WO2024131761A1 - Sensing collaboration method and apparatus, and communication device - Google Patents

Sensing collaboration method and apparatus, and communication device Download PDF

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Publication number
WO2024131761A1
WO2024131761A1 PCT/CN2023/139737 CN2023139737W WO2024131761A1 WO 2024131761 A1 WO2024131761 A1 WO 2024131761A1 CN 2023139737 W CN2023139737 W CN 2023139737W WO 2024131761 A1 WO2024131761 A1 WO 2024131761A1
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perception
measurement
information
configuration
report
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PCT/CN2023/139737
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French (fr)
Chinese (zh)
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丁圣利
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维沃移动通信有限公司
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Publication of WO2024131761A1 publication Critical patent/WO2024131761A1/en

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  • the present application belongs to the field of communication technology, and specifically relates to a perception collaboration method, device and communication equipment.
  • the devices or systems that can perform perception services include two categories: sensors and integrated sensory systems.
  • Integrated sensory systems transmit and receive radio frequency signals through communication transceiver equipment to achieve perception, and typical sensors include laser radar, millimeter wave radar, visual sensor, rain gauge, hygrometer, etc.
  • typical sensors include laser radar, millimeter wave radar, visual sensor, rain gauge, hygrometer, etc.
  • a single type of perception often cannot meet the perception needs.
  • the embodiments of the present application provide a perception collaboration method, apparatus, and communication device, which can solve the problem that a single type of perception cannot meet perception needs.
  • a perception collaboration method comprising:
  • the first device obtains first collaboration information
  • the first device performs a first operation, where the first operation includes any one of the following:
  • the first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
  • a perception collaboration method which includes:
  • the third device performs a second operation, where the second operation includes any one of the following:
  • the first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
  • a perception cooperation apparatus wherein a first device includes the perception cooperation apparatus, and the apparatus includes:
  • a first acquisition module used to acquire first collaboration information
  • the execution module is used to execute a first operation, where the first operation includes any one of the following:
  • the first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
  • a perception cooperation apparatus wherein the third device includes the perception cooperation apparatus, and the apparatus includes:
  • the execution module is used to execute a second operation, where the second operation includes any one of the following:
  • the first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
  • a communication device which includes a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the method described in the first aspect or the second aspect are implemented.
  • a communication device including a processor and a communication interface, wherein the processor is used to: obtain first collaborative information; perform a first operation, the first operation including any one of the following: perform a first perception operation to obtain a first measurement quantity, and send the first measurement quantity; perform a first perception operation based on the first collaborative information to obtain a third measurement quantity; perform a first perception operation to obtain a first measurement quantity, and determine a third measurement quantity based on the first collaborative information and the first measurement quantity; wherein the first collaborative information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement; or, the processor is used to: perform a second operation, the second operation including any one of the following: receive a third measurement quantity sent by the first device; obtain the first collaborative information, and obtain a third measurement quantity corresponding to the first perception operation.
  • a first measurement quantity is determined, and a third measurement quantity is determined based on the first collaboration information and the first measurement quantity; wherein the first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to the perception requirement.
  • a perception collaboration system comprising: a first device and a third device, wherein the first device can be used to execute the steps of the method described in the first aspect, and the third device can be used to execute the steps of the method described in the second aspect.
  • a readable storage medium on which a program or instruction is stored.
  • the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented, or the steps of the method described in the second aspect are implemented.
  • a chip comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the method described in the first aspect, or to implement the method described in the second aspect.
  • a computer program/program product is provided, wherein the computer program/program product is stored in a storage medium, and the computer program/program product is executed by at least one processor to implement the steps of the method described in the first aspect, or to implement the steps of the method described in the second aspect.
  • the first device or the second device performs a first perception operation based on the first cooperation information to obtain a third measurement amount; or the first device or the second device performs a first perception operation to obtain a first measurement amount, and determines a third measurement amount based on the first cooperation information and the first measurement amount, wherein the first cooperation information is determined based on the second measurement amount corresponding to the second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement amount is a measurement amount corresponding to the perception requirement.
  • the measurement amount corresponding to the perception requirement is obtained by cooperating with the first perception operation through the second perception operation, and assistance is provided through different types of perception operations, which can meet the perception requirements and improve the perception performance of the perception system.
  • FIG1 is a block diagram of a wireless communication system to which an embodiment of the present application can be applied;
  • FIG2 is a schematic diagram of a perception classification provided by an embodiment of the present application.
  • FIG3 is one of the flow charts of a perception collaboration method provided in an embodiment of the present application.
  • FIG4 is a second flowchart of a perception collaboration method provided in an embodiment of the present application.
  • FIG5 is one of the structural schematic diagrams of a perception cooperation device provided in an embodiment of the present application.
  • FIG6 is a second schematic diagram of the structure of a perception cooperation device provided in an embodiment of the present application.
  • FIG7 is one of the structural schematic diagrams of a communication device provided in an embodiment of the present application.
  • FIG8 is a second schematic diagram of the structure of a communication device provided in an embodiment of the present application.
  • FIG. 9 is a third schematic diagram of the structure of a communication device provided in an embodiment of the present application.
  • first, second, etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by “first” and “second” are generally of the same type, and the number of objects is not limited.
  • the first object can be one or more.
  • “and/or” in the specification and claims represents at least one of the connected objects, and the character “/" generally represents that the objects associated with each other are in an "or” relationship.
  • LTE Long Term Evolution
  • LTE-A Long Term Evolution
  • CDMA Code Division Multiple Access
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • SC-FDMA Single-carrier Frequency Division Multiple Access
  • NR new radio
  • FIG1 shows a block diagram of a wireless communication system applicable to an embodiment of the present application.
  • the wireless communication system includes a terminal 11 and a network side device 12 .
  • the terminal 11 may be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer) or a notebook computer, a personal digital assistant (PDA), a handheld computer, a netbook, an ultra-mobile personal computer (UMPC), a mobile Internet device (Mobile Internet Device, MID), an augmented reality (AR)/virtual reality (VR) device, a robot, a wearable device (Wearable Device), a vehicle user equipment (VUE), a pedestrian terminal (Pedestrian User Equipment, PUE), a smart home (a home appliance with wireless communication function, such as a refrigerator, a television, a washing machine or furniture, etc.), a game console, a personal computer (personal computer, PC), a teller machine or a self-service machine and other terminal side devices, and the wearable device includes: a smart watch
  • the network side device 12 may include an access network device or a core network device, wherein the access network device may also be referred to as a wireless access network device, a wireless access network (Radio Access Network, RAN), a wireless access network function or a wireless access network unit.
  • the access network device may include a base station, a wireless local area network (Wireless Local Area Network, WLAN) access point or a WiFi node, etc.
  • the base station may be referred to as a Node B, an Evolved Node B (Evolved Node B), or a wireless access network function.
  • base station (Base Transceiver Station, BTS), radio base station, radio transceiver, basic service set (Basic Service Set, BSS), extended service set (Extended Service Set, ESS), home B node, home evolved B node, transmission reception point (Transmission Reception Point, TRP) or other suitable terms in the field, as long as the same technical effect is achieved, the base station is not limited to specific technical vocabulary. It should be noted that in the embodiment of the present application, only the base station in the NR system is taken as an example for introduction, and the specific type of the base station is not limited.
  • the core network equipment may include but is not limited to at least one of the following: core network node, core network function, mobility management entity (Mobility Management Entity, MME), access mobility management function (Access and Mobility Management Function, AMF), session management function (Session Management Function, SMF), user plane function (User Plane Function, UPF), policy control function (Policy Control Function, PCF), policy and charging rules function unit (Policy and Charging Rules Function, PCRF), edge application service discovery function (Edge Application Server Discovery Function, EASDF), unified data management (Unified Data Management, UDM), unified data storage (Unified Data Repository, UDR), home user server (Home Subscriber Server, HSS), centralized network configuration (CNC), network storage function (Network Repository Function, NRF), network exposure function (Network Exposure Function, NEF), local NEF (Local NEF, or L-NEF), binding support function (Binding Support Function, BSF), application function (Application Function, AF), etc. It should be noted that in
  • Future B5G and 6G wireless communication systems are expected to provide a variety of high-precision sensing services, such as indoor positioning for robot navigation, Wi-Fi sensing for smart homes, and radar sensing for autonomous vehicles.
  • Sensing and communication systems are usually designed separately and occupy different frequency bands.
  • MIMO massive multiple-input multiple-output
  • communication signals in future wireless communication systems often have high resolution in both time and angle domains, which makes it possible to use communication signals to achieve high-precision sensing. Therefore, it is best to jointly design sensing and communication systems so that they can share the same frequency band and hardware to improve frequency efficiency and reduce hardware costs. This has prompted the study of Integrated Sensing And Communication (ISAC).
  • MIMO massive multiple-input multiple-output
  • ISAC will become a key technology for future wireless communication systems to support many important application scenarios. For example, in future autonomous vehicle networks, autonomous vehicles will obtain a large amount of information from the network, including ultra-high-resolution maps and near-real-time information, to navigate and avoid upcoming traffic jams. In the same situation, radar sensors in autonomous vehicles should be able to provide powerful, high-resolution obstacle detection with centimeter-level resolution. ISAC technology for autonomous vehicles offers the possibility of high data rate communications and high-resolution obstacle detection using the same hardware and spectrum resources. Other applications of ISAC include Wi-Fi-based indoor positioning and activity recognition, communications and sensing for drones, extended reality (XR), radar and communication integration, etc. Each application has different requirements, limitations, and regulatory issues.
  • ISAC has attracted great research interest and attention from academia and industry. For example, there has been an increasing number of academic publications on ISAC recently, ranging from transceiver racks to From architecture design, ISAC waveform design, joint coding design, time-frequency-space signal processing, to experimental performance delay, prototype design and field testing.
  • ISAC achieves low-cost integration of communication and perception functions by sharing hardware equipment and defining functions with software. Its main features are: first, unified and simplified architecture; second, reconfigurable and scalable functions; third, improved efficiency and reduced costs.
  • the advantages of integrated communication and perception are mainly in three aspects: first, reduced equipment cost and size; second, improved spectrum utilization; and third, improved system performance.
  • Coexistence Communication and perception are two independent systems that will interfere with each other.
  • the main methods to resolve interference are: distance isolation, frequency band isolation, time division, MIMO technology, precoding, etc.
  • Co-design Communication and perception become a complete joint system, including joint signal design, waveform design, coding design, etc.
  • waveform design coding design
  • OFDM orthogonal frequency division multiplexing
  • perception can be divided into non-contact perception and contact perception.
  • Contact perception requires the installation of sensors such as thermometers/hygrometers/barometers/gyroscopes/accelerometers/gravity sensors on the sensing target to collect specific sensing information; non-contact perception requires light, sound or radio waves as the medium for perception transmission, so it can be divided into light perception (such as ordinary cameras that use visible light, infrared rays, etc.
  • Figure 2 summarizes the different types of sensing.
  • Non-RF perception is radio wave perception. During the propagation process, radio wave signals are affected by the surrounding environment, and the amplitude, phase and other characteristics of the signal change.
  • RF perception supports the separation of perception devices and perception targets. Compared with non-RF perception, it is less affected by weather and light conditions, has a relatively larger perception range, and is more flexible. It has more advantages than cameras in terms of privacy and security.
  • the typical application of RF perception is radar, including radar used in the military field and commercial millimeter wave radar.
  • the perception in communication perception integration belongs to radio frequency perception.
  • this application divides various types of perception into communication perception integration perception (hereinafter referred to as synaesthesia perception) and sensor perception, where sensor perception includes all other perception methods except synaesthesia perception. Synaesthesia perception and sensor perception complement each other.
  • 6G will make comprehensive use of different types of perception, including synaesthesia perception and sensor perception, to collect various types of data, so as to realize a more convenient, efficient and accurate digital construction of the physical world.
  • a sensing function network element which may also be called a sensing network element or a sensing network function, may be located on the radio access network (RAN) side or the core network side. It refers to a network node in the core network and/or RAN that is responsible for at least one function such as sensing request processing, sensing resource scheduling, sensing information interaction, and sensing data processing. It may be an upgrade based on the access and mobility management function (AMF) or location management function (LMF) in the 5G network, or it may be other network nodes or newly defined network nodes.
  • the functional characteristics of the sensing function network element may include at least one of the following:
  • Target information is interacted with a wireless signal sending device and/or a wireless signal measuring device (including a target terminal or a serving base station of the target terminal or a base station associated with a target area), wherein the target information includes a perception processing request, a perception capability, perception auxiliary data, a perception measurement quantity type, a perception resource configuration information, etc., to obtain the value of a target perception result or a perception measurement quantity (an uplink measurement quantity or a downlink measurement quantity) sent by the wireless signal measuring device; wherein the wireless signal may also be referred to as a perception signal.
  • the sensing method to be used is determined according to factors such as the type of sensing service, sensing service consumer information, required sensing service quality (QoS) requirement information, sensing capability of the wireless signal transmitting device, and sensing capability of the wireless signal measuring device.
  • the sensing method may include: base station A sends and base station B receives, or base station sends and terminal receives, or base station A sends and receives by itself, or terminal sends and base station receives, or terminal sends and receives by itself, or terminal A sends and terminal B receives. wait.
  • the perception device serving the perception service is determined based on factors such as the type of perception service, information about the perception service consumer, required perception QoS requirement information, the perception capability of the wireless signal sending device, and the perception capability of the wireless signal measuring device, wherein the perception device includes a wireless signal sending device and/or a wireless signal measuring device.
  • the values of the perceived measurement quantities are processed or calculated to obtain the perceived results. Furthermore, the perceived results are verified, and the perceived accuracy is estimated.
  • the perception demand information is the original demand information output by the perception service initiator, or the demand information obtained after processing according to the original demand information; and includes at least one of the following:
  • Perceive business type perceive target area, perceive object type, perceive QoS, and perceive prior information.
  • perception service types divided by type or specific to a certain service, such as imaging, positioning or trajectory tracking, motion recognition, ranging/speed measurement, etc.
  • the perception target area refers to the location area where the perception object may exist, or the location area where imaging or environmental reconstruction is required.
  • the perception object type the perception object is classified according to its possible motion characteristics.
  • Each perception object type contains the motion speed, motion acceleration, typical radar cross-section (RCS) and other information of the typical perception object.
  • RCS radar cross-section
  • perception QoS the performance indicator of perception of the perception target area or perception object, including at least one of the following:
  • Perception resolution including at least one of the following: ranging (or delay) resolution, velocity (or Doppler) resolution, angle (azimuth, pitch) resolution, imaging resolution, acceleration (X/Y/Z directions) resolution, angular velocity (around X/Y/Z axes) resolution;
  • Perception accuracy including at least one of the following: ranging (or delay) accuracy, velocity (or Doppler) accuracy, angle (azimuth, pitch) accuracy, acceleration (X/Y/Z directions) accuracy, angular velocity (around X/Y/Z axes) accuracy;
  • the sensing range includes at least one of the following: distance (or delay) measurement range, velocity (or Doppler) measurement range, acceleration (X/Y/Z directions) measurement range, angular velocity (around X/Y/Z axes) measurement range, and imaging range;
  • Perception latency (the time interval from the sending of the perception signal to the acquisition of the perception result, or the time interval from the initiation of the perception demand to the acquisition of the perception result);
  • Perception update rate (the time interval between two consecutive perception operations and the acquisition of perception results);
  • Detection probability the probability of correctly detecting the perceived object when it exists
  • False alarm probability the probability of erroneously detecting a perceived target when the perceived object does not exist
  • Coverage The spatial extent of the sensed target/imaging area that meets at least one of the above performance requirements.
  • the perceptual prior information includes at least one of the following:
  • Perceive prior information such as the spatial structure and surface material of the target area
  • Prior information about the radar characteristics of the perceived object such as the radar cross section (RCS) size/pattern, micro-Doppler characteristics, etc.
  • the speed range of the perceived object etc.
  • Perception capability information describes the hardware and software capabilities of the perception node in order to support the corresponding perception service.
  • the perception capability information includes at least one of the following:
  • sensor-based perception is supported, and if so, at least one of the following:
  • the sensor's sensing capability information includes at least one of the following:
  • the supported sensing service types include at least one of the following:
  • radar detection services further including: radar speed measurement, radar distance measurement, radar angle measurement, and radar imaging;
  • 3D reconstruction services further including: terrain reconstruction, building surface reconstruction;
  • weather and/or air quality detection services further including: rainfall detection, humidity detection, particulate matter (PM2.5/PM10) detection, and snowfall detection;
  • health monitoring services further including: heart rate monitoring, breathing detection;
  • Whether to support motion recognition services further including: gesture recognition, posture recognition, and intrusion detection.
  • the supported measurements include at least one of the following:
  • the laser radar related measurement quantity includes at least one of the following:
  • LiDAR point cloud data Each point in the LiDAR point cloud data includes: X/Y/Z position information, and,additional information;
  • Visual features of objects identified from LiDAR point cloud data such as people, vehicles, etc.
  • the number of objects identified from the LiDAR point cloud data is the number of objects identified from the LiDAR point cloud data.
  • the additional information in the laser radar point cloud data includes at least one of the following:
  • Echo Count The echo count is the total number of echoes for a given pulse
  • Each post-processed lidar point can have a classification that defines the type of object that reflected the lidar pulse.
  • LiDAR points can be classified into many categories, such as ground, bare earth, top of tree canopy, and water.
  • RGB Red, Green, Blue
  • GPS Global Positioning System
  • Scanning direction The direction of travel of the laser scanning mirror. A value of 1 represents a positive scanning direction and a value of 0 represents a negative scanning direction.
  • the visual related measurement includes at least one of the following:
  • Visual features of objects identified from images such as people, vehicles, etc.
  • the angle and distance of the objects identified from the image (especially for binocular vision);
  • the number of objects identified in the image is the number of objects identified in the image.
  • the radar-related measurement quantity includes at least one of the following:
  • each point in the point cloud includes: at least one of distance/speed/azimuth/elevation angle, or at least one of X/Y/Z/speed;
  • the measurement quantity related to the inertial measurement unit includes at least one of the following:
  • Acceleration at least one of the three directions X/Y/Z;
  • Angular velocity around at least one of the three axes X/Y/Z.
  • other measurements include at least one of the following: whether the target exists, trajectory, movement, expression, life form Features, quantity, imaging results, weather, air quality, shape, material, composition, etc.
  • the QoS of the supported measurement quantity, for any supported measurement quantity, the QoS of the measurement quantity includes at least one of the following:
  • Perception resolution including at least one of the following: ranging (or delay) resolution, velocity (or Doppler) resolution, angle (azimuth, pitch) resolution, imaging resolution, acceleration (X/Y/Z directions) resolution, angular velocity (around X/Y/Z axes) resolution;
  • Perception accuracy including at least one of the following: ranging (or delay) accuracy, velocity (or Doppler) accuracy, angle (azimuth, pitch) accuracy, acceleration (X/Y/Z directions) accuracy, angular velocity (around X/Y/Z axes) accuracy;
  • the sensing range includes at least one of the following: distance (or delay) measurement range, velocity (or Doppler) measurement range, acceleration (X/Y/Z directions) measurement range, angular velocity (around X/Y/Z axes) measurement range, and imaging range;
  • Perception latency (the time interval from the sending of the perception signal to the acquisition of the perception result, or the time interval from the initiation of the perception demand to the acquisition of the perception result);
  • Perception update rate (the time interval between two consecutive perception operations and the acquisition of perception results);
  • Detection probability the probability of correctly detecting the perceived object when it exists
  • False alarm probability the probability of erroneously detecting a perceived target when the perceived object does not exist
  • Coverage The spatial extent of the sensed target/imaging area that meets at least one of the above performance requirements.
  • the first signal configuration includes at least one of the following:
  • Waveform types such as OFDM, Single-carrier Frequency-Division Multiple Access (SC-FDMA), Orthogonal Time Frequency Space (OTFS), Frequency Modulated Continuous Wave (FMCW), pulse signals, etc.
  • OFDM Single-carrier Frequency-Division Multiple Access
  • SC-FDMA Single-carrier Frequency-Division Multiple Access
  • OTFS Orthogonal Time Frequency Space
  • FMCW Frequency Modulated Continuous Wave
  • pulse signals etc.
  • Subcarrier spacing For example, the subcarrier spacing of the OFDM system is 30KHz;
  • Guard interval the time interval from the moment a signal ends to the moment the latest echo signal of the signal is received; this parameter is proportional to the maximum perception distance; for example, it can be calculated by 2d max /c, where d max is the maximum perception distance (belongs to the perception requirement).
  • d max represents the maximum distance from the perception signal receiving and transmitting point to the signal transmitting point; in some cases, the OFDM signal cyclic prefix CP can play the role of the minimum guard interval;
  • Bandwidth This parameter is inversely proportional to the range resolution and can be obtained by c/(2 ⁇ d), where ⁇ d is the range resolution (perception requirement) and c is the speed of light.
  • Burst duration This parameter is inversely proportional to the rate resolution (a perception requirement). This parameter is the time span of the perception signal, mainly for calculating the Doppler frequency offset. This parameter can be calculated by c/(2f c ⁇ v); where ⁇ v is the rate resolution and f c is the carrier frequency of the perception signal.
  • Time domain interval This parameter can be calculated by c/(2f c v range ), where v range is the maximum rate minus the minimum rate. Degree (belongs to perception requirements); this parameter is the time interval between two adjacent perception signals;
  • the transmit signal power takes a value from -20dBm to 23dBm at 2dBm intervals;
  • Signal format such as Sounding Reference Signal (SRS), Demodulation Reference Signal (DMRS), Positioning Reference Signal (PRS), or other predefined signals, as well as related sequence format information;
  • SRS Sounding Reference Signal
  • DMRS Demodulation Reference Signal
  • PRS Positioning Reference Signal
  • Signal direction such as the direction of the perceived signal or beam information
  • Time resources such as the time slot index where the perception signal is located or the symbol index of the time slot; wherein, time resources are divided into two types, one is a one-time time resource, for example, one symbol sends an omnidirectional perception signal; the other is a non-one-time time resource, such as multiple groups of periodic time resources or discontinuous time resources (which may include start time and end time), each group of periodic time resources sends a perception signal in the same direction, and different groups of periodic time resources have different beam directions;
  • Frequency resources including the center frequency of the perceived signal, bandwidth, resource block (RB) or subcarrier, point A, starting bandwidth position, etc.
  • the sensing signal includes multiple resources, each resource is associated with a synchronization signal block (SSB) QCL, and the QCL includes Type A, Type B, Type C or Type D;
  • SSB synchronization signal block
  • the antenna configuration information of the sensing node (base station or UE).
  • the antenna configuration information of the sensing node includes at least one of the following:
  • the position information of the antenna element used to send and/or receive the sensing signal relative to a local reference point on the antenna array (which can be expressed in Cartesian coordinates (x, y, z) or spherical coordinates) express);
  • the position information of the panel used to send and/or receive the sensing signal relative to a local reference point on the antenna array in Cartesian coordinates (x, y, z) or spherical coordinates)
  • the position information of the antenna array elements in these selected panels for sending sensing signals relative to a unified reference point of the panel (such as the center point of the panel) (which can be expressed in Cartesian coordinates (x, y, z) or spherical coordinates express);
  • Bitmap information of antenna array elements for example, the bitmap uses “1” to indicate that the array element is selected for sending and/or receiving the sensing signal, and uses “0” to indicate that the array element is not selected (or vice versa);
  • bitmap information of the array panel for example: the bitmap uses “1” to indicate that the panel is selected for sending and/or receiving perception signals, and uses “0” to indicate that the array element is not selected (or vice versa). And the bitmap information of the array elements in these selected panels;
  • Threshold information i.e., a threshold value used to determine whether the obtained perception measurement value satisfies the first condition for at least one of the source node, the first device, and the candidate node.
  • the threshold value may be different; for any candidate node and/or candidate tag, the perception measurement value and its corresponding threshold value may be greater than 1; the first condition is that the corresponding candidate node/candidate tag for obtaining the perception measurement value can be used as the target node /target tag.
  • FIG. 3 is a flow chart of a perception collaboration method provided in an embodiment of the present application. As shown in FIG. 3 , the perception collaboration method includes the following steps:
  • Step 101 The first device obtains first collaboration information
  • the first device performs a first operation, where the first operation includes any one of the following:
  • the first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
  • the first perception operation can be described as the first perception
  • the second perception operation can be described as the second perception
  • the first perception operation (which can be simply described as the first perception) can be a communication perception integrated perception operation (which can be simply described as communication perception integrated perception), and the second perception operation (which can be simply described as the second perception) can be a sensor perception operation (which can be simply described as sensor perception); or the first perception operation can be a sensor perception operation, and the second perception operation can be a communication perception integrated perception operation.
  • communication-sensing integrated sensing may be a sensing method in which a radio signal is sent through a communication-sensing integrated system, and a target reflected echo signal is received to perform a sensing service.
  • sensor perception may be: a perception method that performs perception services in a manner other than a communication-perception integrated system.
  • Typical devices that perform sensor-type perception include: lidar, millimeter-wave radar, visual sensors (including: monocular vision, binocular vision, infrared sensors), inertial measurement units (IMU), and various other sensors (rain gauge, thermometer, hygrometer, etc.).
  • the first collaborative information is determined based on a second measurement quantity corresponding to the second perception operation.
  • the first collaborative information may include the second measurement quantity corresponding to the second perception operation.
  • the first collaborative information may be information further determined by the second measurement quantity corresponding to the second perception operation, such as spatial information of the perceived target object, motion information of the perceived target object, whether the perceived target object exists, and the number of perceived target objects, etc.
  • the first device may be a first-category device, a second-category device, or a third-category device.
  • the second device may be a first-category device, a second-category device, or a third-category device.
  • the third device may be a first-category device, a second-category device, or a third-category device.
  • the perception signal may include a communication-perception integrated signal and a pure perception signal.
  • the communication-perception integrated signal includes not only communication information but also perception information.
  • the pure perception signal may be a perception signal other than the communication-perception integrated signal, for example, a signal that does not include communication information but only includes perception information.
  • the first type of device may be a device capable of performing synaesthesia-type perception.
  • the first category of devices may include: devices capable of sending communication-awareness integrated signals or pure perception signals, devices capable of receiving communication-awareness integrated signals or pure perception signals, and devices capable of sending and receiving communication-awareness integrated signals or pure perception signals.
  • the second type of device may be a device that has the ability to perform sensor perception and also has communication capabilities.
  • the second type of device may be a terminal of a special form (for example, a sensor module that is configured with both a communication module and a sensor module that can perform sensor perception), or an application function/application server that can provide sensor perception information.
  • a sensor module that is configured with both a communication module and a sensor module that can perform sensor perception
  • an application function/application server that can provide sensor perception information.
  • the typical situation is as follows:
  • a sensor equipped on a terminal or a base station belongs to a different hardware and processing domain from the terminal or the base station (for example, the sensor on the terminal is usually used by the application processor (AP) and the operating system or application (APP)), so from the network perspective it is an application server.
  • AP application processor
  • APP operating system or application
  • the measurement quantities (e.g., images) perceived by the second type of devices such as cameras are reported to an application server deployed at a certain location via a wired transmission network.
  • the application server can process the measurement quantities and is connected to one or more camera devices of the same type.
  • the perception function network element requests the application function/application server for perception information through the Network Exposure Function (NEF).
  • the perception information includes perception measurement quantity/perception result, time information of perception execution, etc.
  • the application function/application server registers the perception information that can be provided and the information related to the device performing the perception (for example, location, antenna orientation, etc.) with the network function.
  • the third type of device may be: a device having both the first type of device capability and the second type of device capability.
  • the third category of devices may include: devices that have the ability to send communication-sensing integrated signals or pure perception signals and the ability to perform sensor-type perception, devices that have the ability to receive communication-sensing integrated signals or pure perception signals and the ability to perform sensor-type perception, and devices that have the ability to send and receive communication-sensing integrated signals or pure perception signals and the ability to perform sensor-type perception.
  • perception cooperation type that is, the type of cooperation between the second perception and the first perception, may include at least one of the following:
  • Collaboration type one The execution of the first perception depends on the second perception. In this case, the second perception needs to be executed first to obtain the second measurement quantity, and then the first perception can be executed in cooperation with the second measurement quantity to obtain the third measurement quantity.
  • the third measurement quantity is the measurement quantity corresponding to the perception requirement; for example, the usage scenario of collaboration type one can be seen in "Scenario One".
  • Collaboration type 2 The execution of the first perception does not depend on the second perception.
  • the execution time sequence of the first perception and the second perception is not restricted here, but generally speaking, the execution time interval between the first perception and the second perception is required to be less than the preset time interval; the first perception is executed to obtain the first measurement value, and the second perception is executed to obtain the second measurement value.
  • a third measurement quantity is obtained according to the first measurement quantity in cooperation with the second measurement quantity, and the third measurement quantity is a measurement quantity corresponding to the sensing requirement.
  • the usage scenario of the collaboration type 2 can be seen in "Scenario 2".
  • the first perception (for example, the first perception is sensor-type perception, and the device that performs the first perception is a visual sensor (for example, a camera)) is to image the perceived object in the specified area
  • the second perception (for example, the second perception is synaesthesia-type perception) detects whether the perceived object exists in the specified area and obtains the distance and angle of the perceived object.
  • the second perception provides the obtained distance and angle information of the perceived object to the first perception, which can reduce the time and space range required to be covered by the first perception, reduce the amount of calculation of the first perception, and improve the real-time performance of the first perception, thereby improving the performance of the first perception.
  • the first perception (for example, the first perception is synaesthesia-type perception) measures the distance/speed/angle of multiple perception objects in the specified area
  • the second perception (for example, the second perception is sensor-type perception, and the device that performs the second perception is a visual sensor (for example, a camera)) images the perception objects in the specified area and identifies the visual features (for example, people, vehicles) and quantity of the perception objects.
  • the second perception provides the visual features and quantity of the perception objects (for example, how many people or vehicles are in the specified area) obtained by identification to the first perception, which can facilitate the first perception to perform clustering processing on the point cloud data, improve the correctness of the clustering processing, and thus improve the performance of the first perception.
  • scenario 1 may be a scenario where synaesthesia assists the sensor:
  • the device that performs the first perception can be a visual sensor (camera) or a lidar.
  • the first perception is to image the target or area that meets the specified conditions, such as:
  • the visual sensor takes visual images (captures) of speeding vehicles
  • LiDAR provides radar imaging of a specific area.
  • visual sensors or lidars cannot quickly judge the targets or areas that meet the conditions. For example, visual sensors cannot determine whether a vehicle is speeding, and thus cannot perform visual imaging of speeding vehicles. Lidars cannot quickly lock onto specific targets, and thus need to scan over a larger range, resulting in a longer perception delay or a larger amount of processing computation for the perception results.
  • the synaesthesia node needs to perform the second perception to cooperate with the execution of the first perception to provide more detailed prior information about the target or area that meets the specified conditions.
  • the visual sensor needs the location information (distance and angle) of the speeding vehicle
  • the laser radar needs the spatial range information (distance range, angle range) of the specific area.
  • the synaesthesia node performs perception according to the second measurement configuration, and reports data (second data) to the perception function network element or directly to the device performing the first perception according to the second report configuration.
  • the device performing the first perception images the target or area that meets the specified conditions according to the second data or the distance and angle range indicated by the first collaborative information obtained by the perception function network element from the second data.
  • scenario 2 may be a scenario where sensors assist synaesthesia:
  • the device that performs the first perception is a synaesthesia node
  • the scenario is, for example, a traffic monitoring scenario
  • the first perception is to measure the speed of all vehicles within a specified range.
  • the sensing principle of the synaesthesia node is similar to that of millimeter wave radar. After receiving the reflected echo, the synaesthesia node obtains information including distance, Point cloud data with angle and speed information. In the point cloud data, some points belong to target 1, some points belong to target 2, and so on. Before the synaesthesia node completes the speed measurement of all vehicles, it first needs to match the point cloud with the target (vehicle), that is, determine which points belong to which target. This operation is to cluster the point cloud data.
  • Common clustering algorithms such as the k-means algorithm or the DBSCAN algorithm require prior information about the target: the k-means algorithm needs to input the number of targets, and the DBSCAN algorithm needs to input the size information of the target.
  • the k-means algorithm needs to input the number of targets
  • the DBSCAN algorithm needs to input the size information of the target.
  • synaesthesia nodes one way to obtain the above prior information is visual imaging.
  • the device performing the second perception may be a visual sensor (camera).
  • the visual sensor performs visual imaging of a specified range to obtain a visual image.
  • By identifying the visual image it is easy to obtain the number of targets or target features in the image, for example, how many vehicles are there in the image (i.e., the number of targets), what types of vehicles are they (e.g., cars, trucks, etc.) (i.e., the size information of the targets).
  • the device performing the second perception inputs the number of targets or target features in the obtained image to the synaesthesia node or the node responsible for synaesthesia signal processing.
  • the synaesthesia node or the node responsible for synaesthesia signal processing can obtain the correct target parameters (distance, speed, angle) after correctly clustering the obtained point cloud data according to the number of targets or target features.
  • synaesthesia perception and sensor perception are included.
  • One of the two provides collaboration to the other.
  • the one providing collaboration between synaesthesia perception and sensor perception can be defined as the second perception, and the one being collaborated can be defined as the first perception. That is, there can be two situations: the first perception is synaesthesia perception, the second perception is sensor perception, or the first perception is sensor perception, and the second perception is synaesthesia perception.
  • the first perception outputs a measurement or perception result that meets the perception requirements, and the first perception can improve the execution efficiency of perception or improve the perception performance under the collaboration provided by the second perception.
  • the camera provides information on the number of targets to synaesthesia through image recognition to assist the synaesthesia node in clustering the point cloud data.
  • the embodiment of the present application provides a method for collaboration between synaesthesia perception and traditional sensor type perception, which can improve the execution efficiency of perception or improve the performance of perception results.
  • a first device obtains first cooperative information; the first device performs a first operation, and the first operation includes any one of the following: performing a first perception operation to obtain a first measurement amount, and sending the first measurement amount; performing a first perception operation based on the first cooperative information to obtain a third measurement amount; performing a first perception operation to obtain a first measurement amount, and determining a third measurement amount based on the first cooperative information and the first measurement amount; wherein the first cooperative information is determined based on a second measurement amount corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement amount is a measurement amount corresponding to a perception requirement.
  • the perception requirement can be met and the perception performance of the perception system can be improved.
  • the method further includes any one of the following:
  • the first device performs a second sensing operation to obtain the second measurement amount
  • the first device receives the second measurement quantity sent by the second device.
  • the first device performs the second sensing operation to obtain the second measurement quantity, so that the first device has The first device has the ability to perform the first perception and the second perception, and performs perception collaboration at the first device, which can reduce signaling interaction, increase the speed of obtaining the measurement quantity corresponding to the perception demand, and can meet the perception demand and improve the perception performance of the perception system; or, the first device receives the second measurement quantity sent by the second device, so that the devices performing the first perception and the second perception are different devices, and perception collaboration is achieved through the interaction between the first device and the second device, which can meet the perception demand and improve the perception performance of the perception system.
  • the method further comprises:
  • the first device receives first information sent by a third device, where the first information includes at least one of the following:
  • a first signal configuration wherein the first signal configuration is used to indicate a signal configuration related to a communication sensing integrated sensing operation
  • a first measurement configuration where the first measurement configuration is used to indicate a measurement configuration related to a first sensing operation
  • the second measurement configuration is used to indicate a measurement configuration related to a second sensing operation
  • a first report configuration where the first report configuration is used to indicate a report configuration related to the first perception operation
  • the second report configuration is used to indicate a report configuration related to a second perception operation
  • the third report configuration being used to indicate a report configuration related to sensing collaboration
  • the first measurement start indication is a measurement start indication corresponding to the first measurement configuration
  • the second measurement start indication is a measurement start indication corresponding to the second measurement configuration
  • a first report start indication where the first report start indication is a report start indication corresponding to the first report configuration
  • a second report start indication where the second report start indication is a report start indication corresponding to the second report configuration
  • a third report start indication wherein the third report start indication is a report start indication corresponding to the third report configuration.
  • the third device can be a perception function network element.
  • the first measurement start indication is a measurement start indication corresponding to the first measurement configuration, and is sent only when the sensed measurement type in the first measurement configuration is semi-continuous measurement.
  • the second measurement start indication is a measurement start indication corresponding to the second measurement configuration, and is sent only when the perceived measurement type in the second measurement configuration is semi-continuous measurement.
  • the first report start indication is a report start indication corresponding to the first report configuration, and this item is sent only when the perceived report type in the first report configuration is semi-continuous reporting.
  • the second report start indication is a report start indication corresponding to the second report configuration, and this item is sent only when the perceived report type in the second report configuration is semi-continuous reporting.
  • the third report start indication is a report start indication corresponding to the third report configuration, and this item is sent only when the perceived report type in the third report configuration is semi-continuous reporting.
  • the third device can determine the third information based on the acquired second information of the sensing node and the sensing cooperation related information; wherein the sensing node includes at least one of the first device and the second device, and the third information includes at least one of the following: the identifier of the first device; the identifier of the second device; the first signal configuration; the first measurement configuration; the first report configuration; the second measurement configuration; the second report configuration; the third report configuration.
  • the third device can The first information is sent to the first device and/or the second device according to the determined third information.
  • perception demand information perception cooperation related information
  • first signal configuration first measurement configuration, second measurement configuration, first report configuration, second report configuration, third report configuration, first measurement start indication, second measurement start indication, first report start indication, second report start indication and third report start indication
  • the third device may be a perception function network element.
  • the first device receives the first information sent by the third device, so that the first device can obtain the first collaboration information based on the received first information, or the first device can perform the first operation based on the received first information.
  • the first measurement configuration includes at least one of the following:
  • the type of measurement quantity to be acquired for performing the first sensing operation the execution time information of the sensing measurement
  • the second measurement configuration includes at least one of the following:
  • the type of measurement quantity required to perform the second perception operation and the execution time information of the perception measurement.
  • the execution time information of the perception measurement includes at least one of the following:
  • periodic measurement can be to perform perception measurement according to a specified time offset and/or period;
  • semi-persistent measurement can be to perform perception measurement according to a specified period after receiving a measurement start indication until a measurement stop indication is received;
  • aperiodic measurement can be to perform a perception measurement once at a specified time.
  • the first report configuration, the second report configuration and/or the third report configuration includes at least one of the following:
  • Report information report execution time information
  • the report information includes at least one of the following:
  • Reported measurement quantity Reported measurement quantity; perception operation execution time; perception node information; perception link information; measurement quantity conversion matrix; perception signal identification information; measurement quantity usage information; measurement quantity description information; measurement quantity indicator information; perception service information; data subscription identification; auxiliary information.
  • the report information configures the content of the reported data.
  • the report information in the first report configuration configures the content of the first data
  • the report information in the second report configuration configures the content of the second data
  • the report information in the third report configuration configures the content of the third data.
  • the types of report information in the first report configuration, the second report configuration and the third report configuration may be the same or different; the types of report information in the first report configuration, the second report configuration and the third report configuration may be the same or different.
  • the types of execution time information may be the same, or may be different.
  • the report execution time information includes at least one of the following:
  • Periodic reporting Periodic reporting; semi-continuous reporting; non-periodic reporting.
  • performing the first sensing operation to obtain the first measurement value includes:
  • the first sensing operation is a communication sensing integrated sensing operation, performing a first sensing operation based on the first measurement configuration and the first signal configuration to obtain a first measurement amount;
  • the first sensing operation is a sensor sensing operation
  • the first sensing operation is performed based on the first measurement configuration to obtain a first measurement quantity.
