WO2025130264A1 - Target detection method and device - Google Patents

Abstract

The present application relates to the field of wireless communications, and provides a target detection method and device. The method comprises: a sensing management device can acquire N pieces of first sensing information corresponding to K scattering points, and send target indication information and location prediction information to a sensing device on the basis of the N pieces of first sensing information. The first sensing information is information of scattering points obtained by sensing the scattering points corresponding to the first sensing information in a first time period. The target indication information indicates that M scattering points belong to the same target, and the M scattering points are all or some of the K scattering points. The location prediction information indicates the predicted location of each of the M scattering points in a second time period, and is used for sensing a target in the second time period. In the process, the sensing management device can indicate to the sensing device which scattering points among the K scattering points belong to the same target, so that the sensing device can sense the target as the granularity in the second time period, thereby improving the sensing accuracy.

Description

Target detection method and device

This application claims the priority of the Chinese patent application filed with the State Intellectual Property Office on December 20, 2023, with application number 202311763770.7 and invention name “Target Detection Method and Device”, all contents of which are incorporated by reference in this application.

Technical Field

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

Background Art

With the development of communication technology, more and more communication scenarios have emerged, such as human-connected scenarios, Internet of Things scenarios, or car-connected scenarios. In order to enhance the business capabilities in these scenarios, the concept of integrated sensing and communication (ISAC) is proposed. ISAC means that in addition to communication capabilities, network devices and/or terminals also have perception capabilities, which can detect information such as the location or speed of the target. Taking the detection of the location of the target by the network device as an example, the network device can send a signal to the target and receive the echo signal reflected by the target after the signal reaches the target. Subsequently, the network device can determine the location of the target based on information such as the time of sending the signal, the time of receiving the echo signal, the direction of sending the signal, and the direction of receiving the echo signal. However, the accuracy of locating the target using this method is not high.

Summary of the invention

The present application provides a target detection method and device, which can perceive the target at the granularity, thereby improving the perception accuracy.

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

In a first aspect, a target detection method is provided, which can be performed by a perception management device. The perception management device here can refer to the perception management device itself, or a processor, module, logical node, chip, or chip system in the perception management device that implements the method.

The method includes: obtaining N first perception information, and sending target indication information and position prediction information according to the N first perception information. The N first perception information corresponds to K scattering points, and any one of the first perception information is information of the scattering point obtained by sensing the corresponding scattering point in a first time period, K is an integer greater than 1, and N is an integer greater than or equal to K. The target indication information indicates that M scattering points belong to the same target, and the M scattering points are all or part of the K scattering points. The position prediction information indicates the predicted position of each scattering point in the M scattering points in a second time period, and the second time period is later than the first time period. The position prediction information is used to sense the target in the second time period.

Based on the method provided in the first aspect above, the perception management device can obtain N first perception information corresponding to K scattering points, and indicate to the device receiving target indication information (such as the first perception device) based on the N first perception information that M scattering points among the K scattering points belong to the same target, so that the first perception device can perceive with the target as the granularity in the second time period to improve the perception accuracy. In addition, the perception management device also indicates the position of each of the predicted M scattering points in the second time period to the device receiving position prediction information (such as the first perception device), so that the first perception device can perceive the target in the second time period according to the instruction of the perception management device. Since the first perception device obtains the possible position of the target in advance, it can further process the signal in the direction of the position, such as increasing the signal transmission and reception power through beamforming, so as to further improve the accuracy of detection and positioning.

In a possible implementation, the method further includes: sending first indication information to a first sensing device, where the first indication information indicates that a first scattering point among the M scattering points is sensed by the first sensing device within the first time period.

Based on the above possible implementation, if the first sensing device senses all or part of the K scattering points (such as the first scattering point) in the first time period, the sensing management device indicates these scattering points to the first sensing device so that the first sensing device associates the same scattering points sensed in the first time period and the second time period. In this way, when detecting the target, the first sensing device can combine the information of the first scattering point sensed in the first time period to improve the sensing accuracy.

In a possible implementation, the method further includes: sending perception operation indication information, where the perception operation indication information indicates a perception operation performed on the target within the second time period.

Based on the above possible implementation methods, the device that receives the perception operation indication information (such as the first perception device) can perform the corresponding perception operation on the target within the second time period.

In a possible implementation, the sensing operation includes at least one of the following: positioning operation, motion direction recognition, orientation recognition or posture recognition.

Based on the above possible implementation methods, the first sensing device can perform one or more of the following operations on the target within the second time period: positioning operation, movement direction recognition, orientation recognition or posture recognition.

In a possible implementation, the sensing operation includes gesture recognition, and the method further includes: sending gesture type information, where the gesture type information is used to indicate positions of the M scattering points corresponding to different gesture types.

Based on the above possible implementation methods, the device receiving the posture type information (such as the first sensing device) can determine the posture of the target in the second time period according to the posture type information.

In a possible implementation manner, the method further includes: sending perception mode indication information, where the perception mode indication information indicates a perception mode adopted for performing the perception operation on the target.

Based on the possible implementation methods described above, a device that receives the perception mode indication information (such as a first perception device) can determine the perception mode used to perform a perception operation on a target.

In a possible implementation, the sensing method includes sensing information of a center point of the target, or sensing information of a specified position on the target.

Based on the above possible implementation methods, the first sensing device can sense information about the center point of the target, or sense information about a specified position on the target according to the sensing method indication information.

In a possible implementation, the method further includes: acquiring second perception information, where the second perception information indicates information obtained by perceiving the target within the second time period according to the perception operation indication information.

Based on the above possible implementation manner, the perception management device can obtain information obtained by perceiving the target within the second time period according to the perception operation instruction information.

In a possible implementation, the method further includes: sending resource indication information, where the resource indication information indicates at least one of time domain resources, frequency domain resources, or spatial domain resources used to perceive the target within the second time period.

Based on the above possible implementation methods, the device receiving resource indication information (such as the first sensing device) can use at least one of the above time domain resources, frequency domain resources or spatial domain resources to sense the target within the second time period.

In a possible implementation manner, the information of the scattering point indicates the position of the scattering point and the first time period.

Based on the above possible implementation methods, the perception management device can obtain the location of the scattering point and the first time period, and then send target indication information and location prediction information based on this information.

In a possible implementation manner, the information of the scattering point further indicates the Doppler frequency shift of the scattering point.

Based on the above possible implementation methods, the perception management device can also obtain the Doppler frequency shift of the scattering point, and then send target indication information and position prediction information according to the Doppler frequency shift of the scattering point.

In a possible implementation manner, the method further includes: sending first position information, where the first position information indicates a position of each of the M scattering points in the first time period.

Based on the above possible implementation methods, the device that receives the first position information (such as the first sensing device) can combine the position of each of the M scattering points in the first time period when detecting the target to improve the sensing accuracy.

In a second aspect, a target detection method is provided, which can be performed by a first sensing device. The first sensing device here can refer to the first sensing device itself, or a processor, module, logic node, chip, or chip system that implements the method in the first sensing device.

The method includes: receiving target indication information and position prediction information, and sensing the target in a second time period according to the target indication information and the position prediction information, wherein the target indication information indicates that M scattering points belong to the same target, and the position prediction information indicates the predicted position of each scattering point in the M scattering points in the second time period, and M is an integer greater than 1.

Based on the method provided in the second aspect, the first sensing device can determine that the M scattering points belong to the same target, and sense them at the target granularity, thereby improving the sensing accuracy. In addition, the first sensing device can also determine the position where the target may appear in the second time period based on the position prediction information, so the signal can be further processed in the direction of the position, such as increasing the signal transmission and reception power through beamforming, so as to further improve the detection and positioning accuracy.

In a possible implementation, the method also includes: obtaining P first perception information, the P first perception information respectively corresponding to P scattering points, any one of the first perception information is information of the scattering point obtained by perceiving the corresponding scattering point within a first time period, the P scattering points are all or part of the M scattering points, the second time period is later than the first time period, and P is a positive integer; sending the P first perception information.

Based on the above possible implementation methods, the first perception device can obtain P first perception information and send P first perception information, so that the device that receives the P first perception information (such as a perception management device) determines whether the P scattering points corresponding to the P first perception information are scattering points of the same target.

In a possible implementation manner, the method further includes: receiving first indication information, the first indication information indicating the M scattering points The first scattering point in is a scattering point among the P scattering points.

Based on the above possible implementations, the first sensing device can determine that the first scattering point among the M scattering points is the scattering point sensed by itself in the first time period, thereby associating the same scattering points sensed in the first time period and the second time period. In this way, when detecting a target, the first sensing device can combine the information of the first scattering point sensed in the first time period to improve the sensing accuracy.

In a possible implementation manner, the information of the scattering point indicates the position of the scattering point and the first time period.

Based on the above possible implementation methods, the first sensing device can send the location of the scattering point and the first time period, so that the device that receives the information (such as the sensing management device) determines which scattering points belong to the same target based on the information.

In a possible implementation manner, the information of the scattering point also indicates the Doppler frequency shift of the scattering point.

Based on the above possible implementation methods, the first sensing device can send the Doppler frequency shift of the scattering point, so that the device that receives the information (such as the sensing management device) determines which scattering points belong to the same target based on the information.

In one possible implementation, the method also includes: receiving perception operation indication information, the perception operation indication information indicating a perception operation performed on the target within the second time period; perceiving the target within the second time period based on the target indication information and the position prediction information, including: performing the perception operation on the target within the second time period based on the target indication information and the position prediction information to obtain second perception information.

