiving information at a second moment.
  • the sensing device may determine to sense the first target at the second moment.
  • 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.
  • 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.
  • a device that receives the second perception information such as a perception management device
  • the method further includes: receiving fourth indication information, where the fourth indication information is used to indicate a perception target.
  • 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.
  • 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.
  • 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.
  • the method further includes: receiving the second perception information, where the second perception information is information perceived on the first time-frequency resource.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the method further includes: sending first information, where the first information is used to determine the first location information.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a device that receives the array orientation information such as a sensing management device
  • 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.
  • 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.
  • the perception device may be the perception device itself, or a module in the perception device, or a logical node, a
  • 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.
  • 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.
  • the method further includes: sending the second perception information.
  • a device that receives the second perception information can determine the first location information according to the second perception information.
  • 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
  • the third position information is used to indicate the position of the first target at the third moment.
  • 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.
  • 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.
  • the second perception information may also include at least one of the above information.
  • 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.
  • 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.
  • the method further includes: receiving fourth indication information, where the fourth indication information is used to indicate a perception target.
  • 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.
  • a communication device 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
  • 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.
  • 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.
  • 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.
  • 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.
  • a communication device 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
  • the communication device also includes a memory, and the memory is used to store program instructions and data.
  • the communication device is a chip or a chip system.
  • the communication device when it is a chip system, it can be composed of a chip, or it can include a chip and other discrete devices.
  • a communication device 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
  • the communication device is a chip or a chip system.
  • the communication device when it is a chip system, it can be composed of a chip, or it can include a chip and other discrete devices.
  • a computer-readable storage medium 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.
  • a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the method described in any one of the above aspects.
  • a communication system 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.
  • 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.
  • the sensing device in the present application has sensing capability and communication capability, and can sense the target by transmitting a signal.
  • 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.
  • 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.
  • LTE long term evolution
  • TP evolved base stations
  • TRP transmission receiving points
  • 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.
  • D2D device-to-device
  • the network device can also be a wireless controller in a cloud radio access network (CRAN) scenario.
  • CDRF cloud radio access network
  • 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.
  • the network device in vehicle to everything (V2X) technology may be a road side unit (RSU).
  • 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).
  • RRU remote radio unit
  • AAU active antenna unit
  • RRH remote radio head
  • 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.
  • CU or CU-CP and CU-UP
  • DU or RU may have different names, but those skilled in the art can understand their meanings.
  • ORAN open radio access network
  • 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
  • RU may also be referred to as O-RU.
  • 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.
  • 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.
  • 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.
  • computing devices exemplary, 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 be a mobile phone (mobile phone), a mobile Internet device (mobile internet device, MID) or a computer with wireless transceiver function.
  • MID mobile internet device
  • 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.
  • V2X vehicle to everything
  • LTE-V long term evolution vehicle
  • V2V vehicle to vehicle
  • 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.
  • the sensing device may be arranged as required.
  • the sensing device 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.
  • array orientation of the sensing device (hereinafter referred to as array orientation)
  • 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.
  • the array face orientation is represented by the horizontal azimuth angle ⁇ , downtilt angle ⁇ and tilt angle ⁇ of the local coordinate system where the antenna array face is located relative to the three-dimensional global coordinate system.
  • 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 ⁇ to obtain the coordinate system o- Then the coordinate system by The axis is rotated by an angle ⁇ to obtain the coordinate system Then the coordinate system by The axis is rotated by an angle of ⁇ to obtain the coordinate system That is the local coordinate system where the antenna array surface 101 is located.
  • 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.
  • the target in this application 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.
  • the target includes but is not limited to: people, various means of transport or various terminals described above.
  • the means of transport can be used to transport people or goods, such as vehicles, trains, high-speed trains, airplanes or drones.
  • 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.
  • the azimuth of the target can be represented by the zenith angle and the horizontal azimuth angle.
  • the target is located at point A
  • the antenna array 111 is located in the yoz plane
  • 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 ⁇ 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 ( ⁇ , ).
  • 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.