  • the first device obtains the first collaboration information, including any one of the following:
  • the first device receives second data sent by the second device based on the second report configuration, and determines first collaboration information based on the second data;
  • the first device receives second data sent by the third device, and determines first collaboration information based on the second data;
  • the first device receives first collaboration information sent by a third device
  • the first device performs a second sensing operation to obtain a second measurement amount, and determines first cooperation information based on the second measurement amount;
  • the second data includes the second measurement quantity.
  • the method further comprises:
  • the perceptual collaboration related information is used to indicate at least one of the following:
  • the second is to perceive the QoS requirements of the measured quantity of the operation
  • An execution spatial range of the first perception operation and/or the second perception operation is an execution spatial range of the first perception operation and/or the second perception operation
  • the first collaboration information is used to indicate at least one of the following:
  • the second sensing operation is a sensor sensing operation
  • the second sensing operation is a communication sensing integrated sensing operation.
  • FIG. 4 is a flow chart of a perception collaboration method provided in an embodiment of the present application. As shown in FIG. 4 , the perception collaboration method includes the following steps:
  • Step 201 The third device performs a second operation, where the second operation includes any one of the following:
  • the first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
  • the method further comprises:
  • the third device sends first information to the first device and/or the second device, where the first information includes at least one of the following:
  • a first signal configuration wherein the first signal configuration is used to indicate a signal configuration related to a communication sensing integrated sensing operation
  • a first measurement configuration where the first measurement configuration is used to indicate a measurement configuration related to a first sensing operation
  • the second measurement configuration is used to indicate a measurement configuration related to a second sensing operation
  • a first report configuration where the first report configuration is used to indicate a report configuration related to the first perception operation
  • the second report configuration is used to indicate a report configuration related to a second perception operation
  • the third report configuration being used to indicate a report configuration related to sensing collaboration
  • the first measurement start indication is a measurement start indication corresponding to the first measurement configuration
  • the second measurement start indication is a measurement start indication corresponding to the second measurement configuration
  • a first report start indication where the first report start indication is a report start indication corresponding to the first report configuration
  • a second report start indication where the second report start indication is a report start indication corresponding to the second report configuration
  • a third report start indication wherein the third report start indication is a report start indication corresponding to the third report configuration.
  • the method further comprises:
  • the third device determines the third information according to the acquired second information of the sensing node and the sensing cooperation related information
  • the sensing node includes a first device and/or a second device
  • the third information includes at least one of the following:
  • the method further comprises:
  • the third device obtains the second information of the sensing node
  • the second information includes at least one of the following:
  • the sensing capability information of the sensing node
  • the sensing node information is used to indicate at least one of the following:
  • the identification of the sensing node The identification of the sensing node; the type of the sensing node; the location of the sensing node; the orientation of the sensing node; the moving speed of the sensing node.
  • the acquiring the first cooperation information includes: receiving second data sent by the second device based on the second report configuration, and determining the first cooperation information based on the second data, where the second data includes the second measurement amount;
  • the obtaining of the first measurement quantity corresponding to the first perceptual operation includes: receiving first data sent by the first device based on the first report configuration, where the first data includes the first measurement quantity corresponding to the first perceptual operation.
  • the receiving a third measurement amount sent by the first device includes: receiving third data sent by the first device based on the third reporting configuration, where the third data includes the third measurement amount;
  • the method further includes at least one of the following:
  • Second data sent by a second device based on the second reporting configuration is received, and the second data is sent to the first device, where the second data includes the second measurement quantity.
  • this embodiment is an implementation of the third device corresponding to the embodiment shown in FIG3 , and its specific implementation can refer to the relevant description of the embodiment shown in FIG3 , and to avoid repeated description, this embodiment will not be repeated.
  • the second perception operation cooperates with the first perception operation to obtain the measurement corresponding to the perception requirement, and different types of perception operations provide assistance, which can meet the perception requirements and improve the perception performance of the perception system.
  • the first perception can also be described as a first perception operation
  • the second perception can also be described as a second perception operation.
  • Embodiment 1 and Embodiment 3 correspond to collaboration type 1 and to scenario 1;
  • Embodiment 2 and Embodiment 4 correspond to collaboration type 2 and to scenario 2.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the collaboration type of the second perception with the first perception is collaboration type one, and the device executing the second perception and the device executing the first perception are different devices.
  • the first device is a device that performs the first perception
  • the second device is a device that performs the second perception. That is, it can be one of the following two situations:
  • Case 1 The first device is a first-category device and the second device is a second-category device;
  • the second situation the first device is a second-category device, and the second device is a first-category device.
  • the first device performs the first perception to obtain the third measurement quantity
  • the third measurement quantity is a measurement quantity corresponding to the perception requirement.
  • the second device performs the second perception to obtain the second measurement quantity, and the first device performs the first perception based on information such as the second measurement quantity.
  • the device performing the first perception and the device performing the second perception are different devices.
  • the first perception is synaesthesia integrated perception
  • the second perception is sensor-type perception (for example, the second device is a camera).
  • the first perception measures the angle of the target and provides the angle to the second perception.
  • the second perception images the range of the target angle, which can reduce the time overhead of the second perception scanning and the amount of image processing computation.
  • the sensing function network element (see Explanation 1) obtains the second information of each sensing node that it can access;
  • the sensing node includes a first device and a second device, which may be a first type of device, a second type of device, or a third type of device.
  • the second information includes at least one of the following:
  • Perception permission information whether it is allowed to perform perception business.
  • the sensing node information includes at least one of the following:
  • the type of sensing node that is, the first type of device, the second type of device, or the third type of device; for the second type of device or the third type of device, it should also specifically include the type of sensor (for example: visual sensor, lidar, etc.).
  • the position of the sensing node may be the coordinates of the sensing node in a global coordinate system, or the coordinates relative to a reference position, and the coordinates may be rectangular coordinates or polar coordinates;
  • the orientation of the sensing node can be the orientation of the antenna panel of the sensing node or the rotation angle of the orientation of the local coordinate system relative to the global coordinate system, or the rotation angle relative to a reference coordinate system.
  • the rotation angle includes the azimuth Angle, pitch and roll;
  • the moving speed of the sensing node can be the speed of the sensing node in the global coordinate system, or the speed relative to a reference coordinate system.
  • the speed includes the magnitude and direction of the speed. For sensing nodes at fixed positions, this item can be omitted or simplified.
  • the method for obtaining the second information includes at least one of the following:
  • the perception function network element determines the first device used to perform the first perception based on the perception demand information (Explanation 2) and the second information of each perception node; and combines the second information of the first device to determine whether collaboration between the first perception and the second perception is required, and determines the information related to the perception collaboration.
  • the first device can be a camera; however, the camera cannot determine which vehicle is speeding, so a second device (e.g., synesthesia) is needed to provide prior information (e.g., the distance and angle of the speeding vehicle).
  • a second device e.g., synesthesia
  • the information related to the sensing collaboration includes at least one of the following:
  • An identifier of whether to trigger the collaboration of perception for example, an identifier of whether to trigger the collaboration between the first perception and the second perception;
  • the type of cooperation between the first perception and the second perception is the cooperation type 1 in this embodiment;
  • the sensing function network element determines at least one of the following based on the acquired second information of each sensing node and the sensing collaboration related information:
  • the ID of the second device is the ID of the second device
  • First measurement configuration used to indicate a measurement configuration related to the first perception operation, for example, it can be used to indicate a measurement quantity required to be obtained for performing the first perception, and an execution time of the perception;
  • First report configuration used to indicate the report configuration related to the first perception operation, which can be used to indicate the data (first data) to be reported when performing the first perception and the time when the perception report is executed;
  • First signal configuration used to indicate the signal configuration related to the communication perception integrated perception operation, one of the first perception and the second perception is the synaesthesia perception, and this item is the signal configuration of the synaesthesia perception (Explanation 4);
  • Second measurement configuration used to indicate the measurement configuration related to the second perception operation, which can be used to indicate the measurement quantity required to perform the second perception and the execution time of the second perception;
  • Second report configuration used to indicate the report configuration related to the second perception operation, which can be used to indicate the execution of the second perception
  • the first measurement configuration or the second measurement configuration includes:
  • the type of measurement quantity required to perform the perception operation is the measurement quantity required to perform the first perception in the first measurement configuration, that is, the third measurement quantity, that is, the type of measurement quantity required to perform the first perception operation;
  • the measurement quantity required to perform the second perception in the second measurement configuration is the second measurement quantity, that is, the type of measurement quantity required to perform the second perception operation.
  • the execution time information of the perception measurement includes the following types:
  • Periodic measurement Perception measurements are performed at a specified time offset and/or period.
  • the sensing measurement After receiving the measurement start indication, the sensing measurement is performed according to the specified period;
  • Aperiodic measurement is performed once at a specified time.
  • the first report configuration or the second report configuration includes:
  • the report information in the first report configuration is configured with the content of the first data
  • the report information in the second report configuration is configured with the content of the second data
  • the first data or the second data includes at least one of the following:
  • ID Data subscription identification
  • the measurement amount in the first report configuration is obtained by performing the first sensing operation
  • the measurement amount in the second report configuration is obtained by performing the second sensing operation
  • the perception operation execution time is the time information of the perception execution, for example: the time of sending and/or receiving the perception signal of the synaesthesia perception; this item in the first report configuration is the perception operation execution time of the first perception, and this item in the second report configuration is the perception operation execution time of the second perception;
  • the sensing node information includes at least one of the following:
  • the type of sensing node that is, the first type of device, the second type of device, or the third type of device; for the second type of device or the third type of device, it should also specifically include the type of sensor (for example: visual sensor, lidar, etc.).
  • the position of the sensing node may be the coordinates of the sensing node in a global coordinate system, or the coordinates relative to a reference position, and the coordinates may be rectangular coordinates or polar coordinates;
  • the orientation of the sensing node may be the orientation of the antenna panel of the sensing node or the rotation angle of the orientation of the local coordinate system relative to the global coordinate system, or the rotation angle relative to a reference coordinate system, where the rotation angle includes an azimuth angle, a pitch angle, and a roll angle;
  • the moving speed of the sensing node can be the speed of the sensing node in the global coordinate system, or the speed relative to a reference coordinate system.
  • the speed includes the magnitude and direction of the speed. For sensing nodes at fixed positions, this item can be omitted or simplified.
  • the perception node described in the perception node information in the first report configuration is a device that performs the first perception
  • the perception node described in the perception node information in the second report configuration is a device that performs the second perception.
  • the sensing link information (for example, the sensing link sequence number, the transmitting and receiving node identifier) includes the following:
  • the identifier of the receiving antenna or receiving channel If it is the perceptual measurement quantity of a single receiving antenna or receiving channel, the identifier is the identifier of the receiving antenna or receiving channel; if it is the result of the division or conjugate multiplication of two receiving antennas or receiving channels, the identifier is the identifier of the two receiving antennas or receiving channels, and the identifier of the division or conjugate multiplication.
  • the first report configuration may include this item, which is the perception link information for executing the first perception;
  • the second report configuration may include this item, which is the perception link information for executing the second perception.
  • the measurement quantity conversion matrix can be a conversion matrix for converting between the coordinate system where the measurement quantity obtained by the first perception is located and the coordinate system where the measurement quantity obtained by the second perception is located; it can be a matrix for converting the coordinate system where the measurement quantity obtained by the first perception is located to the coordinate system where the measurement quantity obtained by the second perception is located, or a matrix for converting the coordinate system where the measurement quantity obtained by the second perception is located to the coordinate system where the measurement quantity obtained by the first perception is located, or a matrix for converting the measurement quantity obtained by the first perception and the measurement quantity obtained by the second perception to other specified coordinate systems.
  • both the first report configuration and the second report configuration may include a measurement quantity conversion matrix.
  • the perception signal identification information is associated with the signal configuration of the perception, that is, the first signal configuration mentioned above; when the first perception is a synaesthesia type perception, the first report configuration may include this item, which is the perception signal identification information for executing the first perception; when the second perception is a synaesthesia type perception, the second report configuration may include this item, which is the perception signal identification information for executing the second perception.
  • both the first report configuration and the second report configuration may include this item.
  • the measurement quantity description information may include the measurement quantity form, such as an amplitude value, a phase value, a complex value combining an amplitude and a phase; and/or, the measurement quantity description information may include a resource type, such as a time domain measurement result, a frequency domain resource measurement result; when the first perception is a synaesthesia type perception, the first report configuration may include this item, which is the measurement quantity description information of the measurement quantity obtained by executing the first perception; when the second perception is a synaesthesia type perception, the second report configuration may include this item, which is the measurement quantity description information of the measurement quantity obtained by executing the second perception.
  • the measurement quantity indicator information may include signal-to-noise ratio (SNR), perception SNR, and quality of service (QoS) information of the measurement quantity; when the first perception is synaesthesia type perception, the first report configuration may include this item, which is the indicator information of the measurement quantity obtained by executing the first perception; when the second perception is synaesthesia type perception, the second report configuration may include this item, which is the indicator information of the measurement quantity obtained by executing the second perception.
  • SNR signal-to-noise ratio
  • QoS quality of service
  • the perception service information may include a perception service ID; both the first report configuration and the second report configuration may include this item.
  • both the first report configuration and the second report configuration may include this item.
  • auxiliary information refers to other parameters other than the above parameters that are needed to further process the measurement quantity obtained by performing sensor-type perception (one of the first perception and the second perception is sensor-type perception); for example: the focal length or imaging magnification of the optical system when the device performing sensor-type perception is a visual sensor (including monocular vision and binocular vision) or a lidar, the distance between the optical centers of two cameras when the device performing sensor-type perception is a binocular vision system, and the carrier frequency when the device performing sensor-type perception is a millimeter-wave radar.
  • the second report configuration may include this item.
  • the report execution time information may be the time when the perception report is executed, and the report execution time information includes the following types:
  • Periodic reporting reporting corresponding data according to the specified time offset and/or period
  • Semi-persistent reporting reporting corresponding data according to a specified period after receiving the report start indication
  • Aperiodic reporting reporting corresponding data at a specified time or when preset conditions are met.
  • the preset conditions include at least one of the following:
  • the third measurement quantity or the second measurement quantity reaches a preset threshold
  • the count value of the counter reaches a preset number of times, and the counter is used to count the number of times that the third measurement value or the second measurement value does not reach a threshold.
  • the perception function network element (i.e., the third device) sends a signaling to the first device and the second device, including:
  • the perception function network element sends at least one of the following information to the first device:
  • First signal configuration (this item may be included when the first perception is synaesthesia perception);
  • First measurement start indication a measurement start indication corresponding to the first measurement configuration, which is sent only when the sensed measurement type in the first measurement configuration is semi-continuous measurement;
  • First report start indication corresponds to the report start indication of the first report configuration. This item is sent only when the perception report type in the first report configuration is semi-continuous reporting.
  • the perception function network element sends at least one of the following information to the second device:
  • First signal configuration (this item may be included if the second perception is synaesthesia perception);
  • Second measurement start indication a measurement start indication corresponding to the second measurement configuration, which is sent only when the sensed measurement type in the second measurement configuration is semi-continuous measurement;
  • Second report start indication corresponds to the report start indication of the second report configuration. This item is sent only when the perception report type in the second report configuration is semi-continuous reporting.
  • the second device performs second sensing according to the information sent by the sensing function network element to the second device in step (14), thereby obtaining a second measurement value.
  • the second measurement quantity is referred to in the measurement quantity part of the perception capability information in explanation (3).
  • the second measurement quantity may be the distance and angle information of the perceived object.
  • the cooperation of the second perception with the first perception includes any of the following:
  • the second device sends second data to the first device according to the second report configuration
  • the second device cooperates with the first device through the sensing function network element, including the following process:
  • the second device sends second data to the perception function network element according to the second report configuration
  • the perception function network element sends the second data to the first device; or, the perception function network element determines the first collaboration information based on the second data, and sends the first collaboration information to the first device.
  • the content of the second data is configured by the second report configuration.
  • the first collaboration information includes at least one of the following:
  • Perceive the spatial information of the target object including at least one of the following: distance, angle, X/Y/Z coordinates;
  • Perceive the motion information of the target object such as speed and direction
  • a timestamp corresponding to the spatial information of the perceived target object such as a timestamp corresponding to the above-mentioned spatial information
  • a timestamp corresponding to the motion information of the perceived target object such as a timestamp corresponding to the above-mentioned motion speed and direction;
  • Target object e.g., person, car, etc.
  • Perceive the size of the target object such as dimension information.
  • the first device performs the first perception according to one of the second data or the first collaboration information and the perception requirement information, obtains the third measurement quantity, and sends the first data to the perception function network element according to the first report configuration.
  • the content of the first data is configured by the first report configuration.
  • the third measurement quantity is a measurement quantity corresponding to the perception requirement, that is, the third measurement quantity or the third measurement quantity after further processing is the perception result corresponding to the perception requirement.
  • this embodiment corresponds to "Scene One", in which the third measurement quantity may be image information of the perceived object.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the collaboration type of the second perception with the first perception is collaboration type two, and the device executing the second perception and the device executing the first perception are different devices.
  • the first device is a device that performs the first perception
  • the second device is a device that performs the second perception. That is, it can be one of the following two situations:
  • Case 1 The first device is a first-category device and the second device is a second-category device;
  • the second situation the first device is a second-category device, and the second device is a first-category device.
  • the first device performs the first perception to obtain the first measurement quantity
  • the second device performs the second perception to obtain the second measurement quantity
  • the third measurement quantity is obtained according to the first measurement quantity with the assistance of the second measurement quantity
  • the third measurement quantity is a measurement quantity corresponding to the perception requirement.
  • the first perception and the second perception belong to different devices.
  • the camera provides information about the number of targets to the synaesthesia through image recognition to assist the synaesthesia node in clustering the point cloud data.
  • the difference from the first embodiment is that in this embodiment, the collaboration type in the perceived collaboration related information is collaboration type two, and the other contents are the same as those in the first embodiment.
  • the sensing function network element determines at least one of the following based on the acquired second information of each sensing node and the sensing collaboration related information:
  • the ID of the second device is the ID of the second device
  • the third reporting configuration is used to indicate the reporting configuration related to perception collaboration, and can be used to indicate the perception reporting behavior of the third measurement quantity obtained by executing the first measurement quantity obtained by the first perception in collaboration with the second measurement quantity obtained by the second perception, including the data to be reported (third data) and the execution time of the perception report.
  • the first reporting configuration and the third reporting configuration which respectively corresponds to the case where the first device directly reports the first measurement amount and the case where the first device reports the third measurement amount.
  • the first measurement configuration, the second measurement configuration, the first report configuration, and the second report configuration are the same as those in Embodiment 1, see step (13) of Embodiment 1.
  • the third report configuration includes:
  • this item of report information in the third report configuration corresponds to the third data described below.
  • the third data includes at least one of the following:
  • the reported measurement quantity in the third report configuration is the third measurement quantity.
  • the perception operation execution time is the time information of the perception execution, for example: the time of sending and/or receiving the perception signal of the synaesthesia perception; this item in the third report configuration includes at least one of the perception operation execution time of the first perception and the perception operation execution time of the second perception.
  • the sensing node information includes at least one of the following:
  • the type of sensing node that is, the first type of device, the second type of device, or the third type of device; for the second type of device or the third type of device, it should also specifically include the type of sensor (for example: visual sensor, lidar, etc.).
  • the position of the sensing node may be the coordinates of the sensing node in a global coordinate system, or the coordinates relative to a reference position, and the coordinates may be rectangular coordinates or polar coordinates;
  • the orientation of the sensing node may be the orientation of the antenna panel of the sensing node or the rotation angle of the orientation of the local coordinate system relative to the global coordinate system, or the rotation angle relative to a reference coordinate system, where the rotation angle includes an azimuth angle, a pitch angle, and a roll angle;
  • the moving speed of the sensing node can be the speed of the sensing node in the global coordinate system, or the speed relative to a reference coordinate system.
  • the speed includes the magnitude and direction of the speed. For sensing nodes at fixed positions, this item can be omitted or simplified.
  • the perception node described in the perception node information in the third report configuration is at least one of a device that performs the first perception and a device that performs the second perception.
  • the sensing link information (for example, the sensing link sequence number, the transmitting and receiving node identifier) includes the following:
  • the identifier of the receiving antenna or receiving channel If it is the perception measurement of a single receiving antenna or receiving channel, the identifier is the identifier of the receiving antenna or receiving channel; if it is the result of division or conjugate multiplication of two receiving antennas or receiving channels, the identifier is the identifier of the two receiving antennas or receiving channels, and the identifier of the division or conjugate multiplication;
  • This item in the third report configuration is the perception link information of one of the first perception and the second perception that is a synaesthesia type perception.
  • the measurement quantity conversion matrix can be a conversion matrix for converting between the coordinate system of the first measurement quantity obtained by performing the first perception and the coordinate system of the second measurement quantity obtained by performing the second perception; it can be a matrix for converting the coordinate system of the first measurement quantity to the coordinate system of the second measurement quantity, or a matrix for converting the coordinate system of the second measurement quantity to the coordinate system of the first measurement quantity, or a matrix for converting the first measurement quantity and the second measurement quantity to other specified coordinate systems.
  • the perception signal identification information is associated with the signal configuration of the perception, that is, the first signal configuration mentioned above; this item in the third report configuration is the perception signal identification information of one of the first perception and the second perception that is a synaesthesia-type perception.
  • Information about the usage of the measurement quantity such as communication, perception, and synaesthesia.
  • the measurement quantity description information may include the measurement quantity form, such as an amplitude value, a phase value, a complex value combining the amplitude and the phase; and/or, the measurement quantity description information may include a resource type, such as a time domain measurement result, a frequency domain resource measurement result; this item in the third report configuration is the measurement quantity description information of one of the first perception and the second perception that is a synaesthesia type perception.
  • the measurement quantity indicator information may include SNR, perceived SNR, and QoS information of the measurement quantity; this item in the third report configuration is the indicator information of the measurement quantity of one of the first perception and the second perception that is a synaesthesia-type perception.
  • the perception service information may include a perception service ID.
  • auxiliary information refers to other parameters other than the above parameters that are needed to further process the measurement quantity obtained by performing sensor-type perception (one of the first perception and the second perception is sensor-type perception); for example, when the device performing sensor-type perception is a visual sensor (including monocular vision and binocular vision) or a lidar
  • the third report configuration may include this item.
  • the report execution time information includes at least one of the following options:
  • Periodic reporting reporting corresponding data according to the specified time offset and/or period
  • Semi-persistent reporting reporting corresponding data according to a specified period after receiving the report start indication
  • Aperiodic reporting reporting corresponding data at a specified time or when preset conditions are met.
  • the preset conditions include at least one of the following:
  • the first measurement quantity, the second measurement quantity, or the third measurement quantity reaches a preset threshold
  • the count value of the counter reaches a preset number of times, and the counter is used to count the number of times the first measurement quantity, the second measurement quantity, or the third measurement quantity does not reach a threshold.
  • the perception function network element sends information to the first device and the second device, including:
  • the perception function network element sends at least one of the following information to the first device:
  • First signal configuration (This item may be included when the first perception is synaesthesia perception);
  • First measurement start indication a measurement start indication corresponding to the first measurement configuration, which is sent only when the sensed measurement type in the first measurement configuration is semi-continuous measurement;
  • a first report start indication or a third report start indication wherein the first report start indication is a report start indication corresponding to the first report configuration, which is only sent when the perception report type in the first report configuration is semi-continuous reporting, and the third report start indication is a report start indication corresponding to the third report configuration, which is only sent when the perception report type in the third report configuration is semi-continuous reporting;
  • the perception function network element sends at least one of the following information to the second device:
  • First signal configuration (This item may be included when the second perception is synaesthesia perception);
  • Second measurement start indication a measurement start indication corresponding to the second measurement configuration, which is sent only when the sensed measurement type in the second measurement configuration is semi-continuous measurement;
  • Second report start indication corresponds to the report start indication of the second report configuration. This item is sent only when the perception report type in the second report configuration is semi-continuous reporting.
  • the first device performs first perception to obtain a first measurement quantity
  • the second device performs first perception to obtain a second measurement quantity.
  • the first measurement quantity and the second measurement quantity refer to the measurement quantity part of the perception capability information in Explanation 3.
  • this embodiment corresponds to "Scene 2".
  • the first measurement quantity may be point cloud data containing the distance/speed/angle of the perceived object
  • the second measurement quantity may be the visual features of the perceived object and the corresponding quantity (for example, the number of pedestrians and pedestrians, the number of vehicles and vehicles).
  • the cooperation of the second perception with the first perception includes any of the following:
  • the second device directly provides cooperation to the first device, including the following process:
  • the second device sends second data to the first device according to the second reporting configuration
  • the first device determines a third measurement amount according to at least one of the first data, the second data and the sensing cooperation related information
  • the first device sends third data to the perception function network element according to the third reporting configuration.
  • the second device provides cooperation to the first device through the perception function network element, including the following process:
  • the second device sends second data to the perception function network element according to the second reporting configuration
  • the perception function network element sends the second data to the first device; or, the perception function network element determines the first collaboration information based on the second data, and sends the first collaboration information to the first device.
  • the first device determines a third measurement amount according to one of the second data and the first cooperation information and at least one of the first data and the sensing cooperation related information;
  • the first device sends third data to the perception function network element according to the third reporting configuration.
  • the first device sends first data to the perception function network element according to the first report configuration
  • the second device sends second data to the perception function network element according to the second reporting configuration
  • the sensing function network element determines a third measurement amount according to at least one of the first data, the second data and the sensing cooperation related information.
  • the first data, second data, third data, and first collaboration information are the same as those in Example 1.
  • the third measurement quantity is a measurement quantity corresponding to the perception demand information, and the third measurement quantity itself is the perception result, or the perception result can be obtained by further processing the third measurement quantity.
  • the third measurement quantity may be the distance/speed/angle information of each perception object.
  • the collaboration type of the second perception with the first perception is collaboration type one, and the device executing the second perception and the device executing the first perception belong to the same device.
  • the first device is a device that performs the first perception and the second perception, and belongs to the third category of devices.
  • the first device performs the first perception to obtain the third measurement quantity, and the third measurement quantity corresponds to the perception requirement.
  • the first device performs the second perception to obtain the second measurement, and the first device performs the first perception based on information such as the second measurement.
  • the device that performs the first perception and the device that performs the second perception are the same device.
  • the collaboration type in the perceived collaboration related information is collaboration type 1. Therefore, the content of this step is the same as that of the first embodiment.
  • the perception function network element determines at least one of the following based on the second information of the first device and the perception collaboration related information:
  • the first measurement configuration, the second measurement configuration, the first report configuration, and the second report configuration are the same as those in Embodiment 1, see step (13) of Embodiment 1.
  • the difference from the first embodiment is that there is no description related to the second device in the first embodiment.
  • the perception function network element sends at least one of the following information to the first device:
  • First measurement start indication a measurement start indication corresponding to the first measurement configuration, which is sent only when the sensed measurement type in the first measurement configuration is semi-continuous measurement;
  • First report start indication a report start indication corresponding to the first report configuration, which is sent only when the perception report type in the first report configuration is semi-continuous reporting;
  • Second measurement start indication a measurement start indication corresponding to the second measurement configuration, which is sent only when the sensed measurement type in the second measurement configuration is semi-continuous measurement;
  • Second report start indication corresponds to the report start indication of the second report configuration. This item is sent only when the perception report type in the second report configuration is semi-continuous reporting.
  • the first device performs a second sensing according to the information sent by the sensing function network element in step (34) to obtain a second measurement Measure.
  • the second measurement quantity is shown in the measurement quantity part of the perception capability information in Explanation 3.
  • the second measurement quantity may be the distance and angle information of the perceived object.
  • the cooperation of the second perception with the first perception includes one of the following:
  • the second perception cooperates with the first perception through the perception function network element, including the following process:
  • the first device sends second data to the perception function network element according to the second reporting configuration
  • the perception function network element determines first collaboration information based on the second data and perception collaboration related information, and sends the first collaboration information to the first device.
  • the second data and the first cooperation information are the same as those in Example 1. However, it should be noted that all descriptions about the second device in the second data in Example 1 need to be replaced with the first device.
  • the first device performs the first perception according to the second data or one of the first collaboration information and the perception requirement information, obtains the third measurement value, and sends the first data to the perception function network element.
  • the first data is the same as that in the first embodiment.
  • this embodiment corresponds to "Scene One", in which the third measurement quantity may be image information of the perceived object.
  • Embodiment 4 is a diagrammatic representation of Embodiment 4:
  • the collaboration type of the second perception with the first perception is collaboration type two, and the device executing the second perception and the device executing the first perception are the same device.
  • the first device is a device that performs the first perception and the second perception and belongs to the third category of devices.
  • the first device performs the first perception to obtain the first measurement quantity
  • the first device performs the second perception to obtain the second measurement quantity
  • the third measurement quantity is obtained according to the measurement quantity with the assistance of the second measurement quantity
  • the third measurement quantity is the measurement quantity corresponding to the perception requirement.
  • the first perception and the second perception belong to the same device.
  • the collaboration type in the perceived collaboration related information is collaboration type two, so the content of this step is the same as that of the second embodiment.
  • the sensing function network element determines at least one of the following based on the acquired second information of each sensing node and the sensing collaboration related information:
  • the first measurement configuration or the second measurement configuration is the same as that in Embodiment 2, see step (23) of Embodiment 2.
  • the first report configuration, the second report configuration, or the third report configuration is the same as that in Embodiment 2, see step (23) of Embodiment 2.
  • the perception function network element sends at least one of the following information to the first device:
  • First measurement start indication a measurement start indication corresponding to the first measurement configuration, which is sent only when the sensed measurement type in the first measurement configuration is semi-continuous measurement;
  • First report start indication or third report start indication wherein, the report start indication corresponding to the first report configuration is sent only when the perception report type in the first report configuration is semi-continuous reporting; the report start indication corresponding to the third report configuration is sent only when the perception report type in the third report configuration is semi-continuous reporting;
  • a second measurement start indication (corresponding to a measurement start indication of a second measurement configuration), which is sent only when the sensed measurement type in the second measurement configuration is a semi-continuous measurement;
  • the second report start indication (corresponding to the report start indication of the second report configuration) is sent only when the perception report type in the second report configuration is semi-continuous reporting.
  • the first device performs first perception to obtain a first measurement quantity, and the first device performs first perception to obtain a second measurement quantity.
  • the first measurement quantity and the second measurement quantity refer to the measurement quantity part of the perception capability information in Explanation 3.
  • this embodiment corresponds to "Scene 2".
  • the first measurement quantity may be point cloud data containing the distance/speed/angle of the perceived object
  • the second measurement quantity may be the visual features of the perceived object and the corresponding quantity (for example, the number of pedestrians and pedestrians, the number of vehicles and vehicles).
  • the second perception directly provides cooperation to the first perception, including the following process:
  • the first device determines a third measurement amount according to at least one of the first data, the second data and the sensing cooperation related information
  • the first device sends third data to the perception function network element according to the third reporting configuration.
  • first data and the second data are both generated in the first device, so there is no Data interaction.
  • the second perception provides cooperation to the first perception through the perception function network element, including the following process:
  • the first device sends second data to the perception function network element according to the second reporting configuration
  • the perception function network element determines first collaboration information based on the second data and sends the first collaboration information to the first device.
  • the first device determines a third measurement amount according to at least one of the first data, the first cooperation information and the sensing cooperation related information;
  • the first device sends third data to the perception function network element according to the third reporting configuration.
  • the first device sends first data to the perception function network element according to the first report configuration
  • the first device sends second data to the perception function network element according to the second reporting configuration
  • the sensing function network element determines a third measurement amount according to at least one of the first data, the second data and the sensing cooperation related information.
  • the first data, the second data, the third data, and the first collaboration information are the same as those in the second embodiment.
  • the third measurement quantity is a measurement quantity corresponding to the perception requirement, that is, the third measurement quantity or the third measurement quantity after further processing is the perception result corresponding to the perception requirement.
  • the third measurement quantity may be the distance/speed/angle information of each perception object.
  • the description of the second device in the second data needs to be replaced by the first device.
  • FIG. 5 is a structural diagram of a perception cooperation device provided in an embodiment of the present application.
  • the first device includes the perception cooperation device.
  • the perception cooperation device 300 includes:
  • a first acquisition module 301 is used to acquire first collaboration information
  • the execution module is configured to execute a first operation, wherein the first operation includes any one of the following:
  • the first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
  • the device before performing the first operation, the device further includes a second acquisition module, configured to perform any of the following:
  • the second measurement quantity sent by the second device is received.
  • the device further comprises:
  • a receiving module configured to receive first information sent by a third device, where the first information includes at least one of the following:
  • a first signal configuration wherein the first signal configuration is used to indicate a signal configuration related to a communication sensing integrated sensing operation
  • a first measurement configuration where the first measurement configuration is used to indicate a measurement configuration related to a first sensing operation
  • the second measurement configuration is used to indicate a measurement configuration related to a second sensing operation
  • a first report configuration where the first report configuration is used to indicate a report configuration related to the first perception operation
  • the second report configuration is used to indicate a report configuration related to a second perception operation
  • the third report configuration being used to indicate a report configuration related to sensing collaboration
  • the first measurement start indication is a measurement start indication corresponding to the first measurement configuration
  • the second measurement start indication is a measurement start indication corresponding to the second measurement configuration
  • a first report start indication where the first report start indication is a report start indication corresponding to the first report configuration
  • a second report start indication where the second report start indication is a report start indication corresponding to the second report configuration
  • a third report start indication wherein the third report start indication is a report start indication corresponding to the third report configuration.
  • the first measurement configuration includes at least one of the following:
  • the type of measurement quantity to be acquired for performing the first sensing operation the execution time information of the sensing measurement
  • the second measurement configuration includes at least one of the following:
  • the type of measurement quantity required to perform the second perception operation and the execution time information of the perception measurement.
  • the execution time information of the perception measurement includes at least one of the following:
  • the first report configuration, the second report configuration and/or the third report configuration includes at least one of the following:
  • Report information report execution time information
  • the report information includes at least one of the following:
  • Reported measurement quantity Reported measurement quantity; perception operation execution time; perception node information; perception link information; measurement quantity conversion matrix; perception signal identification information; measurement quantity usage information; measurement quantity description information; measurement quantity indicator information; perception service information; data subscription identification; auxiliary information.
  • the report execution time information includes at least one of the following:
  • Periodic reporting Periodic reporting; semi-continuous reporting; non-periodic reporting.
  • performing the first sensing operation to obtain the first measurement value includes:
  • the first sensing operation is a communication sensing integrated sensing operation, performing a first sensing operation based on the first measurement configuration and the first signal configuration to obtain a first measurement amount;
  • the first sensing operation is a sensor sensing operation
  • the first sensing operation is performed based on the first measurement configuration to obtain a first measurement quantity.
  • the first acquisition module is used for any of the following:
  • the second data includes the second measurement quantity.
  • the device further comprises:
  • a sending module is configured to send third data to a third device based on the third reporting configuration, where the third data includes the third measurement quantity.
  • the perceptual collaboration related information is used to indicate at least one of the following:
  • the second is to perceive the QoS requirements of the measured quantity of the operation
  • An execution spatial range of the first perception operation and/or the second perception operation is an execution spatial range of the first perception operation and/or the second perception operation
  • the first collaboration information is used to indicate at least one of the following:
  • the second sensing operation is a sensor sensing operation
  • the second sensing operation is a communication sensing integrated sensing operation.
  • the second perception operation is cooperated with the first perception operation to obtain the measurement quantity corresponding to the perception requirement, and assistance is provided by different types of perception operations, which can meet the perception requirement and improve the perception performance of the perception system.
  • the sensing and cooperation device in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip.
  • the electronic device may be a terminal, or may be a device other than a terminal.
  • the terminal may include but is not limited to the types of the terminal 11 listed above, and the other devices may be a server, a network attached storage (Network Attached Storage, NAS), etc., which are not specifically limited in the embodiments of the present application.
  • the perception collaboration device provided in the embodiment of the present application can implement each process implemented in the method embodiment of Figure 3 and achieve the same technical effect. To avoid repetition, it will not be repeated here.
  • FIG. 6 is a structural diagram of a perception cooperation device provided in an embodiment of the present application.
  • the third device includes the perception cooperation device.
  • the perception cooperation device 400 includes:
  • the execution module 401 is configured to execute a second operation, where the second operation includes any one of the following:
  • the first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
  • the device further comprises:
  • the first sending module is configured to send first information to the first device and/or the second device, where the first information includes at least one of the following:
  • a first signal configuration wherein the first signal configuration is used to indicate a signal configuration related to a communication sensing integrated sensing operation
  • a first measurement configuration where the first measurement configuration is used to indicate a measurement configuration related to a first sensing operation
  • the second measurement configuration is used to indicate a measurement configuration related to a second sensing operation
  • a first report configuration where the first report configuration is used to indicate a report configuration related to the first perception operation
  • the second report configuration is used to indicate a report configuration related to a second perception operation
  • the third report configuration being used to indicate a report configuration related to sensing collaboration
  • the first measurement start indication is a measurement start indication corresponding to the first measurement configuration
  • the second measurement start indication is a measurement start indication corresponding to the second measurement configuration
  • a first report start indication where the first report start indication is a report start indication corresponding to the first report configuration
  • a second report start indication where the second report start indication is a report start indication corresponding to the second report configuration
  • a third report start indication wherein the third report start indication is a report start indication corresponding to the third report configuration.
  • the device further comprises:
  • a determination module configured to determine third information according to the acquired second information of the sensing node and the sensing cooperation related information
  • the sensing node includes a first device and/or a second device
  • the third information includes at least one of the following:
  • the device further comprises:
  • An acquisition module used for acquiring second information of the sensing node
  • the second information includes at least one of the following:
  • the sensing capability information of the sensing node
  • the sensing node information is used to indicate at least one of the following:
  • the identification of the sensing node The identification of the sensing node; the type of the sensing node; the location of the sensing node; the orientation of the sensing node; the moving speed of the sensing node.
  • the acquiring the first cooperation information includes: receiving second data sent by the second device based on the second report configuration, and determining the first cooperation information based on the second data, where the second data includes the second measurement amount;
  • the obtaining of the first measurement quantity corresponding to the first perceptual operation includes: receiving first data sent by the first device based on the first report configuration, where the first data includes the first measurement quantity corresponding to the first perceptual operation.
  • the receiving a third measurement amount sent by the first device includes: receiving third data sent by the first device based on the third reporting configuration, where the third data includes the third measurement amount;
  • the apparatus Before receiving the third measurement value sent by the first device, the apparatus further includes a second sending module, which is used for at least one of the following:
  • Second data sent by a second device based on the second reporting configuration is received, and the second data is sent to the first device, where the second data includes the second measurement quantity.
  • the second perception operation is cooperated with the first perception operation to obtain the measurement quantity corresponding to the perception requirement, and assistance is provided by different types of perception operations, which can meet the perception requirement and improve the perception performance of the perception system.
  • the sensing and cooperation device in the embodiment of the present application can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip.
  • the electronic device can be a terminal, or it can be other devices other than a terminal.
  • the terminal can include but is not limited to the types of terminals 11 listed above, and other devices can be servers, network attached storage (NAS), etc.
  • NAS network attached storage
  • the perception cooperation device provided in the embodiment of the present application can implement each process implemented by the method embodiment of Figure 4 and achieve the same technical effect. To avoid repetition, it will not be repeated here.
  • the embodiment of the present application further provides a communication device 500, including a processor 501 and a memory 502, wherein the memory 502 stores a program or instruction that can be run on the processor 501.