Based on the above possible implementation methods, the first perception device can perform the perception operation indicated by the perception operation indication information on the target within the second time period according to the target indication information and the position prediction information to obtain second perception information.

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

Based on the above possible implementation methods, a device (such as a perception management device) that receives the second perception information can obtain information about the target obtained by the first perception device performing a corresponding perception operation on the target within the second time period.

In a possible implementation, the sensing operation includes at least one of the following: positioning operation, motion direction recognition, orientation recognition or posture recognition.

Based on the above possible implementation methods, the first sensing device can perform at least one of the following operations on the target: positioning operation, movement direction recognition, orientation recognition or posture recognition.

In a possible implementation, the sensing operation includes gesture recognition, and the method further includes: receiving gesture type information, where the gesture type information is used to indicate positions of the M scattering points corresponding to different gesture types.

Based on the above possible implementation methods, the first sensing device can determine the posture of the target in the second time period according to the posture type information.

In a possible implementation manner, the method further includes: receiving perception mode indication information, where the perception mode indication information indicates a perception mode adopted for performing the perception operation on the target.

Based on the above possible implementation methods, the first perception device can determine the perception method used to perform the perception operation on the target according to the perception method indication information.

In a possible implementation, the sensing method includes sensing information of a center point of the target, or sensing information of a specified position on the target.

Based on the above possible implementation methods, the first sensing device can sense information about the center point of the target, or sense information about a specified position on the target according to the sensing method indication information.

In a possible implementation, the method further includes: receiving resource indication information, where the resource indication information indicates at least one of time domain resources, frequency domain resources, or spatial domain resources used to perceive the target within the second time period.

Based on the above possible implementation methods, the first sensing device can use at least one of the above time domain resources, frequency domain resources or spatial domain resources to sense the target within the second time period.

In a possible implementation manner, the method further includes: receiving first position information, where the first position information indicates a position of each of the M scattering points in a first time period, and the second time period is later than the first time period.

Based on the above possible implementation methods, when detecting a target, the first sensing device may combine the position of each of the M scattering points in the first time period to improve sensing accuracy.

In a third aspect, a communication device is provided for implementing the above method. The communication device may be the perception management device in the above first aspect. The communication device includes a module, unit, or means corresponding to the above method, and the module, unit, or means may be implemented by hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

In a possible implementation, the communication device may include a processing module and an interface module. The processing module may be used to implement the processing functions in the first aspect and any possible implementation thereof. The processing module may be, for example, a processor. The interface module may also be used to implement the processing functions in the first aspect and any possible implementation thereof. It can be called an interface unit, which is used to implement the sending and/or receiving functions in the above first aspect and any possible implementation thereof. The interface module can be composed of an interface circuit, a transceiver, a transceiver or a communication interface.

In a possible implementation, the interface module includes a sending module and a receiving module, which are respectively used to implement the sending and receiving functions in the above-mentioned first aspect and any possible implementation thereof.

In a possible implementation, a processing module is used to obtain N first perception information, where the N first perception information corresponds to K scattering points, and any one of the first perception information is information of the scattering point obtained by perceiving the corresponding scattering point within a first time period, K is an integer greater than 1, and N is an integer greater than or equal to K; an interface module is used to send target indication information and position prediction information according to the N first perception information, where the target indication information indicates that M scattering points belong to the same target, and the M scattering points are all or part of the K scattering points, and the position prediction information indicates a predicted position of each scattering point of the M scattering points in a second time period, where the second time period is later than the first time period, and the position prediction information is used to perceive the target within the second time period.

In a possible implementation, the interface module is used to send first indication information to the first sensing device, where the first indication information indicates that a first scattering point among the M scattering points is sensed by the first sensing device within the first time period.

In a possible implementation, the interface module is further used to send perception operation indication information, where the perception operation indication information indicates the perception operation performed on the target within the second time period.

In a possible implementation, the sensing operation includes at least one of the following: positioning operation, motion direction recognition, orientation recognition or posture recognition.

In a possible implementation, the sensing operation includes gesture recognition, and the interface module is also used to send gesture type information, where the gesture type information is used to indicate the positions of the M scattering points corresponding to different gesture types.

In a possible implementation, the interface module is further configured to send perception mode indication information, where the perception mode indication information indicates a perception mode adopted for performing the perception operation on the target.

In a possible implementation, the sensing method includes sensing information of a center point of the target, or sensing information of a specified position on the target.

In a possible implementation, the processing module is further used to obtain second perception information, where the second perception information indicates information obtained by perceiving the target within the second time period according to the perception operation indication information.

In a possible implementation, the interface module is further used to send resource indication information, where the resource indication information indicates at least one of the time domain resources, frequency domain resources, or spatial domain resources used to perceive the target during the second time period.

In a possible implementation manner, the information of the scattering point indicates the position of the scattering point and the first time period.

In a possible implementation manner, the information of the scattering point further indicates the Doppler frequency shift of the scattering point.

In a possible implementation manner, the interface module is further configured to send first position information, where the first position information indicates a position of each of the M scattering points in the first time period.

In a fourth aspect, a communication device is provided for implementing the above method. The communication device may be the first sensing device in the above second aspect. The communication device includes a module, unit, or means corresponding to the above method, and the module, unit, or means may be implemented by hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

In a possible implementation, the communication device may include a processing module and an interface module. The processing module may be used to implement the processing functions in the second aspect and any possible implementation thereof. The processing module may be, for example, a processor. The interface module, which may also be referred to as an interface unit, is used to implement the sending and/or receiving functions in the second aspect and any possible implementation thereof. The interface module may be composed of an interface circuit, a transceiver, a transceiver or a communication interface.

In a possible implementation, the interface module includes a sending module and a receiving module, which are respectively used to implement the sending and receiving functions in the above-mentioned second aspect and any possible implementation thereof.

In a possible implementation, an interface module is used to receive target indication information and position prediction information, wherein the target indication information indicates that M scattering points belong to the same target, and the position prediction information indicates a predicted position of each of the M scattering points in a second time period, where M is an integer greater than 1; and a processing module is used to perceive the target in the second time period according to the target indication information and the position prediction information.

In a possible implementation, the processing module is further used to obtain P first perception information, where the P first perception information respectively corresponds to P scattering points, and any one of the first perception information is information of the scattering point obtained by perceiving the corresponding scattering point within a first time period, the P scattering points are all or part of the M scattering points, the second time period is later than the first time period, and P is a positive integer; the interface module is also used to send the P first perception information.

In a possible implementation manner, the interface module is further configured to receive first indication information, where the first indication information indicates that a first scattering point among the M scattering points is a scattering point among the P scattering points.

In a possible implementation manner, the information of the scattering point indicates the position of the scattering point and the first time period.

In a possible implementation manner, the information of the scattering point also indicates the Doppler frequency shift of the scattering point.

In one possible implementation, the interface module is also used to receive perception operation indication information, where the perception operation indication information indicates the perception operation performed on the target within the second time period; the processing module is specifically used to perform the perception operation on the target within the second time period based on the target indication information and the position prediction information to obtain second perception information.

In a possible implementation, the interface module is further used to send the second perception information.

In a possible implementation, the sensing operation includes at least one of the following: positioning operation, motion direction recognition, orientation recognition or posture recognition.

In a possible implementation, the sensing operation includes gesture recognition, and the interface module is further used to receive gesture type information, where the gesture type information is used to indicate the positions of the M scattering points corresponding to different gesture types.

In a possible implementation, the interface module is further configured to receive perception mode indication information, where the perception mode indication information indicates a perception mode adopted for performing the perception operation on the target.

In a possible implementation, the sensing method includes sensing information of a center point of the target, or sensing information of a specified position on the target.

In a possible implementation, the interface module is further used to receive resource indication information, where the resource indication information indicates at least one of the time domain resources, frequency domain resources, or spatial domain resources used to perceive the target during the second time period.

In a possible implementation manner, the interface module is further configured to receive first position information, where the first position information indicates a position of each of the M scattering points in a first time period, and the second time period is later than the first time period.

In a fifth aspect, a communication device is provided, comprising: a processor; the processor is coupled to a memory, and after reading an instruction in the memory, executes the method as described in any of the above aspects according to the instruction. The communication device may be the perception management device in the first aspect; or the communication device may be the first perception device in the second aspect.

In conjunction with the fifth aspect, in a possible implementation, the communication device further includes a memory, the memory being used to store program instructions and data. Optionally, the memory is integrated with the processor; or, the memory is independent of the processor.

In combination with the fifth aspect, in one possible implementation, the processor and/or the memory further includes an artificial intelligence (AI) module for implementing AI-related functions. The AI module can implement AI functions through software, hardware, or a combination of software and hardware. For example, the AI module includes a radio access network (RAN) intelligent controller (RIC) module.

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

In a sixth aspect, a communication device is provided, comprising: a processor and an interface circuit; the interface circuit is used to receive a computer program or instruction and transmit it to the processor; the processor is used to execute the computer program or instruction so that the communication device performs the method as described in any of the above aspects. The communication device may be the perception management device in the above first aspect; or, the communication device may be the first perception device in the above second aspect.

In conjunction with the sixth aspect, in a possible implementation, the processor further includes an AI module for implementing AI-related functions. The AI module can implement AI functions through software, hardware, or a combination of software and hardware. For example, the AI module includes a RIC module.

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

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

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

In a ninth aspect, a communication system is provided, which includes the communication device of the third aspect and the communication device of the fourth aspect.