  • the sensing device can form one or more transmit beams and/or one or more receive beams in space by adjusting the antenna weights.
  • 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.
  • the sensing device transmits four beams, namely beams 121 to 124.
  • 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.
  • beamforming may also be referred to as beamforming or spatial filtering.
  • 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.
  • 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.
  • 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.
  • the sensing device can sense the target, and therefore, the target can be detected based on the sensing of the sensing device.
  • 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.
  • the positioning device can determine the location of the target.
  • the target needs to have communication capabilities, so method 1 is only applicable to scenarios where the target has communication capabilities.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the method provided in the present application can be used in various communication systems.
  • 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.
  • 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.
  • 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.
  • the communication system 20 also includes a perception device 204 that is communicatively connected to the perception management device 201.
  • the target 203 is also located within the perception area of the perception device 204.
  • the perception device 202 and the perception device 204 are communicatively connected.
  • the perception management device in this application 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.
  • 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.
  • 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.
  • the perception management device, the positioning device and the perception device are different physical devices.
  • 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.
  • the logical functions of the perception management device 201 are integrated into the perception device 202 or the perception device 205.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • the sensing device can be a terminal or a network device, etc.
  • 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.
  • 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.
  • the communication system 20 can be applied to the communication scenario 31 shown 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 system 20 includes a sensing management device 201, a sensing device 202, a sensing device 204, and a target 203.
  • sensing device 202 is a network device
  • sensing device 204 is a terminal
  • the sensing mode includes a single-station sensing mode.
  • the communication system 20 can be applied to the communication scenario 32 shown 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 system 20 includes a sensing management device 201, a sensing device 202, a sensing device 204, and a target 203.
  • sensing device 202 and sensing device 204 are network devices, and the sensing mode includes a dual-station sensing mode.
  • the communication system 20 can be applied to the communication scenario 33 shown 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.
  • 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 system 20 includes a sensing management device 201, a sensing device 202, a sensing device 204, and a target 203.
  • sensing device 202 is a network device
  • sensing device 204 is a terminal
  • the sensing mode includes a dual-station sensing mode.
  • the communication system 20 can be applied to the communication scenario 34 shown 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.
  • 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 system 20 includes a sensing management device 201, a sensing device 202, a sensing device 204, a sensing device 206 and a target 203.
  • sensing device 202 is a network device
  • sensing device 204 and sensing device 206 are terminals
  • the sensing mode includes a dual-station sensing mode.
  • the communication system 20 can be applied to the communication scenario 35 shown 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.
  • 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.
  • the above communication scenario 31, communication scenario 32, communication scenario 33, communication scenario 34 or communication scenario 35 also includes a positioning device 205.
  • each device in FIG. 2 of the present application 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.
  • each device in FIG. 2 of the present application 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).
  • each device in FIG. 2 of the present application 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.
  • CPU central processing unit
  • ASIC application-specific integrated circuit
  • 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.
  • RAN radio access network
  • WLAN wireless local area network
  • WLAN wireless local area networks
  • 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.
  • 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.
  • 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.
  • 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.
  • the processor 401 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 4 .
  • 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).
  • 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.
  • 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.
  • the input device 406 may be a mouse, a keyboard, a touch screen device, or a sensor device.
  • composition structure shown in FIG. 4 does not constitute a limitation on the communication device.
  • the communication device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.
  • A/B can indicate A or B
  • 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.
  • 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.
  • 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.
  • 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.
  • multiple can be understood as two or more than two.
  • multiple targets can be understood as two or more than two targets.
  • 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”.
  • 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.
  • processing of user personal information involved in this application is in compliance with the relevant laws and regulations and does not violate public order and good morals.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a target detection method provided by the present application may include the following steps:
  • 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
  • the first target may be the target 203 in the communication system 20 .
  • 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.
  • 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.
  • 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.
  • 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.
  • the first position information includes ( ⁇ 1 , ), where ⁇ 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.
  • the first position information includes ( ⁇ 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 ⁇ 1 and The distance between the origins in the coordinate system where the
  • the sensing management device obtains the first location information periodically or aperiodically.