  • the communication device 500 is a first device
  • the program or instruction is executed by the processor 501 to implement the various steps of the above-mentioned embodiment of the perception cooperation method applied to the first device, and can achieve the same technical effect.
  • the communication device 500 is a third device
  • the program or instruction is executed by the processor 501 to implement the various steps of the above-mentioned embodiment of the perception cooperation method applied to the third device, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.
  • An embodiment of the present application also provides a communication device, including a processor and a communication interface, wherein the processor is used to: obtain first collaborative information; perform a first operation, the first operation including any one of the following: perform a first perception operation to obtain a first measurement amount, and send the first measurement amount; perform a first perception operation based on the first collaborative information to obtain a third measurement amount; perform the first perception operation to obtain the first measurement amount, and determine a third measurement amount based on the first collaborative information and the first measurement amount; wherein the first collaborative information is determined based on a second measurement amount corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement amount is a measurement amount corresponding to a perception requirement; or, the processor is used to: perform a second operation, the second operation including any one of the following: receive a third measurement amount sent by a first device; obtain the first collaborative information, and obtain the first measurement amount corresponding to the first perception operation, and determine a third measurement amount based on the first
  • the communication device may be a terminal.
  • FIG8 is a schematic diagram of a hardware structure of a communication device for implementing an embodiment of the present application.
  • the communication device 600 includes but is not limited to: a radio frequency unit 601, a network module 602, an audio output unit 603, an input unit 604, a sensor 605, a display unit 606, a user input unit 607, an interface unit 608, a memory 609 and at least some of the components of a processor 610.
  • the communication device 600 may also include a power source (such as a battery) for supplying power to each component, and the power source may be logically connected to the processor 610 through a power management system, so that the power management system can manage charging, discharging, and power consumption management.
  • a power source such as a battery
  • the communication device structure shown in FIG8 does not constitute a limitation on the communication device, and the communication device may include more or fewer components than shown in the figure, or combine certain components, or arrange components differently, which will not be described in detail here.
  • the input unit 604 may include a graphics processing unit (GPU) 6041 and a microphone 6042, and the graphics processor 6041 processes the image data of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode.
  • the display unit 606 may include a display panel 6061, which may be configured in the form of a liquid crystal display, an organic light emitting diode, etc.
  • the user input unit 607 includes a touch panel 6071 and at least one of other input devices 6072. Touch panel 6071, also called a touch screen.
  • the touch panel 6071 may include a touch detection device and a touch controller.
  • Other input devices 6072 may include but are not limited to a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be described in detail here.
  • the RF unit 601 after receiving downlink data from the network side device, can transmit the data to the processor 610 for processing; in addition, the RF unit 601 can send uplink data to the network side device.
  • the RF unit 601 includes but is not limited to an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.
  • the memory 609 can be used to store software programs or instructions and various data.
  • the memory 609 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instruction required for at least one function (such as a sound playback function, an image playback function, etc.), etc.
  • the memory 609 may include a volatile memory or a non-volatile memory, or the memory 609 may include both volatile and non-volatile memories.
  • the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory.
  • the volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM).
  • the memory 609 in the embodiment of the present application includes but is not limited to these and any other suitable types of memories.
  • the processor 610 may include one or more processing units; optionally, the processor 610 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor 610.
  • the communication device is a first device:
  • the processor 610 is configured to: execute a first operation, where the first operation includes any one of the following:
  • the first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
  • the processor 610 is further configured to perform any of the following:
  • the second measurement quantity sent by the second device is received.
  • the radio frequency unit 601 is used to: receive first information sent by a third device, where the first information includes at least one of the following:
  • a first signal configuration wherein the first signal configuration is used to indicate a signal configuration related to a communication sensing integrated sensing operation
  • a first measurement configuration where the first measurement configuration is used to indicate a measurement configuration related to a first sensing operation
  • the second measurement configuration is used to indicate a measurement configuration related to a second sensing operation
  • a first report configuration where the first report configuration is used to indicate a report configuration related to the first perception operation
  • the second report configuration is used to indicate a report configuration related to a second perception operation
  • the third report configuration being used to indicate a report configuration related to sensing collaboration
  • the first measurement start indication is a measurement start indication corresponding to the first measurement configuration
  • the second measurement start indication is a measurement start indication corresponding to the second measurement configuration
  • a first report start indication where the first report start indication is a report start indication corresponding to the first report configuration
  • a second report start indication where the second report start indication is a report start indication corresponding to the second report configuration
  • a third report start indication wherein the third report start indication is a report start indication corresponding to the third report configuration.
  • the first measurement configuration includes at least one of the following:
  • the type of measurement quantity to be acquired for performing the first sensing operation the execution time information of the sensing measurement
  • the second measurement configuration includes at least one of the following:
  • the type of measurement quantity required to perform the second perception operation and the execution time information of the perception measurement.
  • the execution time information of the perception measurement includes at least one of the following:
  • the first report configuration, the second report configuration and/or the third report configuration includes at least one of the following:
  • Report information report execution time information
  • the report information includes at least one of the following:
  • Reported measurement quantity Reported measurement quantity; perception operation execution time; perception node information; perception link information; measurement quantity conversion matrix; perception signal identification information; measurement quantity usage information; measurement quantity description information; measurement quantity indicator information; perception service information; data subscription identification; auxiliary information.
  • the report execution time information includes at least one of the following:
  • Periodic reporting Periodic reporting; semi-continuous reporting; non-periodic reporting.
  • performing the first sensing operation to obtain the first measurement value includes:
  • the first sensing operation is a communication sensing integrated sensing operation, performing a first sensing operation based on the first measurement configuration and the first signal configuration to obtain a first measurement amount;
  • the first sensing operation is a sensor sensing operation
  • the first sensing operation is performed based on the first measurement configuration to obtain a first measurement quantity.
  • the radio frequency unit 601 is further used for any of the following:
  • the processor 610 is further configured to: perform a second sensing operation to obtain a second measurement amount, and determine first cooperation information based on the second measurement amount;
  • the second data includes the second measurement quantity.
  • the radio frequency unit 601 is further configured to: send third data to a third device based on the third reporting configuration, where the third data includes the third measurement value.
  • the perceptual collaboration related information is used to indicate at least one of the following:
  • the second is to perceive the QoS requirements of the measured quantity of the operation
  • An execution spatial range of the first perception operation and/or the second perception operation is an execution spatial range of the first perception operation and/or the second perception operation
  • the first collaboration information is used to indicate at least one of the following:
  • the second sensing operation is a sensor sensing operation
  • the second sensing operation is a communication sensing integrated sensing operation.
  • the processor 610 is configured to: perform a second operation, where the second operation includes any one of the following:
  • the first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
  • the radio frequency unit 601 is used to: send first information to the first device and/or the second device, where the first information includes at least one of the following:
  • a first signal configuration wherein the first signal configuration is used to indicate a signal configuration related to a communication sensing integrated sensing operation
  • a first measurement configuration where the first measurement configuration is used to indicate a measurement configuration related to a first sensing operation
  • the second measurement configuration is used to indicate a measurement configuration related to a second sensing operation
  • a first report configuration where the first report configuration is used to indicate a report configuration related to the first perception operation
  • the second report configuration is used to indicate a report configuration related to a second perception operation
  • the third report configuration being used to indicate a report configuration related to sensing collaboration
  • the first measurement start indication is a measurement start indication corresponding to the first measurement configuration
  • the second measurement start indication is a measurement start indication corresponding to the second measurement configuration
  • a first report start indication where the first report start indication is a report start indication corresponding to the first report configuration
  • a second report start indication where the second report start indication is a report start indication corresponding to the second report configuration
  • a third report start indication wherein the third report start indication is a report start indication corresponding to the third report configuration.
  • the processor 610 is further configured to: determine third information according to the acquired second information of the sensing node and the sensing cooperation related information;
  • the sensing node includes a first device and/or a second device
  • the third information includes at least one of the following:
  • the processor 610 is further configured to: obtain second information of the sensing node;
  • the second information includes at least one of the following:
  • the sensing capability information of the sensing node
  • the sensing node information is used to indicate at least one of the following:
  • the identification of the sensing node The identification of the sensing node; the type of the sensing node; the location of the sensing node; the orientation of the sensing node; the moving speed of the sensing node.
  • the acquiring the first cooperation information includes: receiving second data sent by the second device based on the second report configuration, and determining the first cooperation information based on the second data, where the second data includes the second measurement amount;
  • the obtaining of the first measurement quantity corresponding to the first perceptual operation includes: receiving first data sent by the first device based on the first report configuration, where the first data includes the first measurement quantity corresponding to the first perceptual operation.
  • the receiving a third measurement amount sent by the first device includes: receiving third data sent by the first device based on the third reporting configuration, where the third data includes the third measurement amount;
  • the radio frequency unit 601 Before receiving the third measurement value sent by the first device, the radio frequency unit 601 is used for at least one of the following:
  • Second data sent by a second device based on the second reporting configuration is received, and the second data is sent to the first device, where the second data includes the second measurement quantity.
  • the second perception operation is cooperated with the first perception operation to obtain the measurement quantity corresponding to the perception requirement, and assistance is provided by different types of perception operations, which can meet the perception requirement and improve the perception performance of the perception system.
  • the embodiment of the present application also provides a communication device, which is a first device or a third device.
  • the communication device can be a network side device.
  • the communication device 700 includes: an antenna 701, a radio frequency device 702, a baseband device 703, a processor 704 and a memory 705.
  • the antenna 701 is connected to the radio frequency device 702.
  • the radio frequency device 702 receives information through the antenna 701 and sends the received information to the baseband device 703 for processing.
  • the baseband device 703 processes the information to be sent and sends it to the radio frequency device 702.
  • the radio frequency device 702 processes the received information and sends it out through the antenna 701.
  • the method executed by the communication device in the above embodiment may be implemented in the baseband device 703, which includes a baseband processor.
  • the baseband device 703 may include, for example, at least one baseband board, on which multiple chips are arranged, as shown in Figure 9, one of which is, for example, a baseband processor, which is connected to the memory 705 through a bus interface to call the program in the memory 705 and execute the network device operations shown in the above method embodiment.
  • the communication device may also include a network interface 706, which is, for example, a common public radio interface (CPRI).
  • a network interface 706, which is, for example, a common public radio interface (CPRI).
  • CPRI common public radio interface
  • the communication device 700 of the embodiment of the present application further includes: a memory 705 and a processor
  • the instructions or programs running on 704, the processor 704 calls the instructions or programs in the memory 705 to execute the methods executed by each module shown in Figure 5 or Figure 6, and achieves the same technical effect, so it is not repeated here to avoid repetition.
  • An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored.
  • a program or instruction is stored.
  • the various processes of the above-mentioned perception collaboration method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.
  • the processor is the processor in the terminal described in the above embodiment.
  • the readable storage medium may be non-volatile or non-transient.
  • the readable storage medium may include a computer-readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.
  • An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned perception collaboration method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.
  • the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.
  • the embodiments of the present application further provide a computer program/program product, which is stored in a storage medium and is executed by at least one processor to implement the various processes of the above-mentioned perceptual collaboration method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.
  • An embodiment of the present application also provides a perception collaboration system, including: a first device and a third device, wherein the first device can be used to execute the steps of the perception collaboration method applied to the first device as described above, and the third device can be used to execute the steps of the perception collaboration method applied to the third device as described above.
  • the term "indication” in the specification and claims of the present application can be either an explicit indication or an implicit indication.
  • an explicit indication can be understood as the sender explicitly informing the receiver of the operation to be performed or the request result in the sent indication;
  • an implicit indication can be understood as the receiver making a judgment based on the indication sent by the sender, and determining the operation to be performed or the request result based on the judgment result.
  • the terms “include”, “comprise” or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.
  • the disclosed part may be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present application.
  • a storage medium such as ROM/RAM, magnetic disk, optical disk

Abstract

The present application relates to the technical field of communications, and discloses a sensing collaboration method and apparatus, and a communication device. The method in embodiments of the present application comprises: a first device acquires first collaboration information; and the first device executes a first operation, the first operation comprising any one of the following: executing a first sensing operation to obtain a first measurement quantity, and sending the first measurement quantity; executing the first sensing operation on the basis of the first collaboration information to obtain a third measurement quantity; and executing the first sensing operation to obtain the first measurement quantity, and determining the third measurement quantity on the basis of the first collaboration information and the first measurement quantity, wherein the first collaboration information is determined on the basis of a second measurement quantity corresponding to a second sensing operation, the first sensing operation and the second sensing operation belong to different sensing operation types, and the third measurement quantity is a measurement quantity corresponding to a sensing requirement.

Description

感知协作方法、装置及通信设备Perception collaboration method, device and communication equipment
相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS
本申请主张在2022年12月23日在中国提交的中国专利申请No.202211667696.4的优先权，其全部内容通过引用包含于此。This application claims priority to Chinese Patent Application No. 202211667696.4 filed in China on December 23, 2022, the entire contents of which are incorporated herein by reference.
技术领域Technical Field
本申请属于通信技术领域，具体涉及一种感知协作方法、装置及通信设备。The present application belongs to the field of communication technology, and specifically relates to a perception collaboration method, device and communication equipment.
背景技术Background technique
在超第5代(Beyond 5th Generation，B5G)或第6代(6th Generation，6G)通信网络中，能够执行感知业务的设备或***包括传感器和通感一体化***两大类类别。通感一体化***通过通信收发设备发射和接收射频信号以实现感知，而典型的传感器包括激光雷达、毫米波雷达、视觉传感器、雨量计、湿度计等。在很多应用场景下，单一类别的感知常常不能满足感知需求。In the Beyond 5th Generation (B5G) or 6th Generation (6G) communication network, the devices or systems that can perform perception services include two categories: sensors and integrated sensory systems. Integrated sensory systems transmit and receive radio frequency signals through communication transceiver equipment to achieve perception, and typical sensors include laser radar, millimeter wave radar, visual sensor, rain gauge, hygrometer, etc. In many application scenarios, a single type of perception often cannot meet the perception needs.
发明内容Summary of the invention
本申请实施例提供一种感知协作方法、装置及通信设备，能够解决单一类别的感知不能满足感知需求的问题。The embodiments of the present application provide a perception collaboration method, apparatus, and communication device, which can solve the problem that a single type of perception cannot meet perception needs.
第一方面，提供了一种感知协作方法，其中，包括：In a first aspect, a perception collaboration method is provided, comprising:
第一设备获取第一协作信息；The first device obtains first collaboration information;
所述第一设备执行第一操作，所述第一操作包括如下任意一项：The first device performs a first operation, where the first operation includes any one of the following:
执行第一感知操作得到第一测量量，发送所述第一测量量；Performing a first sensing operation to obtain a first measurement value, and sending the first measurement value;
基于所述第一协作信息执行第一感知操作得到第三测量量；Performing a first sensing operation based on the first cooperation information to obtain a third measurement amount;
执行第一感知操作得到第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；Perform a first sensing operation to obtain a first measurement amount, and determine a third measurement amount based on the first cooperation information and the first measurement amount;
其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。The first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
第二方面，提供了一种感知协作方法，其中，包括：In a second aspect, a perception collaboration method is provided, which includes:
第三设备执行第二操作，所述第二操作包括如下任意一项：The third device performs a second operation, where the second operation includes any one of the following:
接收第一设备发送的第三测量量；receiving a third measurement quantity sent by the first device;
获取第一协作信息，并获取第一感知操作对应的第一测量量，基于所述第一协作信息 和所述第一测量量确定第三测量量；Acquire first collaboration information, and acquire a first measurement value corresponding to the first sensing operation, based on the first collaboration information Determine a third measurement quantity from the first measurement quantity;
其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。The first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
第三方面，提供了一种感知协作装置，其中，第一设备包括所述感知协作装置，所述装置包括：According to a third aspect, a perception cooperation apparatus is provided, wherein a first device includes the perception cooperation apparatus, and the apparatus includes:
第一获取模块，用于获取第一协作信息；A first acquisition module, used to acquire first collaboration information;
执行模块，用于执行第一操作，所述第一操作包括如下任意一项：The execution module is used to execute a first operation, where the first operation includes any one of the following:
执行第一感知操作得到第一测量量，发送所述第一测量量；Performing a first sensing operation to obtain a first measurement value, and sending the first measurement value;
基于所述第一协作信息执行第一感知操作得到第三测量量；Performing a first sensing operation based on the first cooperation information to obtain a third measurement amount;
执行第一感知操作得到第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；Perform a first sensing operation to obtain a first measurement amount, and determine a third measurement amount based on the first cooperation information and the first measurement amount;
其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。The first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
第四方面，提供了一种感知协作装置，其中，第三设备包括所述感知协作装置，所述装置包括：In a fourth aspect, a perception cooperation apparatus is provided, wherein the third device includes the perception cooperation apparatus, and the apparatus includes:
执行模块，用于执行第二操作，所述第二操作包括如下任意一项：The execution module is used to execute a second operation, where the second operation includes any one of the following:
接收第一设备发送的第三测量量；receiving a third measurement quantity sent by the first device;
获取第一协作信息，并获取第一感知操作对应的第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；Acquire first cooperation information, and acquire a first measurement amount corresponding to the first sensing operation, and determine a third measurement amount based on the first cooperation information and the first measurement amount;
其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。The first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
第五方面，提供了一种通信设备，该通信设备包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如第一方面或第二方面所述的方法的步骤。In a fifth aspect, a communication device is provided, which includes a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the method described in the first aspect or the second aspect are implemented.
第六方面，提供了一种通信设备，包括处理器及通信接口，其中，所述处理器用于：获取第一协作信息；执行第一操作，所述第一操作包括如下任意一项：执行第一感知操作得到第一测量量，发送所述第一测量量；基于所述第一协作信息执行第一感知操作得到第三测量量；执行第一感知操作得到第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量；或者，所述处理器用于：执行第二操作，所述第二操作包括如下任意一项：接收第一设备发送的第三测量量；获取第一协作信息，并获取第一感知操作对应 的第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。In a sixth aspect, a communication device is provided, including a processor and a communication interface, wherein the processor is used to: obtain first collaborative information; perform a first operation, the first operation including any one of the following: perform a first perception operation to obtain a first measurement quantity, and send the first measurement quantity; perform a first perception operation based on the first collaborative information to obtain a third measurement quantity; perform a first perception operation to obtain a first measurement quantity, and determine a third measurement quantity based on the first collaborative information and the first measurement quantity; wherein the first collaborative information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement; or, the processor is used to: perform a second operation, the second operation including any one of the following: receive a third measurement quantity sent by the first device; obtain the first collaborative information, and obtain a third measurement quantity corresponding to the first perception operation. A first measurement quantity is determined, and a third measurement quantity is determined based on the first collaboration information and the first measurement quantity; wherein the first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to the perception requirement.
第七方面，提供了一种感知协作***，包括：第一设备及第三设备，所述第一设备可用于执行如第一方面所述的方法的步骤，所述第三设备可用于执行如第二方面所述的方法的步骤。In a seventh aspect, a perception collaboration system is provided, comprising: a first device and a third device, wherein the first device can be used to execute the steps of the method described in the first aspect, and the third device can be used to execute the steps of the method described in the second aspect.
第八方面，提供了一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。In an eighth aspect, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented, or the steps of the method described in the second aspect are implemented.
第九方面，提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如第一方面所述的方法，或实现如第二方面所述的方法。In the ninth aspect, a chip is provided, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the method described in the first aspect, or to implement the method described in the second aspect.
第十方面，提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。In the tenth aspect, a computer program/program product is provided, wherein the computer program/program product is stored in a storage medium, and the computer program/program product is executed by at least one processor to implement the steps of the method described in the first aspect, or to implement the steps of the method described in the second aspect.
在本申请实施例中，第一设备或第二设备基于第一协作信息执行第一感知操作得到第三测量量；或者第一设备或第二设备执行第一感知操作得到第一测量量，基于第一协作信息和所述第一测量量确定第三测量量，其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。这样，通过第二感知操作协作第一感知操作获取与感知需求对应的测量量，通过不同类型的感知操作提供协助，能够满足感知需求并提高感知***的感知性能。In an embodiment of the present application, the first device or the second device performs a first perception operation based on the first cooperation information to obtain a third measurement amount; or the first device or the second device performs a first perception operation to obtain a first measurement amount, and determines a third measurement amount based on the first cooperation information and the first measurement amount, wherein the first cooperation information is determined based on the second measurement amount corresponding to the second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement amount is a measurement amount corresponding to the perception requirement. In this way, the measurement amount corresponding to the perception requirement is obtained by cooperating with the first perception operation through the second perception operation, and assistance is provided through different types of perception operations, which can meet the perception requirements and improve the perception performance of the perception system.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本申请实施例可应用的一种无线通信***的框图；FIG1 is a block diagram of a wireless communication system to which an embodiment of the present application can be applied;
图2是本申请实施例提供的一种感知分类示意图；FIG2 is a schematic diagram of a perception classification provided by an embodiment of the present application;
图3是本申请实施例提供的一种感知协作方法的流程图之一；FIG3 is one of the flow charts of a perception collaboration method provided in an embodiment of the present application;
图4是本申请实施例提供的一种感知协作方法的流程图之二；FIG4 is a second flowchart of a perception collaboration method provided in an embodiment of the present application;
图5是本申请实施例提供的一种感知协作装置的结构示意图之一；FIG5 is one of the structural schematic diagrams of a perception cooperation device provided in an embodiment of the present application;
图6是本申请实施例提供的一种感知协作装置的结构示意图之二；FIG6 is a second schematic diagram of the structure of a perception cooperation device provided in an embodiment of the present application;
图7是本申请实施例提供的一种通信设备的结构示意图之一；FIG7 is one of the structural schematic diagrams of a communication device provided in an embodiment of the present application;
图8是本申请实施例提供的一种通信设备的结构示意图之二；FIG8 is a second schematic diagram of the structure of a communication device provided in an embodiment of the present application;
图9是本申请实施例提供的一种通信设备的结构示意图之三。 FIG. 9 is a third schematic diagram of the structure of a communication device provided in an embodiment of the present application.
具体实施方式Detailed ways
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of this application.
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”所区别的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”一般表示前后关联对象是一种“或”的关系。The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and/or" in the specification and claims represents at least one of the connected objects, and the character "/" generally represents that the objects associated with each other are in an "or" relationship.
值得指出的是，本申请实施例所描述的技术不限于长期演进型(Long Term Evolution，LTE)/LTE的演进(LTE-Advanced，LTE-A)***，还可用于其他无线通信***，诸如码分多址(Code Division Multiple Access，CDMA)、时分多址(Time Division Multiple Access，TDMA)、频分多址(Frequency Division Multiple Access，FDMA)、正交频分多址(Orthogonal Frequency Division Multiple Access，OFDMA)、单载波频分多址(Single-carrier Frequency Division Multiple Access，SC-FDMA)和其他***。本申请实施例中的术语“***”和“网络”常被可互换地使用，所描述的技术既可用于以上提及的***和无线电技术，也可用于其他***和无线电技术。以下描述出于示例目的描述了新空口(New Radio，NR)***，并且在以下大部分描述中使用NR术语，但是这些技术也可应用于NR***应用以外的应用，如第6代(6th Generation，6G)通信***。It is worth noting that the technology described in the embodiments of the present application is not limited to the Long Term Evolution (LTE)/LTE-Advanced (LTE-A) system, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency Division Multiple Access (SC-FDMA) and other systems. The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the described technology can be used for the above-mentioned systems and radio technologies as well as for other systems and radio technologies. The following description describes a new radio (NR) system for example purposes, and NR terms are used in most of the following descriptions, but these technologies can also be applied to applications other than NR system applications, such as the 6th Generation (6G) communication system.
图1示出本申请实施例可应用的一种无线通信***的框图。无线通信***包括终端11和网络侧设备12。其中，终端11可以是手机、平板电脑(Tablet Personal Computer)、膝上型电脑(Laptop Computer)或称为笔记本电脑、个人数字助理(Personal Digital Assistant，PDA)、掌上电脑、上网本、超级移动个人计算机(ultra-mobile personal computer，UMPC)、移动上网装置(Mobile Internet Device，MID)、增强现实(augmented reality，AR)/虚拟现实(virtual reality，VR)设备、机器人、可穿戴式设备(Wearable Device)、车载设备(Vehicle User Equipment，VUE)、行人终端(Pedestrian User Equipment，PUE)、智能家居(具有无线通信功能的家居设备，如冰箱、电视、洗衣机或者家具等)、游戏机、个人计算机(personal computer，PC)、柜员机或者自助机等终端侧设备，可穿戴式设备包括：智能手表、智能手环、智能耳机、智能眼镜、智能首饰(智能手镯、智能手链、智能戒指、智能项链、智能脚镯、智能脚链等)、智能腕带、智能服装等。需要说明的是，在本申请实施例并不限定终端11的具体类型。网络侧设备12可以包括接入网设备或核心网设备，其中，接入网设备也可以称为无线接入网设备、无线接入网(Radio Access Network，RAN)、无线接入网功能或无线接入网单元。接入网设备可以包括基站、无线局域网(Wireless Local Area Network，WLAN)接入点或WiFi节点等，基站可被称为节点B、演进节点B(Evolved Node  B，eNB)、接入点、基收发机站(Base Transceiver Station，BTS)、无线电基站、无线电收发机、基本服务集(Basic Service Set，BSS)、扩展服务集(Extended Service Set，ESS)、家用B节点、家用演进型B节点、发送接收点(Transmission Reception Point，TRP)或所述领域中其他某个合适的术语，只要达到相同的技术效果，所述基站不限于特定技术词汇，需要说明的是，在本申请实施例中仅以NR***中的基站为例进行介绍，并不限定基站的具体类型。核心网设备可以包含但不限于如下至少一项：核心网节点、核心网功能、移动管理实体(Mobility Management Entity，MME)、接入移动管理功能(Access and Mobility Management Function，AMF)、会话管理功能(Session Management Function，SMF)、用户平面功能(User Plane Function，UPF)、策略控制功能(Policy Control Function，PCF)、策略与计费规则功能单元(Policy and Charging Rules Function，PCRF)、边缘应用服务发现功能(Edge Application Server Discovery Function，EASDF)、统一数据管理(Unified Data Management，UDM)、统一数据仓储(Unified Data Repository，UDR)、归属用户服务器(Home Subscriber Server，HSS)、集中式网络配置(Centralized network configuration，CNC)、网络存储功能(Network Repository Function，NRF)、网络开放功能(Network Exposure Function，NEF)、本地NEF(Local NEF，或L-NEF)、绑定支持功能(Binding Support Function，BSF)、应用功能(Application Function，AF)等。需要说明的是，在本申请实施例中仅以NR***中的核心网设备为例进行介绍，并不限定核心网设备的具体类型。FIG1 shows a block diagram of a wireless communication system applicable to an embodiment of the present application. The wireless communication system includes a terminal 11 and a network side device 12 . The terminal 11 may be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer) or a notebook computer, a personal digital assistant (PDA), a handheld computer, a netbook, an ultra-mobile personal computer (UMPC), a mobile Internet device (Mobile Internet Device, MID), an augmented reality (AR)/virtual reality (VR) device, a robot, a wearable device (Wearable Device), a vehicle user equipment (VUE), a pedestrian terminal (Pedestrian User Equipment, PUE), a smart home (a home appliance with wireless communication function, such as a refrigerator, a television, a washing machine or furniture, etc.), a game console, a personal computer (personal computer, PC), a teller machine or a self-service machine and other terminal side devices, and the wearable device includes: a smart watch, a smart bracelet, a smart headset, a smart glasses, a smart jewelry (smart bracelet, a smart bracelet, a smart ring, a smart necklace, a smart anklet, a smart anklet, etc.), a smart wristband, a smart clothing, etc. It should be noted that the specific type of the terminal 11 is not limited in the embodiments of the present application. The network side device 12 may include an access network device or a core network device, wherein the access network device may also be referred to as a wireless access network device, a wireless access network (Radio Access Network, RAN), a wireless access network function or a wireless access network unit. The access network device may include a base station, a wireless local area network (Wireless Local Area Network, WLAN) access point or a WiFi node, etc. The base station may be referred to as a Node B, an Evolved Node B (Evolved Node B), or a wireless access network function. B, eNB), access point, base transceiver station (Base Transceiver Station, BTS), radio base station, radio transceiver, basic service set (Basic Service Set, BSS), extended service set (Extended Service Set, ESS), home B node, home evolved B node, transmission reception point (Transmission Reception Point, TRP) or other suitable terms in the field, as long as the same technical effect is achieved, the base station is not limited to specific technical vocabulary. It should be noted that in the embodiment of the present application, only the base station in the NR system is taken as an example for introduction, and the specific type of the base station is not limited. The core network equipment may include but is not limited to at least one of the following: core network node, core network function, mobility management entity (Mobility Management Entity, MME), access mobility management function (Access and Mobility Management Function, AMF), session management function (Session Management Function, SMF), user plane function (User Plane Function, UPF), policy control function (Policy Control Function, PCF), policy and charging rules function unit (Policy and Charging Rules Function, PCRF), edge application service discovery function (Edge Application Server Discovery Function, EASDF), unified data management (Unified Data Management, UDM), unified data storage (Unified Data Repository, UDR), home user server (Home Subscriber Server, HSS), centralized network configuration (CNC), network storage function (Network Repository Function, NRF), network exposure function (Network Exposure Function, NEF), local NEF (Local NEF, or L-NEF), binding support function (Binding Support Function, BSF), application function (Application Function, AF), etc. It should be noted that in the embodiments of the present application, only the core network device in the NR system is introduced as an example, and the specific type of the core network device is not limited.
为了便于更好地理解本申请实施例，下面先介绍以下技术点。In order to facilitate a better understanding of the embodiments of the present application, the following technical points are first introduced below.
1：通信感知一体化/通感一体化：1: Communication and perception integration/synaesthesia integration:
未来B5G和6G无线通信***有望提供各种高精度的传感服务，如机器人导航的室内定位、智能家居的Wi-Fi传感和自动驾驶汽车的雷达传感。传感和通信***通常是单独设计的，并占用不同的频段。然后，由于毫米波和大规模多进多出(Multiple-Input Multiple-Output，MIMO)技术的广泛部署，未来无线通信***中的通信信号往往在时域和角度域都具有高分辨率，这使得利用通信信号实现高精度传感成为可能。因此，最好是联合设计传感和通信***，使它们能够共享同一频段和硬件，以提高频率效率并降低硬件成本。这促使了对通信和感知一体化(Integrated Sensing And Communication,ISAC)的研究。ISAC将成为未来无线通信***的一项关键技术，以支持许多重要的应用场景。例如，在未来的自动驾驶车辆网络中，自动驾驶车辆将从网络中获得大量的信息，包括超高分辨率的地图和接近实时的信息，以进行导航和避免即将到来的交通拥堵。在同样的情况下，自动驾驶车辆中的雷达传感器应该能够提供强大的、高分辨率的障碍物探测功能，分辨率在厘米量级。用于自动驾驶车辆的ISAC技术提供了使用相同硬件和频谱资源实现高数据率通信和高分辨率障碍物探测的可能。ISAC的其他应用包括基于Wi-Fi的室内定位和活动识别、无人驾驶飞机的通信和传感、扩展现实(Extended Reality，XR)、雷达和通信一体化等。每个应用都有不同的要求、限制和监管问题。ISAC已经引起了学术界和工业界巨大的研究兴趣和关注。例如，最近有越来越多的关于ISAC的学术出版物，从收发机架 构设计、ISAC波形设计、联合编码设计、时-频-空信号处理，到实验性能延时、原型设计和现场测试。Future B5G and 6G wireless communication systems are expected to provide a variety of high-precision sensing services, such as indoor positioning for robot navigation, Wi-Fi sensing for smart homes, and radar sensing for autonomous vehicles. Sensing and communication systems are usually designed separately and occupy different frequency bands. However, due to the widespread deployment of millimeter wave and massive multiple-input multiple-output (MIMO) technologies, communication signals in future wireless communication systems often have high resolution in both time and angle domains, which makes it possible to use communication signals to achieve high-precision sensing. Therefore, it is best to jointly design sensing and communication systems so that they can share the same frequency band and hardware to improve frequency efficiency and reduce hardware costs. This has prompted the study of Integrated Sensing And Communication (ISAC). ISAC will become a key technology for future wireless communication systems to support many important application scenarios. For example, in future autonomous vehicle networks, autonomous vehicles will obtain a large amount of information from the network, including ultra-high-resolution maps and near-real-time information, to navigate and avoid upcoming traffic jams. In the same situation, radar sensors in autonomous vehicles should be able to provide powerful, high-resolution obstacle detection with centimeter-level resolution. ISAC technology for autonomous vehicles offers the possibility of high data rate communications and high-resolution obstacle detection using the same hardware and spectrum resources. Other applications of ISAC include Wi-Fi-based indoor positioning and activity recognition, communications and sensing for drones, extended reality (XR), radar and communication integration, etc. Each application has different requirements, limitations, and regulatory issues. ISAC has attracted great research interest and attention from academia and industry. For example, there has been an increasing number of academic publications on ISAC recently, ranging from transceiver racks to From architecture design, ISAC waveform design, joint coding design, time-frequency-space signal processing, to experimental performance delay, prototype design and field testing.
ISAC通过硬件设备共用和软件定义功能的方式获得通信和感知双功能的一体化低成本实现，特点主要有：一是架构统一且简化，二是功能可重构可扩展，三是效率提升、成本降低。通信感知一体化的优势主要有三个方面：一是设备成本降低、尺寸减小，二是频谱利用率提升，三是***性能提升。ISAC achieves low-cost integration of communication and perception functions by sharing hardware equipment and defining functions with software. Its main features are: first, unified and simplified architecture; second, reconfigurable and scalable functions; third, improved efficiency and reduced costs. The advantages of integrated communication and perception are mainly in three aspects: first, reduced equipment cost and size; second, improved spectrum utilization; and third, improved system performance.
学术界通常将ISAC的发展划分为四个阶段：共存、共运行、共设计和共同协作。Academics usually divide the development of ISAC into four stages: coexistence, co-operation, co-design and co-collaboration.
(1)共存：通信和感知是两个相互分立的***，两者会相互干扰，解决干扰的主要方法是：距离隔离、频段隔离、时分工作，MIMO技术、预编码等。(1) Coexistence: Communication and perception are two independent systems that will interfere with each other. The main methods to resolve interference are: distance isolation, frequency band isolation, time division, MIMO technology, precoding, etc.
(2)共运行：通信和感知共用硬件平台，利用共有信息提升共同的性能，二者之间的功率分配对***性能影响较大，主要问题是：低信噪比、相互干扰、低吞吐率。(2) Co-operation: Communication and perception share the same hardware platform and use shared information to improve common performance. The power allocation between the two has a significant impact on system performance. The main problems are: low signal-to-noise ratio, mutual interference, and low throughput.
(3)共设计：通信和感知成为一个完全的联合***，包括联合信号设计、波形设计、编码设计等，前期有线性调频波形、扩频波形等，后来聚焦到正交频分复用(Orthogonal Frequency Division Multiplexing，OFDM)波形、MIMO技术等。(3) Co-design: Communication and perception become a complete joint system, including joint signal design, waveform design, coding design, etc. In the early stage, there were linear frequency modulation waveforms, spread spectrum waveforms, etc., and later the focus was on orthogonal frequency division multiplexing (OFDM) waveforms, MIMO technology, etc.
(4)共同协作：多个通信感知一体化节点相互协作实现公共目标。例如，通过通信数据传输共享雷达探测信息，典型场景有驾驶辅助***、雷达辅助通信等。(4) Collaboration: Multiple communication and perception integrated nodes collaborate to achieve common goals. For example, radar detection information is shared through communication data transmission. Typical scenarios include driver assistance systems and radar-assisted communications.
目前，根据5G通信***架构进行技术升级而有望实现的典型通信感知一体化的场景如表1所示。At present, typical communication perception integration scenarios that are expected to be achieved through technical upgrades based on the 5G communication system architecture are shown in Table 1.
表1通信感知一体化典型场景
Table 1 Typical scenarios of communication perception integration
2：感知的分类2: Classification of perception
根据感知设备(指具有感知能力的设备，例如传感器等)与感知目标或感知对象是否分离，感知可以分为非接触式感知和接触式感知。接触式感知需要在感知目标上安装温度计/湿度计/气压计/陀螺仪/加速度计/重力传感器等传感器来采集特定感知信息；非接触式感知需要光、声或无线电波等作为感知传导的媒介，因此可以分为光感知(例如通过可见光、红外线等作为媒介进行感知的普通摄像头，红外摄像头，激光雷达等)、声感知(例 如通过机械波、超声波进行感知的声呐)和无线电波感知(例如毫米波雷达等)。图2总结了不同的感知类型。Depending on whether the sensing device (referring to a device with sensing capabilities, such as a sensor) is separated from the sensing target or the sensing object, perception can be divided into non-contact perception and contact perception. Contact perception requires the installation of sensors such as thermometers/hygrometers/barometers/gyroscopes/accelerometers/gravity sensors on the sensing target to collect specific sensing information; non-contact perception requires light, sound or radio waves as the medium for perception transmission, so it can be divided into light perception (such as ordinary cameras that use visible light, infrared rays, etc. as the medium for perception, infrared cameras, lidar, etc.), sound perception (such as Such as sonar (sensing through mechanical waves, ultrasonic waves) and radio wave sensing (such as millimeter wave radar, etc.). Figure 2 summarizes the different types of sensing.
另外一种分类方式是将感知分为非射频感知和射频感知，其中非射频感知包括接触式感知，光感知和声感知。非射频感知在某些方面存在一定局限性，例如基于可见光的普通摄像头***往往依赖于光线条件或视距条件，尤其在室外场景受天气情况影响严重，且存在隐私安全问题等。其他特定传感器需要安装在感知目标上，存在部署维护与设备供电的问题，在便利性和成本方面有一定局限性。射频感知即无线电波感知。无线电波信号在传播过程中受到周围环境的影响，信号的幅度、相位等特征发生了变化，接收端通过对无线信号特征变化的分析，不仅能够得到无线信号承载的发送端信息，还能够提取出反映传播环境特征的信息。射频感知支持感知设备与感知目标的分离，相比非射频感知，其受天气和光线条件影响较小，感知范围相对更大，灵活性更高，在隐私与安全方面相比摄像头更具优势。射频感知的典型应用是雷达，包括军事领域应用的雷达和商用的毫米波雷达等。Another classification method is to divide perception into non-RF perception and RF perception, where non-RF perception includes contact perception, light perception and sound perception. Non-RF perception has certain limitations in some aspects. For example, ordinary camera systems based on visible light often rely on light conditions or line-of-sight conditions, especially in outdoor scenes, which are seriously affected by weather conditions and have privacy and security issues. Other specific sensors need to be installed on the perception target, which has deployment and maintenance and equipment power supply issues, and has certain limitations in terms of convenience and cost. RF perception is radio wave perception. During the propagation process, radio wave signals are affected by the surrounding environment, and the amplitude, phase and other characteristics of the signal change. By analyzing the changes in the characteristics of the wireless signal, the receiving end can not only obtain the sending end information carried by the wireless signal, but also extract information reflecting the characteristics of the propagation environment. RF perception supports the separation of perception devices and perception targets. Compared with non-RF perception, it is less affected by weather and light conditions, has a relatively larger perception range, and is more flexible. It has more advantages than cameras in terms of privacy and security. The typical application of RF perception is radar, including radar used in the military field and commercial millimeter wave radar.