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

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

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1A is a schematic diagram of a scattering point provided in the present application;

FIG1B is a schematic diagram 1 of a perception mode provided by the present application;

FIG1C is a second schematic diagram of a perception mode provided by the present application;

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

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

FIG1F is a fifth schematic diagram of a perception mode provided by the present application;

FIG1G is a sixth schematic diagram of a perception mode provided in the present application;

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

FIG3 is a schematic diagram of the hardware structure of the communication device provided by the present application;

FIG4 is a flow chart of a target detection method provided by the present application;

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

FIG6 is a schematic diagram of the structure of the communication device provided in the present application.

DETAILED DESCRIPTION

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

1. Perception

In this application, perception refers to obtaining certain information about a target, such as information related to one or more characteristics of the target, such as its position, speed, direction of travel, shape or posture. Perception is usually performed together with communication. For example, a perception device can send a signal, receive a reflected signal (or echo signal) when the signal reaches the target and is reflected by the target, and obtain the above information based on the sent signal and the received signal.

2. Sensing device

In the present application, the sensing device can be used to sense the target. The sensing device can be any device with sensing and communication capabilities. Exemplarily, the sensing device is a network device or a terminal.

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

In the present application, the CU and DU may be separately configured, or may be included in the same network element, such as a baseband unit (BBU). The RU may be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). It is understood that the 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 herein.

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

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

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

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

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

3. Target

In the present application, the target is an object that can be sensed by the sensing device. The target may be mobile (for example, the target is a car or an animal, etc.), or it may not be mobile (for example, the target is an RSU, etc.). The target may have communication capabilities (for example, the target is a terminal), or it may not have communication capabilities (for example, the target is a passive object such as a car or a bicycle). Exemplarily, the targets include but are not limited to: animals, various engineering vehicles, various means of transport, or the various terminals described above. Among them, engineering vehicles are, for example, excavators, cranes, or backhoes. Means of transport can be used to transport goods, etc., such as vehicles, trains, high-speed railways, airplanes, or drones.

4. Scattering points

In this application, a scattering point refers to the point where the signal sent by the sensing device contacts the target. For example, in FIG1A , when the signal A sent by the sensing device A reaches the target, it is reflected, scattered or diffracted on the target surface to form an echo signal of signal A. The point where the target surface is reflected, scattered or diffracted can be considered a scattering point. It should be understood that there are other ways to name a scattering point, such as a reflection point or a diffraction point, etc. This application takes a scattering point as an example for description.

It is understandable that a target may correspond to at least one scattering point. When a target corresponds to multiple scattering points, the multiple scattering points may be contact points between different signals sent by the same sensing device and the target, or contact points between signals sent by different sensing devices and the target, without limitation.

5. Perception Mode

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

The single-station sensing mode refers to a mode in which a target is sensed by a sensing device. In the single-station sensing mode, the devices for transmitting and receiving signals are the same. For example, in FIG1B , the sensing device is a network device, which can send a signal and receive an echo signal of the signal, and sense the target based on the sent signal and the received echo signal. For another example, in FIG1C , the sensing device is a terminal, which can send a signal and receive an echo signal of the signal, and sense the target based on the sent signal and the received echo signal.

The dual-station sensing mode refers to a mode in which a target is sensed by two sensing devices. In the dual-station sensing mode, the devices for transmitting and receiving signals are different. For example, in FIG1D , the sensing device for transmitting signals and the sensing device for receiving signals are both network devices, but the two network devices are different. Specifically, network device 1 can transmit a signal, and network device 2 can receive an echo signal of the signal, and detect the target based on the echo signal. Signals are used to sense targets. For another example, in Figure 1E, the sensing device that sends signals and the sensing device that receives signals are both terminals, but the two terminals are different. Specifically, terminal 1 can send signals, terminal 2 can receive the echo signal of the signal, and sense the target based on the echo signal. For another example, in Figure 1F, the sensing device that sends signals is a network device, and the sensing device that receives signals is a terminal. Specifically, the network device can send signals, the terminal can receive the echo signal of the signal, and sense the target based on the echo signal. For another example, in Figure 1G, the sensing device that sends signals is a terminal, and the sensing device that receives signals is a network device. Specifically, the terminal can send signals, the network device can receive the echo signal of the signal, and sense the target based on the echo signal.

The multi-station sensing mode refers to a mode of sensing a target through three or more sensing devices. Some of these sensing devices are used to send signals, and the other sensing devices are used to receive echo signals of the signals and sense the target based on the echo 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 echo signals of the signal and sense the target based on the echo signals; or, two of the sensing devices send signals, and the other sensing device is used to receive echo signals of the signals sent by the two sensing devices, and sense the target based on the echo 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, and 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.

As mentioned above, the sensing device can sense the target, so the target can be detected based on the perception of the sensing device. But in fact, the sensing device senses the scattering points on the target. However, the volume of the target is much larger than the scattering points, and treating a single scattering point as a target will result in low accuracy in detecting the target. Taking the intelligent traffic scenario as an example, if the scattering point sensed by the sensing device is located at the front of the vehicle, according to current technology, the scattering point will be considered to be the geometric center point of the vehicle, which will result in low accuracy when the vehicle is subsequently positioned based on the scattering point.

In order to solve the above problems, the present application provides a target detection method. In this method, a perception management device can obtain N first perception information corresponding to K scattering points, and send target indication information to the perception device according to the N first perception information. Among them, any first perception information is the information of the scattering point obtained by perceiving the corresponding scattering point within a first time period, K is an integer greater than 1, and N is an integer greater than or equal to K. The target indication information can indicate that M scattering points belong to the same target, and the M scattering points are all or part of the K scattering points.

In the above process, the perception management device can indicate to the perception device which scattering points among the K scattering points corresponding to the N first perception information belong to the same target according to the N first perception information. In this way, the perception device can perceive with the target as the granularity to improve the perception accuracy.

In some embodiments, the sensing management device may also send location prediction information to the sensing device to indicate the location of each of the predicted M scattering points in a second time period, where the second time period is later than the first time period. In this way, the sensing device may sense the target in the second time period according to the instruction of the sensing management device. Since the sensing device obtains the possible location of the target in advance, the signal may be further processed in the direction of the location, such as increasing the signal transmission and reception power through beamforming, so as to further improve the accuracy of detection and positioning.

The implementation of the method provided in the present application is described in detail below with reference to the accompanying drawings.

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

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

The perception management device in the present application, such as the perception management device 201, is a device with communication capabilities and computing capabilities, for example, a server, a perception server, a cloud server, a core network element, an access network element (such as the network device described above), a cloud, or a computing device with communication capabilities, etc., without limitation. The core network element in the present application may be an existing core network element, such as an access and mobility management function (AMF) element or a session management function (SMF) element, etc., or a newly added core network element. The introduction of the perception device 202, the perception device 204, and the target 203 can refer to the description of the perception device and the target in the previous text, and will not be repeated here.

Optionally, the communication system 20 further includes a positioning device 205, which is used to determine the location of the sensing device 202 and/or the sensing device 204, and indicate the location to the sensing management device 201. Exemplarily, the positioning device 205 is a device with communication capabilities and computing capabilities, such as a server, a cloud server, a core network element, an access network element, a cloud, or a computing device with communication capabilities, etc., without limitation.

In Figure 2, the perception management device, the positioning device and the perception device are different physical devices. However, in a specific application, at least two of the logical functions of the perception management device, the logical functions of the positioning device and the logical functions of the perception device can be integrated into the same physical device. For example, the logical functions of the perception management device 201 are integrated into the perception device 202 or the perception device 204. In this case, the perception device 202 or the perception device 204 has the logical functions of the perception management device 201 and can perform the operations of the perception management device 201, such as sending target indication information according to N first perception information. Similarly, the logical functions of the positioning device 205 can be integrated into the perception device 202 or the perception device 204, 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 204.

It is understandable that the communication system 20 shown in FIG. 2 is only used as an example and is not used to limit the technical solution of the present application. Those skilled in the art should understand that in the specific implementation process, the communication system 20 may also include other devices, and the number of sensing management devices, sensing devices, targets or positioning devices may also be determined according to specific needs without limitation. For example, the communication system 20 may also include sensing devices other than the sensing device 202 and the sensing device 204.

Optionally, each device in Figure 2 of the present application (such as a perception management device, a perception device or a positioning device, etc.) can also be referred to as a communication device, which can be a general device or a special device, and the present application does not make specific limitations on this.

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

In specific implementation, each device in FIG. 2 of the present application (such as a perception management device, a perception device or a positioning device, etc.) can adopt the composition structure shown in FIG. 3, or include the components shown in FIG. 3. FIG. 3 is a schematic diagram of the hardware structure of a communication device applicable to the present application. The communication device 30 includes at least one processor 301 and at least one communication interface 304, which are used to implement the method provided by the present application. The communication device 30 may also include a communication line 302 and a memory 303.

Processor 301 can be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application.

The communication link 302 may include a path to transmit information between the above-mentioned components, such as a bus.

The communication interface 304 is used to communicate with other devices or communication networks. The communication interface 304 can be any transceiver-like device, such as an Ethernet interface, a radio access network (RAN) interface, a wireless local area network (WLAN) interface, a transceiver, a pin, a bus, an interface circuit or a transceiver circuit.

The memory 303 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 be independent and coupled to the processor 301 through the communication line 302. The memory 303 may also be integrated with the processor 301. The memory provided in the present application may generally be non-volatile.

Among them, the memory 303 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 301. The processor 301 is used to execute the computer execution instructions stored in the memory 303, so as to implement the method provided by this application. Alternatively, optionally, in this application, the processor 301 may also perform the processing-related functions in the method provided below in this application, and the communication interface 304 is responsible for communicating with other devices or communication networks, which is not specifically limited in this application.