  • 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.
  • the perception management device obtains 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.
  • 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.
  • 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 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.
  • the sensing management device 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.
  • 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.
  • 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.
  • 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.
  • the first angle information includes ( ⁇ 2 , ).
  • ⁇ 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.
  • the first angle information includes ( ⁇ 2 , D2), where D2 represents the distance between the position of the first target at the second moment and the first sensing device.
  • 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.
  • information at the second moment first indication information, first delay information, or first Doppler information.
  • the information of the second moment is used to indicate the second moment.
  • 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.
  • 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.
  • the second moment is determined by the perception management device as needed.
  • the first indication information is used to indicate whether the first target is detected at the second moment.
  • 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.
  • the first delay information is used to indicate the transmission delay of the first perception signal.
  • 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.
  • 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.
  • 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.
  • the first Doppler information is used to indicate the Doppler frequency shift of the first perception signal.
  • the first Doppler information includes the Doppler frequency shift.
  • 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.
  • 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.
  • the perception management device determines the location information of the first target at the second moment based on the first perception information.
  • 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.
  • 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.
  • 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.
  • 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.
  • the position information includes ( ⁇ 3 , D2), wherein, ⁇ 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 ⁇ 3 and The distance between the origins in the coordinate system where the
  • 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.
  • 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.
  • 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.
  • 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
  • the sensing management device obtains the array orientation information of the first sensing device.
  • 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.
  • the array orientation information is stored in the sensing management device, and the array orientation information can be obtained locally.
  • the perception management device obtains the location information of the first perception device.
  • 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.
  • the location information is stored in the perception management device, and the location information can be obtained locally.
  • 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.
  • 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.
  • 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.
  • the perception management device can use a method similar to the above S501-S503 to determine the location of the second target.
  • the perception management device can repeatedly execute the above S501-S503 to achieve tracking of the first target.
  • the perception management device can predict the position of the first target at the second moment and obtain the first perception information.
  • 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.
  • 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.
  • 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.
  • 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.
  • the above S501 may include the following steps:
  • the perception management device obtains second perception information.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the perception management device 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.
  • 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.
  • information at the third moment is introduced below respectively.
  • the information of the third moment is used to indicate the third moment.
  • 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.
  • the fifth indication information is used to indicate whether the first target is detected at the third moment.
  • 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.
  • the second delay information is used to indicate the transmission delay of the second perception signal.
  • 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.
  • 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.
  • 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.
  • the second Doppler information is used to indicate the Doppler frequency shift of the second perception signal.
  • the second Doppler information includes the Doppler frequency shift.
  • 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.
  • 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.
  • the second perception device acquires the second perception information and sends the second perception information to the perception management device.
  • the perception management device receives the second perception information.
  • 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.
  • 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.
  • the second sensing device is the sensing device 202 in the communication scenario 31 shown in FIG3A
  • 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.
  • the sixth perception device sends information about the first time-frequency resource to the second perception device.
  • 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.
  • 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.
  • the second perception device sends the second perception signal on the time-frequency resource indicated by the information about the first time-frequency resource.
  • the second perception device 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.
  • the second sensing device obtains the second sensing information according to the instruction of the sensing management device.
  • the sensing management device sends fourth indication information to the second sensing device.
  • the fourth indication information is used to indicate the sensing target.
  • the second sensing device scans its sensing area, senses the first target at the third moment, and obtains the second sensing information.
  • the second perception device can send perception signals in different directions.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the second perception device 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the sixth indication information and the seventh indication information may also indicate corresponding information in other ways without limitation.
  • the perception management device instructs the second perception device to perceive the first target at the third moment.
  • 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.
  • other perception devices can obtain perception information through method 1, the following method 2 or multi-station perception mode without limitation.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • the second perception device 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.
  • the sixth sensing device and the fourth sensing device may be the same or different.
  • 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.
  • 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 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.
  • 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.
  • other perception devices can obtain perception information through the above-mentioned method 1, method 2 or multi-station perception mode without limitation.