如图2所示，通信感知一体化中的感知属于射频感知。从面相6G的角度，本申请将各种类型的感知分为通信感知一体化类感知(下文简称，通感类感知)和传感器类感知，其中传感器类感知包括除通感类感知以外的其他所有感知方式。通感类感知与传感器类感知互为补充。6G未来将综合利用包括通感类感知和传感器类感知在内的不同类型的感知来采集各类数据，以实现对物理世界的更便捷更高效更精确的数字化构建。As shown in Figure 2, the perception in communication perception integration belongs to radio frequency perception. From the perspective of 6G, this application divides various types of perception into communication perception integration perception (hereinafter referred to as synaesthesia perception) and sensor perception, where sensor perception includes all other perception methods except synaesthesia perception. Synaesthesia perception and sensor perception complement each other. In the future, 6G will make comprehensive use of different types of perception, including synaesthesia perception and sensor perception, to collect various types of data, so as to realize a more convenient, efficient and accurate digital construction of the physical world.
下面对本申请实施例涉及的部分名词解释如下：The following are some explanations of the terms involved in the embodiments of the present application:
解释1：感知功能网元Explanation 1: Perception Functional Network Element
感知功能(Sensing Function)网元，也可以叫做感知网元或者感知网络功能，可以处于无线接入网络(Radio Access Network，RAN)侧或核心网侧，是指核心网和/或RAN中负责感知请求处理、感知资源调度、感知信息交互、感知数据处理等至少一项功能的网络节点，可以是基于5G网络中接入和移动管理功能(Access and Mobility Management Function，AMF)或位置管理功能(Location Management Function，LMF)升级，也可以是其他网络节点或新定义的网络节点，具体的，感知功能网元的功能特性可以包括以下至少一项：A sensing function network element, which may also be called a sensing network element or a sensing network function, may be located on the radio access network (RAN) side or the core network side. It refers to a network node in the core network and/or RAN that is responsible for at least one function such as sensing request processing, sensing resource scheduling, sensing information interaction, and sensing data processing. It may be an upgrade based on the access and mobility management function (AMF) or location management function (LMF) in the 5G network, or it may be other network nodes or newly defined network nodes. Specifically, the functional characteristics of the sensing function network element may include at least one of the following:
与无线信号发送设备和/或无线信号测量设备(包括目标终端或者目标终端的服务基站或者目标区域关联的基站)进行目标信息交互，其中，目标信息包括感知处理请求，感知能力，感知辅助数据，感知测量量类型，感知资源配置信息等，以获得无线信号测量设备发送目标感知结果或感知测量量(上行测量量或下行测量量)的值；其中，无线信号也可以称作感知信号。Target information is interacted with a wireless signal sending device and/or a wireless signal measuring device (including a target terminal or a serving base station of the target terminal or a base station associated with a target area), wherein the target information includes a perception processing request, a perception capability, perception auxiliary data, a perception measurement quantity type, a perception resource configuration information, etc., to obtain the value of a target perception result or a perception measurement quantity (an uplink measurement quantity or a downlink measurement quantity) sent by the wireless signal measuring device; wherein the wireless signal may also be referred to as a perception signal.
根据感知业务的类型、感知业务消费者信息、所需的感知服务质量(Quality of Service，QoS)要求信息、无线信号发送设备的感知能力、无线信号测量设备的感知能力等因素来决定使用的感知方法，该感知方法可以包括：基站A发基站B收，或者基站发终端收，或者基站A自发自收，或者终端发基站收，或者终端自发自收，或者终端A发终端B收 等。The sensing method to be used is determined according to factors such as the type of sensing service, sensing service consumer information, required sensing service quality (QoS) requirement information, sensing capability of the wireless signal transmitting device, and sensing capability of the wireless signal measuring device. The sensing method may include: base station A sends and base station B receives, or base station sends and terminal receives, or base station A sends and receives by itself, or terminal sends and base station receives, or terminal sends and receives by itself, or terminal A sends and terminal B receives. wait.
根据感知业务的类型、感知业务消费者的信息、所需的感知QoS要求信息、无线信号发送设备的感知能力、无线信号测量设备的感知能力等因素，来决定为感知业务服务的感知设备，其中，感知设备包括无线信号发送设备和/或无线信号测量设备。The perception device serving the perception service is determined based on factors such as the type of perception service, information about the perception service consumer, required perception QoS requirement information, the perception capability of the wireless signal sending device, and the perception capability of the wireless signal measuring device, wherein the perception device includes a wireless signal sending device and/or a wireless signal measuring device.
管理感知业务所需资源的整体协调和调度，如对基站和/或终端的感知资源进行相应的配置；Manage the overall coordination and scheduling of resources required for sensing services, such as configuring sensing resources of base stations and/or terminals accordingly;
对感知测量量的值进行数据处理，或进行计算获得感知结果。进一步地，验证感知结果，估计感知精度等。The values of the perceived measurement quantities are processed or calculated to obtain the perceived results. Furthermore, the perceived results are verified, and the perceived accuracy is estimated.
解释2：感知需求信息Explanation 2: Perceiving demand information
感知需求信息，是感知业务发起方输出的原始的需求信息、或者根据所述的原始的需求信息进行加工后得到的需求信息；包括以下至少一项：The perception demand information is the original demand information output by the perception service initiator, or the demand information obtained after processing according to the original demand information; and includes at least one of the following:
感知业务类型，感知目标区域，感知对象类型，感知QoS，感知先验信息。Perceive business type, perceive target area, perceive object type, perceive QoS, and perceive prior information.
其中，感知业务类型：按类型划分或具体到某项业务，例如：成像、定位或轨迹追踪、动作识别、测距/测速等。Among them, perception service types: divided by type or specific to a certain service, such as imaging, positioning or trajectory tracking, motion recognition, ranging/speed measurement, etc.
其中，感知目标区域：是指感知对象可能存在位置区域，或者，需要进行成像或环境重构的位置区域。The perception target area refers to the location area where the perception object may exist, or the location area where imaging or environmental reconstruction is required.
其中，感知对象类型：针对感知对象可能的运动特性对感知对象进行分类，每个感知对象类型中包含了典型感知对象的运动速度、运动加速度、典型雷达截面积(Radar Cross Section,RCS)等信息。Among them, the perception object type: the perception object is classified according to its possible motion characteristics. Each perception object type contains the motion speed, motion acceleration, typical radar cross-section (RCS) and other information of the typical perception object.
其中，感知QoS：对感知目标区域或感知对象进行感知的性能指标，包括以下至少一项：Among them, perception QoS: the performance indicator of perception of the perception target area or perception object, including at least one of the following:
感知分辨率，包括以下至少之一：测距(或时延)分辨率、测速(或多普勒)分辨率、测角(方位角、俯仰角)分辨率、成像分辨率、加速度(X/Y/Z三个方向)分辨率、角速度(绕X/Y/Z三个轴)分辨率；Perception resolution, including at least one of the following: ranging (or delay) resolution, velocity (or Doppler) resolution, angle (azimuth, pitch) resolution, imaging resolution, acceleration (X/Y/Z directions) resolution, angular velocity (around X/Y/Z axes) resolution;
感知精度(误差)，包括以下至少之一：测距(或时延)精度、测速(或多普勒)精度、测角(方位角、俯仰角)精度、加速度(X/Y/Z三个方向)精度、角速度(绕X/Y/Z三个轴)精度；Perception accuracy (error), including at least one of the following: ranging (or delay) accuracy, velocity (or Doppler) accuracy, angle (azimuth, pitch) accuracy, acceleration (X/Y/Z directions) accuracy, angular velocity (around X/Y/Z axes) accuracy;
感知范围，包括以下至少之一：距离(或时延)测量范围、速度(或多普勒)测量范围、加速度(X/Y/Z三个方向)测量范围、角速度(绕X/Y/Z三个轴)测量范围、成像范围；The sensing range includes at least one of the following: distance (or delay) measurement range, velocity (or Doppler) measurement range, acceleration (X/Y/Z directions) measurement range, angular velocity (around X/Y/Z axes) measurement range, and imaging range;
感知时延(从感知信号发送到获得感知结果的时间间隔，或，从感知需求发起到获取感知结果的时间间隔)；Perception latency (the time interval from the sending of the perception signal to the acquisition of the perception result, or the time interval from the initiation of the perception demand to the acquisition of the perception result);
感知更新速率(相邻两次执行感知并获得感知结果的时间间隔)；Perception update rate (the time interval between two consecutive perception operations and the acquisition of perception results);
检测概率(在感知对象存在的情况下被正确检测出来的概率)；Detection probability (the probability of correctly detecting the perceived object when it exists);
虚警概率(在感知对象不存在的情况下错误检测出感知目标的概率)； False alarm probability (the probability of erroneously detecting a perceived target when the perceived object does not exist);
目标个数；Number of targets;
覆盖范围：满足上述性能要求至少一项要求的感知目标/成像区域的空间范围。Coverage: The spatial extent of the sensed target/imaging area that meets at least one of the above performance requirements.
其中，感知先验信息，包括以下至少一项：The perceptual prior information includes at least one of the following:
感知对象可能存在的空间位置的先验信息；Prior information about the possible spatial location of the perceived object;
感知目标区域的空间结构、表面材质等先验信息；Perceive prior information such as the spatial structure and surface material of the target area;
感知对象的雷达特性的先验信息，例如：感知对象的雷达截面积(Radar Cross Section,RCS)大小/图样、微多普勒特性等；Prior information about the radar characteristics of the perceived object, such as the radar cross section (RCS) size/pattern, micro-Doppler characteristics, etc.
感知对象的速度范围等。The speed range of the perceived object, etc.
解释3：感知能力信息Explanation 3: Perceptual Ability Information
感知能力信息，描述感知节点为了支持相应的感知业务所具备的硬件和软件的能力。对于任意的感知节点，所述的感知能力信息包括以下至少一项：Perception capability information describes the hardware and software capabilities of the perception node in order to support the corresponding perception service. For any perception node, the perception capability information includes at least one of the following:
是否支持通感类感知，以及在支持通感类感知的情况下的通感的感知能力信息；Whether synaesthesia perception is supported, and if so, the synaesthesia perception capability information;
是否支持传感器类感知，以及在支持传感器类感知的情况下，包括以下至少一项：Whether sensor-based perception is supported, and if so, at least one of the following:
支持的传感器类型；Supported sensor types;
对应各个支持的传感器类型的传感器的数量；The number of sensors corresponding to each supported sensor type;
对应各个支持的传感器的感知能力信息。Corresponding to the perception capability information of each supported sensor.
其中，传感器的感知能力信息，包括以下至少一项：The sensor's sensing capability information includes at least one of the following:
支持的感知业务类型；Supported sensing service types;
支持的测量量；Supported measurements;
支持的测量量的QoS。QoS of supported measurements.
其中，支持的感知业务类型，包括以下至少一项：The supported sensing service types include at least one of the following:
是否支持雷达探测业务，进一步包括：雷达测速、雷达测距、雷达测角、雷达成像；Whether radar detection services are supported, further including: radar speed measurement, radar distance measurement, radar angle measurement, and radar imaging;
是否支持用户定位和追踪业务；Whether user positioning and tracking services are supported;
是否支持三维重构业务，进一步包括：地形地貌重构、建筑物表面重构；Whether to support 3D reconstruction services, further including: terrain reconstruction, building surface reconstruction;
是否支持天气和/或空气质量检测业务，进一步包括：降雨检测、湿度检测、颗粒物(PM2.5/PM10)检测、降雪检测；Whether weather and/or air quality detection services are supported, further including: rainfall detection, humidity detection, particulate matter (PM2.5/PM10) detection, and snowfall detection;
是否支持人流/车流检测业务；Whether to support pedestrian/vehicle flow detection service;
是否支持健康监测业务，进一步包括：心跳监测、呼吸检测；Whether health monitoring services are supported, further including: heart rate monitoring, breathing detection;
是否支持动作识别业务，进一步包括：手势识别、姿态识别、入侵检测。Whether to support motion recognition services, further including: gesture recognition, posture recognition, and intrusion detection.
其中，支持的测量量，包括以下至少一项：The supported measurements include at least one of the following:
激光雷达相关的测量量；LiDAR related measurements;
视觉相关的测量量；Vision-related measurements;
雷达相关的测量量；Radar related measurements;
惯性测量单元相关的测量量；Inertial measurement unit related measurements;
其他测量量。 Other measurements.
其中，激光雷达相关的测量量包括以下至少一项：The laser radar related measurement quantity includes at least one of the following:
激光雷达点云数据，激光雷达点云数据中的每个点包括：X/Y/Z位置信息，和，附加信息；LiDAR point cloud data,Each point in the LiDAR point cloud data includes: X/Y/Z position information, and,additional information;
根据激光雷达点云数据得到的目标的角度、距离；The angle and distance of the target obtained from the LiDAR point cloud data;
从激光雷达点云数据中识别出的目标的视觉特征，例如：人、车辆等；Visual features of objects identified from LiDAR point cloud data, such as people, vehicles, etc.
从激光雷达点云数据中识别出的目标数量。The number of objects identified from the LiDAR point cloud data.
所述的激光雷达点云数据中的附加信息包括以下至少一项：The additional information in the laser radar point cloud data includes at least one of the following:
强度：生成激光雷达点的激光脉冲的回波强度；Intensity: The echo intensity of the laser pulse that generated the lidar point;
回波数：回波数是某个给定脉冲的回波总数；Echo Count: The echo count is the total number of echoes for a given pulse;
点分类：每个经过后处理的激光雷达点可拥有定义反射激光雷达脉冲的对象的类型的分类，可将激光雷达点分成很多个类别，例如：地面、裸露地表、树冠层顶部和水域等；Point classification: Each post-processed lidar point can have a classification that defines the type of object that reflected the lidar pulse. LiDAR points can be classified into many categories, such as ground, bare earth, top of tree canopy, and water.
红绿蓝(RGB)：可以将RGB波段作为激光雷达数据的属性，此属性通常来自在激光雷达测量时采集的影响。Red, Green, Blue (RGB): You can attribute the LiDAR data with RGB bands, which are usually collected during the LiDAR survey.
全球定位***(Global Positioning System，GPS)时间：从飞机发射激光点的GPS时间戳。Global Positioning System (GPS) Time: The GPS timestamp of the laser point emitted from the aircraft.
扫描角度：Scan Angle:
扫描方向：激光扫描镜的行进方向，值1代表正扫描方向、值0代表负扫描方向。Scanning direction: The direction of travel of the laser scanning mirror. A value of 1 represents a positive scanning direction and a value of 0 represents a negative scanning direction.
其中，视觉相关的测量量，包括以下至少一项：The visual related measurement includes at least one of the following:
视觉图像；Visual images;
图像像素的光度；The luminosity of the image pixels;
图像像素的RGB值；RGB values of image pixels;
从图像中识别出的目标的视觉特征，例如：人、车辆等；Visual features of objects identified from images, such as people, vehicles, etc.
从图像中识别出的目标的角度、距离(特别是对于双目视觉)；The angle and distance of the objects identified from the image (especially for binocular vision);
从图像中识别出的目标的数量。The number of objects identified in the image.
其中，雷达相关的测量量，包括以下至少一项：The radar-related measurement quantity includes at least one of the following:
雷达点云，点云中的每个点包括：距离/速度/方位角/俯仰角中至少一个，或者，X/Y/Z/速度中的至少一个；Radar point cloud, each point in the point cloud includes: at least one of distance/speed/azimuth/elevation angle, or at least one of X/Y/Z/speed;
识别出的目标的距离、速度、角度；The distance, speed, and angle of the identified target;
雷达成像；Radar imaging;
目标的数量。The number of targets.
其中，惯性测量单元相关的测量量，包括以下至少一项：The measurement quantity related to the inertial measurement unit includes at least one of the following:
加速度：X/Y/Z三个方向至少之一；Acceleration: at least one of the three directions X/Y/Z;
速度：X/Y/Z三个方向至少之一；Speed: at least one of the three directions X/Y/Z;
角速度：绕X/Y/Z三个轴至少之一。Angular velocity: around at least one of the three axes X/Y/Z.
其中，其他测量量，包括以下至少一项：目标是否存在、轨迹、动作、表情、生命体 征、数量、成像结果、天气、空气质量、形状、材质、成分等。Among them, other measurements include at least one of the following: whether the target exists, trajectory, movement, expression, life form Features, quantity, imaging results, weather, air quality, shape, material, composition, etc.
其中，支持的测量量的QoS，对于任意一个支持的测量量，测量量的QoS包括以下至少一项：The QoS of the supported measurement quantity, for any supported measurement quantity, the QoS of the measurement quantity includes at least one of the following:
感知分辨率，包括以下至少之一：测距(或时延)分辨率、测速(或多普勒)分辨率、测角(方位角、俯仰角)分辨率、成像分辨率、加速度(X/Y/Z三个方向)分辨率、角速度(绕X/Y/Z三个轴)分辨率；Perception resolution, including at least one of the following: ranging (or delay) resolution, velocity (or Doppler) resolution, angle (azimuth, pitch) resolution, imaging resolution, acceleration (X/Y/Z directions) resolution, angular velocity (around X/Y/Z axes) resolution;
感知精度(误差)，包括以下至少之一：测距(或时延)精度、测速(或多普勒)精度、测角(方位角、俯仰角)精度、加速度(X/Y/Z三个方向)精度、角速度(绕X/Y/Z三个轴)精度；Perception accuracy (error), including at least one of the following: ranging (or delay) accuracy, velocity (or Doppler) accuracy, angle (azimuth, pitch) accuracy, acceleration (X/Y/Z directions) accuracy, angular velocity (around X/Y/Z axes) accuracy;
感知范围，包括以下至少之一：距离(或时延)测量范围、速度(或多普勒)测量范围、加速度(X/Y/Z三个方向)测量范围、角速度(绕X/Y/Z三个轴)测量范围、成像范围；The sensing range includes at least one of the following: distance (or delay) measurement range, velocity (or Doppler) measurement range, acceleration (X/Y/Z directions) measurement range, angular velocity (around X/Y/Z axes) measurement range, and imaging range;
感知时延(从感知信号发送到获得感知结果的时间间隔，或，从感知需求发起到获取感知结果的时间间隔)；Perception latency (the time interval from the sending of the perception signal to the acquisition of the perception result, or the time interval from the initiation of the perception demand to the acquisition of the perception result);
感知更新速率(相邻两次执行感知并获得感知结果的时间间隔)；Perception update rate (the time interval between two consecutive perception operations and the acquisition of perception results);
检测概率(在感知对象存在的情况下被正确检测出来的概率)；Detection probability (the probability of correctly detecting the perceived object when it exists);
虚警概率(在感知对象不存在的情况下错误检测出感知目标的概率)；False alarm probability (the probability of erroneously detecting a perceived target when the perceived object does not exist);
目标个数；Number of targets;
覆盖范围：满足上述性能要求至少一项要求的感知目标/成像区域的空间范围。Coverage: The spatial extent of the sensed target/imaging area that meets at least one of the above performance requirements.
解释4：通感的信号配置Explanation 4: Signal configuration of synaesthesia
第一信号配置包括以下至少一项：The first signal configuration includes at least one of the following:
波形类型，例如OFDM，单载波频分多址(Single-carrier Frequency-Division Multiple Access，SC-FDMA)，正交时频空调制(Orthogonal Time Frequency Space，OTFS)，调频连续波(Frequency Modulated Continuous Wave，FMCW)，脉冲信号等；Waveform types, such as OFDM, Single-carrier Frequency-Division Multiple Access (SC-FDMA), Orthogonal Time Frequency Space (OTFS), Frequency Modulated Continuous Wave (FMCW), pulse signals, etc.
子载波间隔：例如，OFDM***的子载波间隔30KHz；Subcarrier spacing: For example, the subcarrier spacing of the OFDM system is 30KHz;
保护间隔：从信号结束发送时刻到该信号的最迟回波信号被接收的时刻之间的时间间隔；该参数正比于最大感知距离；例如，可以通过2dmax/c计算得到，dmax是最大感知距离(属于感知需求)，例如对于自发自收的感知信号，dmax代表感知信号收发点到信号发射点的最大距离；在某些情况下，OFDM信号循环前缀CP可以起到最小保护间隔的作用；Guard interval: the time interval from the moment a signal ends to the moment the latest echo signal of the signal is received; this parameter is proportional to the maximum perception distance; for example, it can be calculated by 2d max /c, where d max is the maximum perception distance (belongs to the perception requirement). For example, for a self-transmitted and self-received perception signal, d max represents the maximum distance from the perception signal receiving and transmitting point to the signal transmitting point; in some cases, the OFDM signal cyclic prefix CP can play the role of the minimum guard interval;
带宽：该参数反比于距离分辨率，可以通过c/(2Δd)得到，其中Δd是距离分辨率(属于感知需求)；c是光速；Bandwidth: This parameter is inversely proportional to the range resolution and can be obtained by c/(2Δd), where Δd is the range resolution (perception requirement) and c is the speed of light.
突发(Burst)持续时间：该参数反比于速率分辨率(属于感知需求)，该参数是感知信号的时间跨度，主要为了计算多普勒频偏；该参数可通过c/(2fcΔv)计算得到；其中，Δv是速度分辨率；fc是感知信号的载频；Burst duration: This parameter is inversely proportional to the rate resolution (a perception requirement). This parameter is the time span of the perception signal, mainly for calculating the Doppler frequency offset. This parameter can be calculated by c/(2f c Δv); where Δv is the rate resolution and f c is the carrier frequency of the perception signal.
时域间隔：该参数可通过c/(2fcvrange)计算得到；其中，vrange是最大速率减去最小速 度(属于感知需求)；该参数是相邻的两个感知信号之间的时间间隔；Time domain interval: This parameter can be calculated by c/(2f c v range ), where v range is the maximum rate minus the minimum rate. Degree (belongs to perception requirements); this parameter is the time interval between two adjacent perception signals;
发送信号功率，例如从-20dBm到23dBm每隔2dBm取一个值；The transmit signal power, for example, takes a value from -20dBm to 23dBm at 2dBm intervals;
信号格式，例如是探测参考信号(Sounding Reference Signal，SRS)，解调参考信号(Demodulation Reference Signal，DMRS)，定位参考信号(Positioning Reference Signal，PRS)等，或者其他预定义的信号，以及相关的序列格式等信息；Signal format, such as Sounding Reference Signal (SRS), Demodulation Reference Signal (DMRS), Positioning Reference Signal (PRS), or other predefined signals, as well as related sequence format information;
信号方向，例如感知信号的方向或者波束信息；Signal direction, such as the direction of the perceived signal or beam information;
时间资源，例如感知信号所在的时隙索引或者时隙的符号索引；其中，时间资源分为两种，一种是一次性的时间资源，例如一个符号发送一个全向的感知信号；一种是非一次性的时间资源，例如多组周期性的时间资源或者不连续的时间资源(可包含开始时间和结束时间)，每一组周期性的时间资源发送同一方向的感知信号，不同组的周期性时间资源上的波束方向不同；Time resources, such as the time slot index where the perception signal is located or the symbol index of the time slot; wherein, time resources are divided into two types, one is a one-time time resource, for example, one symbol sends an omnidirectional perception signal; the other is a non-one-time time resource, such as multiple groups of periodic time resources or discontinuous time resources (which may include start time and end time), each group of periodic time resources sends a perception signal in the same direction, and different groups of periodic time resources have different beam directions;
频率资源，包括感知信号的中心频点，带宽，资源块(Resource block，RB)或者子载波，点(Point)A，起始带宽位置等；Frequency resources, including the center frequency of the perceived signal, bandwidth, resource block (RB) or subcarrier, point A, starting bandwidth position, etc.
准共址(Quasi co-location，QCL)关系，例如感知信号包括多个资源，每个资源与一个同步信号块(Synchronization Signal Block，SSB)QCL，QCL包括类型(Type)A、类型B、类型C或者类型D；Quasi co-location (QCL) relationship, for example, the sensing signal includes multiple resources, each resource is associated with a synchronization signal block (SSB) QCL, and the QCL includes Type A, Type B, Type C or Type D;
感知节点(基站或UE的)天线配置信息。The antenna configuration information of the sensing node (base station or UE).
其中，感知节点(基站或UE的)天线配置信息，包括以下至少一项：The antenna configuration information of the sensing node (base station or UE) includes at least one of the following:
用于发送和/或接收感知信号的天线阵元ID或者天线端口ID；An antenna element ID or an antenna port ID used to send and/or receive a sensing signal;
用于发送和/或接收感知信号的天线面板(panel)ID+阵元ID；Antenna panel ID + array element ID used to send and/or receive sensing signals;
用于发送和/或接收感知信号的天线阵元相对天线阵列上某个局部参考点的位置信息(可以用笛卡尔坐标(x，y，z)或者球坐标表示)；The position information of the antenna element used to send and/or receive the sensing signal relative to a local reference point on the antenna array (which can be expressed in Cartesian coordinates (x, y, z) or spherical coordinates) express);
用于发送和/或接收感知信号的panel相对天线阵列上某个局部参考点的位置信息(可以用笛卡尔坐标(x，y，z)或者球坐标表示)，以及这些被选择panel内的用于发送感知信号的天线阵元相对panel某个统一参考点(例如panel中心点)的位置信息(可以用笛卡尔坐标(x，y，z)或者球坐标表示)；The position information of the panel used to send and/or receive the sensing signal relative to a local reference point on the antenna array (in Cartesian coordinates (x, y, z) or spherical coordinates) ), and the position information of the antenna array elements in these selected panels for sending sensing signals relative to a unified reference point of the panel (such as the center point of the panel) (which can be expressed in Cartesian coordinates (x, y, z) or spherical coordinates express);
天线阵元的位图(bitmap)信息，例如：该bitmap使用“1”指示阵元被选择用于发送和/或接收感知信号，使用“0”表示阵元未被选择(也可反过来)；Bitmap information of antenna array elements, for example, the bitmap uses "1" to indicate that the array element is selected for sending and/or receiving the sensing signal, and uses "0" to indicate that the array element is not selected (or vice versa);
阵列panel的bitmap信息，例如：该bitmap使用“1”指示panel被选择用于发送和/或接收感知信号，使用“0”表示阵元未被选择(也可以反过来)。以及这些被选择panel内的阵元bitmap信息；The bitmap information of the array panel, for example: the bitmap uses "1" to indicate that the panel is selected for sending and/or receiving perception signals, and uses "0" to indicate that the array element is not selected (or vice versa). And the bitmap information of the array elements in these selected panels;
门限信息，即用于给源节点、第一设备、候选节点任意至少一者判决所获得的感知测量量测量值是否满足第一条件的门限值。对于不同候选节点和/或候选标签(tag)，门限值可以不同；对于任意一个候选节点和/或候选tag，感知测量量及其对应门限值可以大于1个；所述第一条件为：获得感知测量量测量值的对应候选节点/候选tag可以作为目标节点 /目标tag。Threshold information, i.e., a threshold value used to determine whether the obtained perception measurement value satisfies the first condition for at least one of the source node, the first device, and the candidate node. For different candidate nodes and/or candidate tags, the threshold value may be different; for any candidate node and/or candidate tag, the perception measurement value and its corresponding threshold value may be greater than 1; the first condition is that the corresponding candidate node/candidate tag for obtaining the perception measurement value can be used as the target node /target tag.
下面结合附图，通过一些实施例及其应用场景对本申请实施例提供的感知协作方法进行详细地说明。The following is a detailed description of the perception collaboration method provided in the embodiments of the present application through some embodiments and their application scenarios in combination with the accompanying drawings.
参见图3，图3是本申请实施例提供的一种感知协作方法的流程图，如图3所示，感知协作方法包括以下步骤：Referring to FIG. 3 , FIG. 3 is a flow chart of a perception collaboration method provided in an embodiment of the present application. As shown in FIG. 3 , the perception collaboration method includes the following steps:
步骤101、第一设备获取第一协作信息；Step 101: The first device obtains first collaboration information;
所述第一设备执行第一操作，所述第一操作包括如下任意一项：The first device performs a first operation, where the first operation includes any one of the following:
执行第一感知操作得到第一测量量，发送所述第一测量量；Performing a first sensing operation to obtain a first measurement value, and sending the first measurement value;
基于所述第一协作信息执行第一感知操作得到第三测量量；Performing a first sensing operation based on the first cooperation information to obtain a third measurement amount;
执行第一感知操作得到第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；Perform a first sensing operation to obtain a first measurement amount, and determine a third measurement amount based on the first cooperation information and the first measurement amount;
其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。The first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
其中，第一感知操作可以描述为第一感知，第二感知操作可以描述为第二感知。Among them, the first perception operation can be described as the first perception, and the second perception operation can be described as the second perception.
其中，第一感知操作(可简述为第一感知)可以为通信感知一体化感知操作(可简述为通信感知一体化感知)，第二感知操作(可简述为第二感知)可以为传感器感知操作(可简述为传感器感知)；或第一感知操作可以为传感器感知操作，第二感知操作可以为通信感知一体化感知操作。Among them, the first perception operation (which can be simply described as the first perception) can be a communication perception integrated perception operation (which can be simply described as communication perception integrated perception), and the second perception operation (which can be simply described as the second perception) can be a sensor perception operation (which can be simply described as sensor perception); or the first perception operation can be a sensor perception operation, and the second perception operation can be a communication perception integrated perception operation.
一种实施方式中，通信感知一体化感知(即通感类感知)可以是：通过通信感知一体化***发送无线电信号、并接收目标反射回波信号以执行感知业务的感知方式。In one implementation, communication-sensing integrated sensing (i.e., synaesthesia-type sensing) may be a sensing method in which a radio signal is sent through a communication-sensing integrated system, and a target reflected echo signal is received to perform a sensing service.
一种实施方式中，传感器感知(即传感器类感知)可以是：通过除通信感知一体化***以外的方式执行感知业务的感知方式，典型的执行传感器类感知的设备包括：激光雷达、毫米波雷达、视觉传感器(包括：单目视觉、双目视觉、红外传感器)、惯性测量单元(Inertial Measurement Unit，IMU)、以及各种其他传感器(雨量计、温度计、湿度计等)等。In one implementation, sensor perception (i.e., sensor-type perception) may be: a perception method that performs perception services in a manner other than a communication-perception integrated system. Typical devices that perform sensor-type perception include: lidar, millimeter-wave radar, visual sensors (including: monocular vision, binocular vision, infrared sensors), inertial measurement units (IMU), and various other sensors (rain gauge, thermometer, hygrometer, etc.).
一种实施方式中，第一协作信息基于第二感知操作对应的第二测量量确定，第一协作信息可以包括第二感知操作对应的第二测量量，或者，第一协作信息可以是由第二感知操作对应的第二测量量进一步确定的信息，例如，感知目标对象的空间信息、感知目标对象的运动信息、感知目标对象是否存在及感知目标对象的数量等等。In one embodiment, the first collaborative information is determined based on a second measurement quantity corresponding to the second perception operation. The first collaborative information may include the second measurement quantity corresponding to the second perception operation. Alternatively, the first collaborative information may be information further determined by the second measurement quantity corresponding to the second perception operation, such as spatial information of the perceived target object, motion information of the perceived target object, whether the perceived target object exists, and the number of perceived target objects, etc.
需要说明的是，第一设备可以为第一类设备、第二类设备或第三类设备。第二设备可以为第一类设备、第二类设备或第三类设备。第三设备可以为第一类设备、第二类设备或第三类设备。It should be noted that the first device may be a first-category device, a second-category device, or a third-category device. The second device may be a first-category device, a second-category device, or a third-category device. The third device may be a first-category device, a second-category device, or a third-category device.
其中，感知信号可以包括通信感知一体化信号和纯感知信号，通信感知一体化信号不仅包括通信信息还包括感知信息，纯感知信号可以是通信感知一体化信号以外的感知信号，例如，不包括通信信息仅包括感知信息的信号。 Among them, the perception signal may include a communication-perception integrated signal and a pure perception signal. The communication-perception integrated signal includes not only communication information but also perception information. The pure perception signal may be a perception signal other than the communication-perception integrated signal, for example, a signal that does not include communication information but only includes perception information.
一种实施方式中，第一类设备可以是：具备执行通感类感知的能力的设备。In one implementation, the first type of device may be a device capable of performing synaesthesia-type perception.
第一类设备可以包括：具备发送通信感知一体化信号或纯感知信号的能力的设备、具备接收通信感知一体化信号或纯感知信号的能力的设备、具备发送和接收通信感知一体化信号或纯感知信号的能力的设备。The first category of devices may include: devices capable of sending communication-awareness integrated signals or pure perception signals, devices capable of receiving communication-awareness integrated signals or pure perception signals, and devices capable of sending and receiving communication-awareness integrated signals or pure perception signals.
一种实施方式中，第二类设备可以是：具备执行传感器感知的能力的设备，并且，还具备通信能力。所述的第二类设备可以是一种特殊形态的终端(例如，同时配置有通信模块和能够执行传感器类感知的传感器模块)，也可以是能够提供传感器类感知信息的应用功能/应用服务器。对于第二类设备是应用功能/应用服务器，典型情况如下：In one implementation, the second type of device may be a device that has the ability to perform sensor perception and also has communication capabilities. The second type of device may be a terminal of a special form (for example, a sensor module that is configured with both a communication module and a sensor module that can perform sensor perception), or an application function/application server that can provide sensor perception information. For the second type of device being an application function/application server, the typical situation is as follows:
例如，在终端或者基站上配备的某个传感器，该传感器与终端或者基站分属于不同的硬件和处理域(例如，终端上的传感器通常是被应用处理器(Application Processor，AP)和操作***或者应用程序(Application，APP)使用)，因此从网络角度看就是应用服务器。For example, a sensor equipped on a terminal or a base station belongs to a different hardware and processing domain from the terminal or the base station (for example, the sensor on the terminal is usually used by the application processor (AP) and the operating system or application (APP)), so from the network perspective it is an application server.
又例如，摄像头等第二类设备执行感知得到的测量量(例如，图像)通过有线传输网络固定上报给部署在某个位置的应用服务器，所述的应用服务器可对所述的测量量进行处理，并连接有一个或多个同类型的摄像头设备。For another example, the measurement quantities (e.g., images) perceived by the second type of devices such as cameras are reported to an application server deployed at a certain location via a wired transmission network. The application server can process the measurement quantities and is connected to one or more camera devices of the same type.
再例如，通过Wi-Fi/蓝牙或者私有通信协议与5G/6G通信终端进行感知测量量的数据传输，则数据传输也是终结在终端的某个应用上。For another example, when data transmission of perception measurement quantities is performed with a 5G/6G communication terminal via Wi-Fi/Bluetooth or a private communication protocol, the data transmission is also terminated in a certain application of the terminal.
对于第二类设备是应用功能/应用服务器的情况，由感知功能网元通过网络开放功能(Network Exposure Function，NEF)向应用功能/应用服务器请求感知信息，例如，感知信息包括感知测量量/感知结果、感知执行的时间信息等。在此之前，应用功能/应用服务器向网络功能注册可提供的感知信息和与执行感知的设备相关的信息(例如，位置、天线朝向等)。In the case where the second type of device is an application function/application server, the perception function network element requests the application function/application server for perception information through the Network Exposure Function (NEF). For example, the perception information includes perception measurement quantity/perception result, time information of perception execution, etc. Prior to this, the application function/application server registers the perception information that can be provided and the information related to the device performing the perception (for example, location, antenna orientation, etc.) with the network function.
一种实施方式中，第三类设备可以是：同时具备第一类设备能力和第二类设备能力的设备。In one implementation, the third type of device may be: a device having both the first type of device capability and the second type of device capability.
第三类设备可以包括：同时具备发送通信感知一体化信号或纯感知信号的能力和具备执行传感器类感知的能力的设备、同时具备接收通信感知一体化信号或纯感知信号的能力和具备执行传感器类感知的能力的设备、同时具备发送和接收通信感知一体化信号或纯感知信号的能力和具备执行传感器类感知的能力的设备。The third category of devices may include: devices that have the ability to send communication-sensing integrated signals or pure perception signals and the ability to perform sensor-type perception, devices that have the ability to receive communication-sensing integrated signals or pure perception signals and the ability to perform sensor-type perception, and devices that have the ability to send and receive communication-sensing integrated signals or pure perception signals and the ability to perform sensor-type perception.
需要说明的是，感知协作类型，即第二感知对第一感知的协作类型，可以包括以下至少一项：It should be noted that the perception cooperation type, that is, the type of cooperation between the second perception and the first perception, may include at least one of the following:
协作类型一：第一感知的执行依赖于第二感知，此种情况下需要第二感知先执行获得第二测量量后，在第二测量量的协作下才能执行第一感知得到第三测量量，第三测量量是与感知需求对应的测量量；示例地，协作类型一的使用场景可见“场景一”。Collaboration type one: The execution of the first perception depends on the second perception. In this case, the second perception needs to be executed first to obtain the second measurement quantity, and then the first perception can be executed in cooperation with the second measurement quantity to obtain the third measurement quantity. The third measurement quantity is the measurement quantity corresponding to the perception requirement; for example, the usage scenario of collaboration type one can be seen in "Scenario One".
协作类型二：第一感知的执行不依赖于第二感知，此种情况下第一感知与第二感知的执行时间先后顺序在这里不做限制，但是一般来说需要第一感知与第二感知的执行时间的间隔小于预设时间间隔；执行第一感知得到第一测量量、执行第二感知得到第二测量量， 在第二测量量的协作下根据第一测量量得到第三测量量，第三测量量为与感知需求对应的测量量。示例地，协作类型二的使用场景可见“场景二”。Collaboration type 2: The execution of the first perception does not depend on the second perception. In this case, the execution time sequence of the first perception and the second perception is not restricted here, but generally speaking, the execution time interval between the first perception and the second perception is required to be less than the preset time interval; the first perception is executed to obtain the first measurement value, and the second perception is executed to obtain the second measurement value. A third measurement quantity is obtained according to the first measurement quantity in cooperation with the second measurement quantity, and the third measurement quantity is a measurement quantity corresponding to the sensing requirement. For example, the usage scenario of the collaboration type 2 can be seen in "Scenario 2".
场景一：第一感知(例如，第一感知是传感器类感知，执行第一感知的设备是视觉传感器(例如，摄像头))是对指定区域内的感知对象进行成像，第二感知(例如，第二感知是通感类感知)检测指定区域内的感知对象是否存在、并获得感知对象的距离和角度。第二感知将得到的感知对象的距离和角度信息提供给第一感知，能够减小第一感知所需覆盖的时间和空间范围、减小第一感知的运算量、提高第一感知的实时性，从而提高了第一感知的性能。Scenario 1: The first perception (for example, the first perception is sensor-type perception, and the device that performs the first perception is a visual sensor (for example, a camera)) is to image the perceived object in the specified area, and the second perception (for example, the second perception is synaesthesia-type perception) detects whether the perceived object exists in the specified area and obtains the distance and angle of the perceived object. The second perception provides the obtained distance and angle information of the perceived object to the first perception, which can reduce the time and space range required to be covered by the first perception, reduce the amount of calculation of the first perception, and improve the real-time performance of the first perception, thereby improving the performance of the first perception.
场景二：第一感知(例如，第一感知是通感类感知)对指定区域内的多个感知对象进行测距/测速/测角，第二感知(例如，第二感知是传感器类感知，执行第二感知的设备是视觉传感器(例如，摄像头))对指定区域内的感知对象进行成像并识别感知对象的视觉特征(例如，人、车辆)和数量。第二感知将识别得到的感知对象的视觉特征和数量(例如，指定区域内有多少个人或者多少辆车)提供给第一感知，能够方便第一感知对点云数据进行聚类处理，提高聚类处理的正确性，从而提高了第一感知的性能。Scenario 2: The first perception (for example, the first perception is synaesthesia-type perception) measures the distance/speed/angle of multiple perception objects in the specified area, and the second perception (for example, the second perception is sensor-type perception, and the device that performs the second perception is a visual sensor (for example, a camera)) images the perception objects in the specified area and identifies the visual features (for example, people, vehicles) and quantity of the perception objects. The second perception provides the visual features and quantity of the perception objects (for example, how many people or vehicles are in the specified area) obtained by identification to the first perception, which can facilitate the first perception to perform clustering processing on the point cloud data, improve the correctness of the clustering processing, and thus improve the performance of the first perception.