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

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

As an embodiment, the processor 301 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 3 .

As an embodiment, the communication device 30 may include multiple processors, such as the processor 301 and the processor 307 in FIG. 3 . Each of these processors may be a single-CPU processor or a multi-CPU processor. A processor may refer to one or more devices, circuits, and/or processing cores for processing data (eg, computer program instructions).

As an embodiment, the communication device 30 may further include an output device 305 and/or an input device 306. The output device 305 is coupled to the processor 301 and can display information in a variety of ways. For example, the output device 305 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 306 is coupled to the processor 301 and can receive user input in a variety of ways. For example, the input device 306 may be a mouse, a keyboard, a touch screen device, or a sensor device.

It is understandable that the composition structure shown in FIG. 3 does not constitute a limitation on the communication device. In addition to the components shown in FIG. 3 , the communication device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

The method provided by the present application will be described below in conjunction with the accompanying drawings. Each network element in the following embodiments may have the components shown in FIG3 , which will not be described in detail.

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

It can be understood that in this application, "sending information to... (such as a sensing device)" can be understood as the destination of the information being the sensing device. It can include sending information to the sensing device directly or indirectly. "Receiving information from... (such as a sensing device)" can be understood as the source of the information being the sensing device, which can include receiving information from the sensing device directly or indirectly. The information may be processed as necessary between the source and destination of the information transmission, such as format changes, etc., but the destination can understand the valid information from the source. Similar expressions in this application can be understood similarly and will not be repeated here.

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

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

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

It can be understood that in the present application, "used for indication" can include direct indication and indirect indication, and can also include explicit indication and implicit indication. When describing that a certain indication information is used to indicate A, it can include that the indication information directly indicates A or indirectly indicates A, but it does not mean that the indication information must carry A. The information indicated by a certain information (such as the perception operation indication information or the perception mode indication information described below) is called information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated, such as but not limited to, directly indicating the information to be indicated, such as the information to be indicated itself or the index of the information to be indicated. The information to be indicated can also be indirectly indicated by indicating other information, wherein there is an association relationship between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while the other parts of the information to be indicated are known or agreed in advance. For example, the indication of specific information can also be achieved by means of the arrangement order of each information agreed in advance (such as specified by the protocol), thereby reducing the indication overhead to a certain extent.

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

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

It is understood that some optional features in this application may not depend on other features in some scenarios, such as the currently based The solution can be independently implemented to solve the corresponding technical problems and achieve the corresponding effects. It can also be combined with other features according to the needs in some scenarios. Correspondingly, the device given in this application can also realize these features or functions accordingly, which will not be repeated here.

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

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

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

It can be understood that the method provided below in this application takes the perception management device and the perception device (such as the first perception device or the second perception device, etc.) as the execution subject of the interaction diagram as an example to illustrate the method, but this application does not limit the execution subject of the interaction diagram. For example, the perception management device in the method provided in the following embodiment of this application may also be a chip, a chip system, or a processor that supports the perception management device to implement the method, or a logical node, a logical module, or software that can implement all or part of the functions of the perception management device; the perception device in the method provided below in this application may also be a chip, a chip system, or a processor that supports the perception device to implement the method, or a logical node, a logical module, or software that can implement all or part of the functions of the perception device.

As shown in FIG4 , a target detection method provided by the present application may include the following steps:

S401: The perception management device obtains N first perception information.

In the present application, the perception management device may be the perception management device 201 in the communication system shown in FIG2. N first perception information corresponds to K scattering points. K is an integer greater than 1, and N is an integer greater than or equal to K. It can be understood that N is equal to K, indicating that each first perception information may correspond to a scattering point. N is greater than K, indicating that at least two of the N first perception information correspond to the same scattering point.

In one possible implementation, the second perception device sends N first perception information to the perception management device. Correspondingly, the perception management device receives N first perception information from the second perception device. If the second perception device is a network device, the second perception device can communicate with the perception management device using an Xn interface. If the second perception device is a terminal, the second perception device can communicate with the perception management device through the network device to which it is connected. For example, the second perception device sends N first perception information to the network device to which it is connected through uplink control information (UCI), medium access control control element (MAC-CE) or radio resource control (RRC) message. After receiving the N first perception information, the network device sends N first perception information to the perception management device through the Xn interface.

In the present application, any first perception information is information of a scattering point obtained by perceiving a scattering point corresponding to the first perception information within a first time period. For example, the second perception device can obtain information of the scattering point by perceiving the scattering point within the first time period, and send the information of the scattering point to the perception management device. The first time period may include a period of time, such as 5 milliseconds (ms). Alternatively, the second perception device may also perceive the scattering point at a certain moment in the first time period to obtain information of the scattering point.

In the present application, the information of the scattering point may indicate the position of the scattering point and the first time period. The second sensing device may indicate the position of the scattering point and the first time period to the sensing management device in a variety of ways.

First, the following methods (1) to (3) are used as examples to introduce the method in which the second sensing device indicates the position of the scattering point. Method (1), the information of the scattering point includes the coordinates of the scattering point, and the sensing management device can determine the position of the scattering point based on the coordinates. The coordinates can be two-dimensional coordinates or three-dimensional coordinates. Method (2), the information of the scattering point includes the azimuth of the scattering point relative to the second sensing device, and the distance between the scattering point and the second sensing device. The sensing management device can determine the position of the scattering point based on the above information and the position of the second sensing device stored locally. If the sensing management device does not store the position of the second sensing device locally, the information of the scattering point can also include the position of the second sensing device, or the sensing management device can obtain the position of the second sensing device from the positioning device (positioning device 205 as shown in Figure 2). Method (3), the information of the scattering point includes the azimuth of the scattering point relative to the sensing management device, and the distance between the scattering point and the sensing management device. The sensing management device can determine the position of the scattering point based on the above information and its own position. Before S401, the sensing management device can indicate the position of the sensing management device to the second sensing device so that the second sensing device can determine the azimuth of the scattering point relative to the sensing management device and the distance between the scattering point and the sensing management device.

The following uses the following methods (4) to (6) as examples to introduce the method in which the second sensing device indicates the first time period. Method (4), the information of the scattering point may include the start time of the first time period and the duration of the first time period, and the sensing management device may determine the first time period based on the above start time and duration. The above start time or duration may also be preset or defined in the protocol, so that the information of the scattering point may not be Including this information. Mode (5), the information of the scattering point may include the offset between the above-mentioned starting moment and the reference moment, and the duration of the first time period. The perception management device may determine the starting moment according to the offset and the reference moment, and then determine the first time period according to the starting moment and the duration of the first time period. The above-mentioned reference moment is a moment defined in the protocol or a pre-set moment. The above-mentioned offset or duration may also be pre-set or defined in the protocol, so that the information of the scattering point may not include this information. Mode (6), the information of the scattering point may include an identifier of the time domain resource where the first time period is located. For example, the information of the scattering point includes the index of the time slot where the first time period is located, or includes the index of the symbol where the first time period is located, and the index of the time slot where the symbol is located. The perception management device may determine the first time period according to the index of the time domain resource. Optionally, the information of the scattering point may also include the index of the subframe where the above-mentioned time slot is located, etc., without limitation.

Optionally, the information of the scattering point also indicates the Doppler frequency shift of the scattering point. For example, the information of the scattering point includes the Doppler frequency shift of the scattering point. The sensing management device can determine the movement speed and/or movement direction of the scattering point in the first time period according to the Doppler frequency shift of the scattering point.

It is understandable that the present application does not limit the number of second perception devices. In other words, the perception management device can obtain N first perception information from one or more second perception devices. Taking the communication system 20 shown in Figure 2 as an example, the perception management device 201 can obtain N first perception information from the perception device 202, or the perception management device 201 can obtain R first perception information from the perception device 202 and obtain Q first perception information from the perception device 204. R and Q are positive integers less than N, and the sum of R and Q is equal to N. This is explained in detail below in conjunction with Figures 1B to 1G.

Scenario 1: The perception management device 201 obtains N first perception information from the perception device 202.

In a possible implementation, the perception device 202 obtains N first perception information and sends the N first perception information to the perception management device 201.

Example 1, taking the perception mode shown in FIG. 1B as an example, the perception device 202 is the network device in FIG. 1B, and the perception device 202 can send N signals respectively, and receive the echo signal of each signal, determine the information of N scattering points according to these signals and the echo signal, that is, N first perception information, and send N first perception information to the perception management device 201. For any one of the N signals, the perception device 202 can determine the transmission delay of the signal according to the time of sending the signal and the time of receiving the echo signal of the signal (such as the transmission delay is equal to the time difference between the two), and then determine the distance between the scattering point corresponding to the signal (that is, the contact point between the signal and the target) and the perception device 202 (such as the distance is equal to the transmission delay multiplied by the speed of light and then divided by 2), and then combine the direction of the signal to determine the position of the scattering point. The perception device 202 can also determine the moment when the signal arrives at the target, and determine the first time period according to the moment. It can be understood that the first time period includes the moment when the signal arrives at the target. The perception device 202 can also determine the Doppler frequency shift of the scattering point corresponding to the signal according to the signal and the echo signal of the signal. In addition, if the target is moving, the signals with the same direction sent by the sensing device 202 at different times can also sense different scattering points, so the directions of the above N signals can be the same or different.