  • the perception management device determines the first location information based on the second perception information at the first moment.
  • the perception management device determines the first location information according to the third location information included in the second perception information.
  • 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.
  • 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.
  • 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.
  • 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.
  • the sensing management device obtains the array orientation information of the second sensing device.
  • 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.
  • the array orientation information is stored in the sensing management device, and the array orientation information can be obtained locally.
  • the perception management device obtains the location information of the second perception device.
  • 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.
  • the perception management device stores the location information and can obtain the location information locally.
  • 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.
  • 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.
  • the above S502 may include the following steps:
  • the first sensing device obtains the first position information at the fourth moment.
  • 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.
  • the first perception device directly obtains the first location information from the perception management device.
  • the first perception device obtains the first location information from the perception management device through the fifth perception device.
  • 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 first sensing device is the sensing device 202
  • the sensing management device sends the first location information to the first sensing device
  • the first sensing device receives the first location information at the fourth moment, that is, the first location information is obtained.
  • the fifth sensing device is the sensing device 202
  • the first sensing device is the sensing device 204
  • the sensing management device sends the first location information to the fifth sensing device.
  • the fifth sensing device After receiving the first location information, the fifth sensing device sends the first information to the first sensing device.
  • the first information is used to determine the first location information.
  • 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.
  • the first sensing device 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.
  • 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
  • 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.
  • the first sensing device is sensing device 202
  • the sensing management device sends the first location information to the first sensing device
  • the first sensing device receives the first location information at the fourth moment, that is, the first location information is obtained.
  • the first sensing device obtains the first location information
  • it sends the first information to sensing device 204.
  • the first sensing device is sensing device 204
  • the fifth sensing device is sensing device 202
  • the sensing management device sends the first location information to the fifth sensing device.
  • the fifth sensing device receives the first location information, it sends the first information to the first sensing device.
  • 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.
  • the first sensing device is sensing device 204 and sensing device 206
  • the fifth sensing device is sensing device 202
  • the sensing management device sends the first location information to the fifth sensing device.
  • 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.
  • the second moment is later than the fourth moment.
  • 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.
  • the perception management device may send the first location information when the configuration of the perception signal used to perceive the first target changes.
  • 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.
  • the sensing management device sends the first location information to the first sensing device.
  • the sensing management device sends the first location information to the first sensing device.
  • the sensing management device sends the first location information to the first sensing device.
  • the sensing management device sends the first location information to the first sensing device.
  • the sensing management device sends the first location information to the first sensing device.
  • the sensing management device sends the first location information to the first sensing device.
  • the sensing management device sends the first location information to the first sensing device.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first perception device 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the second indication information and the third indication information may also indicate corresponding information in other ways without limitation.
  • the first sensing device sends first sensing information to the sensing management device.
  • the sensing management device receives the first sensing information from the first sensing device.
  • the first sensing device 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.
  • 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.
  • 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.
  • the first sensing device is the sensing device 202 in the communication scenario 31 shown in FIG. 3A
  • the first sensing device is the sensing device 204 in the communication scenario 32 shown in FIG. 3B .
  • 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.
  • the fifth sensing device sends information about the second time-frequency resource to the first sensing device.
  • 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.
  • the first perception device sends the first perception signal on the time-frequency resource indicated by the information of the second time-frequency resource.
  • the first perception information is sent to the perception management device through the fifth perception device.
  • 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.
  • 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 perception management device instructs the first perception device to perceive the first target at the second moment.
  • 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.
  • other perception devices can obtain perception information through method 3, the following method 4 or multi-station perception mode without limitation.
  • 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.
  • the first sensing device is sensing device 202
  • the third sensing device is sensing device 204
  • the first sensing device is sensing device 204
  • the third sensing device is sensing device 206
  • the third sensing device is sensing device 204.
  • 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.
  • the fifth sensing device sends information about the second time-frequency resource to the first sensing device (or the third sensing device).
  • 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.
  • 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.
  • the first perception information is sent to the perception management device through the fifth perception device.