作为一种具体的实施例，场景一可以为通感对传感器辅助的场景：As a specific embodiment, scenario 1 may be a scenario where synaesthesia assists the sensor:
执行第一感知的设备可以是视觉传感器(摄像头)或激光雷达，第一感知是对满足指定条件的目标或区域进行成像，例如：The device that performs the first perception can be a visual sensor (camera) or a lidar. The first perception is to image the target or area that meets the specified conditions, such as:
视觉传感器对超速车辆进行视觉成像(抓拍)；The visual sensor takes visual images (captures) of speeding vehicles;
激光雷达对特定区域进行雷达成像。LiDAR provides radar imaging of a specific area.
在上述场景中，视觉传感器或激光雷达无法快速对所述的满足条件的目标或区域进行判断，例如：视觉传感器无法判断车辆是否超速，从而无法对超速车辆进行视觉成像；激光雷达无法快速锁定特定目标，从而需要在较大范围内进行扫描，从而造成感知时延较大、或感知结果的处理运算量较大。In the above scenarios, visual sensors or lidars cannot quickly judge the targets or areas that meet the conditions. For example, visual sensors cannot determine whether a vehicle is speeding, and thus cannot perform visual imaging of speeding vehicles. Lidars cannot quickly lock onto specific targets, and thus need to scan over a larger range, resulting in a longer perception delay or a larger amount of processing computation for the perception results.
为了能够使得视觉传感器或激光雷达快速锁定所述的满足指定条件的目标或区域，需要通感节点执行第二感知来进行协作第一感知的执行，以提供关于所述的满足指定条件的目标或区域的更为详细的先验信息。例如：视觉传感器需要关于超速车辆的位置信息(距离和角度)、激光雷达需要所述的特定区域的空间范围信息(距离范围、角度范围)。In order to enable the visual sensor or laser radar to quickly lock onto the target or area that meets the specified conditions, the synaesthesia node needs to perform the second perception to cooperate with the execution of the first perception to provide more detailed prior information about the target or area that meets the specified conditions. For example, the visual sensor needs the location information (distance and angle) of the speeding vehicle, and the laser radar needs the spatial range information (distance range, angle range) of the specific area.
在感知功能网元的调度下，通感节点按照第二测量配置执行感知、并按照第二报告配置向感知功能网元或者直接向执行第一感知的设备上报数据(第二数据)，执行第一感知的设备根据第二数据或者感知功能网元从第二数据中获取的第一协作信息所指示的距离和角度范围对满足指定条件的目标或区域进行成像。Under the scheduling of the perception function network element, the synaesthesia node performs perception according to the second measurement configuration, and reports data (second data) to the perception function network element or directly to the device performing the first perception according to the second report configuration. The device performing the first perception images the target or area that meets the specified conditions according to the second data or the distance and angle range indicated by the first collaborative information obtained by the perception function network element from the second data.
作为一种具体的实施例，场景二可以为传感器对通感辅助的场景：As a specific embodiment, scenario 2 may be a scenario where sensors assist synaesthesia:
执行第一感知的设备是通感节点，场景是例如交通监测的场景，第一感知是对指定范围的所有车辆进行测速。The device that performs the first perception is a synaesthesia node, the scenario is, for example, a traffic monitoring scenario, and the first perception is to measure the speed of all vehicles within a specified range.
通感节点的感知原理类似毫米波雷达，通感节点接收反射回波后，得到的是包含距离、 角度、速度信息的点云数据。在点云数据中，有若干个点属于目标1、若干个点属于目标2，以此类推。通感节点在完成对所有车辆进行测速之前，首先需要将点云与目标(车辆)对应起来，即确定哪些点属于哪个目标，这个操作即是对点云数据进行聚类处理。The sensing principle of the synaesthesia node is similar to that of millimeter wave radar. After receiving the reflected echo, the synaesthesia node obtains information including distance, Point cloud data with angle and speed information. In the point cloud data, some points belong to target 1, some points belong to target 2, and so on. Before the synaesthesia node completes the speed measurement of all vehicles, it first needs to match the point cloud with the target (vehicle), that is, determine which points belong to which target. This operation is to cluster the point cloud data.
常见的聚类算法例如k-means算法或DBSCAN算法需要关于目标的先验信息：k-means算法需要输入目标的数量、DBSCAN算法需要输入目标的尺寸信息。对于通感节点来说，获得上述先验信息的一个办法是视觉成像。Common clustering algorithms such as the k-means algorithm or the DBSCAN algorithm require prior information about the target: the k-means algorithm needs to input the number of targets, and the DBSCAN algorithm needs to input the size information of the target. For synaesthesia nodes, one way to obtain the above prior information is visual imaging.
因此，执行第二感知的设备可以是视觉传感器(摄像头)。视觉传感器对指定范围进行视觉成像得到视觉图像，通过对视觉图像进行识别很容易能够获得图像中的目标数量或目标特征，例如：图中有几辆车(即获得目标的数量)、分别是什么类型的车(例如：轿车、货车等)(即获得目标的尺寸信息)。Therefore, the device performing the second perception may be a visual sensor (camera). The visual sensor performs visual imaging of a specified range to obtain a visual image. By identifying the visual image, it is easy to obtain the number of targets or target features in the image, for example, how many vehicles are there in the image (i.e., the number of targets), what types of vehicles are they (e.g., cars, trucks, etc.) (i.e., the size information of the targets).
执行第二感知的设备将获得的图像中的目标数量或目标特征输入给通感节点或者负责通感信号处理的节点，则通感节点或者负责通感信号处理的节点对所获得的点云数据根据目标数量或目标特征进行正确的聚类后，能够获得正确的目标参数(距离、速度、角度)。The device performing the second perception inputs the number of targets or target features in the obtained image to the synaesthesia node or the node responsible for synaesthesia signal processing. The synaesthesia node or the node responsible for synaesthesia signal processing can obtain the correct target parameters (distance, speed, angle) after correctly clustering the obtained point cloud data according to the number of targets or target features.
需要说明的是，在本申请实施例的一次感知工作过程中，包括通感类感知和传感器类感知。二者中的一者向另一者提供协作。为了描述的方便，可以将通感类感知和传感器类感知二者中提供协作的一者定义为第二感知、将被协作的一者定义为第一感知。即可以有两种情况：第一感知是通感类感知、第二感知是传感器类感知，或者，第一感知是传感器类感知、第二感知是通感类感知。第一感知输出满足感知需求的测量量或感知结果，第一感知在第二感知提供的协作下能够提升感知的执行效率或者提升感知性能。例如：摄像头通过图像识别向通感提供目标数量的信息，以辅助通感节点对于点云数据的聚类处理。It should be noted that, in a perception working process of an embodiment of the present application, synaesthesia perception and sensor perception are included. One of the two provides collaboration to the other. For the convenience of description, the one providing collaboration between synaesthesia perception and sensor perception can be defined as the second perception, and the one being collaborated can be defined as the first perception. That is, there can be two situations: the first perception is synaesthesia perception, the second perception is sensor perception, or the first perception is sensor perception, and the second perception is synaesthesia perception. The first perception outputs a measurement or perception result that meets the perception requirements, and the first perception can improve the execution efficiency of perception or improve the perception performance under the collaboration provided by the second perception. For example: the camera provides information on the number of targets to synaesthesia through image recognition to assist the synaesthesia node in clustering the point cloud data.
应理解，在感知网络中，通过不同类型的感知的结果提供协作，能够提高感知的执行效率或者感知的性能。本申请实施例给出了一种通感感知与传统的传感器类感知协作的方法，能够提高感知的执行效率或者提高感知结果的性能。It should be understood that in a perception network, providing collaboration through different types of perception results can improve the execution efficiency of perception or the performance of perception. The embodiment of the present application provides a method for collaboration between synaesthesia perception and traditional sensor type perception, which can improve the execution efficiency of perception or improve the performance of perception results.
在本申请实施例中，第一设备获取第一协作信息；所述第一设备执行第一操作，所述第一操作包括如下任意一项：执行第一感知操作得到第一测量量，发送所述第一测量量；基于所述第一协作信息执行第一感知操作得到第三测量量；执行第一感知操作得到第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。这样，通过第二感知操作协作第一感知操作获取与感知需求对应的测量量，通过不同类型的感知操作提供协助，能够满足感知需求并提高感知***的感知性能。In an embodiment of the present application, a first device obtains first cooperative information; the first device performs a first operation, and the first operation includes any one of the following: performing a first perception operation to obtain a first measurement amount, and sending the first measurement amount; performing a first perception operation based on the first cooperative information to obtain a third measurement amount; performing a first perception operation to obtain a first measurement amount, and determining a third measurement amount based on the first cooperative information and the first measurement amount; wherein the first cooperative information is determined based on a second measurement amount corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement amount is a measurement amount corresponding to a perception requirement. In this way, by cooperating with the first perception operation through the second perception operation to obtain a measurement amount corresponding to a perception requirement, and providing assistance through different types of perception operations, the perception requirement can be met and the perception performance of the perception system can be improved.
可选地，所述第一设备执行第一操作之前，所述方法还包括如下任意一项：Optionally, before the first device performs the first operation, the method further includes any one of the following:
第一设备执行第二感知操作，得到所述第二测量量；The first device performs a second sensing operation to obtain the second measurement amount;
所述第一设备接收第二设备发送的所述第二测量量。The first device receives the second measurement quantity sent by the second device.
该实施方式中，第一设备执行第二感知操作，得到所述第二测量量，从而第一设备具 备执行第一感知和第二感知的能力，在第一设备处进行感知协作，能够减少信令交互，提高获取感知需求对应的测量量的速度，且能够满足感知需求并提高感知***的感知性能；或者，所述第一设备接收第二设备发送的所述第二测量量，从而执行第一感知和第二感知的设备为不同的设备，通过第一设备与第二设备之间的交互实现感知协作，能够满足感知需求并提高感知***的感知性能。In this implementation, the first device performs the second sensing operation to obtain the second measurement quantity, so that the first device has The first device has the ability to perform the first perception and the second perception, and performs perception collaboration at the first device, which can reduce signaling interaction, increase the speed of obtaining the measurement quantity corresponding to the perception demand, and can meet the perception demand and improve the perception performance of the perception system; or, the first device receives the second measurement quantity sent by the second device, so that the devices performing the first perception and the second perception are different devices, and perception collaboration is achieved through the interaction between the first device and the second device, which can meet the perception demand and improve the perception performance of the perception system.
可选地，所述方法还包括：Optionally, the method further comprises:
所述第一设备接收第三设备发送的第一信息，所述第一信息包括如下至少一项：The first device receives first information sent by a third device, where the first information includes at least one of the following:
感知需求信息；Perceive demand information;
感知协作相关信息；Perceive information related to collaboration;
第一信号配置，所述第一信号配置用于指示通信感知一体化感知操作相关的信号配置；A first signal configuration, wherein the first signal configuration is used to indicate a signal configuration related to a communication sensing integrated sensing operation;
第一测量配置，所述第一测量配置用于指示第一感知操作相关的测量配置；A first measurement configuration, where the first measurement configuration is used to indicate a measurement configuration related to a first sensing operation;
第二测量配置，所述第二测量配置用于指示第二感知操作相关的测量配置；a second measurement configuration, where the second measurement configuration is used to indicate a measurement configuration related to a second sensing operation;
第一报告配置，所述第一报告配置用于指示第一感知操作相关的报告配置；A first report configuration, where the first report configuration is used to indicate a report configuration related to the first perception operation;
第二报告配置，所述第二报告配置用于指示第二感知操作相关的报告配置；a second report configuration, where the second report configuration is used to indicate a report configuration related to a second perception operation;
第三报告配置，所述第三报告配置用于指示感知协作相关的报告配置；a third report configuration, the third report configuration being used to indicate a report configuration related to sensing collaboration;
第一测量启动指示，所述第一测量启动指示为所述第一测量配置对应的测量启动指示；a first measurement start indication, where the first measurement start indication is a measurement start indication corresponding to the first measurement configuration;
第二测量启动指示，所述第二测量启动指示为所述第二测量配置对应的测量启动指示；a second measurement start indication, where the second measurement start indication is a measurement start indication corresponding to the second measurement configuration;
第一报告启动指示，第一报告启动指示为所述第一报告配置对应的报告启动指示；A first report start indication, where the first report start indication is a report start indication corresponding to the first report configuration;
第二报告启动指示，第二报告启动指示为所述第二报告配置对应的报告启动指示；A second report start indication, where the second report start indication is a report start indication corresponding to the second report configuration;
第三报告启动指示，所述第三报告启动指示为第三报告配置对应的报告启动指示。A third report start indication, wherein the third report start indication is a report start indication corresponding to the third report configuration.
其中，第三设备可以为感知功能网元。Among them, the third device can be a perception function network element.
一种实施方式中，第一测量启动指示为对应第一测量配置的测量启动指示，仅在第一测量配置中感知测量类型为半持续测量时才发送该项。In one implementation, the first measurement start indication is a measurement start indication corresponding to the first measurement configuration, and is sent only when the sensed measurement type in the first measurement configuration is semi-continuous measurement.
一种实施方式中，第二测量启动指示为对应第二测量配置的测量启动指示，仅在第二测量配置中感知测量类型为半持续测量时才发送该项。In one implementation, the second measurement start indication is a measurement start indication corresponding to the second measurement configuration, and is sent only when the perceived measurement type in the second measurement configuration is semi-continuous measurement.
一种实施方式中，第一报告启动指示为对应第一报告配置的报告启动指示，仅在第一报告配置中感知报告类型为半持续上报时才发送该项。In one implementation, the first report start indication is a report start indication corresponding to the first report configuration, and this item is sent only when the perceived report type in the first report configuration is semi-continuous reporting.
一种实施方式中，第二报告启动指示为对应第二报告配置的报告启动指示，仅在第二报告配置中感知报告类型为半持续上报时才发送该项。In one implementation, the second report start indication is a report start indication corresponding to the second report configuration, and this item is sent only when the perceived report type in the second report configuration is semi-continuous reporting.
一种实施方式中，第三报告启动指示为对应第三报告配置的报告启动指示，仅在第三报告配置中感知报告类型为半持续上报时才发送该项。In one implementation, the third report start indication is a report start indication corresponding to the third report configuration, and this item is sent only when the perceived report type in the third report configuration is semi-continuous reporting.
需要说明的是，所述第三设备可以根据获取的感知节点的第二信息及感知协作相关信息确定第三信息；其中，所述感知节点包括第一设备及第二设备中的至少一项，所述第三信息包括如下至少一项：所述第一设备的标识；所述第二设备的标识；第一信号配置；第一测量配置；第一报告配置；第二测量配置；第二报告配置；第三报告配置。第三设备可 以根据确定的第三信息向第一设备和/或第二设备发送所述第一信息。It should be noted that the third device can determine the third information based on the acquired second information of the sensing node and the sensing cooperation related information; wherein the sensing node includes at least one of the first device and the second device, and the third information includes at least one of the following: the identifier of the first device; the identifier of the second device; the first signal configuration; the first measurement configuration; the first report configuration; the second measurement configuration; the second report configuration; the third report configuration. The third device can The first information is sent to the first device and/or the second device according to the determined third information.
另外，关于感知需求信息、感知协作相关信息、第一信号配置、第一测量配置、第二测量配置、第一报告配置、第二报告配置、第三报告配置、第一测量启动指示、第二测量启动指示、第一报告启动指示、第二报告启动指示及第三报告启动指示的相关说明可参见具体实施例中实施例一至实施例四的描述，此处不展开说明。In addition, for relevant descriptions of perception demand information, perception cooperation related information, first signal configuration, first measurement configuration, second measurement configuration, first report configuration, second report configuration, third report configuration, first measurement start indication, second measurement start indication, first report start indication, second report start indication and third report start indication, please refer to the descriptions of embodiments 1 to 4 in the specific embodiments and will not be elaborated here.
另外，第三设备可以为感知功能网元。In addition, the third device may be a perception function network element.
该实施方式中，所述第一设备接收第三设备发送的第一信息，从而第一设备能够基于接收到的第一信息获取第一协作信息，或者第一设备能够基于接收到的第一信息执行第一操作。In this implementation, the first device receives the first information sent by the third device, so that the first device can obtain the first collaboration information based on the received first information, or the first device can perform the first operation based on the received first information.
可选地，所述第一测量配置包括如下至少一项：Optionally, the first measurement configuration includes at least one of the following:
执行第一感知操作需获取的测量量的类型；感知测量的执行时间信息；The type of measurement quantity to be acquired for performing the first sensing operation; the execution time information of the sensing measurement;
或or
所述第二测量配置包括如下至少一项：The second measurement configuration includes at least one of the following:
执行第二感知操作需获取的测量量的类型；感知测量的执行时间信息。The type of measurement quantity required to perform the second perception operation; and the execution time information of the perception measurement.
可选地，所述感知测量的执行时间信息，包括如下至少一项：Optionally, the execution time information of the perception measurement includes at least one of the following:
周期测量；半持续测量；非周期测量。Periodic measurement; Semi-continuous measurement; Non-periodic measurement.
其中，周期(periodic)测量可以是按照指定的时间偏移和/或周期，执行感知测量；半持续(semi-persistent)测量可以是在收到测量启动指示后，按照指定的周期，执行感知测量，直到收到测量停止指示；非周期(aperiodic)测量可以是按照指定的时间执行一次感知测量。Among them, periodic measurement can be to perform perception measurement according to a specified time offset and/or period; semi-persistent measurement can be to perform perception measurement according to a specified period after receiving a measurement start indication until a measurement stop indication is received; aperiodic measurement can be to perform a perception measurement once at a specified time.
可选地，所述第一报告配置、第二报告配置和/或第三报告配置包括如下至少一项：Optionally, the first report configuration, the second report configuration and/or the third report configuration includes at least one of the following:
报告信息；报告执行时间信息；Report information; report execution time information;
其中，所述报告信息包括如下至少一项：The report information includes at least one of the following:
上报的测量量；感知操作执行时间；感知节点信息；感知链路信息；测量量转换矩阵；感知信号标识信息；测量量用途信息；测量量说明信息；测量量指标信息；感知业务信息；数据订阅标识；辅助信息。Reported measurement quantity; perception operation execution time; perception node information; perception link information; measurement quantity conversion matrix; perception signal identification information; measurement quantity usage information; measurement quantity description information; measurement quantity indicator information; perception service information; data subscription identification; auxiliary information.
其中，报告信息是对上报的数据的内容进行配置。第一报告配置中的报告信息配置的是第一数据的内容，第二报告配置中的报告信息配置的是第二数据的内容，第三报告配置中的报告信息配置的是第三数据的内容。The report information configures the content of the reported data. The report information in the first report configuration configures the content of the first data, the report information in the second report configuration configures the content of the second data, and the report information in the third report configuration configures the content of the third data.
另外，关于上报的测量量、感知操作执行时间、感知节点信息、感知链路信息、测量量转换矩阵、感知信号标识信息、测量量用途信息、测量量说明信息、测量量指标信息、感知业务信息、数据订阅标识及辅助信息的相关说明见具体实施例中实施例一至实施例四的描述，此处不展开说明。In addition, for the relevant descriptions of the reported measurement quantity, perception operation execution time, perception node information, perception link information, measurement quantity conversion matrix, perception signal identification information, measurement quantity usage information, measurement quantity description information, measurement quantity indicator information, perception service information, data subscription identification and auxiliary information, please refer to the description of embodiments 1 to 4 in the specific embodiments, which will not be expanded here.
需要说明的是，所述第一报告配置、第二报告配置及第三报告配置中的报告信息的类型可以相同，或者可以不同；所述第一报告配置、第二报告配置及第三报告配置中的报告 执行时间信息的类型可以相同，或者可以不同。It should be noted that the types of report information in the first report configuration, the second report configuration and the third report configuration may be the same or different; the types of report information in the first report configuration, the second report configuration and the third report configuration may be the same or different. The types of execution time information may be the same, or may be different.
可选地，所述报告执行时间信息包括如下至少一项：Optionally, the report execution time information includes at least one of the following:
周期上报；半持续上报；非周期上报。Periodic reporting; semi-continuous reporting; non-periodic reporting.
对于周期上报、半持续上报及非周期上报的说明见具体实施例中实施例一至实施例四的描述，此处不展开说明。For the description of periodic reporting, semi-continuous reporting and non-periodic reporting, please refer to the description of Embodiment 1 to Embodiment 4 in the specific embodiments, which will not be elaborated here.
可选地，所述执行第一感知操作得到第一测量量，包括：Optionally, performing the first sensing operation to obtain the first measurement value includes:
在所述第一感知操作为通信感知一体化感知操作的情况下，基于所述第一测量配置和所述第一信号配置执行第一感知操作得到第一测量量；In a case where the first sensing operation is a communication sensing integrated sensing operation, performing a first sensing operation based on the first measurement configuration and the first signal configuration to obtain a first measurement amount;
或者or
在所述第一感知操作为传感器感知操作的情况下，基于所述第一测量配置执行第一感知操作得到第一测量量。In the case where the first sensing operation is a sensor sensing operation, the first sensing operation is performed based on the first measurement configuration to obtain a first measurement quantity.
可选地，所述第一设备获取第一协作信息，包括如下任意一项：Optionally, the first device obtains the first collaboration information, including any one of the following:
所述第一设备接收第二设备基于所述第二报告配置发送的第二数据，并基于所述第二数据确定第一协作信息；The first device receives second data sent by the second device based on the second report configuration, and determines first collaboration information based on the second data;
所述第一设备接收第三设备发送的第二数据，并基于所述第二数据确定第一协作信息；The first device receives second data sent by the third device, and determines first collaboration information based on the second data;
所述第一设备接收第三设备发送的第一协作信息；The first device receives first collaboration information sent by a third device;
所述第一设备执行第二感知操作得到第二测量量，基于所述第二测量量确定第一协作信息；The first device performs a second sensing operation to obtain a second measurement amount, and determines first cooperation information based on the second measurement amount;
其中，所述第二数据包括所述第二测量量。The second data includes the second measurement quantity.
可选地，所述方法还包括：Optionally, the method further comprises:
基于所述第三报告配置向第三设备发送第三数据，所述第三数据包括所述第三测量量。Send third data to a third device based on the third reporting configuration, where the third data includes the third measurement quantity.
可选地，所述感知协作相关信息用于指示如下至少一项：Optionally, the perceptual collaboration related information is used to indicate at least one of the following:
是否触发感知协作；Whether to trigger the perception collaboration;
第一感知操作的测量量类型；The type of measurement quantity of the first perceptual operation;
第一感知操作的测量量的QoS要求；The QoS requirements of the measured quantities of the first perception operation;
第二感知操作的测量量类型；The type of quantity measured in the second perceptual operation;
第二感知操作的测量量的QoS要求；The second is to perceive the QoS requirements of the measured quantity of the operation;
第一感知操作和/或第二感知操作的执行时间；execution time of the first sensing operation and/or the second sensing operation;
第一感知操作和/或第二感知操作的执行空间范围；An execution spatial range of the first perception operation and/or the second perception operation;
感知协作类型。Perceive the type of collaboration.
可选地，所述第一协作信息用于指示如下至少一项：Optionally, the first collaboration information is used to indicate at least one of the following:
感知目标对象的空间信息；Perceive the spatial information of the target object;
感知目标对象的运动信息；Perceive the motion information of the target object;
感知目标对象的空间信息对应的时间戳；The timestamp corresponding to the spatial information of the perceived target object;
感知目标对象的运动信息对应的时间戳； The timestamp corresponding to the motion information of the perceived target object;
感知目标对象是否存在；Sense whether the target object exists;
感知目标对象的数量；Perceive the number of target objects;
感知目标对象的类型；Perceive the type of target object;
感知目标对象的大小。Perceive the size of the target object.
可选地，在所述第一感知操作为通信感知一体化感知操作的情况下，所述第二感知操作为传感器感知操作；Optionally, when the first sensing operation is a communication sensing integrated sensing operation, the second sensing operation is a sensor sensing operation;
在所述第一感知操作为传感器感知操作的情况下，所述第二感知操作为通信感知一体化感知操作。In the case where the first sensing operation is a sensor sensing operation, the second sensing operation is a communication sensing integrated sensing operation.
参见图4，图4是本申请实施例提供的一种感知协作方法的流程图，如图4所示，感知协作方法包括以下步骤：Referring to FIG. 4 , FIG. 4 is a flow chart of a perception collaboration method provided in an embodiment of the present application. As shown in FIG. 4 , the perception collaboration method includes the following steps:
步骤201、第三设备执行第二操作，所述第二操作包括如下任意一项：Step 201: The third device performs a second operation, where the second operation includes any one of the following:
接收第一设备发送的第三测量量；receiving a third measurement quantity sent by the first device;
获取第一协作信息，并获取第一感知操作对应的第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；Acquire first cooperation information, and acquire a first measurement amount corresponding to the first sensing operation, and determine a third measurement amount based on the first cooperation information and the first measurement amount;
其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。The first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
可选地，所述方法还包括：Optionally, the method further comprises:
所述第三设备向第一设备和/或第二设备发送第一信息，所述第一信息包括如下至少一项：The third device sends first information to the first device and/or the second device, where the first information includes at least one of the following:
感知需求信息；Perceive demand information;
感知协作相关信息；Perceive information related to collaboration;
第一信号配置，所述第一信号配置用于指示通信感知一体化感知操作相关的信号配置；A first signal configuration, wherein the first signal configuration is used to indicate a signal configuration related to a communication sensing integrated sensing operation;
第一测量配置，所述第一测量配置用于指示第一感知操作相关的测量配置；A first measurement configuration, where the first measurement configuration is used to indicate a measurement configuration related to a first sensing operation;
第二测量配置，所述第二测量配置用于指示第二感知操作相关的测量配置；a second measurement configuration, where the second measurement configuration is used to indicate a measurement configuration related to a second sensing operation;
第一报告配置，所述第一报告配置用于指示第一感知操作相关的报告配置；A first report configuration, where the first report configuration is used to indicate a report configuration related to the first perception operation;
第二报告配置，所述第二报告配置用于指示第二感知操作相关的报告配置；a second report configuration, where the second report configuration is used to indicate a report configuration related to a second perception operation;
第三报告配置，所述第三报告配置用于指示感知协作相关的报告配置；a third report configuration, the third report configuration being used to indicate a report configuration related to sensing collaboration;
第一测量启动指示，所述第一测量启动指示为所述第一测量配置对应的测量启动指示；a first measurement start indication, where the first measurement start indication is a measurement start indication corresponding to the first measurement configuration;
第二测量启动指示，所述第二测量启动指示为所述第二测量配置对应的测量启动指示；a second measurement start indication, where the second measurement start indication is a measurement start indication corresponding to the second measurement configuration;
第一报告启动指示，第一报告启动指示为所述第一报告配置对应的报告启动指示；A first report start indication, where the first report start indication is a report start indication corresponding to the first report configuration;
第二报告启动指示，第二报告启动指示为所述第二报告配置对应的报告启动指示；A second report start indication, where the second report start indication is a report start indication corresponding to the second report configuration;
第三报告启动指示，所述第三报告启动指示为第三报告配置对应的报告启动指示。A third report start indication, wherein the third report start indication is a report start indication corresponding to the third report configuration.
可选地，所述方法还包括：Optionally, the method further comprises:
所述第三设备根据获取的感知节点的第二信息及感知协作相关信息确定第三信息； The third device determines the third information according to the acquired second information of the sensing node and the sensing cooperation related information;
其中，所述感知节点包括第一设备和/或第二设备；Wherein, the sensing node includes a first device and/or a second device;
所述第三信息包括如下至少一项：The third information includes at least one of the following:
第一设备的标识；an identifier of the first device;
第二设备的标识；an identification of the second device;
第一信号配置；First signal configuration;
第一测量配置；A first measurement configuration;
第一报告配置；First report configuration;
第二测量配置；Second measurement configuration;
第二报告配置；Second report configuration;
第三报告配置。Third report configuration.
可选地，所述方法还包括：Optionally, the method further comprises:
所述第三设备获取感知节点的第二信息；The third device obtains the second information of the sensing node;
其中，所述第二信息包括如下至少一项：The second information includes at least one of the following:
感知节点信息；Perceive node information;
感知节点的感知能力信息；The sensing capability information of the sensing node;
感知权限信息。Perceive permission information.
可选地，所述感知节点信息用于指示如下至少一项：Optionally, the sensing node information is used to indicate at least one of the following:
感知节点的标识；感知节点的类型；感知节点的位置；感知节点的朝向；感知节点的移动速度。The identification of the sensing node; the type of the sensing node; the location of the sensing node; the orientation of the sensing node; the moving speed of the sensing node.
可选地，所述获取第一协作信息，包括：接收第二设备基于所述第二报告配置发送的第二数据，并基于所述第二数据确定第一协作信息，所述第二数据包括所述第二测量量；Optionally, the acquiring the first cooperation information includes: receiving second data sent by the second device based on the second report configuration, and determining the first cooperation information based on the second data, where the second data includes the second measurement amount;
和/或and / or
所述获取第一感知操作对应的第一测量量，包括：接收第一设备基于所述第一报告配置发送的第一数据，所述第一数据包括第一感知操作对应的第一测量量。The obtaining of the first measurement quantity corresponding to the first perceptual operation includes: receiving first data sent by the first device based on the first report configuration, where the first data includes the first measurement quantity corresponding to the first perceptual operation.
可选地，所述接收第一设备发送的第三测量量，包括：接收第一设备基于所述第三报告配置发送的第三数据，所述第三数据包括所述第三测量量；Optionally, the receiving a third measurement amount sent by the first device includes: receiving third data sent by the first device based on the third reporting configuration, where the third data includes the third measurement amount;
和/或and / or
所述接收第一设备发送的第三测量量之前，所述方法还包括如下至少一项：Before receiving the third measurement value sent by the first device, the method further includes at least one of the following:
向所述第一设备发送第一协作信息；Sending first collaboration information to the first device;
接收第二设备基于所述第二报告配置发送的第二数据，并向所述第一设备发送所述第二数据，所述第二数据包括所述第二测量量。Second data sent by a second device based on the second reporting configuration is received, and the second data is sent to the first device, where the second data includes the second measurement quantity.
需要说明的是，本实施例作为与图3所示的实施例中对应的第三设备的实施方式，其具体的实施方式可以参见图3所示的实施例的相关说明，为避免重复说明，本实施例不再赘述。这样，通过第二感知操作协作第一感知操作获取与感知需求对应的测量量，通过不同类型的感知操作提供协助，能够满足感知需求并提高感知***的感知性能。 It should be noted that this embodiment is an implementation of the third device corresponding to the embodiment shown in FIG3 , and its specific implementation can refer to the relevant description of the embodiment shown in FIG3 , and to avoid repeated description, this embodiment will not be repeated. In this way, the second perception operation cooperates with the first perception operation to obtain the measurement corresponding to the perception requirement, and different types of perception operations provide assistance, which can meet the perception requirements and improve the perception performance of the perception system.
下面通过几个具体的实施例对本申请实施例提供的感知协作方法进行说明：The following describes the perception collaboration method provided by the present application through several specific embodiments:
需要说明的是，在以下实施例中，第一感知还可以描述为第一感知操作，第二感知还可以描述为第二感知操作。It should be noted that, in the following embodiments, the first perception can also be described as a first perception operation, and the second perception can also be described as a second perception operation.
在本申请实施例中，实施例一和实施例三，对应协作类型一、且对应场景一；实施例二和实施例四，对应协作类型二、且对应场景二。In the embodiments of the present application, Embodiment 1 and Embodiment 3 correspond to collaboration type 1 and to scenario 1; Embodiment 2 and Embodiment 4 correspond to collaboration type 2 and to scenario 2.
实施例一：Embodiment 1:
本实施例中，第二感知对第一感知的协作类型为协作类型一，执行第二感知的设备，与执行第一感知的设备，属于不同设备。In this embodiment, the collaboration type of the second perception with the first perception is collaboration type one, and the device executing the second perception and the device executing the first perception are different devices.
本实施例中，第一设备是执行第一感知的设备、第二设备是执行第二感知的设备。也就是说，可以是以下两种情况之一：In this embodiment, the first device is a device that performs the first perception, and the second device is a device that performs the second perception. That is, it can be one of the following two situations:
第一种情况：第一设备是第一类设备、第二设备是第二类设备；Case 1: The first device is a first-category device and the second device is a second-category device;
第二种情况：第一设备是第二类设备、第二设备是第一类设备。The second situation: the first device is a second-category device, and the second device is a first-category device.
本实施例中，第一设备执行第一感知得到第三测量量，第三测量量是与感知需求对应的测量量。在第一设备执行第一感知之前，第二设备执行第二感知得到第二测量量，第一设备根据第二测量量等信息执行第一感知。执行第一感知的设备，与执行第二感知的设备，属于不同设备。In this embodiment, the first device performs the first perception to obtain the third measurement quantity, and the third measurement quantity is a measurement quantity corresponding to the perception requirement. Before the first device performs the first perception, the second device performs the second perception to obtain the second measurement quantity, and the first device performs the first perception based on information such as the second measurement quantity. The device performing the first perception and the device performing the second perception are different devices.
例如：第一感知为通感一体化感知，第二感知为传感器类感知(例如，第二设备为摄像头)，第一感知测得目标的角度，并将所述的角度提供给第二感知，第二感知对目标的角度所在范围内进行成像，可以降低第二感知扫描的时间开销和图像处理的运算量。For example: the first perception is synaesthesia integrated perception, and the second perception is sensor-type perception (for example, the second device is a camera). The first perception measures the angle of the target and provides the angle to the second perception. The second perception images the range of the target angle, which can reduce the time overhead of the second perception scanning and the amount of image processing computation.
本实施例中：In this embodiment:
(11)感知功能网元(见解释1)获取所能够访问的各感知节点的第二信息；(11) The sensing function network element (see Explanation 1) obtains the second information of each sensing node that it can access;
所述的感知节点包括第一设备和第二设备，可以是：第一类设备、第二类设备、或第三类设备。The sensing node includes a first device and a second device, which may be a first type of device, a second type of device, or a third type of device.
其中，所述第二信息包括以下至少一项：The second information includes at least one of the following:
感知节点信息；Perceive node information;
感知节点的感知能力信息(解释3)；The sensing capability information of the sensing node (Explanation 3);
感知权限信息：是否允许用来执行感知业务。Perception permission information: whether it is allowed to perform perception business.
其中，感知节点信息，包括以下至少一项：The sensing node information includes at least one of the following:
感知节点的标识(IDentifier，ID)；Identifier (ID) of the sensing node;
感知节点的类型：即所述的第一类设备、第二类设备、或第三类设备；对于第二类设备或第三类设备具体地还应包括传感器的类型(例如：视觉传感器、激光雷达等)。The type of sensing node: that is, the first type of device, the second type of device, or the third type of device; for the second type of device or the third type of device, it should also specifically include the type of sensor (for example: visual sensor, lidar, etc.).
感知节点的位置，可以是感知节点在全局坐标系中的坐标，或者相对于某个参考位置的坐标，所述坐标可以是直角坐标或者极坐标；The position of the sensing node may be the coordinates of the sensing node in a global coordinate system, or the coordinates relative to a reference position, and the coordinates may be rectangular coordinates or polar coordinates;
感知节点的朝向，可以是感知节点的天线面板的朝向或者本地坐标系的朝向相对于全局坐标系的旋转角度，或者相对于某个参考坐标系的旋转角度，所述的旋转角度包括方位 角、俯仰角和横滚角；The orientation of the sensing node can be the orientation of the antenna panel of the sensing node or the rotation angle of the orientation of the local coordinate system relative to the global coordinate system, or the rotation angle relative to a reference coordinate system. The rotation angle includes the azimuth Angle, pitch and roll;
感知节点的移动速度，可以是感知节点在全局坐标系中的速度，或者相对于某个参考坐标系的速度，所述的速度包括速度的大小和速度的方向；对于固定位置的感知节点，此项可缺省或者简化表示。The moving speed of the sensing node can be the speed of the sensing node in the global coordinate system, or the speed relative to a reference coordinate system. The speed includes the magnitude and direction of the speed. For sensing nodes at fixed positions, this item can be omitted or simplified.
另外，所述的获取第二信息的方法包括以下至少之一：In addition, the method for obtaining the second information includes at least one of the following:
访问存储有感知节点的第二信息中至少部分信息的网络节点；Accessing a network node storing at least part of the second information of the sensing node;
向感知节点发送信令请求回复该设备的第二信息中的至少部分信息、并接收所述感知节点发送的第二信息中的至少部分信息。Send a signaling request to the sensing node to reply at least part of the second information of the device, and receive at least part of the second information sent by the sensing node.
(12)(可选步骤)第一感知与第二感知的协作的触发：(12) (Optional step) Triggering the collaboration between the first perception and the second perception:
感知功能网元根据感知需求信息(解释2)和各感知节点的第二信息，确定用于执行第一感知的第一设备；并结合第一设备的第二信息，确定是否需要第一感知与第二感知的协作，并确定感知协作相关信息。The perception function network element determines the first device used to perform the first perception based on the perception demand information (Explanation 2) and the second information of each perception node; and combines the second information of the first device to determine whether collaboration between the first perception and the second perception is required, and determines the information related to the perception collaboration.
例如：感知需求信息中要求对超速车辆进行成像(抓拍)，那么第一设备即可以是摄像头；但是摄像头无法判断哪辆车超速，所以需要第二设备(例如，通感)提供先验信息(例如，超速车辆的距离、角度)。For example, if the perception requirement information requires imaging (capturing) speeding vehicles, the first device can be a camera; however, the camera cannot determine which vehicle is speeding, so a second device (e.g., synesthesia) is needed to provide prior information (e.g., the distance and angle of the speeding vehicle).