Example 2, taking the perception mode shown in FIG. 1C as an example, the perception device 202 is the terminal in FIG. 1C, and the perception device 202 can send N signals respectively, and receive the echo signal of each signal, determine the information of N scattering points according to these signals and the echo signal, that is, N first perception information, and send the N first perception information to the perception management device 201. The process of the perception device 202 obtaining the N first perception information can refer to the description in Example 1.

Example 3, taking the perception mode shown in FIG. 1D as an example, the perception device 202 is the network device 2 in FIG. 1D, and the network device 1 can send N signals respectively. The perception device 202 can receive the echo signal of each signal, determine the information of the N scattering points according to these echo signals, that is, N first perception information, and send the N first perception information to the perception management device 201. For any one of the N signals, the signal includes the sending time of the signal. After the perception device 202 receives the echo signal of the signal, it can determine the transmission delay of the signal according to the sending time and the time of receiving the echo signal, and then determine the distance between the scattering point corresponding to the signal (that is, the contact point between the signal and the target) and the perception device 202, and then combine the direction of the signal to determine the position of the scattering point. The perception device 202 can also determine the time when the signal reaches the target, and determine the first time period according to the time. The perception device 202 can also determine the Doppler frequency shift of the scattering point corresponding to the signal according to the echo signal of the signal. In Example 3, the number of network devices 1 may not be limited, that is, the N signals may be sent by the same network device or by W different network devices. W is a positive integer less than or equal to N. In addition, some of the W network devices may be replaced by terminals.

Example 4, taking the perception mode shown in FIG. 1E as an example, the perception device 202 is the terminal 2 in FIG. 1E, the terminal 1 can send N signals respectively, the perception device 202 can receive the echo signal of each signal, determine the information of N scattering points according to these echo signals, that is, N first perception information, and send the N first perception information to the perception management device 201. The process of the perception device 202 obtaining the N first perception information can refer to the description in Example 3. In Example 4, the number of terminals 1 may not be limited, that is, the N signals may be sent by the same terminal or by W different terminals.

Example 5, taking the sensing mode shown in FIG. 1F as an example, the sensing device 202 is the terminal in FIG. 1F, the network device can send N signals respectively, and the sensing device 202 can receive the echo signal of each signal, and determine the information of N scattering points according to these echo signals, that is, N The first perception information is sent to the perception management device 201. The process of the perception device 202 acquiring the N first perception information can refer to the description in Example 3. In Example 5, the number of network devices may not be limited, that is, the N signals may be sent by the same network device or by W different network devices.

Example 6, taking the perception mode shown in FIG. 1G as an example, the perception device 202 is the network device in FIG. 1G, the terminal can send N signals respectively, the perception device 202 can receive the echo signal of each signal, determine the information of N scattering points according to these echo signals, that is, N first perception information, and send the N first perception information to the perception management device 201. The process of the perception device 202 obtaining the N first perception information can refer to the description in Example 3. In Example 6, the number of terminals may not be limited, that is, the N signals may be sent by the same terminal or by W different terminals.

Scenario 2: The perception management device 201 obtains R first perception information from the perception device 202 and obtains Q first perception information from the perception device 204.

In a possible implementation, the sensing device 202 obtains R first sensing information and sends the R first sensing information to the sensing management device 201. For example, the sensing device 202 may obtain the R first sensing information by any one of the above examples 1 to 6, and send the R first sensing information to the sensing management device 201.

In a possible implementation, the sensing device 204 obtains Q first sensing information and sends the Q first sensing information to the sensing management device 201. For example, the sensing device 204 may obtain the Q first sensing information by any one of the above examples 1 to 6, and send the Q first sensing information to the sensing management device 201.

In a possible design, R first perception information corresponds to R scattering points, and Q first perception information corresponds to Q scattering points. The R scattering points and the Q scattering points may be completely the same, completely different, or partially the same.

Exemplarily, R scattering points and Q scattering points are exactly the same, indicating that sensing device 202 and sensing device 204 sense the same scattering points on the same target. For example, sensing device 202 and sensing device 204 both sense scattering points 1 to 3 on target 1.

Exemplarily, the R scattering points and the Q scattering points are completely different, indicating that the sensing device 202 and the sensing device 204 sense different scattering points on the same target, for example, the sensing device 202 senses scattering points 1 to 3 on target 1, and the sensing device 204 senses scattering points 4 to 5 on target 1. And/or, the R scattering points and the Q scattering points are completely different, indicating that the sensing device 202 and the sensing device 204 sense different scattering points on different targets, for example, the sensing device 202 senses scattering points 1 to 3 on target 1, and the sensing device 204 senses scattering points 1 to 2 on target 2.

Exemplarily, the R scattering points and the Q scattering points are partially the same, indicating that the sensing device 202 and the sensing device 204 sense the same scattering points on the same target, and different scattering points on the same target, for example, the sensing device 202 senses scattering points 1 to 3 on target 1, and the sensing device 204 senses scattering points 2 to 5 on target 1. Alternatively, the R scattering points and the Q scattering points are partially the same, indicating that the sensing device 202 and the sensing device 204 sense the same scattering points on the same target, and different scattering points on different targets, for example, the sensing device 202 senses scattering points 1 to 3 on target 1, the sensing device 204 senses scattering points 2 to 3 on target 1, and the sensing device 204 also senses scattering points 1 to 2 on target 2.

It is understandable that the number of second perception devices may also be greater than 2. In this case, each second perception device may obtain a portion of the N first perception information (such as obtaining the first perception information by any of the methods in Examples 1 to 6 above), and send the obtained first perception information to the perception management device, which will not be repeated.

S402: The perception management device sends target indication information and location prediction information to the first perception device according to the N first perception information. Correspondingly, the first perception device receives the target indication information and location prediction information from the perception management device.

In a possible implementation manner, the perception management device determines target indication information and location prediction information based on N first perception information.

In the present application, the target indication information may indicate that M scattering points belong to the same target, and the M scattering points are all or part of the K scattering points. The position prediction information may indicate the position of each of the predicted M scattering points in the second time period, and the second time period is later than the first time period. The position prediction information may be used to sense the target in the second time period. In other words, the perception management device may determine which scattering points of the K scattering points belong to the same target, and indicate it to the first perception device, so that the first perception device senses with the target as the granularity to improve the perception accuracy. The perception management device may also predict the position of each of the M scattering points in the second time period, and indicate it to the first perception device, so that the first perception device can obtain the possible position of the target in advance. In this way, the first perception device can further process the signal in the direction of the position, such as increasing the signal transmission and reception power by beamforming, so as to further improve the accuracy of detection and positioning. Among them, the above-mentioned target may be the target 203 in the communication system 20 shown in Figure 2. The second time period may include a period of time. The duration of the second time period is the same as or different from the duration of the first time period.

Exemplarily, the sensing management device may determine, based on the positions of the K scattering points, that M of the scattering points belong to the same target. For example, among the K scattering points, the M scattering points are close to each other, for example, the distance between any two of the M scattering points is less than or equal to the first scattering point. Threshold. And/or, the sensing management device may determine the movement speed of the K scattering points in the first time period according to the Doppler frequency shift of the K scattering points, and determine that M of the scattering points belong to the same target according to the movement speed. For example, among the K scattering points, the movement speeds of the M scattering points are substantially consistent, such as the difference in movement speeds between any two of the M scattering points in the first time period is less than or equal to the second threshold. And/or, the sensing management device may determine the movement direction of the K scattering points in the first time period according to the Doppler frequency shift of the K scattering points, and determine that the M of the scattering points belong to the same target according to the movement direction. For example, among the K scattering points, the movement directions of the M scattering points are substantially consistent, such as the difference in angles between the movement directions of any two of the M scattering points in the first time period is less than or equal to the third threshold.

Exemplarily, the perception management device may predict the position of each scattering point in the second time period based on the position and movement speed of the M scattering points in the first time period. Alternatively, the perception management device may predict the position of each scattering point in the second time period based on the position, movement speed and movement direction of the M scattering points in the first time period. It is understandable that if the perception management device also obtains the positions of all or part of the M scattering points in the historical time, the perception management device may predict the position of the corresponding scattering point in the second time period based on the combination of these positions to improve the accuracy of the position prediction. The historical time is at least a period of time or at least a moment before the first time period.

In a possible implementation, after the sensing management device determines that the M scattering points belong to the same target, the M scattering points may be numbered so as to indicate the M scattering points to the first sensing device. For example, the M scattering points are numbered A ₁ to A _M . Optionally, the sensing management device may also number the target, for example, the target is numbered as target A.

Optionally, the perception management device may also identify the target. For example, the perception management device may identify the outline of the target based on the positions of the M scattering points in the first time period, thereby determining the type of the target, such as determining that the target is a car, an engineering vehicle, or an animal.

The following is an explanation of the specific information contained in the target indication information and the position prediction information.

Exemplarily, the target indication information may include the identifier of each scattering point in the M scattering points. For example, the target indication information includes A ₁ , A ₂ , ….., _AM , or includes {A ₁ , A ₂ , ….., _AM }, or includes [A ₁ , A ₂ , ….., _AM ], to indicate that the M points belong to the same target. Optionally, the target indication information may also include the identifier of the target. For example, the content included in the target indication information may be as shown in Table 1. For another example, the target indication information may include two fields, one field includes the identifier of the target, and the other field includes the identifier of each scattering point. Of course, the target indication information may also indicate that the M scattering points belong to the same target in other ways, which is not limited.