  • the fifth sensing device and the third sensing device may be the same or different.
  • 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.
  • 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 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.
  • 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.
  • other perception devices can obtain perception information through the above-mentioned method 3, method 4 or multi-station perception mode without limitation.
  • 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 can be obtained.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG8 shows a schematic diagram of the structure of a communication device 80.
  • the communication device 80 includes a processing module 801.
  • 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 communication device 80 may further include a storage module (not shown in FIG. 8 ) for storing program instructions and data.
  • 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.
  • 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.
  • 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.
  • the processing module 801 can be configured to execute S803.
  • 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.
  • 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
  • the second position information is used to indicate the position of the first target at the second moment.
  • 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.
  • 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.
  • the perception mode of the first perception information is a dual-station perception mode
  • 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.
  • the interface module 802 is further configured to send information at the second moment to the first sensing device.
  • 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.
  • the processing module 801 is specifically configured to receive second perception information from a second perception device through the interface module 802 .
  • 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.
  • 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.
  • 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.
  • the first sensing device may be either a network device or a terminal.
  • 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.
  • 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.
  • the interface module 802 can be used to execute S5022.
  • 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
  • the second position information is used to indicate the position of the first target at the second moment.
  • 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.
  • 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.
  • the perception mode of the first perception information is a dual-station perception mode
  • the interface module 802 is also used to receive third indication information
  • 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 interface module 802 is further configured to receive information at the second moment.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the interface module 802 is further configured to send first information, where the first information is used to determine the first location information.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the third position information is used to indicate the position of the first target at the third moment.
  • 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.
  • the interface module 802 is further used to receive fourth indication information, where the fourth indication information is used to indicate a perception target.
  • the communication device 80 may be in the form shown in Figure 4.
  • 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.
  • 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.
  • 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
  • the functions/implementation processes of the interface module 802 in FIG8 can be implemented by the communication interface 404 in FIG4.
  • one or more of the above modules or units can be implemented by software, hardware or a combination of the two.
  • 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.
  • SoC system on chip
  • ASIC application specific integrated circuit
  • the processor is used to execute software instructions to perform calculations or
  • 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.
  • FPGA field programmable gate arrays
  • PLDs programmable logic devices
  • 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.
  • DSP digital signal processing
  • MCU microcontroller unit
  • an artificial intelligence processor an ASIC
  • SoC SoC
  • FPGA field-programmable gate array
  • PLD programmable gate array
  • a dedicated digital circuit a hardware accelerator or a non-integrated discrete device
  • 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.
  • the chip system also includes a memory.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the present application further provides a communication system, comprising: the perception management device and the first perception device in the above embodiment.
  • 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.
  • the disclosed devices and methods can be implemented in other ways.
  • the device embodiments described above are only schematic.
  • 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.
  • 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.

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Abstract

La présente demande se rapporte au domaine des communications sans fil, et propose un procédé de détection d'objet, un dispositif et un système. Dans le procédé, un dispositif de gestion de détection peut acquérir, à un premier moment, des premières informations de position utilisées pour indiquer la position d'un premier objet à un second moment, et acquérir des premières informations de détection, le second moment étant ultérieur au premier moment, les premières informations de détection indiquant des informations du premier objet détecté au second moment sur la base des premières informations de position. Les premières informations de détection sont obtenues par détection du premier objet au second moment sur la base de la position indiquée par les premières informations de position, qui sont plus ciblées. Ainsi, les premières informations de détection acquises sont relativement précises. Ensuite, le dispositif de gestion de détection peut déterminer des informations de position du premier objet au second moment sur la base des premières informations de détection. Les premières informations de détection étant relativement précises, les informations de position obtenues sur la base des premières informations de détection sont relativement précises. Par conséquent, le procédé de détection d'objet, le dispositif et le système proposés par la présente demande peuvent améliorer la précision de positionnement.
PCT/CN2023/112912 2023-08-14 2023-08-14 Procédé de détection d'objet, dispositif et système Pending WO2025035357A1 (fr)

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