其中，所述的感知协作相关信息，包括以下至少一项：The information related to the sensing collaboration includes at least one of the following:
是否触发感知协作的标识，例如是否触发第一感知与第二感知的协作的标识；An identifier of whether to trigger the collaboration of perception, for example, an identifier of whether to trigger the collaboration between the first perception and the second perception;
第二感知的测量量；The measurement of the second perception;
第一感知与第二感知的协作类型，在本实施例中是所述的协作类型一；The type of cooperation between the first perception and the second perception is the cooperation type 1 in this embodiment;
第二感知的执行时间信息；Second perception of execution time information;
第二感知的执行的空间范围信息；The spatial range information of the second perception execution;
第二感知的测量量的QoS要求，所述的QoS见解释2中所述感知需求信息中的感知Qos；The QoS requirement of the second perceived measurement quantity, wherein the QoS is as described in the perceived QoS in the perceived requirement information in Explanation 2;
(13)感知功能网元根据所获取的各感知节点的第二信息，和，所述的感知协作相关信息，确定以下至少之一：(13) The sensing function network element determines at least one of the following based on the acquired second information of each sensing node and the sensing collaboration related information:
第二设备的ID；The ID of the second device;
第一测量配置：用于指示第一感知操作相关的测量配置，示例地，可以用于指示执行第一感知需要获取的测量量、以及感知的执行时间；First measurement configuration: used to indicate a measurement configuration related to the first perception operation, for example, it can be used to indicate a measurement quantity required to be obtained for performing the first perception, and an execution time of the perception;
第一报告配置：用于指示第一感知操作相关的报告配置，可以用于指示执行第一感知需要上报的数据(第一数据)和感知报告执行的时间；First report configuration: used to indicate the report configuration related to the first perception operation, which can be used to indicate the data (first data) to be reported when performing the first perception and the time when the perception report is executed;
第一信号配置：用于指示通信感知一体化感知操作相关的信号配置，第一感知和第二感知二者之一是所述的通感类感知，此项为通感类感知的信号配置(解释4)；First signal configuration: used to indicate the signal configuration related to the communication perception integrated perception operation, one of the first perception and the second perception is the synaesthesia perception, and this item is the signal configuration of the synaesthesia perception (Explanation 4);
第二测量配置：用于指示第二感知操作相关的测量配置，可以用于指示执行第二感知需要获取的测量量、以及第二感知的执行时间；Second measurement configuration: used to indicate the measurement configuration related to the second perception operation, which can be used to indicate the measurement quantity required to perform the second perception and the execution time of the second perception;
第二报告配置；用于指示第二感知操作相关的报告配置，可以用于指示执行第二感知 需要上报的数据(第二数据)和感知报告的执行时间。Second report configuration: used to indicate the report configuration related to the second perception operation, which can be used to indicate the execution of the second perception The data to be reported (second data) and the execution time of the perception report.
其中，所述的第一测量配置或第二测量配置，包括：The first measurement configuration or the second measurement configuration includes:
执行感知操作需要获取的测量量的类型；The type of measurements that need to be acquired to perform the sensing operation;
感知测量的执行时间信息。Execution time information of perceptual measurements.
其中，执行感知操作需要获取的测量量的类型，在第一测量配置中的为执行第一感知需要获取的测量量，即为第三测量量，也就是执行第一感知操作需获取的测量量的类型；在第二测量配置中的为执行第二感知需要获取的测量量，即为第二测量量，也就是执行第二感知操作需获取的测量量的类型。Among them, the type of measurement quantity required to perform the perception operation is the measurement quantity required to perform the first perception in the first measurement configuration, that is, the third measurement quantity, that is, the type of measurement quantity required to perform the first perception operation; the measurement quantity required to perform the second perception in the second measurement configuration is the second measurement quantity, that is, the type of measurement quantity required to perform the second perception operation.
其中，感知测量的执行时间信息，包括以下类型：The execution time information of the perception measurement includes the following types:
周期(periodic)测量：按照指定的时间偏移和/或周期，执行感知测量；Periodic measurement: Perception measurements are performed at a specified time offset and/or period.
半持续(semi-persistent)测量：在收到测量启动指示后，按照指定的周期，执行感知测量；Semi-persistent measurement: After receiving the measurement start indication, the sensing measurement is performed according to the specified period;
非周期(aperiodic)测量：按照指定的时间执行一次感知测量。Aperiodic measurement: Aperiodic measurement is performed once at a specified time.
其中，所述第一报告配置或第二报告配置，包括：The first report configuration or the second report configuration includes:
报告信息；Report information;
报告执行时间信息。Reports execution time information.
其中，第一报告配置中的报告信息配置的是第一数据的内容、第二报告配置中的报告信息配置的是第二数据的内容，第一数据或第二数据包括以下至少一项：The report information in the first report configuration is configured with the content of the first data, and the report information in the second report configuration is configured with the content of the second data, and the first data or the second data includes at least one of the following:
上报的测量量；The reported measurement quantity;
感知操作执行时间；Perceive operation execution time;
感知节点信息；Perceive node information;
感知链路信息；Perceive link information;
测量量转换矩阵；Measurement quantity conversion matrix;
感知信号标识信息；Perceive signal identification information;
测量量用途信息；Information on the use of the measurement;
测量量说明信息；Measurement quantity description information;
测量量指标信息；Measurement indicator information;
感知业务信息；Perceive business information;
数据订阅标识(ID)；Data subscription identification (ID);
辅助信息。Supplementary information.
其中，关于上报的测量量，第一报告配置中的为执行第一感知操作得到的测量量，第二报告配置中的为执行第二感知操作得到的测量量；Among them, regarding the reported measurement amount, the measurement amount in the first report configuration is obtained by performing the first sensing operation, and the measurement amount in the second report configuration is obtained by performing the second sensing operation;
关于感知操作执行时间，感知操作执行时间为感知执行的时间信息，例如：通感类感知的感知信号的发送和/或接收的时间；第一报告配置中的此项为第一感知的感知操作执行时间、第二报告配置中的此项为第二感知的感知操作执行时间； Regarding the perception operation execution time, the perception operation execution time is the time information of the perception execution, for example: the time of sending and/or receiving the perception signal of the synaesthesia perception; this item in the first report configuration is the perception operation execution time of the first perception, and this item in the second report configuration is the perception operation execution time of the second perception;
关于感知节点信息，感知节点信息包括以下至少一项：Regarding the sensing node information, the sensing node information includes at least one of the following:
感知节点的ID；ID of the sensing node;
感知节点的类型：即所述的第一类设备、第二类设备、或第三类设备；对于第二类设备或第三类设备具体地还应包括传感器的类型(例如：视觉传感器、激光雷达等)。The type of sensing node: that is, the first type of device, the second type of device, or the third type of device; for the second type of device or the third type of device, it should also specifically include the type of sensor (for example: visual sensor, lidar, etc.).
感知节点的位置，可以是感知节点在全局坐标系中的坐标，或者相对于某个参考位置的坐标，所述坐标可以是直角坐标或者极坐标；The position of the sensing node may be the coordinates of the sensing node in a global coordinate system, or the coordinates relative to a reference position, and the coordinates may be rectangular coordinates or polar coordinates;
感知节点的朝向，可以是感知节点的天线面板的朝向或者本地坐标系的朝向相对于全局坐标系的旋转角度，或者相对于某个参考坐标系的旋转角度，所述的旋转角度包括方位角、俯仰角和横滚角；The orientation of the sensing node may be the orientation of the antenna panel of the sensing node or the rotation angle of the orientation of the local coordinate system relative to the global coordinate system, or the rotation angle relative to a reference coordinate system, where the rotation angle includes an azimuth angle, a pitch angle, and a roll angle;
感知节点的移动速度，可以是感知节点在全局坐标系中的速度，或者相对于某个参考坐标系的速度，所述的速度包括速度的大小和速度的方向；对于固定位置的感知节点，此项可缺省或者简化表示。The moving speed of the sensing node can be the speed of the sensing node in the global coordinate system, or the speed relative to a reference coordinate system. The speed includes the magnitude and direction of the speed. For sensing nodes at fixed positions, this item can be omitted or simplified.
另外，第一报告配置中的感知节点信息中所述的感知节点为执行第一感知的设备、第二报告配置中的感知节点信息中所述的感知节点为执行第二感知的设备。In addition, the perception node described in the perception node information in the first report configuration is a device that performs the first perception, and the perception node described in the perception node information in the second report configuration is a device that performs the second perception.
关于感知链路信息，感知链路信息(例如，感知链路序号、收发节点标识)，包括以下内容：Regarding the sensing link information, the sensing link information (for example, the sensing link sequence number, the transmitting and receiving node identifier) includes the following:
接收天线或接收通道的标识，如果是单个接收天线或接收通道的感知测量量，该标识是该接收天线或接收通道的标识；如果是两个接收天线或接收通道的除或共轭乘的结果，该标识是该两个接收天线或接收通道的标识，以及除或共轭乘的标识。The identifier of the receiving antenna or receiving channel. If it is the perceptual measurement quantity of a single receiving antenna or receiving channel, the identifier is the identifier of the receiving antenna or receiving channel; if it is the result of the division or conjugate multiplication of two receiving antennas or receiving channels, the identifier is the identifier of the two receiving antennas or receiving channels, and the identifier of the division or conjugate multiplication.
另外，在第一感知是通感类感知的情况下，第一报告配置可包括此项，为执行第一感知的感知链路信息；在第二感知是通感类感知的情况下，第二报告配置可包括此项，为执行第二感知的感知链路信息。In addition, when the first perception is a synaesthesia type perception, the first report configuration may include this item, which is the perception link information for executing the first perception; when the second perception is a synaesthesia type perception, the second report configuration may include this item, which is the perception link information for executing the second perception.
关于测量量转换矩阵，测量量转换矩阵可以为执行第一感知得到的测量量所在的坐标系与执行第二感知得到的测量量所在的坐标系之间进行转换的转换矩阵；可以是执行第一感知得到的测量量所在坐标系向执行第二感知得到的测量量所在坐标系转换的矩阵、或者执行第二感知得到的测量量所在坐标系向执行第一感知得到的测量量所在坐标系转换的矩阵、或者执行第一感知得到的测量量和执行第二感知得到的测量量向指定的其他坐标系转换的矩阵。Regarding the measurement quantity conversion matrix, the measurement quantity conversion matrix can be a conversion matrix for converting between the coordinate system where the measurement quantity obtained by the first perception is located and the coordinate system where the measurement quantity obtained by the second perception is located; it can be a matrix for converting the coordinate system where the measurement quantity obtained by the first perception is located to the coordinate system where the measurement quantity obtained by the second perception is located, or a matrix for converting the coordinate system where the measurement quantity obtained by the second perception is located to the coordinate system where the measurement quantity obtained by the first perception is located, or a matrix for converting the measurement quantity obtained by the first perception and the measurement quantity obtained by the second perception to other specified coordinate systems.
另外，第一报告配置、第二报告配置均可包括测量量转换矩阵。In addition, both the first report configuration and the second report configuration may include a measurement quantity conversion matrix.
关于感知信号标识信息，感知信号标识信息关联感知的信号配置，即上述的第一信号配置；在第一感知是通感类感知的情况下，第一报告配置可包括此项，为执行第一感知的感知信号标识信息；在第二感知是通感类感知的情况下，第二报告配置可包括此项，为执行第二感知的感知信号标识信息。Regarding the perception signal identification information, the perception signal identification information is associated with the signal configuration of the perception, that is, the first signal configuration mentioned above; when the first perception is a synaesthesia type perception, the first report configuration may include this item, which is the perception signal identification information for executing the first perception; when the second perception is a synaesthesia type perception, the second report configuration may include this item, which is the perception signal identification information for executing the second perception.
关于测量量用途信息，测量量用途，例如通信、感知、通感；第一报告配置、第二报告配置均可包括此项。 Regarding the usage information of the measurement quantity, the usage of the measurement quantity, such as communication, perception, and synaesthesia; both the first report configuration and the second report configuration may include this item.
关于测量量说明信息，测量量说明信息可以包括测量量形式，例如幅度值、相位值、幅度和相位结合的复数值；和/或，测量量说明信息可以包括资源类型，例如时域测量结果、频域资源测量结果；在第一感知是通感类感知的情况下，第一报告配置可包括此项，为执行第一感知得到的测量量的测量量说明信息；在第二感知是通感类感知的情况下，第二报告配置可包括此项，为执行第二感知得到的测量量的测量量说明信息。Regarding the measurement quantity description information, the measurement quantity description information may include the measurement quantity form, such as an amplitude value, a phase value, a complex value combining an amplitude and a phase; and/or, the measurement quantity description information may include a resource type, such as a time domain measurement result, a frequency domain resource measurement result; when the first perception is a synaesthesia type perception, the first report configuration may include this item, which is the measurement quantity description information of the measurement quantity obtained by executing the first perception; when the second perception is a synaesthesia type perception, the second report configuration may include this item, which is the measurement quantity description information of the measurement quantity obtained by executing the second perception.
关于测量量指标信息，测量量指标信息可以包括信噪比(Signal-to-Noise Ratio，SNR)、感知SNR、测量量的服务质量(Quality of Service，QoS)信息；在第一感知是通感类感知的情况下，第一报告配置可包括此项，为执行第一感知得到的测量量的指标信息；在第二感知是通感类感知的情况下，第二报告配置可包括此项，为执行第二感知得到的测量量的指标信息。Regarding the measurement quantity indicator information, the measurement quantity indicator information may include signal-to-noise ratio (SNR), perception SNR, and quality of service (QoS) information of the measurement quantity; when the first perception is synaesthesia type perception, the first report configuration may include this item, which is the indicator information of the measurement quantity obtained by executing the first perception; when the second perception is synaesthesia type perception, the second report configuration may include this item, which is the indicator information of the measurement quantity obtained by executing the second perception.
关于感知业务信息，感知业务信息可以包括感知业务ID；第一报告配置、第二报告配置均可包括此项。Regarding the perception service information, the perception service information may include a perception service ID; both the first report configuration and the second report configuration may include this item.
关于数据订阅ID，第一报告配置、第二报告配置均可包括此项。Regarding the data subscription ID, both the first report configuration and the second report configuration may include this item.
关于辅助信息，辅助信息是对执行传感器类感知(第一感知和第二感知二者中有一者为传感器类感知)获得的测量量进行进一步处理需要用到的除上述参数以外的其他参数；例如：执行传感器类感知的设备是视觉传感器(包括单目视觉和双目视觉)或激光雷达时的光学***的焦距或成像倍率，执行传感器类感知的设备是双目视觉***时两个摄像头光心之间的距离，执行传感器类感知的设备是毫米波雷达时的载波频率。第二报告配置可包括此项。Regarding auxiliary information, auxiliary information refers to other parameters other than the above parameters that are needed to further process the measurement quantity obtained by performing sensor-type perception (one of the first perception and the second perception is sensor-type perception); for example: the focal length or imaging magnification of the optical system when the device performing sensor-type perception is a visual sensor (including monocular vision and binocular vision) or a lidar, the distance between the optical centers of two cameras when the device performing sensor-type perception is a binocular vision system, and the carrier frequency when the device performing sensor-type perception is a millimeter-wave radar. The second report configuration may include this item.
关于报告执行时间信息，报告执行时间信息可以为感知报告执行的时间，报告执行时间信息包括以下类型：Regarding the report execution time information, the report execution time information may be the time when the perception report is executed, and the report execution time information includes the following types:
周期(periodic)上报：按照指定的时间偏移和/或周期上报对应的数据；Periodic reporting: reporting corresponding data according to the specified time offset and/or period;
半持续(semi-persistent)上报：在收到所述报告启动指示后按照指定的周期上报对应的数据；Semi-persistent reporting: reporting corresponding data according to a specified period after receiving the report start indication;
非周期(aperiodic)上报：在指定的时刻，或者满足预设条件的情况下，上报对应的数据。Aperiodic reporting: reporting corresponding data at a specified time or when preset conditions are met.
所述的预设条件包括以下至少一项：The preset conditions include at least one of the following:
第三测量量或第二测量量达到预设门限；The third measurement quantity or the second measurement quantity reaches a preset threshold;
计数器的计数值达到预设次数，该计数器用于对第三测量量或第二测量量未达到门限的次数进行计数。The count value of the counter reaches a preset number of times, and the counter is used to count the number of times that the third measurement value or the second measurement value does not reach a threshold.
(14)感知功能网元(即第三设备)向第一设备和第二设备发送信令，包括：(14) The perception function network element (i.e., the third device) sends a signaling to the first device and the second device, including:
感知功能网元向第一设备发送如下信息中至少一项：The perception function network element sends at least one of the following information to the first device:
感知需求信息；Perceive demand information;
感知协作相关信息；Perceive information related to collaboration;
第一测量配置； A first measurement configuration;
第一报告配置；First report configuration;
第一信号配置(在第一感知是通感类感知时可包括此项)；First signal configuration (this item may be included when the first perception is synaesthesia perception);
第一测量启动指示：对应第一测量配置的测量启动指示，仅在第一测量配置中感知测量类型为半持续测量时才发送该项；First measurement start indication: a measurement start indication corresponding to the first measurement configuration, which is sent only when the sensed measurement type in the first measurement configuration is semi-continuous measurement;
第一报告启动指示：对应第一报告配置的报告启动指示，仅在第一报告配置中感知报告类型为半持续上报时才发送该项。First report start indication: corresponds to the report start indication of the first report configuration. This item is sent only when the perception report type in the first report configuration is semi-continuous reporting.
容易理解，上述信令可以是一起发送，也可以是分多次发送的。It is easy to understand that the above signaling can be sent together or in multiple times.
另外，感知功能网元向第二设备发送如下信息中至少一项：In addition, the perception function network element sends at least one of the following information to the second device:
感知需求信息；Perceive demand information;
感知协作相关信息；Perceive information related to collaboration;
第二测量配置；Second measurement configuration;
第二报告配置；Second report configuration;
第一信号配置(在第二感知是通感类感知是可包括此项)；First signal configuration (this item may be included if the second perception is synaesthesia perception);
第二测量启动指示：对应第二测量配置的测量启动指示，仅在第二测量配置中感知测量类型为半持续测量时才发送该项；Second measurement start indication: a measurement start indication corresponding to the second measurement configuration, which is sent only when the sensed measurement type in the second measurement configuration is semi-continuous measurement;
第二报告启动指示：对应第二报告配置的报告启动指示，仅在第二报告配置中感知报告类型为半持续上报时才发送该项。Second report start indication: corresponds to the report start indication of the second report configuration. This item is sent only when the perception report type in the second report configuration is semi-continuous reporting.
容易理解，上述信令可以是一起发送，也可以是分多次发送的。It is easy to understand that the above signaling can be sent together or in multiple times.
(15)第二设备按照步骤(14)中感知功能网元向第二设备发送的信息执行第二感知之后，得到第二测量量。(15) The second device performs second sensing according to the information sent by the sensing function network element to the second device in step (14), thereby obtaining a second measurement value.
其中，第二测量量见解释(3)中的感知能力信息中的测量量部分。The second measurement quantity is referred to in the measurement quantity part of the perception capability information in explanation (3).
例如：如前所述，本实施例对应“场景一”，在“场景一”中，第二测量量可以是感知对象的距离和角度信息。For example: As mentioned above, this embodiment corresponds to "Scene One". In "Scene One", the second measurement quantity may be the distance and angle information of the perceived object.
(16)第二感知对第一感知的协作，包括以下其中一项：(16) The cooperation of the second perception with the first perception includes any of the following:
(16-1)第二设备按照所述第二报告配置向第一设备发送第二数据；(16-1) The second device sends second data to the first device according to the second report configuration;
(16-2)第二设备通过感知功能网元对第一设备进行协作，包括以下过程：(16-2) The second device cooperates with the first device through the sensing function network element, including the following process:
第二设备根据所述第二报告配置向感知功能网元发送第二数据；The second device sends second data to the perception function network element according to the second report configuration;
感知功能网元向第一设备发送所述第二数据；或者，感知功能网元根据第二数据确定第一协作信息，并向第一设备发送所述第一协作信息。The perception function network element sends the second data to the first device; or, the perception function network element determines the first collaboration information based on the second data, and sends the first collaboration information to the first device.
其中，所述的第二数据的内容由所述的第二报告配置所配置。The content of the second data is configured by the second report configuration.
其中，所述第一协作信息，包括以下至少一项：The first collaboration information includes at least one of the following:
感知目标对象(即目标)的空间信息，包括以下至少一项：距离、角度、X/Y/Z坐标；Perceive the spatial information of the target object (i.e., target), including at least one of the following: distance, angle, X/Y/Z coordinates;
感知目标对象的运动信息，如运动速度和方向；Perceive the motion information of the target object, such as speed and direction;
感知目标对象的空间信息对应的时间戳，如对应上述的空间信息的时间戳；A timestamp corresponding to the spatial information of the perceived target object, such as a timestamp corresponding to the above-mentioned spatial information;
感知目标对象的运动信息对应的时间戳，如对应上述的运动速度和方向的时间戳； A timestamp corresponding to the motion information of the perceived target object, such as a timestamp corresponding to the above-mentioned motion speed and direction;
感知目标对象是否存在；Sense whether the target object exists;
感知目标对象的数量；Perceive the number of target objects;
感知目标对象的类型(例如，人、车等)；Perceive the type of target object (e.g., person, car, etc.);
感知目标对象的大小，如尺寸信息。Perceive the size of the target object, such as dimension information.
(17)第一设备根据第二数据或第一协作信息中的一项及感知需求信息，执行第一感知，获得第三测量量，并根据所述第一报告配置向感知功能网元发送第一数据。(17) The first device performs the first perception according to one of the second data or the first collaboration information and the perception requirement information, obtains the third measurement quantity, and sends the first data to the perception function network element according to the first report configuration.
其中，所述的第一数据的内容由所述的第一报告配置所配置。The content of the first data is configured by the first report configuration.
所述的第三测量量是对应感知需求的测量量，即第三测量量或者第三测量量经过进一步处理即为对应感知需求的感知结果。The third measurement quantity is a measurement quantity corresponding to the perception requirement, that is, the third measurement quantity or the third measurement quantity after further processing is the perception result corresponding to the perception requirement.
例如，如前所述，本实施例对应“场景一”，在“场景一”中，第三测量量可以是感知对象的图像信息。For example, as mentioned above, this embodiment corresponds to "Scene One", in which the third measurement quantity may be image information of the perceived object.
实施例二：Embodiment 2:
本实施例中，第二感知对第一感知的协作类型为协作类型二，执行第二感知的设备，与执行第一感知的设备，属于不同设备。In this embodiment, the collaboration type of the second perception with the first perception is collaboration type two, and the device executing the second perception and the device executing the first perception are different devices.
与实施例一相同，在本实施例中：第一设备是执行第一感知的设备、第二设备是执行第二感知的设备。也就是说，可以是以下两种情况之一：Similar to the first embodiment, in this embodiment: the first device is a device that performs the first perception, and the second device is a device that performs the second perception. That is, it can be one of the following two situations:
第一种情况：第一设备是第一类设备、第二设备是第二类设备；Case 1: The first device is a first-category device and the second device is a second-category device;
第二种情况：第一设备是第二类设备、第二设备是第一类设备。The second situation: the first device is a second-category device, and the second device is a first-category device.
本实施例中，第一设备执行第一感知得到第一测量量，第二设备执行第二感知得到第二测量量，在第二测量量的辅助下根据第一测量量得到第三测量量，第三测量量为与感知需求对应的测量量。第一感知与第二感知属于不同设备。In this embodiment, the first device performs the first perception to obtain the first measurement quantity, the second device performs the second perception to obtain the second measurement quantity, and the third measurement quantity is obtained according to the first measurement quantity with the assistance of the second measurement quantity, and the third measurement quantity is a measurement quantity corresponding to the perception requirement. The first perception and the second perception belong to different devices.
例如：摄像头通过图像识别向通感提供目标数量的信息，以辅助通感节点对于点云数据的聚类处理。For example: the camera provides information about the number of targets to the synaesthesia through image recognition to assist the synaesthesia node in clustering the point cloud data.
本实施例中：In this embodiment:
(21)同实施例一步骤(11)。(21) Same as step (11) in Example 1.
(22)同实施例一步骤(12)。(22) Same as step (12) in Example 1.
需要注意的是：与实施例一的不同之处：在本实施例中，感知协作相关信息中的协作类型是协作类型二，其他内容与实施例一相同。It should be noted that: the difference from the first embodiment is that in this embodiment, the collaboration type in the perceived collaboration related information is collaboration type two, and the other contents are the same as those in the first embodiment.
(23)感知功能网元根据所获取的各感知节点的第二信息，和，所述的感知协作相关信息，确定以下至少之一：(23) The sensing function network element determines at least one of the following based on the acquired second information of each sensing node and the sensing collaboration related information:
第二设备的ID；The ID of the second device;
第一测量配置；A first measurement configuration;
第一报告配置；First report configuration;
第一信号配置；First signal configuration;
第二测量配置； Second measurement configuration;
第二报告配置；Second report configuration;
第三报告配置，用于指示感知协作相关的报告配置，可以用于指示通过执行第一感知得到的第一测量量在第二感知得到的第二测量量的协作下得到的第三测量量的感知报告行为，包括需要上报的数据(第三数据)和感知报告的执行时间。The third reporting configuration is used to indicate the reporting configuration related to perception collaboration, and can be used to indicate the perception reporting behavior of the third measurement quantity obtained by executing the first measurement quantity obtained by the first perception in collaboration with the second measurement quantity obtained by the second perception, including the data to be reported (third data) and the execution time of the perception report.
这里，第一报告配置和第三报告配置二者只会有其一，分别对应直接第一设备上报第一测量量和第一设备上报第三测量量的情况。Here, there is only one of the first reporting configuration and the third reporting configuration, which respectively corresponds to the case where the first device directly reports the first measurement amount and the case where the first device reports the third measurement amount.
所述的第一测量配置、第二测量配置、第一报告配置、第二报告配置，同实施例一，见实施例一的步骤(13)。The first measurement configuration, the second measurement configuration, the first report configuration, and the second report configuration are the same as those in Embodiment 1, see step (13) of Embodiment 1.
其中，所述第三报告配置，包括：Wherein, the third report configuration includes:
报告信息；Report information;
报告执行时间信息。Reports execution time information.
其中，报告信息在第三报告配置中的此项对应下述的第三数据。Among them, this item of report information in the third report configuration corresponds to the third data described below.
其中，第三数据包括以下至少一项：The third data includes at least one of the following:
上报的测量量；The reported measurement quantity;
感知操作执行时间；Perceive operation execution time;
感知节点信息；Perceive node information;
感知链路信息；Perceive link information;
测量量转换矩阵；Measurement quantity conversion matrix;
感知信号标识信息；Perceive signal identification information;
测量量用途信息；Information on the use of the measurement;
测量量说明信息；Measurement quantity description information;
测量量指标信息；Measurement indicator information;
感知业务信息；Perceive business information;
数据订阅ID；Data subscription ID;
辅助信息。Supplementary information.
其中，关于上报的测量量在第三报告配置中此项的为第三测量量。Among them, the reported measurement quantity in the third report configuration is the third measurement quantity.
关于感知操作执行时间，感知操作执行时间为感知执行的时间信息，例如：通感类感知感知的感知信号的发送和/或接收的时间；第三报告配置中此项的包括第一感知的感知操作执行时间和第二感知的感知操作执行时间二者中的至少一项。Regarding the perception operation execution time, the perception operation execution time is the time information of the perception execution, for example: the time of sending and/or receiving the perception signal of the synaesthesia perception; this item in the third report configuration includes at least one of the perception operation execution time of the first perception and the perception operation execution time of the second perception.
关于感知节点信息，感知节点信息包括以下至少一项：Regarding the sensing node information, the sensing node information includes at least one of the following:
感知节点的ID；ID of the sensing node;
感知节点的类型：即所述的第一类设备、第二类设备、或第三类设备；对于第二类设备或第三类设备具体地还应包括传感器的类型(例如：视觉传感器、激光雷达等)。The type of sensing node: that is, the first type of device, the second type of device, or the third type of device; for the second type of device or the third type of device, it should also specifically include the type of sensor (for example: visual sensor, lidar, etc.).
感知节点的位置，可以是感知节点在全局坐标系中的坐标，或者相对于某个参考位置的坐标，所述坐标可以是直角坐标或者极坐标； The position of the sensing node may be the coordinates of the sensing node in a global coordinate system, or the coordinates relative to a reference position, and the coordinates may be rectangular coordinates or polar coordinates;
感知节点的朝向，可以是感知节点的天线面板的朝向或者本地坐标系的朝向相对于全局坐标系的旋转角度，或者相对于某个参考坐标系的旋转角度，所述的旋转角度包括方位角、俯仰角和横滚角；The orientation of the sensing node may be the orientation of the antenna panel of the sensing node or the rotation angle of the orientation of the local coordinate system relative to the global coordinate system, or the rotation angle relative to a reference coordinate system, where the rotation angle includes an azimuth angle, a pitch angle, and a roll angle;
感知节点的移动速度，可以是感知节点在全局坐标系中的速度，或者相对于某个参考坐标系的速度，所述的速度包括速度的大小和速度的方向；对于固定位置的感知节点，此项可缺省或者简化表示。The moving speed of the sensing node can be the speed of the sensing node in the global coordinate system, or the speed relative to a reference coordinate system. The speed includes the magnitude and direction of the speed. For sensing nodes at fixed positions, this item can be omitted or simplified.
另外，第三报告配置中的感知节点信息中所述的感知节点为执行第一感知设备和执行第二感知的设备中至少一项。In addition, the perception node described in the perception node information in the third report configuration is at least one of a device that performs the first perception and a device that performs the second perception.
关于感知链路信息，感知链路信息(例如，感知链路序号、收发节点标识)，包括以下内容：Regarding the sensing link information, the sensing link information (for example, the sensing link sequence number, the transmitting and receiving node identifier) includes the following:
接收天线或接收通道的标识，如果是单个接收天线或接收通道的感知测量量，该标识是该接收天线或接收通道的标识；如果是两个接收天线或接收通道的除或共轭乘的结果，该标识是该两个接收天线或接收通道的标识，以及除或共轭乘的标识；第三报告配置中的此项，为第一感知和第二感知二者中是通感类感知的一者的感知链路信息。The identifier of the receiving antenna or receiving channel. If it is the perception measurement of a single receiving antenna or receiving channel, the identifier is the identifier of the receiving antenna or receiving channel; if it is the result of division or conjugate multiplication of two receiving antennas or receiving channels, the identifier is the identifier of the two receiving antennas or receiving channels, and the identifier of the division or conjugate multiplication; This item in the third report configuration is the perception link information of one of the first perception and the second perception that is a synaesthesia type perception.
关于测量量转换矩阵，测量量转换矩阵可以为执行第一感知得到的第一测量量所在的坐标系与执行第二感知得到的第二测量量所在的坐标系之间进行转换的转换矩阵；可以是第一测量量所在坐标系向第二测量量所在坐标系转换的矩阵、或者第二测量量所在坐标系向第一测量量所在坐标系转换的矩阵、或者第一测量量和第二测量量向指定的其他坐标系转换的矩阵。Regarding the measurement quantity conversion matrix, the measurement quantity conversion matrix can be a conversion matrix for converting between the coordinate system of the first measurement quantity obtained by performing the first perception and the coordinate system of the second measurement quantity obtained by performing the second perception; it can be a matrix for converting the coordinate system of the first measurement quantity to the coordinate system of the second measurement quantity, or a matrix for converting the coordinate system of the second measurement quantity to the coordinate system of the first measurement quantity, or a matrix for converting the first measurement quantity and the second measurement quantity to other specified coordinate systems.
关于感知信号标识信息，感知信号标识信息关联感知的信号配置，即上述的第一信号配置；第三报告配置中此项，为第一感知和第二感知二者中是通感类感知的一者的感知信号标识信息。Regarding the perception signal identification information, the perception signal identification information is associated with the signal configuration of the perception, that is, the first signal configuration mentioned above; this item in the third report configuration is the perception signal identification information of one of the first perception and the second perception that is a synaesthesia-type perception.
关于测量量用途信息，测量量用途，例如通信、感知、通感。Information about the usage of the measurement quantity, such as communication, perception, and synaesthesia.
关于测量量说明信息，测量量说明信息可以包括测量量形式，例如幅度值、相位值、幅度和相位结合的复数值；和/或，测量量说明信息可以包括资源类型，例如时域测量结果、频域资源测量结果；第三报告配置中的此项，为第一感知和第二感知二者中是通感类感知的一者的测量量说明信息。Regarding the measurement quantity description information, the measurement quantity description information may include the measurement quantity form, such as an amplitude value, a phase value, a complex value combining the amplitude and the phase; and/or, the measurement quantity description information may include a resource type, such as a time domain measurement result, a frequency domain resource measurement result; this item in the third report configuration is the measurement quantity description information of one of the first perception and the second perception that is a synaesthesia type perception.
关于测量量指标信息，测量量指标信息可以包括SNR、感知SNR、测量量的QoS信息；第三报告配置中的此项，为第一感知和第二感知二者中是通感类感知的一者的测量量的指标信息。Regarding the measurement quantity indicator information, the measurement quantity indicator information may include SNR, perceived SNR, and QoS information of the measurement quantity; this item in the third report configuration is the indicator information of the measurement quantity of one of the first perception and the second perception that is a synaesthesia-type perception.
关于感知业务信息，感知业务信息可以包括感知业务ID。Regarding the perception service information, the perception service information may include a perception service ID.
关于数据订阅ID。About data subscription ID.
关于辅助信息，辅助信息是对执行传感器类感知(第一感知和第二感知二者中有一者为传感器类感知)获得的测量量进行进一步处理需要用到的除上述参数以外的其他参数；例如：执行传感器类感知的设备是视觉传感器(包括单目视觉和双目视觉)或激光雷达时 的光学***的焦距或成像倍率，执行传感器类感知的设备是双目视觉***时两个摄像头光心之间的距离，执行传感器类感知的设备是毫米波雷达时的载波频率。第三报告配置可包括此项。Regarding auxiliary information, auxiliary information refers to other parameters other than the above parameters that are needed to further process the measurement quantity obtained by performing sensor-type perception (one of the first perception and the second perception is sensor-type perception); for example, when the device performing sensor-type perception is a visual sensor (including monocular vision and binocular vision) or a lidar The focal length or imaging magnification of the optical system, the distance between the optical centers of the two cameras when the device performing sensor-type perception is a binocular vision system, and the carrier frequency when the device performing sensor-type perception is a millimeter-wave radar. The third report configuration may include this item.
关于报告执行时间信息，报告执行时间信息包括以下选项中至少一项：Regarding the report execution time information, the report execution time information includes at least one of the following options:
周期(periodic)上报：按照指定的时间偏移和/或周期上报对应的数据；Periodic reporting: reporting corresponding data according to the specified time offset and/or period;
半持续(semi-persistent)上报：在收到所述报告启动指示后按照指定的周期上报对应的数据；Semi-persistent reporting: reporting corresponding data according to a specified period after receiving the report start indication;
非周期(aperiodic)上报：在指定的时刻，或者满足预设条件的情况下，上报对应的数据。Aperiodic reporting: reporting corresponding data at a specified time or when preset conditions are met.
所述的预设条件包括以下至少一项：The preset conditions include at least one of the following:
第一测量量或第二测量量或第三测量量达到预设门限；The first measurement quantity, the second measurement quantity, or the third measurement quantity reaches a preset threshold;
计数器的计数值达到预设次数，该计数器用于对第一测量量或第二测量量或第三测量量未达到门限的次数进行计数。The count value of the counter reaches a preset number of times, and the counter is used to count the number of times the first measurement quantity, the second measurement quantity, or the third measurement quantity does not reach a threshold.
(24)感知功能网元向第一设备和第二设备发送信息，包括：(24) The perception function network element sends information to the first device and the second device, including:
感知功能网元向第一设备发送如下信息中至少一项：The perception function network element sends at least one of the following information to the first device:
感知需求信息；Perceive demand information;
感知协作相关信息；Perceive information related to collaboration;
第一测量配置；A first measurement configuration;
第一报告配置或第三报告配置；a first reporting configuration or a third reporting configuration;
第一信号配置；(在第一感知是通感类感知时可包括此项)；First signal configuration; (This item may be included when the first perception is synaesthesia perception);
第一测量启动指示：对应第一测量配置的测量启动指示，仅在第一测量配置中感知测量类型为半持续测量时才发送该项；First measurement start indication: a measurement start indication corresponding to the first measurement configuration, which is sent only when the sensed measurement type in the first measurement configuration is semi-continuous measurement;
第一报告启动指示或第三报告启动指示，其中，第一报告启动指示为对应第一报告配置的报告启动指示，仅在第一报告配置中感知报告类型为半持续上报时才有，第三报告启动指示为对应第三报告配置的报告启动指示，仅在第三报告配置中感知报告类型为半持续上报时才发送该项；A first report start indication or a third report start indication, wherein the first report start indication is a report start indication corresponding to the first report configuration, which is only sent when the perception report type in the first report configuration is semi-continuous reporting, and the third report start indication is a report start indication corresponding to the third report configuration, which is only sent when the perception report type in the third report configuration is semi-continuous reporting;
容易理解，上述信令可以是一起发送，也可以是分多次发送的。It is easy to understand that the above signaling can be sent together or in multiple times.
另外，感知功能网元向第二设备发送如下信息中至少一项：In addition, the perception function network element sends at least one of the following information to the second device:
感知需求信息；Perceive demand information;
感知协作相关信息；Perceive information related to collaboration;
第二测量配置；Second measurement configuration;
第二报告配置；Second report configuration;
第一信号配置；(在第二感知是通感类感知时可包括此项)；First signal configuration; (This item may be included when the second perception is synaesthesia perception);
第二测量启动指示：对应第二测量配置的测量启动指示，仅在第二测量配置中感知测量类型为半持续测量时才发送该项； Second measurement start indication: a measurement start indication corresponding to the second measurement configuration, which is sent only when the sensed measurement type in the second measurement configuration is semi-continuous measurement;
第二报告启动指示：对应第二报告配置的报告启动指示，仅在第二报告配置中感知报告类型为半持续上报时才发送该项。Second report start indication: corresponds to the report start indication of the second report configuration. This item is sent only when the perception report type in the second report configuration is semi-continuous reporting.
容易理解，上述信令可以是一起发送，也可以是分多次发送的。It is easy to understand that the above signaling can be sent together or in multiple times.
(25)第一设备执行第一感知得到第一测量量、第二设备执行感知得到第二测量量。(25) The first device performs first perception to obtain a first measurement quantity, and the second device performs first perception to obtain a second measurement quantity.
其中，第一测量量和第二测量量见解释3中感知能力信息的测量量部分。The first measurement quantity and the second measurement quantity refer to the measurement quantity part of the perception capability information in Explanation 3.
例如：如前所述，本实施例对应“场景二”，在“场景二”中，第一测量量可以是包含感知对象的距离/速度/角度的点云数据，第二测量量可以是感知对象的视觉特征以及对应的数量(例如，行人和行人的数量、车辆和车辆的数量)。For example: As mentioned above, this embodiment corresponds to "Scene 2". In "Scene 2", the first measurement quantity may be point cloud data containing the distance/speed/angle of the perceived object, and the second measurement quantity may be the visual features of the perceived object and the corresponding quantity (for example, the number of pedestrians and pedestrians, the number of vehicles and vehicles).
(26)第二感知对第一感知的协作，包括以下其中一项：(26) The cooperation of the second perception with the first perception includes any of the following:
(26-1)第二设备直接向第一设备提供协作，包括以下过程：(26-1) The second device directly provides cooperation to the first device, including the following process:
第二设备按照所述第二报告配置向第一设备发送第二数据；The second device sends second data to the first device according to the second reporting configuration;
第一设备根据第一数据、第二数据和感知协作相关信息中的至少一项确定第三测量量；The first device determines a third measurement amount according to at least one of the first data, the second data and the sensing cooperation related information;
第一设备按照所述第三报告配置向感知功能网元发送第三数据。The first device sends third data to the perception function network element according to the third reporting configuration.
(26-2)第二设备通过感知功能网元向第一设备提供协作，包括以下过程：(26-2) The second device provides cooperation to the first device through the perception function network element, including the following process:
第二设备按照所述第二报告配置向感知功能网元发送第二数据；The second device sends second data to the perception function network element according to the second reporting configuration;
感知功能网元向第一设备发送所述第二数据；或者，感知功能网元根据第二数据确定第一协作信息，并向第一设备发送所述第一协作信息。The perception function network element sends the second data to the first device; or, the perception function network element determines the first collaboration information based on the second data, and sends the first collaboration information to the first device.
第一设备根据第二数据及第一协作信息中的一项、第一数据及感知协作相关信息中的至少一项确定第三测量量；The first device determines a third measurement amount according to one of the second data and the first cooperation information and at least one of the first data and the sensing cooperation related information;
第一设备按照所述第三报告配置向感知功能网元发送第三数据。The first device sends third data to the perception function network element according to the third reporting configuration.