Table 1

Exemplarily, the location prediction information includes the identifier of each scattering point and the coordinates of each scattering point, and the coordinates may be two-dimensional coordinates or three-dimensional coordinates. Alternatively, the location prediction information includes the coordinates of each scattering point, the azimuth of each scattering point relative to the first sensing device, and the distance between each scattering point and the first sensing device. Alternatively, the location prediction information includes the coordinates of each scattering point, the azimuth of each scattering point relative to the sensing management device, and the distance between each scattering point and the sensing management device. It is understandable that the above information may be presented in the form of a table or an array, etc., without limitation. Taking the example that the location prediction information includes the identifier of each scattering point and the coordinates of each scattering point, the content included in the location prediction information may be as shown in Table 2, or the location prediction information includes [A ₁ , X ₁ , Y ₁ , A ₂ , X ₂ , Y ₂ , … , A _M , X _M , Y _M ]. Among them, _X1 represents the abscissa of the scattering point _A1 , _Y1 represents the ordinate of the scattering point _A1 , _X2 represents the abscissa of the scattering point _A2 , _Y2 represents the ordinate of the scattering point _A2 , ..., _XM represents the abscissa of the scattering point _AM , and _YM represents the ordinate of the scattering point _AM .

Table 2

Exemplarily, the target indication information and the position prediction information may be indicated by the signaling combination shown in Table 3. Among them, Target Index indicates the identifier of the target, Target points indicates the identifier of the scattering point, Coordinate 1 indicates the position information of the first scattering point, Coordinate 2 indicates the position information of the second scattering point, and Coordinate M indicates the position information of the Mth scattering point.

Table 3

Optionally, the location prediction information further indicates a second time period. The location prediction information indicates the second time period in a manner similar to the manner in which the scattering point information indicates the first time period in S401, and will not be described in detail.

It can be understood that after the perception management device determines the target indication information and the position prediction information, it can send the target indication information and the position prediction information to the first perception device. The first perception device can be a perception device near the above-mentioned predicted position (such as the predicted position of at least one of the above-mentioned M scattering points in the second time period). For example, the distance between the first perception device and the above-mentioned predicted position is less than or equal to the fourth threshold. In addition, the present application does not limit the number of first perception devices. In other words, the perception management device can instruct one perception device to perceive M scattering points in the second time period, and the perception management device can also instruct two or more perception devices to perceive M scattering points in the second time period.

It can be understood that the first sensing device is the same as or different from the second sensing device. The first sensing device is different from the second sensing device, indicating that the sensing device that senses K scattering points in the first time period does not need to sense M scattering points in the second time period. The first sensing device is the same as the second sensing device, indicating that the sensing device that senses all or part of the K scattering points in the first time period also senses all or part of the M scattering points in the second time period. For example, the first sensing device obtains P first sensing information and sends P first sensing information to the sensing management device. Among them, the P first sensing information corresponds to P scattering points respectively, and the P scattering points are all or part of the K scattering points. Subsequently, the sensing management device sends target indication information and position prediction information to the first sensing device to instruct the first sensing device to sense all or part of the M scattering points in the second time period.

Optionally, if the P scattering points are all or part of the M scattering points, the sensing management device further sends first indication information to the first sensing device. The first indication information is used to indicate that the first scattering point among the M scattering points is a scattering point among the P scattering points, or to indicate that the first scattering point among the M scattering points is sensed by the first sensing device within the first time period. For example, the first indication information includes an identifier of the first scattering point, or the first indication information may include M bits, the M bits correspond to the M scattering points respectively, and any one of the bits is used to indicate whether the corresponding scattering point is sensed by the first sensing device within the first time period. Taking M equal to 3 as an example, if the M bits are "001", it means that the first two scattering points among the M scattering points are not sensed by the first sensing device within the first time period, and the last scattering point is sensed by the first sensing device within the first time period. Through the above method, the first sensing device can associate the first scattering point among the M scattering points with the previously sensed scattering points, so that the target can be detected in the second time period in combination with the information of the previously sensed scattering points. For details, please refer to the description in S403 below. In addition, the present application does not limit the number of first scattering points. For example, the number of first scattering points may be one or more.

Optionally, if the first sensing device is different from the second sensing device, the sensing management device may also send first location information to the first sensing device. The first location information may indicate the location of each of the M scattering points in the first time period. In this way, after receiving the first location information, the first sensing device may detect the target in combination with the information. Specifically, please refer to the description in S403 below. The way in which the first location information indicates the location is similar to the way in which the location prediction information indicates the location, and will not be repeated.

It can be understood that if the first perception device is a network device, the first perception device can communicate with the perception management device using the Xn interface. If the first perception device is a terminal, the first perception device can communicate with the perception management device through the network device to which it is connected. For example, the perception management device sends target indication information and location prediction information to the network device to which the first perception device is connected through the Xn interface. After receiving the above information, the network device sends the target indication information and location prediction information to the first perception device through downlink control information (DCI), MAC-CE or RRC message.

It can be understood that if at least two of the K scattering points other than the M scattering points belong to the same target, the perception management device can indicate that these scattering points belong to the same target in a manner similar to the above, and indicate the predicted position of each scattering point in the third time period. The meaning of the third time period is similar to that of the second time period, and reference can be made to the above introduction to the second time period. It should be understood that the third time period and the second time period can be the same time period or different time periods.

Optionally, the sensing management device further sends resource indication information to the first sensing device. The resource indication information may indicate at least one of the time domain resources, frequency domain resources, or spatial domain resources used by the sensing target in the second time period. In this way, after receiving the information, the first sensing device may adopt the corresponding resource sensing target.

In the present application, time domain resources may include symbols, time slots, mini time slots, subframes or subframes, etc. The time domain resources include the time domain resources where the second time period is located. For example, the resource indication information includes the index of the symbol where the second time period is located. Optionally, the resource indication information also includes the index of the time slot where the symbol is located. The resource indication information may also include the index of the subframe where the time slot is located. The resource indication information may also include the index of the frame where the subframe is located. Frequency domain resources may include subcarriers, resource blocks (RB), carriers, frequencies, bandwidths or bandwidth portions, etc. Spatial domain resources may include beams, antenna ports or antenna weights, etc. The beam may be a narrow beam or a wide beam without limitation.

S403: The first sensing device senses the target within the second time period according to the target indication information and the position prediction information.

It can be understood that the first sensing device can be a device that sends signals or a device that receives echo signals. If the first sensing device is a device that sends signals, the first sensing device can send signals according to the position prediction information, such as increasing the transmission power of the signal through beamforming in the direction of the position indicated by the position prediction information, so that the third sensing device can receive the echo signal of the signal and obtain the third sensing device. Second perception information. The second perception information may indicate information of a target perceived in a second time period. For example, the second perception information includes the position coordinates of each of the M scattering points in the second time period. The second perception information may also include the position coordinates of the target at the second moment, but not the position coordinates of each scattering point in the second time period, to reduce signaling overhead. It is understandable that the third perception device may obtain the second perception information using any of the methods in Examples 1 to 6 above.

It can be understood that the information sent by the perception management device to the first perception device can be sent to the third perception device. For example, the perception management device can also send target indication information and position prediction information to the third perception device, so that the third perception device can receive the echo signal according to the position prediction information, such as increasing the signal receiving power through beamforming in the direction of the position indicated by the position prediction information, so as to improve the accuracy of the acquired second perception information. In addition, the third perception device can also determine that the M scattering points belong to the same target based on the target indication information, and then locate the target to improve the positioning accuracy. In addition, the perception management device can also send the first indication information or the first position information to the third perception device.

It can be understood that if the signal sent by the first sensing device can reach Z scattering points out of the M scattering points, the third sensing device can obtain the information of the Z scattering points. If Z is equal to M, the third sensing device can determine the position of each of the M scattering points in the second time period, and then locate the target based on these positions, such as finding the geometric mean of these positions, and determining the geometric mean as the position of the geometric center of the target. If Z is less than M, the third sensing device can determine the positions of some of the M scattering points in the second time period. Subsequently, the third sensing device can estimate the positions of the remaining scattering points in the second time period in combination with the first indication information or the first position information, and the positions of the Z scattering points in the second time period, and then locate the target.

If the first sensing device is a device for receiving echo signals, the first sensing device can obtain the second sensing information by any one of the methods in Examples 1 to 6 above. The difference is that in S403, the first sensing device obtains in advance the position where each of the M scattering points may appear in the second time period, so the first sensing device can increase the receiving power of the signal through beamforming in the direction of the position to improve the accuracy of the acquired second sensing information. In addition, the first sensing device may not be able to perceive the position of each of the M scattering points in the second time period, so the first sensing device can locate the target in combination with the first indication information or the first position information.

It is understandable that after the first sensing device acquires the second sensing information, the second sensing information can be sent to the sensing management device. After receiving the second sensing information, the sensing management device can perform further processing, such as predicting the positions of the M scattering points in a fourth time period after the second time period, and indicating them to the corresponding sensing device so that the sensing device detects the target in the fourth time period.

Based on the method shown in FIG4 , the perception management device can obtain N first perception information corresponding to K scattering points, and indicate to the first perception device according to the N first perception information that M scattering points among the K scattering points belong to the same target, so that the first perception device can perceive with the target as the granularity in the second time period to improve the perception accuracy. In addition, the perception management device also indicates to the first perception device the predicted position of each scattering point among the M scattering points in the second time period, so that the first perception device can perceive the target in the second time period according to the instruction of the perception management device. Since the first perception device obtains the possible position of the target in advance, it can further process the signal in the direction of the position, such as increasing the signal receiving and transmitting power through beamforming, so as to further improve the accuracy of detection and positioning.

Optionally, in a possible implementation of the method shown in FIG4, the perception management device may further indicate to the first perception device the perception operation performed on the target, so that the first perception device performs the corresponding perception operation on the target in the second time period to obtain the second perception information. Specifically, as shown in FIG5, the method shown in FIG4 may further include the following steps:

S402a: The sensing management device sends sensing operation instruction information to the first sensing device. Correspondingly, the first sensing device receives the sensing operation instruction information from the sensing management device.

In the present application, the sensing operation indication information may indicate a sensing operation performed on the target within the second time period. The sensing operation may include at least one of the following: positioning operation, motion direction recognition, orientation recognition, or posture recognition.

Exemplarily, the perception operation indication information may include an identifier of the corresponding perception operation. Taking the identification of the positioning operation as "00", the identification of the direction of movement as "01", the identification of the orientation as "10", and the identification of the posture recognition as "11" as an example, if the perception operation indication information includes "00", it means that the perception management device indicates to locate the target within the second time period; if the perception operation indication information includes "00" and "01", it means that the perception management device indicates to locate the target within the second time period and identify the direction of movement of the target; if the perception operation indication information includes "10", it means that the perception management device indicates to identify the orientation of the target within the second time period; if the perception operation indication information includes "00" and "11", it means that the perception management device indicates to locate the target within the second time period and identify the posture of the target.

As mentioned above, the perception management device can identify the target. The perception management device can determine the corresponding perception operation based on the identified target. For example, if the perception management device identifies the target as a vehicle, the perception management device can determine that the perception operation includes a positioning operation, or includes a positioning operation and movement direction identification, or includes a positioning operation and orientation identification. If the perception management device identifies the target as a cat, the perception management device can determine that the perception operation includes a positioning operation and posture recognition (such as identifying whether the cat is lying or running, etc.). If the perception management device identifies the target as an excavator, the perception management device can determine that the perception operation includes a positioning operation, a orientation operation, and posture recognition (such as identifying whether the excavator's digging arm is work, etc.).

It can be understood that after the first perception device receives the perception operation indication information, it can perform the perception operation indicated by the perception operation indication information on the target within the second time period according to the target indication information and the position prediction information to obtain the second perception information.

Exemplarily, if the sensing operation indication information indicates a positioning operation, the first sensing device may determine the location of the target in the second time period. The second sensing information may indicate the location of the target in the second time period. For details, please refer to the corresponding description in S403.

Exemplarily, if the sensing operation indication information indicates motion direction identification, the first sensing device can obtain the Doppler frequency shift of M scattering points in the second time period, determine the motion direction of each scattering point in the second time period according to the Doppler frequency shift, and then determine the motion direction of the target in the second time period. Alternatively, the first sensing device senses the position of the target at two different moments in the second time period, and the vector line between the two positions is the motion direction of the target in the second time period. For example, the first sensing device senses M scattering points at time t1 in the second time period, determines the positions of the M scattering points at time t1, and determines the position of the target at time t1 according to the positions of the M scattering points at time t1. The first sensing device also senses M scattering points at time t2 in the second time period, determines the positions of the M scattering points at time t2, and determines the position of the target at time t2 according to the positions of the M scattering points at time t2. If time t2 is later than time t1, the vector line from the position of the target at time t1 to the position of the target at time t2 is the motion direction of the target in the second time period. It can be understood that the second sensing information can indicate the motion direction of the target in the second time period, such as indicating the motion direction of the target in the second time period by three-dimensional vector coordinates.

Exemplarily, if the sensing operation indication information indicates direction identification, the first sensing device can obtain the positions of the M scattering points in the second time period, and identify the direction of the target in the second time period according to the positions. The second sensing information can indicate the direction of the target in the second time period, such as the second sensing information can include an identifier corresponding to the direction.

Exemplarily, if the sensing operation indication information indicates gesture recognition, the first sensing device may obtain the positions of the M scattering points in the second time period, and identify the gesture of the target in the second time period according to the positions. The second sensing information may indicate the gesture of the target in the second time period, such as the second sensing information may include an identifier corresponding to the gesture.

Exemplarily, if the sensing operation instruction information indicates posture recognition, the first sensing device can obtain the Doppler frequency shift of the M scattering points in the second time period, and identify the posture of the target in the second time period according to the Doppler frequency shift. Taking the first sensing device determining the posture of the excavator as an example, when the excavator is driving, the Doppler frequency shifts corresponding to the mechanical arm and the body are the same or similar, and the Doppler frequency shifts of both are not 0, and when the excavator is working, the Doppler frequency shifts corresponding to the mechanical arm and the body are different, and the Doppler frequency shift corresponding to the body is 0, so if the Doppler frequency shift of the scattering points on the mechanical arm in the second time period is the same or similar to the Doppler frequency shift of the scattering points on the body in the second time period, and both are not 0, then the first sensing device determines that the posture of the excavator is in the driving state; if the Doppler frequency shift of the scattering points on the mechanical arm in the second time period is different from the Doppler frequency shift of the scattering points on the body in the second time period, and the Doppler frequency shift of the scattering points on the body in the second time period is 0, then the first sensing device determines that the posture of the excavator is in the working state.

Optionally, in a possible implementation of the method shown in FIG4, the perception management device may further indicate to the first perception device the perception mode used to perform the above-mentioned perception operation on the target, so that the first perception device performs the perception operation on the target in the second time period using the corresponding perception mode to obtain the second perception information. Specifically, as shown in FIG5, the method shown in FIG4 may further include the following steps:

S402b: The perception management device sends the perception mode indication information to the first perception device. Correspondingly, the first perception device receives the perception mode indication information from the perception management device.

In the present application, the sensing mode indication information may indicate the sensing mode adopted by the sensing operation performed on the target. The sensing mode includes information of the center point of the sensing target, or information of a specified position on the sensing target.

Exemplarily, the perception mode indication information includes 1 bit. If the value of the 1 bit is "0", it indicates that the perception management device indicates information about the center point of the perception target. If the value of the 1 bit is "1", it indicates that the perception management device indicates information about a designated position on the perception target, and vice versa. The perception mode indication information may also indicate the designated position, such as if the perception mode indication information includes an identifier of the designated position or predicted coordinates of the designated position in a second time period. For another example, if the perception mode indication information includes an identifier of the designated position or predicted coordinates of the designated position in a second time period, it indicates that the perception management device indicates information about the designated position on the perception target. If the perception mode indication information is empty, or the perception management device does not send the perception mode indication information, it indicates that the perception management device indicates information about the center point of the perception target.

For example, if the sensing operation indication information indicates the positioning operation, if the sensing mode indication information indicates the information of sensing the center point of the target, it means that the position of the center point of the target in the second time period needs to be determined, so the first sensing device determines the position of the M scattering points in the second time period, and then determines the geometric mean of these positions, which is the position of the center point of the target in the second time period. If the sensing mode indication information indicates the information of sensing _A2 and _A3 , it means that the position of _A2 in the second time period and the position of _A3 in the second time period need to be determined, so the first sensing device can use the method shown in S403 to sense the position of _A2 in the second time period and the position of _A3 in the second time period.

For example, taking the sensing operation instruction information indicating the motion direction recognition as an example, if the sensing mode instruction information indicates the center of the sensing target If the information of the point is obtained, it means that the moving direction of the center point of the target in the second time period needs to be determined. Therefore, after the first sensing device obtains the moving direction of each scattering point in the second time period among the M scattering points, the average value of these moving directions can be determined, and the average value is determined as the moving direction of the center point of the target in the second time period. Alternatively, the first sensing device determines the position of the geometric center of the target at two different times in the second time period, and the vector line between the two positions is the moving direction of the center point of the target in the second time period.

For example, if the sensing operation indication information indicates the identification of the movement direction, if the sensing mode indication information indicates the information of sensing A ₂ , it means that the movement direction of A ₂ in the second time period needs to be determined, so the first sensing device can use the method shown in S403 to obtain the Doppler frequency shift of A ₂ in the second time period, and determine the movement direction of A ₂ in the second time period according to the Doppler frequency shift. Alternatively, the first sensing device determines the position of A ₂ at two different times in the second time period, and the vector line between the two positions is the movement direction of A ₂ in the second time period.

Optionally, in a possible implementation of the method shown in FIG4, if the sensing operation includes posture recognition, the sensing management device may further indicate the positions of M scattering points corresponding to different posture types to the first sensing device, so that the first sensing device determines the posture of the target in the second time period. Specifically, as shown in FIG5, the method shown in FIG4 may further include the following steps:

S402c: The perception management device sends the gesture type information to the first perception device. Correspondingly, the first perception device receives the gesture type information from the perception management device.

In the present application, the posture type information can be used to indicate the positions of M scattering points corresponding to different posture types. Here, the "positions of the M scattering points" can be the actual positions of the M scattering points, or the relative positions of the M scattering points (such as the positions of the M scattering points relative to the center point of the target). In this way, after the first sensing device determines the position of each of the M scattering points in the second time period, it can be compared with the positions of the M scattering points indicated by the posture type information, and the posture type corresponding to the closest position is determined as the posture of the target in the second time period. It can be understood that if the positions of the M scattering points indicated by the posture type information are the actual positions of the M scattering points, then after the first sensing device determines the position of each of the M scattering points in the second time period, it can be directly compared with the position indicated by the posture type information; if the positions of the M scattering points indicated by the posture type information are the relative positions of the M scattering points, then after the first sensing device determines the position of each of the M scattering points in the second time period, it can determine the relative position of the M scattering points in the second time period, and then compare it with the position indicated by the posture type information.