(26-3)第二感知对第一感知的协作在感知功能网元处进行，包括以下过程：(26-3) The collaboration of the second perception with the first perception is performed at the perception function network element, including the following process:
第一设备按照所述第一报告配置向感知功能网元发送第一数据；The first device sends first data to the perception function network element according to the first report configuration;
第二设备按照所述第二报告配置向感知功能网元发送第二数据；The second device sends second data to the perception function network element according to the second reporting configuration;
感知功能网元根据第一数据、第二数据和感知协作相关信息中的至少一项确定第三测量量。The sensing function network element determines a third measurement amount according to at least one of the first data, the second data and the sensing cooperation related information.
其中，所述的第一数据、第二数据、第三数据、第一协作信息，同实施例一。Among them, the first data, second data, third data, and first collaboration information are the same as those in Example 1.
另外，所述的第三测量量是与感知需求信息对应的测量量，第三测量量本身即是感知结果、或者对第三测量量进行进一步处理能够获得感知结果。In addition, the third measurement quantity is a measurement quantity corresponding to the perception demand information, and the third measurement quantity itself is the perception result, or the perception result can be obtained by further processing the third measurement quantity.
例如：如前所述，本实施例对应“场景二”，在“场景二”中，第三测量量可以是各个感知对象的距离/速度/角度信息。For example: As mentioned above, this embodiment corresponds to "Scene 2". In "Scene 2", the third measurement quantity may be the distance/speed/angle information of each perception object.
实施例三：Embodiment three:
本实施例中，第二感知对第一感知的协作类型为协作类型一，执行第二感知的设备与执行第一感知的设备，属于同一设备。In this embodiment, the collaboration type of the second perception with the first perception is collaboration type one, and the device executing the second perception and the device executing the first perception belong to the same device.
本实施例中：第一设备是执行第一感知和第二感知的设备，属于第三类设备。In this embodiment: the first device is a device that performs the first perception and the second perception, and belongs to the third category of devices.
本实施例中，第一设备执行第一感知得到第三测量量，第三测量量是与感知需求对应 的测量量。在第一设备执行第一感知之前，第一设备执行第二感知得到第二测量量，第一设备根据第二测量量等信息执行第一感知。执行第一感知与执行第二感知的设备属于同一设备。In this embodiment, the first device performs the first perception to obtain the third measurement quantity, and the third measurement quantity corresponds to the perception requirement. Before the first device performs the first perception, the first device performs the second perception to obtain the second measurement, and the first device performs the first perception based on information such as the second measurement. The device that performs the first perception and the device that performs the second perception are the same device.
本实施例中：In this embodiment:
(31)同实施例一步骤(11)。(31) Same as step (11) in Example 1.
(32)同实施例一步骤(12)。(32) Same as step (12) in Example 1.
需要说明的是，在本实施例中，感知协作相关信息中的协作类型是是协作类型一。因此这一步骤的内容与实施例一相同。It should be noted that, in this embodiment, the collaboration type in the perceived collaboration related information is collaboration type 1. Therefore, the content of this step is the same as that of the first embodiment.
(33)感知功能网元根据第一设备的第二信息，和，所述的感知协作相关信息，确定以下至少之一：(33) The perception function network element determines at least one of the following based on the second information of the first device and the perception collaboration related information:
第一测量配置；A first measurement configuration;
第一报告配置；First report configuration;
第一信号配置；First signal configuration;
第二测量配置；Second measurement configuration;
第二报告配置。Second report configuration.
其中，所述的第一测量配置、第二测量配置、第一报告配置、第二报告配置，同实施例一，见实施例一的步骤(13)。The first measurement configuration, the second measurement configuration, the first report configuration, and the second report configuration are the same as those in Embodiment 1, see step (13) of Embodiment 1.
与实施例一的不同之处，没有实施例一中第二设备相关的描述。The difference from the first embodiment is that there is no description related to the second device in the first embodiment.
(34)感知功能网元向第一设备发送如下信息中至少一项：(34) The perception function network element sends at least one of the following information to the first device:
感知需求信息；Perceive demand information;
第一测量配置；A first measurement configuration;
第一报告配置；First report configuration;
第一信号配置；First signal configuration;
第二测量配置；Second measurement configuration;
第二报告配置；Second report configuration;
第一测量启动指示：对应第一测量配置的测量启动指示，仅在第一测量配置中感知测量类型为半持续测量时才发送该项；First measurement start indication: a measurement start indication corresponding to the first measurement configuration, which is sent only when the sensed measurement type in the first measurement configuration is semi-continuous measurement;
第一报告启动指示：对应第一报告配置的报告启动指示，仅在第一报告配置中感知报告类型为半持续上报时才发送该项；First report start indication: a report start indication corresponding to the first report configuration, which is sent only when the perception report type in the first report configuration is semi-continuous reporting;
第二测量启动指示：对应第二测量配置的测量启动指示，仅在第二测量配置中感知测量类型为半持续测量时才发送该项；Second measurement start indication: a measurement start indication corresponding to the second measurement configuration, which is sent only when the sensed measurement type in the second measurement configuration is semi-continuous measurement;
第二报告启动指示：对应第二报告配置的报告启动指示，仅在第二报告配置中感知报告类型为半持续上报时才发送该项。Second report start indication: corresponds to the report start indication of the second report configuration. This item is sent only when the perception report type in the second report configuration is semi-continuous reporting.
容易理解，上述信令可以是一起发送，也可以是分多次发送的。It is easy to understand that the above signaling can be sent together or in multiple times.
(35)第一设备按照步骤(34)中感知功能网元发送的信息执行第二感知得到第二测 量量。(35) The first device performs a second sensing according to the information sent by the sensing function network element in step (34) to obtain a second measurement Measure.
其中，第二测量量见解释3中感知能力信息的测量量部分。The second measurement quantity is shown in the measurement quantity part of the perception capability information in Explanation 3.
例如：如前所述，本实施例对应“场景一”，在“场景一”中，第二测量量可以是感知对象的距离和角度信息。For example: As mentioned above, this embodiment corresponds to "Scene One". In "Scene One", the second measurement quantity may be the distance and angle information of the perceived object.
(36)第二感知对第一感知的协作，包括以下其中一项：(36) The cooperation of the second perception with the first perception includes one of the following:
(36-1)第二感知直接对第一感知进行协作，(36-1) The second perception directly cooperates with the first perception,
由于第一感知与第二感知均由第一设备执行，这里没有关于第二数据或第二测量量的交互过程：Since both the first perception and the second perception are performed by the first device, there is no interaction process regarding the second data or the second measurement quantity:
(36-2)第二感知通过感知功能网元对第一感知进行协作，包括以下过程：(36-2) The second perception cooperates with the first perception through the perception function network element, including the following process:
第一设备按照所述第二报告配置向感知功能网元发送第二数据；The first device sends second data to the perception function network element according to the second reporting configuration;
感知功能网元根据第二数据和感知协作相关信息等确定第一协作信息，并向第一设备发送所述第一协作信息。The perception function network element determines first collaboration information based on the second data and perception collaboration related information, and sends the first collaboration information to the first device.
所述第二数据、第一协作信息，同实施例一。但是需要注意的是，实施例一中第二数据中所有关于第二设备的描述需替换成第一设备。The second data and the first cooperation information are the same as those in Example 1. However, it should be noted that all descriptions about the second device in the second data in Example 1 need to be replaced with the first device.
与实施例一不同之处，(36-1)中无信令交互。The difference from the first embodiment is that there is no signaling interaction in (36-1).
(37)第一设备根据第二数据或第一协作信息中的一项及感知需求信息执行第一感知，获得第三测量量，并向感知功能网元发送第一数据。(37) The first device performs the first perception according to the second data or one of the first collaboration information and the perception requirement information, obtains the third measurement value, and sends the first data to the perception function network element.
所述第一数据，同实施例一。The first data is the same as that in the first embodiment.
例如，如前所述，本实施例对应“场景一”，在“场景一”中，第三测量量可以是感知对象的图像信息。For example, as mentioned above, this embodiment corresponds to "Scene One", in which the third measurement quantity may be image information of the perceived object.
实施例四：Embodiment 4:
本实施例中，第二感知对第一感知的协作类型为协作类型二，执行第二感知的设备，与执行第一感知的设备，属于同一设备。In this embodiment, the collaboration type of the second perception with the first perception is collaboration type two, and the device executing the second perception and the device executing the first perception are the same device.
在本实施例中，第一设备是执行第一感知和第二感知的设备，属于第三类设备。In this embodiment, the first device is a device that performs the first perception and the second perception and belongs to the third category of devices.
本实施例中，第一设备执行第一感知得到第一测量量，第一设备执行第二感知得到第二测量量，在第二测量量的辅助下根据测量量得到第三测量量，第三测量量为与感知需求对应的测量量。第一感知与第二感知属于同一设备。In this embodiment, the first device performs the first perception to obtain the first measurement quantity, the first device performs the second perception to obtain the second measurement quantity, and the third measurement quantity is obtained according to the measurement quantity with the assistance of the second measurement quantity, and the third measurement quantity is the measurement quantity corresponding to the perception requirement. The first perception and the second perception belong to the same device.
本实施例中：In this embodiment:
(41)同实施例一步骤(11)。(41) Same as step (11) in Example 1.
(42)同实施例二步骤(22)。(42) Same as step (22) of Example 2.
需要注意的是：在本实施例中，感知协作相关信息中的协作类型是协作类型二，因此这一步的内容与实施例二相同。It should be noted that: in this embodiment, the collaboration type in the perceived collaboration related information is collaboration type two, so the content of this step is the same as that of the second embodiment.
(43)感知功能网元根据所获取的各感知节点的第二信息，和，所述的感知协作相关信息，确定以下至少之一：(43) The sensing function network element determines at least one of the following based on the acquired second information of each sensing node and the sensing collaboration related information:
第一测量配置； A first measurement configuration;
第一报告配置；First report configuration;
第一信号配置；First signal configuration;
第二测量配置；Second measurement configuration;
第二报告配置；Second report configuration;
第三报告配置。Third report configuration.
其中，所述的第一测量配置或第二测量配置，同实施例二，见实施例二的步骤(23)。The first measurement configuration or the second measurement configuration is the same as that in Embodiment 2, see step (23) of Embodiment 2.
其中，所述第一报告配置或第二报告配置或第三报告配置，同实施例二，见实施例二的步骤(23)。The first report configuration, the second report configuration, or the third report configuration is the same as that in Embodiment 2, see step (23) of Embodiment 2.
(44)感知功能网元向第一设备发送如下信息中至少一项：(44) The perception function network element sends at least one of the following information to the first device:
感知需求信息；Perceive demand information;
第一测量配置；A first measurement configuration;
第一报告配置或第三报告配置；a first reporting configuration or a third reporting configuration;
第一信号配置；First signal configuration;
第二测量配置；Second measurement configuration;
第二报告配置；Second report configuration;
第一测量启动指示：对应第一测量配置的测量启动指示，仅在第一测量配置中感知测量类型为半持续测量时才发送该项；First measurement start indication: a measurement start indication corresponding to the first measurement configuration, which is sent only when the sensed measurement type in the first measurement configuration is semi-continuous measurement;
第一报告启动指示或第三报告启动指示：其中，对应第一报告配置的报告启动指示，仅在第一报告配置中感知报告类型为半持续上报时才发送该项；对应第三报告配置的报告启动指示，仅在第三报告配置中感知报告类型为半持续上报时才发送该项；First report start indication or third report start indication: wherein, the report start indication corresponding to the first report configuration is sent only when the perception report type in the first report configuration is semi-continuous reporting; the report start indication corresponding to the third report configuration is sent only when the perception report type in the third report configuration is semi-continuous reporting;
第二测量启动指示(对应第二测量配置的测量启动指示)，仅在第二测量配置中感知测量类型为半持续测量时才发送该项；A second measurement start indication (corresponding to a measurement start indication of a second measurement configuration), which is sent only when the sensed measurement type in the second measurement configuration is a semi-continuous measurement;
第二报告启动指示(对应第二报告配置的报告启动指示)，仅在第二报告配置中感知报告类型为半持续上报时才发送该项。The second report start indication (corresponding to the report start indication of the second report configuration) is sent only when the perception report type in the second report configuration is semi-continuous reporting.
容易理解，上述信令可以是一起发送，也可以是分多次发送的。It is easy to understand that the above signaling can be sent together or in multiple times.
(45)第一设备执行第一感知得到第一测量量、第一设备执行感知得到第二测量量。(45) The first device performs first perception to obtain a first measurement quantity, and the first device performs first perception to obtain a second measurement quantity.
其中，第一测量量和第二测量量见解释3中感知能力信息的测量量部分。The first measurement quantity and the second measurement quantity refer to the measurement quantity part of the perception capability information in Explanation 3.
例如：如前所述，本实施例对应“场景二”，在“场景二”中，第一测量量可以是包含感知对象的距离/速度/角度的点云数据，第二测量量可以是感知对象的视觉特征以及对应的数量(例如，行人和行人的数量、车辆和车辆的数量)。For example: As mentioned above, this embodiment corresponds to "Scene 2". In "Scene 2", the first measurement quantity may be point cloud data containing the distance/speed/angle of the perceived object, and the second measurement quantity may be the visual features of the perceived object and the corresponding quantity (for example, the number of pedestrians and pedestrians, the number of vehicles and vehicles).
(46)第二感知对第一感知的协作，包括如下流程：(46) The collaboration of the second perception with the first perception includes the following process:
(46-1)第二感知直接向第一感知提供协作，包括以下过程：(46-1) The second perception directly provides cooperation to the first perception, including the following process:
第一设备根据第一数据、第二数据和感知协作相关信息中的至少一项确定第三测量量；The first device determines a third measurement amount according to at least one of the first data, the second data and the sensing cooperation related information;
第一设备按照所述第三报告配置向感知功能网元发送第三数据。The first device sends third data to the perception function network element according to the third reporting configuration.
需要说明的是，第一数据和第二数据均在第一设备产生，因此没有第一数据和第二数 据的交互。It should be noted that the first data and the second data are both generated in the first device, so there is no Data interaction.
(46-2)第二感知通过感知功能网元向第一感知提供协作，包括以下过程：(46-2) The second perception provides cooperation to the first perception through the perception function network element, including the following process:
第一设备按照所述第二报告配置向感知功能网元发送第二数据；The first device sends second data to the perception function network element according to the second reporting configuration;
感知功能网元根据第二数据确定第一协作信息，并向第一设备发送所述第一协作信息。The perception function network element determines first collaboration information based on the second data and sends the first collaboration information to the first device.
第一设备根据第一数据、第一协作信息和感知协作相关信息中的至少一项确定第三测量量；The first device determines a third measurement amount according to at least one of the first data, the first cooperation information and the sensing cooperation related information;
第一设备按照所述第三报告配置向感知功能网元发送第三数据。The first device sends third data to the perception function network element according to the third reporting configuration.
(46-3)第二感知对第一感知的协作在感知功能网元处，包括以下过程：(46-3) The collaboration of the second perception with the first perception at the perception function network element includes the following process:
第一设备按照所述第一报告配置向感知功能网元发送第一数据；The first device sends first data to the perception function network element according to the first report configuration;
第一设备按照所述第二报告配置向感知功能网元发送第二数据；The first device sends second data to the perception function network element according to the second reporting configuration;
感知功能网元根据第一数据、第二数据和感知协作相关信息中的至少一项确定第三测量量。The sensing function network element determines a third measurement amount according to at least one of the first data, the second data and the sensing cooperation related information.
其中，第一数据、第二数据、第三数据、第一协作信息，同实施例二。Among them, the first data, the second data, the third data, and the first collaboration information are the same as those in the second embodiment.
所述的第三测量量是对应感知需求的测量量，即第三测量量或者第三测量量经过进一步处理即为对应感知需求的感知结果。The third measurement quantity is a measurement quantity corresponding to the perception requirement, that is, the third measurement quantity or the third measurement quantity after further processing is the perception result corresponding to the perception requirement.
例如：如前所述，本实施例对应“场景二”，在“场景二”中，第三测量量可以是各个感知对象的距离/速度/角度信息。For example: As mentioned above, this embodiment corresponds to "Scene 2". In "Scene 2", the third measurement quantity may be the distance/speed/angle information of each perception object.
需要注意的是，与实施例二不同之处，第二数据中关于第二设备的描述需要替换成第一设备。It should be noted that, different from the second embodiment, the description of the second device in the second data needs to be replaced by the first device.
请参见图5，图5是本申请实施例提供的一种感知协作装置的结构图，第一设备包括所述感知协作装置，如图5所示，感知协作装置300包括：Please refer to FIG. 5 , which is a structural diagram of a perception cooperation device provided in an embodiment of the present application. The first device includes the perception cooperation device. As shown in FIG. 5 , the perception cooperation device 300 includes:
第一获取模块301，用于获取第一协作信息；A first acquisition module 301 is used to acquire first collaboration information;
执行模块，用于执行第一操作，所述第一操作包括如下任意一项：The execution module is configured to execute a first operation, wherein the first operation includes any one of the following:
执行第一感知操作得到第一测量量，发送所述第一测量量；Performing a first sensing operation to obtain a first measurement value, and sending the first measurement value;
基于所述第一协作信息执行第一感知操作得到第三测量量；Performing a first sensing operation based on the first cooperation information to obtain a third measurement amount;
执行第一感知操作得到第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；Perform a first sensing operation to obtain a first measurement amount, and determine a third measurement amount based on the first cooperation information and the first measurement amount;
其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。The first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
可选地，所述执行第一操作之前，所述装置还包括第二获取模块，用于如下任意一项：Optionally, before performing the first operation, the device further includes a second acquisition module, configured to perform any of the following:
执行第二感知操作，得到所述第二测量量；Performing a second sensing operation to obtain the second measurement value;
接收第二设备发送的所述第二测量量。The second measurement quantity sent by the second device is received.
可选地，所述装置还包括：Optionally, the device further comprises:
接收模块，用于接收第三设备发送的第一信息，所述第一信息包括如下至少一项： A receiving module, configured to receive first information sent by a third device, where the first information includes at least one of the following:
感知需求信息；Perceive demand information;
感知协作相关信息；Perceive information related to collaboration;
第一信号配置，所述第一信号配置用于指示通信感知一体化感知操作相关的信号配置；A first signal configuration, wherein the first signal configuration is used to indicate a signal configuration related to a communication sensing integrated sensing operation;
第一测量配置，所述第一测量配置用于指示第一感知操作相关的测量配置；A first measurement configuration, where the first measurement configuration is used to indicate a measurement configuration related to a first sensing operation;
第二测量配置，所述第二测量配置用于指示第二感知操作相关的测量配置；a second measurement configuration, where the second measurement configuration is used to indicate a measurement configuration related to a second sensing operation;
第一报告配置，所述第一报告配置用于指示第一感知操作相关的报告配置；A first report configuration, where the first report configuration is used to indicate a report configuration related to the first perception operation;
第二报告配置，所述第二报告配置用于指示第二感知操作相关的报告配置；a second report configuration, where the second report configuration is used to indicate a report configuration related to a second perception operation;
第三报告配置，所述第三报告配置用于指示感知协作相关的报告配置；a third report configuration, the third report configuration being used to indicate a report configuration related to sensing collaboration;
第一测量启动指示，所述第一测量启动指示为所述第一测量配置对应的测量启动指示；a first measurement start indication, where the first measurement start indication is a measurement start indication corresponding to the first measurement configuration;
第二测量启动指示，所述第二测量启动指示为所述第二测量配置对应的测量启动指示；a second measurement start indication, where the second measurement start indication is a measurement start indication corresponding to the second measurement configuration;
第一报告启动指示，第一报告启动指示为所述第一报告配置对应的报告启动指示；A first report start indication, where the first report start indication is a report start indication corresponding to the first report configuration;
第二报告启动指示，第二报告启动指示为所述第二报告配置对应的报告启动指示；A second report start indication, where the second report start indication is a report start indication corresponding to the second report configuration;
第三报告启动指示，所述第三报告启动指示为第三报告配置对应的报告启动指示。A third report start indication, wherein the third report start indication is a report start indication corresponding to the third report configuration.
可选地，所述第一测量配置包括如下至少一项：Optionally, the first measurement configuration includes at least one of the following:
执行第一感知操作需获取的测量量的类型；感知测量的执行时间信息；The type of measurement quantity to be acquired for performing the first sensing operation; the execution time information of the sensing measurement;
或or
所述第二测量配置包括如下至少一项：The second measurement configuration includes at least one of the following:
执行第二感知操作需获取的测量量的类型；感知测量的执行时间信息。The type of measurement quantity required to perform the second perception operation; and the execution time information of the perception measurement.
可选地，所述感知测量的执行时间信息，包括如下至少一项：Optionally, the execution time information of the perception measurement includes at least one of the following:
周期测量；半持续测量；非周期测量。Periodic measurement; Semi-continuous measurement; Non-periodic measurement.
可选地，所述第一报告配置、第二报告配置和/或第三报告配置包括如下至少一项：Optionally, the first report configuration, the second report configuration and/or the third report configuration includes at least one of the following:
报告信息；报告执行时间信息；Report information; report execution time information;
其中，所述报告信息包括如下至少一项：The report information includes at least one of the following:
上报的测量量；感知操作执行时间；感知节点信息；感知链路信息；测量量转换矩阵；感知信号标识信息；测量量用途信息；测量量说明信息；测量量指标信息；感知业务信息；数据订阅标识；辅助信息。Reported measurement quantity; perception operation execution time; perception node information; perception link information; measurement quantity conversion matrix; perception signal identification information; measurement quantity usage information; measurement quantity description information; measurement quantity indicator information; perception service information; data subscription identification; auxiliary information.
可选地，所述报告执行时间信息包括如下至少一项：Optionally, the report execution time information includes at least one of the following:
周期上报；半持续上报；非周期上报。Periodic reporting; semi-continuous reporting; non-periodic reporting.
可选地，所述执行第一感知操作得到第一测量量，包括：Optionally, performing the first sensing operation to obtain the first measurement value includes:
在所述第一感知操作为通信感知一体化感知操作的情况下，基于所述第一测量配置和所述第一信号配置执行第一感知操作得到第一测量量；In a case where the first sensing operation is a communication sensing integrated sensing operation, performing a first sensing operation based on the first measurement configuration and the first signal configuration to obtain a first measurement amount;
或者or
在所述第一感知操作为传感器感知操作的情况下，基于所述第一测量配置执行第一感知操作得到第一测量量。In the case where the first sensing operation is a sensor sensing operation, the first sensing operation is performed based on the first measurement configuration to obtain a first measurement quantity.
可选地，所述第一获取模块用于如下任意一项： Optionally, the first acquisition module is used for any of the following:
接收第二设备基于所述第二报告配置发送的第二数据，并基于所述第二数据确定第一协作信息；receiving second data sent by the second device based on the second report configuration, and determining first collaboration information based on the second data;
接收第三设备发送的第二数据，并基于所述第二数据确定第一协作信息；receiving second data sent by a third device, and determining first collaboration information based on the second data;
接收第三设备发送的第一协作信息；Receiving first collaboration information sent by a third device;
执行第二感知操作得到第二测量量，基于所述第二测量量确定第一协作信息；Performing a second sensing operation to obtain a second measurement amount, and determining first cooperation information based on the second measurement amount;
其中，所述第二数据包括所述第二测量量。The second data includes the second measurement quantity.
可选地，所述装置还包括：Optionally, the device further comprises:
发送模块，用于基于所述第三报告配置向第三设备发送第三数据，所述第三数据包括所述第三测量量。A sending module is configured to send third data to a third device based on the third reporting configuration, where the third data includes the third measurement quantity.
可选地，所述感知协作相关信息用于指示如下至少一项：Optionally, the perceptual collaboration related information is used to indicate at least one of the following:
是否触发感知协作；Whether to trigger the perception collaboration;
第一感知操作的测量量类型；The type of measurement quantity of the first perceptual operation;
第一感知操作的测量量的QoS要求；The QoS requirements of the measured quantities of the first perception operation;
第二感知操作的测量量类型；The type of quantity measured in the second perceptual operation;
第二感知操作的测量量的QoS要求；The second is to perceive the QoS requirements of the measured quantity of the operation;
第一感知操作和/或第二感知操作的执行时间；execution time of the first sensing operation and/or the second sensing operation;
第一感知操作和/或第二感知操作的执行空间范围；An execution spatial range of the first perception operation and/or the second perception operation;
感知协作类型。Perceive the type of collaboration.
可选地，所述第一协作信息用于指示如下至少一项：Optionally, the first collaboration information is used to indicate at least one of the following:
感知目标对象的空间信息；Perceive the spatial information of the target object;
感知目标对象的运动信息；Perceive the motion information of the target object;
感知目标对象的空间信息对应的时间戳；The timestamp corresponding to the spatial information of the perceived target object;
感知目标对象的运动信息对应的时间戳；The timestamp corresponding to the motion information of the perceived target object;
感知目标对象是否存在；Sense whether the target object exists;
感知目标对象的数量；Perceive the number of target objects;
感知目标对象的类型；Perceive the type of target object;
感知目标对象的大小。Perceive the size of the target object.
可选地，在所述第一感知操作为通信感知一体化感知操作的情况下，所述第二感知操作为传感器感知操作；Optionally, when the first sensing operation is a communication sensing integrated sensing operation, the second sensing operation is a sensor sensing operation;
在所述第一感知操作为传感器感知操作的情况下，所述第二感知操作为通信感知一体化感知操作。In the case where the first sensing operation is a sensor sensing operation, the second sensing operation is a communication sensing integrated sensing operation.
本申请实施例中，通过第二感知操作协作第一感知操作获取与感知需求对应的测量量，通过不同类型的感知操作提供协助，能够满足感知需求并提高感知***的感知性能。In the embodiment of the present application, the second perception operation is cooperated with the first perception operation to obtain the measurement quantity corresponding to the perception requirement, and assistance is provided by different types of perception operations, which can meet the perception requirement and improve the perception performance of the perception system.
本申请实施例中的感知协作装置可以是电子设备，例如具有操作***的电子设备，也可以是电子设备中的部件，例如集成电路或芯片。该电子设备可以是终端，也可以为除终 端之外的其他设备。示例性的，终端可以包括但不限于上述所列举的终端11的类型，其他设备可以为服务器、网络附属存储器(Network Attached Storage，NAS)等，本申请实施例不作具体限定。The sensing and cooperation device in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. The electronic device may be a terminal, or may be a device other than a terminal. For example, the terminal may include but is not limited to the types of the terminal 11 listed above, and the other devices may be a server, a network attached storage (Network Attached Storage, NAS), etc., which are not specifically limited in the embodiments of the present application.
本申请实施例提供的感知协作装置能够实现图3的方法实施例实现的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。The perception collaboration device provided in the embodiment of the present application can implement each process implemented in the method embodiment of Figure 3 and achieve the same technical effect. To avoid repetition, it will not be repeated here.
请参见图6，图6是本申请实施例提供的一种感知协作装置的结构图，第三设备包括所述感知协作装置，如图6所示，感知协作装置400包括：Please refer to FIG. 6, which is a structural diagram of a perception cooperation device provided in an embodiment of the present application. The third device includes the perception cooperation device. As shown in FIG. 6, the perception cooperation device 400 includes:
执行模块401，用于执行第二操作，所述第二操作包括如下任意一项：The execution module 401 is configured to execute a second operation, where the second operation includes any one of the following:
接收第一设备发送的第三测量量；receiving a third measurement quantity sent by the first device;
获取第一协作信息，并获取第一感知操作对应的第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；Acquire first cooperation information, and acquire a first measurement amount corresponding to the first sensing operation, and determine a third measurement amount based on the first cooperation information and the first measurement amount;
其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。The first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
可选地，所述装置还包括：Optionally, the device further comprises:
第一发送模块，用于向第一设备和/或第二设备发送第一信息，所述第一信息包括如下至少一项：The first sending module is configured to send first information to the first device and/or the second device, where the first information includes at least one of the following:
感知需求信息；Perceive demand information;
感知协作相关信息；Perceive information related to collaboration;
第一信号配置，所述第一信号配置用于指示通信感知一体化感知操作相关的信号配置；A first signal configuration, wherein the first signal configuration is used to indicate a signal configuration related to a communication sensing integrated sensing operation;
第一测量配置，所述第一测量配置用于指示第一感知操作相关的测量配置；A first measurement configuration, where the first measurement configuration is used to indicate a measurement configuration related to a first sensing operation;
第二测量配置，所述第二测量配置用于指示第二感知操作相关的测量配置；a second measurement configuration, where the second measurement configuration is used to indicate a measurement configuration related to a second sensing operation;
第一报告配置，所述第一报告配置用于指示第一感知操作相关的报告配置；A first report configuration, where the first report configuration is used to indicate a report configuration related to the first perception operation;
第二报告配置，所述第二报告配置用于指示第二感知操作相关的报告配置；a second report configuration, where the second report configuration is used to indicate a report configuration related to a second perception operation;
第三报告配置，所述第三报告配置用于指示感知协作相关的报告配置；a third report configuration, the third report configuration being used to indicate a report configuration related to sensing collaboration;
第一测量启动指示，所述第一测量启动指示为所述第一测量配置对应的测量启动指示；a first measurement start indication, where the first measurement start indication is a measurement start indication corresponding to the first measurement configuration;
第二测量启动指示，所述第二测量启动指示为所述第二测量配置对应的测量启动指示；a second measurement start indication, where the second measurement start indication is a measurement start indication corresponding to the second measurement configuration;
第一报告启动指示，第一报告启动指示为所述第一报告配置对应的报告启动指示；A first report start indication, where the first report start indication is a report start indication corresponding to the first report configuration;
第二报告启动指示，第二报告启动指示为所述第二报告配置对应的报告启动指示；A second report start indication, where the second report start indication is a report start indication corresponding to the second report configuration;
第三报告启动指示，所述第三报告启动指示为第三报告配置对应的报告启动指示。A third report start indication, wherein the third report start indication is a report start indication corresponding to the third report configuration.
可选地，所述装置还包括：Optionally, the device further comprises:
确定模块，用于根据获取的感知节点的第二信息及感知协作相关信息确定第三信息；A determination module, configured to determine third information according to the acquired second information of the sensing node and the sensing cooperation related information;
其中，所述感知节点包括第一设备和/或第二设备；Wherein, the sensing node includes a first device and/or a second device;
所述第三信息包括如下至少一项：The third information includes at least one of the following:
第一设备的标识； an identifier of the first device;
第二设备的标识；an identification of the second device;
第一信号配置；First signal configuration;
第一测量配置；A first measurement configuration;
第一报告配置；First report configuration;
第二测量配置；Second measurement configuration;
第二报告配置；Second report configuration;
第三报告配置。Third report configuration.
可选地，所述装置还包括：Optionally, the device further comprises:
获取模块，用于获取感知节点的第二信息；An acquisition module, used for acquiring second information of the sensing node;
其中，所述第二信息包括如下至少一项：The second information includes at least one of the following:
感知节点信息；Perceive node information;
感知节点的感知能力信息；The sensing capability information of the sensing node;
感知权限信息。Perceive permission information.
可选地，所述感知节点信息用于指示如下至少一项：Optionally, the sensing node information is used to indicate at least one of the following:
感知节点的标识；感知节点的类型；感知节点的位置；感知节点的朝向；感知节点的移动速度。The identification of the sensing node; the type of the sensing node; the location of the sensing node; the orientation of the sensing node; the moving speed of the sensing node.
可选地，所述获取第一协作信息，包括：接收第二设备基于所述第二报告配置发送的第二数据，并基于所述第二数据确定第一协作信息，所述第二数据包括所述第二测量量；Optionally, the acquiring the first cooperation information includes: receiving second data sent by the second device based on the second report configuration, and determining the first cooperation information based on the second data, where the second data includes the second measurement amount;
和/或and / or
所述获取第一感知操作对应的第一测量量，包括：接收第一设备基于所述第一报告配置发送的第一数据，所述第一数据包括第一感知操作对应的第一测量量。The obtaining of the first measurement quantity corresponding to the first perceptual operation includes: receiving first data sent by the first device based on the first report configuration, where the first data includes the first measurement quantity corresponding to the first perceptual operation.
可选地，所述接收第一设备发送的第三测量量，包括：接收第一设备基于所述第三报告配置发送的第三数据，所述第三数据包括所述第三测量量；Optionally, the receiving a third measurement amount sent by the first device includes: receiving third data sent by the first device based on the third reporting configuration, where the third data includes the third measurement amount;
和/或and / or
所述接收第一设备发送的第三测量量之前，所述装置还包括第二发送模块，用于如下至少一项：Before receiving the third measurement value sent by the first device, the apparatus further includes a second sending module, which is used for at least one of the following:
向所述第一设备发送第一协作信息；Sending first collaboration information to the first device;
接收第二设备基于所述第二报告配置发送的第二数据，并向所述第一设备发送所述第二数据，所述第二数据包括所述第二测量量。Second data sent by a second device based on the second reporting configuration is received, and the second data is sent to the first device, where the second data includes the second measurement quantity.
本申请实施例中，通过第二感知操作协作第一感知操作获取与感知需求对应的测量量，通过不同类型的感知操作提供协助，能够满足感知需求并提高感知***的感知性能。In the embodiment of the present application, the second perception operation is cooperated with the first perception operation to obtain the measurement quantity corresponding to the perception requirement, and assistance is provided by different types of perception operations, which can meet the perception requirement and improve the perception performance of the perception system.
本申请实施例中的感知协作装置可以是电子设备，例如具有操作***的电子设备，也可以是电子设备中的部件，例如集成电路或芯片。该电子设备可以是终端，也可以为除终端之外的其他设备。示例性的，终端可以包括但不限于上述所列举的终端11的类型，其他设备可以为服务器、网络附属存储器(Network Attached Storage，NAS)等，本申请实 施例不作具体限定。The sensing and cooperation device in the embodiment of the present application can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or it can be other devices other than a terminal. For example, the terminal can include but is not limited to the types of terminals 11 listed above, and other devices can be servers, network attached storage (NAS), etc. The present application implements The examples are not particularly limited.
本申请实施例提供的感知协作装置能够实现图4的方法实施例实现的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。The perception cooperation device provided in the embodiment of the present application can implement each process implemented by the method embodiment of Figure 4 and achieve the same technical effect. To avoid repetition, it will not be repeated here.
可选地，如图7所示，本申请实施例还提供一种通信设备500，包括处理器501和存储器502，存储器502上存储有可在所述处理器501上运行的程序或指令，例如，该通信设备500为第一设备时，该程序或指令被处理器501执行时实现上述应用于第一设备的感知协作方法实施例的各个步骤，且能达到相同的技术效果。该通信设备500为第三设备时，该程序或指令被处理器501执行时实现上述应用于第三设备的感知协作方法实施例的各个步骤，且能达到相同的技术效果，为避免重复，这里不再赘述。Optionally, as shown in FIG7 , the embodiment of the present application further provides a communication device 500, including a processor 501 and a memory 502, wherein the memory 502 stores a program or instruction that can be run on the processor 501. For example, when the communication device 500 is a first device, the program or instruction is executed by the processor 501 to implement the various steps of the above-mentioned embodiment of the perception cooperation method applied to the first device, and can achieve the same technical effect. When the communication device 500 is a third device, the program or instruction is executed by the processor 501 to implement the various steps of the above-mentioned embodiment of the perception cooperation method applied to the third device, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.
本申请实施例还提供一种通信设备，包括处理器及通信接口，其中，所述处理器用于：获取第一协作信息；执行第一操作，所述第一操作包括如下任意一项：执行第一感知操作得到第一测量量，发送所述第一测量量；基于所述第一协作信息执行第一感知操作得到第三测量量；执行第一感知操作得到第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量；或者，所述处理器用于：执行第二操作，所述第二操作包括如下任意一项：接收第一设备发送的第三测量量；获取第一协作信息，并获取第一感知操作对应的第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。An embodiment of the present application also provides a communication device, including a processor and a communication interface, wherein the processor is used to: obtain first collaborative information; perform a first operation, the first operation including any one of the following: perform a first perception operation to obtain a first measurement amount, and send the first measurement amount; perform a first perception operation based on the first collaborative information to obtain a third measurement amount; perform the first perception operation to obtain the first measurement amount, and determine a third measurement amount based on the first collaborative information and the first measurement amount; wherein the first collaborative information is determined based on a second measurement amount corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement amount is a measurement amount corresponding to a perception requirement; or, the processor is used to: perform a second operation, the second operation including any one of the following: receive a third measurement amount sent by a first device; obtain the first collaborative information, and obtain the first measurement amount corresponding to the first perception operation, and determine a third measurement amount based on the first collaborative information and the first measurement amount; wherein the first collaborative information is determined based on the second measurement amount corresponding to the second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement amount is a measurement amount corresponding to a perception requirement.
可选地，通信设备可以为终端。具体地，图8为实现本申请实施例的一种通信设备的硬件结构示意图。Optionally, the communication device may be a terminal. Specifically, FIG8 is a schematic diagram of a hardware structure of a communication device for implementing an embodiment of the present application.
该通信设备600包括但不限于：射频单元601、网络模块602、音频输出单元603、输入单元604、传感器605、显示单元606、用户输入单元607、接口单元608、存储器609以及处理器610等中的至少部分部件。The communication device 600 includes but is not limited to: a radio frequency unit 601, a network module 602, an audio output unit 603, an input unit 604, a sensor 605, a display unit 606, a user input unit 607, an interface unit 608, a memory 609 and at least some of the components of a processor 610.
本领域技术人员可以理解，通信设备600还可以包括给各个部件供电的电源(比如电池)，电源可以通过电源管理***与处理器610逻辑相连，从而通过电源管理***实现管理充电、放电、以及功耗管理等功能。图8中示出的通信设备结构并不构成对通信设备的限定，通信设备可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置，在此不再赘述。Those skilled in the art will appreciate that the communication device 600 may also include a power source (such as a battery) for supplying power to each component, and the power source may be logically connected to the processor 610 through a power management system, so that the power management system can manage charging, discharging, and power consumption management. The communication device structure shown in FIG8 does not constitute a limitation on the communication device, and the communication device may include more or fewer components than shown in the figure, or combine certain components, or arrange components differently, which will not be described in detail here.
应理解的是，本申请实施例中，输入单元604可以包括图形处理器(Graphics Processing Unit，GPU)6041和麦克风6042，图形处理器6041对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频的图像数据进行处理。显示单元606可包括显示面板6061，可以采用液晶显示器、有机发光二极管等形式来配置显示面板6061。用户输入单元607包括触控面板6071以及其他输入设备6072中的至少一种。触控面板 6071，也称为触摸屏。触控面板6071可包括触摸检测装置和触摸控制器两个部分。其他输入设备6072可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆，在此不再赘述。It should be understood that in the embodiment of the present application, the input unit 604 may include a graphics processing unit (GPU) 6041 and a microphone 6042, and the graphics processor 6041 processes the image data of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 606 may include a display panel 6061, which may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 607 includes a touch panel 6071 and at least one of other input devices 6072. Touch panel 6071, also called a touch screen. The touch panel 6071 may include a touch detection device and a touch controller. Other input devices 6072 may include but are not limited to a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be described in detail here.
本申请实施例中，射频单元601接收来自网络侧设备的下行数据后，可以传输给处理器610进行处理；另外，射频单元601可以向网络侧设备发送上行数据。通常，射频单元601包括但不限于天线、放大器、收发信机、耦合器、低噪声放大器、双工器等。In the embodiment of the present application, after receiving downlink data from the network side device, the RF unit 601 can transmit the data to the processor 610 for processing; in addition, the RF unit 601 can send uplink data to the network side device. Generally, the RF unit 601 includes but is not limited to an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.