Exemplarily, taking the case where the posture type includes posture type 1 to posture type 3, and the posture type information indicates the actual position of M scattering points, the content included in the posture type information may be as shown in Table 4. After the first sensing device determines the position of each of the M scattering points in the second time period, it may be compared with the position shown in Table 4. If the position of each of the M scattering points in the second time period is closest to each position 1 in Table 4, the first sensing device determines that the posture type of the target in the second time period is posture type 1; if the position of each of the M scattering points in the second time period is closest to each position 2 in Table 4, the first sensing device determines that the posture type of the target in the second time period is posture type 2; if the position of each of the M scattering points in the second time period is closest to each position 3 in Table 4, the first sensing device determines that the posture type of the target in the second time period is posture type 3.

Table 4

It can be understood that if the first perception device cannot recognize the posture of the target in the second time period, it can indicate to the perception management device that it cannot recognize the posture of the target in the second time period.

The multiple information sent by the above-mentioned perception management device to the first perception device, such as target indication information, position prediction information, first indication information, perception operation indication information or posture type information, can be included in one message or in multiple messages without restriction.

It can be understood that the actions of the perception management device or the first perception device or the second perception device in the above steps can be executed by the processor 301 in the communication device 30 shown in Figure 3 calling the application code stored in the memory 303, and this application does not impose any restrictions on this.

The various embodiments mentioned above in this application can be combined without limitation if there is no contradiction between the solutions.

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

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

For example, in the case of dividing each functional module in an integrated manner, FIG6 shows a schematic diagram of the structure of a communication device 60. The communication device 60 includes a processing module 601 and an interface module 602. The processing module 601, which may also be referred to as a processing unit, is used to perform operations other than transceiver operations, such as a processing circuit or a processor. The interface module 602, which may also be referred to as an interface unit, is used to perform transceiver operations, such as an interface circuit, a transceiver, a transceiver or a communication interface.

In some embodiments, the communication device 60 may further include a storage module (not shown in FIG. 6 ) for storing program instructions and data.

In some embodiments, the communication device 60 may further include an AI module (not shown in FIG. 6 ) for implementing AI-related functions. The AI module may implement AI functions by software, hardware, or a combination of software and hardware. For example, the AI module includes a RIC module. Optionally, the AI module and the storage module are integrated into one module, or the AI module and the processing module 601 are integrated into one module.

Exemplarily, the communication device 60 is used to implement the function of the perception management device. The communication device 60 is, for example, the perception management device described in the embodiment shown in FIG. 4 or the embodiment shown in FIG. 5 .

The processing module 601 is used to obtain N first perception information. The N first perception information corresponds to K scattering points, and any first perception information is information of the scattering point obtained by perceiving the corresponding scattering point in the first time period, K is an integer greater than 1, and N is an integer greater than or equal to K. For example, the processing module 601 can be used to execute S401.

The interface module 602 is configured to send target indication information and position prediction information according to the N first perception information. The target indication information indicates that the M scattering points belong to the same target, and the M scattering points are all or part of the K scattering points. The position prediction information indicates the predicted position of each scattering point in the M scattering points in the second time period, and the second time period is later than the first time period. The position prediction information is used to perceive the target in the second time period. For example, the interface module 602 can be used to execute S402.

When used to implement the function of the perception management device, regarding other functions that the communication device 60 can implement, reference can be made to the relevant introduction of the embodiment shown in Figure 4 or the embodiment shown in Figure 5, and no further details will be given.

Alternatively, illustratively, the communication device 60 is used to implement the function of the first sensing device or the second sensing device. The communication device 60 is, for example, the first sensing device/second sensing device described in the embodiment shown in FIG. 4 or the embodiment shown in FIG. 5 .

The interface module 602 is used to receive target indication information and position prediction information. The target indication information indicates that the M scattering points belong to the same target, and the position prediction information indicates the predicted position of each scattering point in the second time period of the M scattering points, where M is an integer greater than 1. For example, the interface module 602 can be used to execute S402.

The processing module 601 is used to sense the target within the second time period according to the target indication information and the position prediction information. For example, the processing module 601 can be used to execute S403.

When used to implement the functions of the first sensing device/the second sensing device, regarding other functions that the communication device 60 can implement, reference may be made to the relevant introduction of the embodiment shown in FIG4 or the embodiment shown in FIG5 , and no further details will be given.

In a simple embodiment, those skilled in the art may imagine that the communication device 60 may be in the form shown in Figure 3. For example, the processor 301 in Figure 3 may call the computer-executable instructions stored in the memory 303 to enable the communication device 60 to execute the method described in the above method embodiment.

Exemplarily, the functions/implementation processes of the processing module 601 and the interface module 602 in FIG6 can be implemented by the processor 301 in FIG3 calling the computer execution instructions stored in the memory 303. Alternatively, the functions/implementation processes of the processing module 601 in FIG6 can be implemented by the processor 301 in FIG3 calling the computer execution instructions stored in the memory 303, and the functions/implementation processes of the interface module 602 in FIG6 can be implemented by the communication interface 304 in FIG3.

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

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

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

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

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

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

Optionally, the present application also provides a communication system, including: the perception management device in the above embodiment, and a first perception device and/or a second perception device.

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

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

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

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

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

Claims (21)

A target detection method, characterized in that the method comprises: Acquire N first perception information, where the N first perception information correspond to K scattering points, and any one of the first perception information is information of the scattering point obtained by sensing the scattering point corresponding to the first perception information within a first time period, K is an integer greater than 1, and N is an integer greater than or equal to K; Target indication information and position prediction information are sent according to the N first perception information, the target indication information indicating that M scattering points belong to the same target, the M scattering points are all or part of the K scattering points, the position prediction information indicates a predicted position of each scattering point in the M scattering points in a second time period, the second time period is later than the first time period, and the position prediction information is used to perceive the target in the second time period. The method according to claim 1, characterized in that the method further comprises: Sending first indication information to a first sensing device, where the first indication information indicates that a first scattering point among the M scattering points is sensed by the first sensing device within the first time period. The method according to claim 1 or 2, characterized in that the method further comprises: Sending perception operation indication information, where the perception operation indication information indicates a perception operation performed on the target within the second time period. The method according to claim 3 is characterized in that the perception operation includes at least one of the following: positioning operation, movement direction recognition, orientation recognition or posture recognition. The method according to claim 4, characterized in that the sensing operation includes gesture recognition, and the method further comprises: Sending posture type information, where the posture type information is used to indicate the positions of the M scattering points corresponding to different posture types. The method according to any one of claims 3 to 5, characterized in that the method further comprises: Sending sensing mode indication information, wherein the sensing mode indication information indicates a sensing mode adopted for performing the sensing operation on the target. The method according to claim 6 is characterized in that the sensing method includes sensing information of a center point of the target, or sensing information of a specified position on the target. The method according to any one of claims 3 to 7, characterized in that the method further comprises: Acquire second perception information, where the second perception information indicates information obtained by perceiving the target within the second time period according to the perception operation indication information. A target detection method, characterized in that the method comprises: receiving target indication information and position prediction information, wherein the target indication information indicates that M scattering points belong to the same target, and the position prediction information indicates a predicted position of each of the M scattering points in a second time period, where M is an integer greater than 1; The target is sensed within the second time period according to the target indication information and the position prediction information. The method according to claim 9, characterized in that the method further comprises: Acquire P first perception information, where the P first perception information respectively correspond to P scattering points, any one of the first perception information is information of the scattering point obtained by perceiving the scattering point corresponding to it in a first time period, the P scattering points are all or part of the M scattering points, the second time period is later than the first time period, and P is a positive integer; Send the P first perception information. The method according to claim 10, characterized in that the method further comprises: First indication information is received, where the first indication information indicates that a first scattering point among the M scattering points is a scattering point among the P scattering points. The method according to any one of claims 9 to 11, characterized in that the method further comprises: receiving sensing operation indication information, where the sensing operation indication information indicates a sensing operation performed on the target within the second time period; The sensing the target within the second time period according to the target indication information and the position prediction information includes: The perception operation is performed on the target within the second time period according to the target indication information and the position prediction information to obtain second perception information. The method according to claim 12, characterized in that the method further comprises: Send the second perception information. The method according to claim 12 or 13, characterized in that the sensing operation comprises at least one of the following: positioning operation, Movement direction recognition, orientation recognition or posture recognition. The method according to claim 14, wherein the sensing operation comprises gesture recognition, and the method further comprises: Receive posture type information, where the posture type information is used to indicate positions of the M scattering points corresponding to different posture types. The method according to any one of claims 12 to 15, characterized in that the method further comprises: The sensing mode indication information is received, where the sensing mode indication information indicates a sensing mode adopted for performing the sensing operation on the target. The method according to claim 16 is characterized in that the sensing method includes sensing information of a center point of the target, or sensing information of a specified position on the target. A communication device, characterized by comprising a unit or module for executing the method as claimed in any one of claims 1 to 8, or comprising a unit or module for executing the method as claimed in any one of claims 9 to 17. A communication device, characterized in that it comprises: a processor, the processor is coupled to a memory, the memory is used to store programs or instructions, when the program or instructions are executed by the processor, the device executes the method as described in any one of claims 1 to 8, or executes the method as described in any one of claims 9 to 17. A computer-readable storage medium having a computer program or instruction stored thereon, wherein when the computer program or instruction is executed, the computer is caused to execute the method as claimed in any one of claims 1 to 8, or the method as claimed in any one of claims 9 to 17. A computer program product, comprising a computer program code, characterized in that when the computer program code is run on a computer, the computer implements the method described in any one of claims 1 to 8, or implements the method described in any one of claims 9 to 17.