存储器609可用于存储软件程序或指令以及各种数据。存储器609可主要包括存储程序或指令的第一存储区和存储数据的第二存储区，其中，第一存储区可存储操作***、至少一个功能所需的应用程序或指令(比如声音播放功能、图像播放功能等)等。此外，存储器609可以包括易失性存储器或非易失性存储器，或者，存储器609可以包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM，DDRSDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synch link DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DRRAM)。本申请实施例中的存储器609包括但不限于这些和任意其它适合类型的存储器。The memory 609 can be used to store software programs or instructions and various data. The memory 609 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instruction required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory 609 may include a volatile memory or a non-volatile memory, or the memory 609 may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM). The memory 609 in the embodiment of the present application includes but is not limited to these and any other suitable types of memories.
处理器610可包括一个或多个处理单元；可选地，处理器610集成应用处理器和调制解调处理器，其中，应用处理器主要处理涉及操作***、用户界面和应用程序等的操作，调制解调处理器主要处理无线通信信号，如基带处理器。可以理解的是，上述调制解调处理器也可以不集成到处理器610中。The processor 610 may include one or more processing units; optionally, the processor 610 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor 610.
其中，在所述通信设备为第一设备的情况下：Wherein, when the communication device is a first device:
处理器610用于：执行第一操作，所述第一操作包括如下任意一项：The processor 610 is configured to: execute a first operation, where the first operation includes any one of the following:
执行第一感知操作得到第一测量量，发送所述第一测量量；Performing a first sensing operation to obtain a first measurement value, and sending the first measurement value;
基于所述第一协作信息执行第一感知操作得到第三测量量；Performing a first sensing operation based on the first cooperation information to obtain a third measurement amount;
执行第一感知操作得到第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；Perform a first sensing operation to obtain a first measurement amount, and determine a third measurement amount based on the first cooperation information and the first measurement amount;
其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。The first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
可选地，所述执行第一操作之前，所述处理器610还用于如下任意一项：Optionally, before executing the first operation, the processor 610 is further configured to perform any of the following:
执行第二感知操作，得到所述第二测量量； Performing a second sensing operation to obtain the second measurement amount;
接收第二设备发送的所述第二测量量。The second measurement quantity sent by the second device is received.
可选地，射频单元601用于：接收第三设备发送的第一信息，所述第一信息包括如下至少一项：Optionally, the radio frequency unit 601 is used to: receive first information sent by a third device, where the first information includes at least one of the following:
感知需求信息；Perceive demand information;
感知协作相关信息；Perceive information related to collaboration;
第一信号配置，所述第一信号配置用于指示通信感知一体化感知操作相关的信号配置；A first signal configuration, wherein the first signal configuration is used to indicate a signal configuration related to a communication sensing integrated sensing operation;
第一测量配置，所述第一测量配置用于指示第一感知操作相关的测量配置；A first measurement configuration, where the first measurement configuration is used to indicate a measurement configuration related to a first sensing operation;
第二测量配置，所述第二测量配置用于指示第二感知操作相关的测量配置；a second measurement configuration, where the second measurement configuration is used to indicate a measurement configuration related to a second sensing operation;
第一报告配置，所述第一报告配置用于指示第一感知操作相关的报告配置；A first report configuration, where the first report configuration is used to indicate a report configuration related to the first perception operation;
第二报告配置，所述第二报告配置用于指示第二感知操作相关的报告配置；a second report configuration, where the second report configuration is used to indicate a report configuration related to a second perception operation;
第三报告配置，所述第三报告配置用于指示感知协作相关的报告配置；a third report configuration, the third report configuration being used to indicate a report configuration related to sensing collaboration;
第一测量启动指示，所述第一测量启动指示为所述第一测量配置对应的测量启动指示；a first measurement start indication, where the first measurement start indication is a measurement start indication corresponding to the first measurement configuration;
第二测量启动指示，所述第二测量启动指示为所述第二测量配置对应的测量启动指示；a second measurement start indication, where the second measurement start indication is a measurement start indication corresponding to the second measurement configuration;
第一报告启动指示，第一报告启动指示为所述第一报告配置对应的报告启动指示；A first report start indication, where the first report start indication is a report start indication corresponding to the first report configuration;
第二报告启动指示，第二报告启动指示为所述第二报告配置对应的报告启动指示；A second report start indication, where the second report start indication is a report start indication corresponding to the second report configuration;
第三报告启动指示，所述第三报告启动指示为第三报告配置对应的报告启动指示。A third report start indication, wherein the third report start indication is a report start indication corresponding to the third report configuration.
可选地，所述第一测量配置包括如下至少一项：Optionally, the first measurement configuration includes at least one of the following:
执行第一感知操作需获取的测量量的类型；感知测量的执行时间信息；The type of measurement quantity to be acquired for performing the first sensing operation; the execution time information of the sensing measurement;
或or
所述第二测量配置包括如下至少一项：The second measurement configuration includes at least one of the following:
执行第二感知操作需获取的测量量的类型；感知测量的执行时间信息。The type of measurement quantity required to perform the second perception operation; and the execution time information of the perception measurement.
可选地，所述感知测量的执行时间信息，包括如下至少一项：Optionally, the execution time information of the perception measurement includes at least one of the following:
周期测量；半持续测量；非周期测量。Periodic measurement; Semi-continuous measurement; Non-periodic measurement.
可选地，所述第一报告配置、第二报告配置和/或第三报告配置包括如下至少一项：Optionally, the first report configuration, the second report configuration and/or the third report configuration includes at least one of the following:
报告信息；报告执行时间信息；Report information; report execution time information;
其中，所述报告信息包括如下至少一项：The report information includes at least one of the following:
上报的测量量；感知操作执行时间；感知节点信息；感知链路信息；测量量转换矩阵；感知信号标识信息；测量量用途信息；测量量说明信息；测量量指标信息；感知业务信息；数据订阅标识；辅助信息。Reported measurement quantity; perception operation execution time; perception node information; perception link information; measurement quantity conversion matrix; perception signal identification information; measurement quantity usage information; measurement quantity description information; measurement quantity indicator information; perception service information; data subscription identification; auxiliary information.
可选地，所述报告执行时间信息包括如下至少一项：Optionally, the report execution time information includes at least one of the following:
周期上报；半持续上报；非周期上报。Periodic reporting; semi-continuous reporting; non-periodic reporting.
可选地，所述执行第一感知操作得到第一测量量，包括：Optionally, performing the first sensing operation to obtain the first measurement value includes:
在所述第一感知操作为通信感知一体化感知操作的情况下，基于所述第一测量配置和所述第一信号配置执行第一感知操作得到第一测量量；In a case where the first sensing operation is a communication sensing integrated sensing operation, performing a first sensing operation based on the first measurement configuration and the first signal configuration to obtain a first measurement amount;
或者 or
在所述第一感知操作为传感器感知操作的情况下，基于所述第一测量配置执行第一感知操作得到第一测量量。In the case where the first sensing operation is a sensor sensing operation, the first sensing operation is performed based on the first measurement configuration to obtain a first measurement quantity.
可选地，射频单元601还用于如下任意一项：Optionally, the radio frequency unit 601 is further used for any of the following:
接收第二设备基于所述第二报告配置发送的第二数据，并基于所述第二数据确定第一协作信息；receiving second data sent by the second device based on the second report configuration, and determining first collaboration information based on the second data;
接收第三设备发送的第二数据，并基于所述第二数据确定第一协作信息；receiving second data sent by a third device, and determining first collaboration information based on the second data;
接收第三设备发送的第一协作信息；Receiving first collaboration information sent by a third device;
处理器610还用于：执行第二感知操作得到第二测量量，基于所述第二测量量确定第一协作信息；The processor 610 is further configured to: perform a second sensing operation to obtain a second measurement amount, and determine first cooperation information based on the second measurement amount;
其中，所述第二数据包括所述第二测量量。The second data includes the second measurement quantity.
可选地，所述射频单元601还用于：基于所述第三报告配置向第三设备发送第三数据，所述第三数据包括所述第三测量量。Optionally, the radio frequency unit 601 is further configured to: send third data to a third device based on the third reporting configuration, where the third data includes the third measurement value.
可选地，所述感知协作相关信息用于指示如下至少一项：Optionally, the perceptual collaboration related information is used to indicate at least one of the following:
是否触发感知协作；Whether to trigger the perception collaboration;
第一感知操作的测量量类型；The type of measurement quantity of the first perceptual operation;
第一感知操作的测量量的QoS要求；The QoS requirements of the measured quantities of the first perception operation;
第二感知操作的测量量类型；The type of quantity measured in the second perceptual operation;
第二感知操作的测量量的QoS要求；The second is to perceive the QoS requirements of the measured quantity of the operation;
第一感知操作和/或第二感知操作的执行时间；execution time of the first sensing operation and/or the second sensing operation;
第一感知操作和/或第二感知操作的执行空间范围；An execution spatial range of the first perception operation and/or the second perception operation;
感知协作类型。Perceive the type of collaboration.
可选地，所述第一协作信息用于指示如下至少一项：Optionally, the first collaboration information is used to indicate at least one of the following:
感知目标对象的空间信息；Perceive the spatial information of the target object;
感知目标对象的运动信息；Perceive the motion information of the target object;
感知目标对象的空间信息对应的时间戳；The timestamp corresponding to the spatial information of the perceived target object;
感知目标对象的运动信息对应的时间戳；The timestamp corresponding to the motion information of the perceived target object;
感知目标对象是否存在；Sense whether the target object exists;
感知目标对象的数量；Perceive the number of target objects;
感知目标对象的类型；Perceive the type of target object;
感知目标对象的大小。Perceive the size of the target object.
可选地，在所述第一感知操作为通信感知一体化感知操作的情况下，所述第二感知操作为传感器感知操作；Optionally, when the first sensing operation is a communication sensing integrated sensing operation, the second sensing operation is a sensor sensing operation;
在所述第一感知操作为传感器感知操作的情况下，所述第二感知操作为通信感知一体化感知操作。In the case where the first sensing operation is a sensor sensing operation, the second sensing operation is a communication sensing integrated sensing operation.
其中，在所述通信设备为第二设备的情况下： Wherein, when the communication device is a second device:
处理器610用于：执行第二操作，所述第二操作包括如下任意一项：The processor 610 is configured to: perform a second operation, where the second operation includes any one of the following:
接收第一设备发送的第三测量量；receiving a third measurement quantity sent by the first device;
获取第一协作信息，并获取第一感知操作对应的第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；Acquire first cooperation information, and acquire a first measurement amount corresponding to the first sensing operation, and determine a third measurement amount based on the first cooperation information and the first measurement amount;
其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。The first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
可选地，射频单元601用于：向第一设备和/或第二设备发送第一信息，所述第一信息包括如下至少一项：Optionally, the radio frequency unit 601 is used to: send first information to the first device and/or the second device, where the first information includes at least one of the following:
感知需求信息；Perceive demand information;
感知协作相关信息；Perceive information related to collaboration;
第一信号配置，所述第一信号配置用于指示通信感知一体化感知操作相关的信号配置；A first signal configuration, wherein the first signal configuration is used to indicate a signal configuration related to a communication sensing integrated sensing operation;
第一测量配置，所述第一测量配置用于指示第一感知操作相关的测量配置；A first measurement configuration, where the first measurement configuration is used to indicate a measurement configuration related to a first sensing operation;
第二测量配置，所述第二测量配置用于指示第二感知操作相关的测量配置；a second measurement configuration, where the second measurement configuration is used to indicate a measurement configuration related to a second sensing operation;
第一报告配置，所述第一报告配置用于指示第一感知操作相关的报告配置；A first report configuration, where the first report configuration is used to indicate a report configuration related to the first perception operation;
第二报告配置，所述第二报告配置用于指示第二感知操作相关的报告配置；a second report configuration, where the second report configuration is used to indicate a report configuration related to a second perception operation;
第三报告配置，所述第三报告配置用于指示感知协作相关的报告配置；a third report configuration, the third report configuration being used to indicate a report configuration related to sensing collaboration;
第一测量启动指示，所述第一测量启动指示为所述第一测量配置对应的测量启动指示；a first measurement start indication, where the first measurement start indication is a measurement start indication corresponding to the first measurement configuration;
第二测量启动指示，所述第二测量启动指示为所述第二测量配置对应的测量启动指示；a second measurement start indication, where the second measurement start indication is a measurement start indication corresponding to the second measurement configuration;
第一报告启动指示，第一报告启动指示为所述第一报告配置对应的报告启动指示；A first report start indication, where the first report start indication is a report start indication corresponding to the first report configuration;
第二报告启动指示，第二报告启动指示为所述第二报告配置对应的报告启动指示；A second report start indication, where the second report start indication is a report start indication corresponding to the second report configuration;
第三报告启动指示，所述第三报告启动指示为第三报告配置对应的报告启动指示。A third report start indication, wherein the third report start indication is a report start indication corresponding to the third report configuration.
可选地，处理器610还用于：根据获取的感知节点的第二信息及感知协作相关信息确定第三信息；Optionally, the processor 610 is further configured to: determine third information according to the acquired second information of the sensing node and the sensing cooperation related information;
其中，所述感知节点包括第一设备和/或第二设备；Wherein, the sensing node includes a first device and/or a second device;
所述第三信息包括如下至少一项：The third information includes at least one of the following:
第一设备的标识；an identifier of the first device;
第二设备的标识；an identification of the second device;
第一信号配置；First signal configuration;
第一测量配置；A first measurement configuration;
第一报告配置；First report configuration;
第二测量配置；Second measurement configuration;
第二报告配置；Second report configuration;
第三报告配置。Third report configuration.
可选地，处理器610还用于：获取感知节点的第二信息； Optionally, the processor 610 is further configured to: obtain second information of the sensing node;
其中，所述第二信息包括如下至少一项：The second information includes at least one of the following:
感知节点信息；Perceive node information;
感知节点的感知能力信息；The sensing capability information of the sensing node;
感知权限信息。Perceive permission information.
可选地，所述感知节点信息用于指示如下至少一项：Optionally, the sensing node information is used to indicate at least one of the following:
感知节点的标识；感知节点的类型；感知节点的位置；感知节点的朝向；感知节点的移动速度。The identification of the sensing node; the type of the sensing node; the location of the sensing node; the orientation of the sensing node; the moving speed of the sensing node.
可选地，所述获取第一协作信息，包括：接收第二设备基于所述第二报告配置发送的第二数据，并基于所述第二数据确定第一协作信息，所述第二数据包括所述第二测量量；Optionally, the acquiring the first cooperation information includes: receiving second data sent by the second device based on the second report configuration, and determining the first cooperation information based on the second data, where the second data includes the second measurement amount;
和/或and / or
所述获取第一感知操作对应的第一测量量，包括：接收第一设备基于所述第一报告配置发送的第一数据，所述第一数据包括第一感知操作对应的第一测量量。The obtaining of the first measurement quantity corresponding to the first perceptual operation includes: receiving first data sent by the first device based on the first report configuration, where the first data includes the first measurement quantity corresponding to the first perceptual operation.
可选地，所述接收第一设备发送的第三测量量，包括：接收第一设备基于所述第三报告配置发送的第三数据，所述第三数据包括所述第三测量量；Optionally, the receiving a third measurement amount sent by the first device includes: receiving third data sent by the first device based on the third reporting configuration, where the third data includes the third measurement amount;
和/或and / or
所述接收第一设备发送的第三测量量之前，所述射频单元601用于如下至少一项：Before receiving the third measurement value sent by the first device, the radio frequency unit 601 is used for at least one of the following:
向所述第一设备发送第一协作信息；Sending first collaboration information to the first device;
接收第二设备基于所述第二报告配置发送的第二数据，并向所述第一设备发送所述第二数据，所述第二数据包括所述第二测量量。Second data sent by a second device based on the second reporting configuration is received, and the second data is sent to the first device, where the second data includes the second measurement quantity.
本申请实施例中，通过第二感知操作协作第一感知操作获取与感知需求对应的测量量，通过不同类型的感知操作提供协助，能够满足感知需求并提高感知***的感知性能。In the embodiment of the present application, the second perception operation is cooperated with the first perception operation to obtain the measurement quantity corresponding to the perception requirement, and assistance is provided by different types of perception operations, which can meet the perception requirement and improve the perception performance of the perception system.
本申请实施例还提供一种通信设备，该通信设备为第一设备，或者第三设备。该通信设备可以为网络侧设备。如图9所示，该通信设备700包括：天线701、射频装置702、基带装置703、处理器704和存储器705。天线701与射频装置702连接。在上行方向上，射频装置702通过天线701接收信息，将接收的信息发送给基带装置703进行处理。在下行方向上，基带装置703对要发送的信息进行处理，并发送给射频装置702，射频装置702对收到的信息进行处理后经过天线701发送出去。The embodiment of the present application also provides a communication device, which is a first device or a third device. The communication device can be a network side device. As shown in Figure 9, the communication device 700 includes: an antenna 701, a radio frequency device 702, a baseband device 703, a processor 704 and a memory 705. The antenna 701 is connected to the radio frequency device 702. In the uplink direction, the radio frequency device 702 receives information through the antenna 701 and sends the received information to the baseband device 703 for processing. In the downlink direction, the baseband device 703 processes the information to be sent and sends it to the radio frequency device 702. The radio frequency device 702 processes the received information and sends it out through the antenna 701.
以上实施例中通信设备执行的方法可以在基带装置703中实现，该基带装置703包括基带处理器。The method executed by the communication device in the above embodiment may be implemented in the baseband device 703, which includes a baseband processor.
基带装置703例如可以包括至少一个基带板，该基带板上设置有多个芯片，如图9所示，其中一个芯片例如为基带处理器，通过总线接口与存储器705连接，以调用存储器705中的程序，执行以上方法实施例中所示的网络设备操作。The baseband device 703 may include, for example, at least one baseband board, on which multiple chips are arranged, as shown in Figure 9, one of which is, for example, a baseband processor, which is connected to the memory 705 through a bus interface to call the program in the memory 705 and execute the network device operations shown in the above method embodiment.
该通信设备还可以包括网络接口706，该接口例如为通用公共无线接口(common public radio interface，CPRI)。The communication device may also include a network interface 706, which is, for example, a common public radio interface (CPRI).
具体地，本申请实施例的通信设备700还包括：存储在存储器705上并可在处理器 704上运行的指令或程序，处理器704调用存储器705中的指令或程序执行图5或图6所示各模块执行的方法，并达到相同的技术效果，为避免重复，故不在此赘述。Specifically, the communication device 700 of the embodiment of the present application further includes: a memory 705 and a processor The instructions or programs running on 704, the processor 704 calls the instructions or programs in the memory 705 to execute the methods executed by each module shown in Figure 5 or Figure 6, and achieves the same technical effect, so it is not repeated here to avoid repetition.
本申请实施例还提供一种可读存储介质，所述可读存储介质上存储有程序或指令，该程序或指令被处理器执行时实现上述的感知协作方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned perception collaboration method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.
其中，所述处理器为上述实施例中所述的终端中的处理器。所述可读存储介质，可以是非易失性的，也可以是非瞬态的。可读存储介质可以包括计算机可读存储介质，如计算机只读存储器ROM、随机存取存储器RAM、磁碟或者光盘等。The processor is the processor in the terminal described in the above embodiment. The readable storage medium may be non-volatile or non-transient. The readable storage medium may include a computer-readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.
本申请实施例另提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现上述感知协作方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned perception collaboration method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.
应理解，本申请实施例提到的芯片还可以称为***级芯片，***芯片，芯片***或片上***芯片等。It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.
本申请实施例另提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现上述感知协作方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。The embodiments of the present application further provide a computer program/program product, which is stored in a storage medium and is executed by at least one processor to implement the various processes of the above-mentioned perceptual collaboration method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.
本申请实施例还提供了一种感知协作***，包括：第一设备及第三设备，所述第一设备可用于执行如上所述应用于第一设备的感知协作方法的步骤，第三设备可用于执行如上所述的应用于第三设备的感知协作方法的步骤。An embodiment of the present application also provides a perception collaboration system, including: a first device and a third device, wherein the first device can be used to execute the steps of the perception collaboration method applied to the first device as described above, and the third device can be used to execute the steps of the perception collaboration method applied to the third device as described above.
需要说明的是，本申请的说明书和权利要求书中的术语“指示”既可以是一个明确的指示，也可以是一个隐含的指示。其中，明确的指示可以理解为，发送方在发送的指示中明确告知了接收方需要执行的操作或请求结果；隐含的指示可以理解为，接收方根据发送方发送的指示进行判断，根据判断结果确定需要执行的操作或请求结果。在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。It should be noted that the term "indication" in the specification and claims of the present application can be either an explicit indication or an implicit indication. Among them, an explicit indication can be understood as the sender explicitly informing the receiver of the operation to be performed or the request result in the sent indication; an implicit indication can be understood as the receiver making a judgment based on the indication sent by the sender, and determining the operation to be performed or the request result based on the judgment result. In this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "including one..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对相关技术做出贡 献的部分可以以计算机软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，空调器，或者网络设备等)执行本申请各个实施例所述的方法。Through the above description of the implementation methods, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform, or by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application essentially or in other words contributes to the relevant technology. The disclosed part may be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present application.
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。 The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims (24)

  1. 一种感知协作方法，包括：A perceptual collaboration approach, including:
    第一设备获取第一协作信息；The first device obtains first collaboration information;
    所述第一设备执行第一操作，所述第一操作包括如下任意一项：The first device performs a first operation, where the first operation includes any one of the following:
    执行第一感知操作得到第一测量量，发送所述第一测量量；Performing a first sensing operation to obtain a first measurement value, and sending the first measurement value;
    基于所述第一协作信息执行第一感知操作得到第三测量量；Performing a first sensing operation based on the first cooperation information to obtain a third measurement amount;
    执行第一感知操作得到第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；Perform a first sensing operation to obtain a first measurement amount, and determine a third measurement amount based on the first cooperation information and the first measurement amount;
    其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。The first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
  2. 根据权利要求1所述的方法，其中，所述第一设备执行第一操作之前，所述方法还包括如下任意一项：The method according to claim 1, wherein before the first device performs the first operation, the method further comprises any one of the following:
    第一设备执行第二感知操作，得到所述第二测量量；The first device performs a second sensing operation to obtain the second measurement amount;
    所述第一设备接收第二设备发送的所述第二测量量。The first device receives the second measurement quantity sent by the second device.
  3. 根据权利要求1或2所述的方法，其中，所述方法还包括：The method according to claim 1 or 2, wherein the method further comprises:
    所述第一设备接收第三设备发送的第一信息，所述第一信息包括如下至少一项：The first device receives first information sent by a third device, where the first information includes at least one of the following:
    感知需求信息；Perceive demand information;
    感知协作相关信息；Perceive information related to collaboration;
    第一信号配置，所述第一信号配置用于指示通信感知一体化感知操作相关的信号配置；A first signal configuration, wherein the first signal configuration is used to indicate a signal configuration related to a communication sensing integrated sensing operation;
    第一测量配置，所述第一测量配置用于指示第一感知操作相关的测量配置；A first measurement configuration, where the first measurement configuration is used to indicate a measurement configuration related to a first sensing operation;
    第二测量配置，所述第二测量配置用于指示第二感知操作相关的测量配置；a second measurement configuration, where the second measurement configuration is used to indicate a measurement configuration related to a second sensing operation;
    第一报告配置，所述第一报告配置用于指示第一感知操作相关的报告配置；A first report configuration, where the first report configuration is used to indicate a report configuration related to the first perception operation;
    第二报告配置，所述第二报告配置用于指示第二感知操作相关的报告配置；a second report configuration, where the second report configuration is used to indicate a report configuration related to a second perception operation;
    第三报告配置，所述第三报告配置用于指示感知协作相关的报告配置；a third report configuration, the third report configuration being used to indicate a report configuration related to sensing collaboration;
    第一测量启动指示，所述第一测量启动指示为所述第一测量配置对应的测量启动指示；a first measurement start indication, where the first measurement start indication is a measurement start indication corresponding to the first measurement configuration;
    第二测量启动指示，所述第二测量启动指示为所述第二测量配置对应的测量启动指示；a second measurement start indication, where the second measurement start indication is a measurement start indication corresponding to the second measurement configuration;
    第一报告启动指示，第一报告启动指示为所述第一报告配置对应的报告启动指示；A first report start indication, where the first report start indication is a report start indication corresponding to the first report configuration;
    第二报告启动指示，第二报告启动指示为所述第二报告配置对应的报告启动指示；A second report start indication, where the second report start indication is a report start indication corresponding to the second report configuration;
    第三报告启动指示，所述第三报告启动指示为第三报告配置对应的报告启动指示。A third report start indication, wherein the third report start indication is a report start indication corresponding to the third report configuration.
  4. 根据权利要求3所述的方法，其中，所述第一测量配置包括如下至少一项：The method according to claim 3, wherein the first measurement configuration comprises at least one of the following:
    执行第一感知操作需获取的测量量的类型；感知测量的执行时间信息；The type of measurement quantity to be acquired for performing the first sensing operation; the execution time information of the sensing measurement;
    或or
    所述第二测量配置包括如下至少一项：The second measurement configuration includes at least one of the following:
    执行第二感知操作需获取的测量量的类型；感知测量的执行时间信息。 The type of measurement quantity required to perform the second perception operation; and the execution time information of the perception measurement.
  5. 根据权利要求4所述的方法，其中，所述感知测量的执行时间信息，包括如下至少一项：The method according to claim 4, wherein the execution time information of the perceptual measurement includes at least one of the following:
    周期测量；半持续测量；非周期测量。Periodic measurement; Semi-continuous measurement; Non-periodic measurement.
  6. 根据权利要求3所述的方法，其中，所述第一报告配置、第二报告配置和/或第三报告配置包括如下至少一项：The method according to claim 3, wherein the first report configuration, the second report configuration and/or the third report configuration comprises at least one of the following:
    报告信息；报告执行时间信息；Report information; report execution time information;
    其中，所述报告信息包括如下至少一项：The report information includes at least one of the following:
    上报的测量量；感知操作执行时间；感知节点信息；感知链路信息；测量量转换矩阵；感知信号标识信息；测量量用途信息；测量量说明信息；测量量指标信息；感知业务信息；数据订阅标识；辅助信息。Reported measurement quantity; perception operation execution time; perception node information; perception link information; measurement quantity conversion matrix; perception signal identification information; measurement quantity usage information; measurement quantity description information; measurement quantity indicator information; perception service information; data subscription identification; auxiliary information.
  7. 根据权利要求6所述的方法，其中，所述报告执行时间信息包括如下至少一项：The method according to claim 6, wherein the report execution time information includes at least one of the following:
    周期上报；半持续上报；非周期上报。Periodic reporting; semi-continuous reporting; non-periodic reporting.
  8. 根据权利要求3所述的方法，其中，所述第一设备获取第一协作信息，包括如下任意一项：The method according to claim 3, wherein the first device obtains the first collaboration information, including any one of the following:
    所述第一设备接收第二设备基于所述第二报告配置发送的第二数据，并基于所述第二数据确定第一协作信息；The first device receives second data sent by the second device based on the second report configuration, and determines first collaboration information based on the second data;
    所述第一设备接收第三设备发送的第二数据，并基于所述第二数据确定第一协作信息；The first device receives second data sent by the third device, and determines first collaboration information based on the second data;
    所述第一设备接收第三设备发送的第一协作信息；The first device receives first collaboration information sent by a third device;
    所述第一设备执行第二感知操作得到第二测量量，基于所述第二测量量确定第一协作信息；The first device performs a second sensing operation to obtain a second measurement amount, and determines first cooperation information based on the second measurement amount;
    其中，所述第二数据包括所述第二测量量。The second data includes the second measurement quantity.
  9. 根据权利要求3所述的方法，其中，所述方法还包括：The method according to claim 3, wherein the method further comprises:
    基于所述第三报告配置向第三设备发送第三数据，所述第三数据包括所述第三测量量。Send third data to a third device based on the third reporting configuration, where the third data includes the third measurement quantity.
  10. 根据权利要求3所述的方法，其中，所述感知协作相关信息用于指示如下至少一项：The method according to claim 3, wherein the perceptual collaboration related information is used to indicate at least one of the following:
    是否触发感知协作；Whether to trigger the perception collaboration;
    第一感知操作的测量量类型；The type of measurement quantity of the first perceptual operation;
    第一感知操作的测量量的QoS要求；The QoS requirements of the measured quantities of the first perception operation;
    第二感知操作的测量量类型；The type of quantity measured in the second perceptual operation;
    第二感知操作的测量量的QoS要求；The second is to perceive the QoS requirements of the measured quantity of the operation;
    第一感知操作和/或第二感知操作的执行时间；execution time of the first sensing operation and/or the second sensing operation;
    第一感知操作和/或第二感知操作的执行空间范围；An execution spatial range of the first perception operation and/or the second perception operation;
    感知协作类型。Perceive the type of collaboration.
  11. 根据权利要求1、2、4-10中任一项所述的方法，其中，所述第一协作信息用于指示如下至少一项： The method according to any one of claims 1, 2, 4-10, wherein the first collaboration information is used to indicate at least one of the following:
    感知目标对象的空间信息；Perceive the spatial information of the target object;
    感知目标对象的运动信息；Perceive the motion information of the target object;
    感知目标对象的空间信息对应的时间戳；The timestamp corresponding to the spatial information of the perceived target object;
    感知目标对象的运动信息对应的时间戳；The timestamp corresponding to the motion information of the perceived target object;
    感知目标对象是否存在；Sense whether the target object exists;
    感知目标对象的数量；Perceive the number of target objects;
    感知目标对象的类型；Perceive the type of target object;
    感知目标对象的大小。Perceive the size of the target object.
  12. 根据权利要求1、2、4-10中任一项所述的方法，其中，在所述第一感知操作为通信感知一体化感知操作的情况下，所述第二感知操作为传感器感知操作；The method according to any one of claims 1, 2, 4-10, wherein, in the case where the first sensing operation is a communication sensing integrated sensing operation, the second sensing operation is a sensor sensing operation;
    或，or,
    在所述第一感知操作为传感器感知操作的情况下，所述第二感知操作为通信感知一体化感知操作。In the case where the first sensing operation is a sensor sensing operation, the second sensing operation is a communication sensing integrated sensing operation.
  13. 一种感知协作方法，包括：A perceptual collaboration approach, including:
    第三设备执行第二操作，所述第二操作包括如下任意一项：The third device performs a second operation, where the second operation includes any one of the following:
    接收第一设备发送的第三测量量；receiving a third measurement quantity sent by the first device;
    获取第一协作信息，并获取第一感知操作对应的第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；Acquire first cooperation information, and acquire a first measurement amount corresponding to the first sensing operation, and determine a third measurement amount based on the first cooperation information and the first measurement amount;
    其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。The first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
  14. 根据权利要求13所述的方法，其中，所述方法还包括：The method according to claim 13, wherein the method further comprises:
    所述第三设备向第一设备和/或第二设备发送第一信息，所述第一信息包括如下至少一项：The third device sends first information to the first device and/or the second device, where the first information includes at least one of the following:
    感知需求信息；Perceive demand information;
    感知协作相关信息；Perceive information related to collaboration;
    第一信号配置，所述第一信号配置用于指示通信感知一体化感知操作相关的信号配置；A first signal configuration, wherein the first signal configuration is used to indicate a signal configuration related to a communication sensing integrated sensing operation;
    第一测量配置，所述第一测量配置用于指示第一感知操作相关的测量配置；A first measurement configuration, where the first measurement configuration is used to indicate a measurement configuration related to a first sensing operation;
    第二测量配置，所述第二测量配置用于指示第二感知操作相关的测量配置；a second measurement configuration, where the second measurement configuration is used to indicate a measurement configuration related to a second sensing operation;
    第一报告配置，所述第一报告配置用于指示第一感知操作相关的报告配置；A first report configuration, where the first report configuration is used to indicate a report configuration related to the first perception operation;
    第二报告配置，所述第二报告配置用于指示第二感知操作相关的报告配置；a second report configuration, where the second report configuration is used to indicate a report configuration related to a second perception operation;
    第三报告配置，所述第三报告配置用于指示感知协作相关的报告配置；a third report configuration, the third report configuration being used to indicate a report configuration related to sensing collaboration;
    第一测量启动指示，所述第一测量启动指示为所述第一测量配置对应的测量启动指示；a first measurement start indication, where the first measurement start indication is a measurement start indication corresponding to the first measurement configuration;
    第二测量启动指示，所述第二测量启动指示为所述第二测量配置对应的测量启动指示；a second measurement start indication, where the second measurement start indication is a measurement start indication corresponding to the second measurement configuration;
    第一报告启动指示，第一报告启动指示为所述第一报告配置对应的报告启动指示； A first report start indication, where the first report start indication is a report start indication corresponding to the first report configuration;
    第二报告启动指示，第二报告启动指示为所述第二报告配置对应的报告启动指示；A second report start indication, where the second report start indication is a report start indication corresponding to the second report configuration;
    第三报告启动指示，所述第三报告启动指示为第三报告配置对应的报告启动指示。A third report start indication, wherein the third report start indication is a report start indication corresponding to the third report configuration.
  15. 根据权利要求14所述的方法，其中，所述方法还包括：The method according to claim 14, wherein the method further comprises:
    所述第三设备根据获取的感知节点的第二信息及感知协作相关信息确定第三信息；The third device determines the third information according to the acquired second information of the sensing node and the sensing cooperation related information;
    其中，所述感知节点包括第一设备和/或第二设备；Wherein, the sensing node includes a first device and/or a second device;
    所述第三信息包括如下至少一项：The third information includes at least one of the following:
    第一设备的标识；an identifier of the first device;
    第二设备的标识；an identification of the second device;
    第一信号配置；First signal configuration;
    第一测量配置；A first measurement configuration;
    第一报告配置；First report configuration;
    第二测量配置；Second measurement configuration;
    第二报告配置；Second report configuration;
    第三报告配置。Third report configuration.
  16. 根据权利要求15所述的方法，其中，所述方法还包括：The method according to claim 15, wherein the method further comprises:
    所述第三设备获取感知节点的第二信息；The third device obtains the second information of the sensing node;
    其中，所述第二信息包括如下至少一项：The second information includes at least one of the following:
    感知节点信息；Perceive node information;
    感知节点的感知能力信息；The sensing capability information of the sensing node;
    感知权限信息。Perceive permission information.
  17. 根据权利要求16所述的方法，其中，所述感知节点信息用于指示如下至少一项：The method according to claim 16, wherein the sensing node information is used to indicate at least one of the following:
    感知节点的标识；感知节点的类型；感知节点的位置；感知节点的朝向；感知节点的移动速度。The identification of the sensing node; the type of the sensing node; the location of the sensing node; the orientation of the sensing node; the moving speed of the sensing node.
  18. 根据权利要求14-17中任一项所述的方法，其中，所述获取第一协作信息，包括：接收第二设备基于所述第二报告配置发送的第二数据，并基于所述第二数据确定第一协作信息，所述第二数据包括所述第二测量量；The method according to any one of claims 14 to 17, wherein the acquiring the first cooperation information comprises: receiving second data sent by the second device based on the second report configuration, and determining the first cooperation information based on the second data, wherein the second data comprises the second measurement amount;
    和/或and / or
    所述获取第一感知操作对应的第一测量量，包括：接收第一设备基于所述第一报告配置发送的第一数据，所述第一数据包括第一感知操作对应的第一测量量。The obtaining of the first measurement quantity corresponding to the first perceptual operation includes: receiving first data sent by the first device based on the first report configuration, where the first data includes the first measurement quantity corresponding to the first perceptual operation.
  19. 根据权利要求14-17中任一项所述的方法，其中，所述接收第一设备发送的第三测量量，包括：接收第一设备基于所述第三报告配置发送的第三数据，所述第三数据包括所述第三测量量。The method according to any one of claims 14 to 17, wherein the receiving the third measurement quantity sent by the first device comprises: receiving third data sent by the first device based on the third reporting configuration, the third data comprising the third measurement quantity.
  20. 根据权利要求14-17中任一项所述的方法，其中，所述接收第一设备发送的第三测量量之前，所述方法还包括如下至少一项：The method according to any one of claims 14 to 17, wherein, before receiving the third measurement value sent by the first device, the method further comprises at least one of the following:
    向所述第一设备发送第一协作信息； Sending first collaboration information to the first device;
    接收第二设备基于所述第二报告配置发送的第二数据，并向所述第一设备发送所述第二数据，所述第二数据包括所述第二测量量。Second data sent by a second device based on the second reporting configuration is received, and the second data is sent to the first device, where the second data includes the second measurement quantity.
  21. 一种感知协作装置，第一设备包括所述感知协作装置，所述装置包括：A perception cooperation device, wherein a first device comprises the perception cooperation device, and the device comprises:
    第一获取模块，用于获取第一协作信息；A first acquisition module, used to acquire first collaboration information;
    执行模块，用于执行第一操作，所述第一操作包括如下任意一项：The execution module is used to execute a first operation, where the first operation includes any one of the following:
    执行第一感知操作得到第一测量量，发送所述第一测量量；Performing a first sensing operation to obtain a first measurement value, and sending the first measurement value;
    基于所述第一协作信息执行第一感知操作得到第三测量量；Performing a first sensing operation based on the first cooperation information to obtain a third measurement amount;
    执行第一感知操作得到第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；Perform a first sensing operation to obtain a first measurement amount, and determine a third measurement amount based on the first cooperation information and the first measurement amount;
    其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。The first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
  22. 一种感知协作装置，第三设备包括所述感知协作装置，所述装置包括：A perception cooperation device, wherein a third device includes the perception cooperation device, and the device includes:
    执行模块，用于执行第二操作，所述第二操作包括如下任意一项：The execution module is used to execute a second operation, where the second operation includes any one of the following:
    接收第一设备发送的第三测量量；receiving a third measurement quantity sent by the first device;
    获取第一协作信息，并获取第一感知操作对应的第一测量量，基于所述第一协作信息和所述第一测量量确定第三测量量；Acquire first cooperation information, and acquire a first measurement amount corresponding to the first sensing operation, and determine a third measurement amount based on the first cooperation information and the first measurement amount;
    其中，所述第一协作信息基于第二感知操作对应的第二测量量确定，所述第一感知操作和所述第二感知操作属于不同的感知操作类型，所述第三测量量为与感知需求对应的测量量。The first collaboration information is determined based on a second measurement quantity corresponding to a second perception operation, the first perception operation and the second perception operation belong to different perception operation types, and the third measurement quantity is a measurement quantity corresponding to a perception requirement.
  23. 一种通信设备，包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1-12任一项所述的感知协作方法的步骤，或者实现如权利要求13-20任一项所述的感知协作方法的步骤。A communication device comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the perceptual collaboration method as described in any one of claims 1 to 12 are implemented, or the steps of the perceptual collaboration method as described in any one of claims 13 to 20 are implemented.
  24. 一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求1-12任一项所述的感知协作方法的步骤，或者实现如权利要求13-20任一项所述的感知协作方法的步骤。 A readable storage medium storing a program or instruction, wherein the program or instruction, when executed by a processor, implements the steps of the perceptual collaboration method as described in any one of claims 1 to 12, or implements the steps of the perceptual collaboration method as described in any one of claims 13 to 20.
PCT/CN2023/139737 2022-12-23 2023-12-19 Sensing collaboration method and apparatus, and communication device WO2024131761A1 (en)

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