WO2023174342A1 - Perception processing method and apparatus, and communication device and readable storage medium - Google Patents

Abstract

The present application belongs to the technical field of communications. Disclosed are a perception processing method and apparatus, and a communication device and a readable storage medium. The perception processing method in the embodiments of the present application comprises: a first device acquiring a first index, wherein the first index is used for indicating the perception performance of a perception object; and the first device adjusting a perception updating period according to the first index, wherein one perception updating period comprises at least one perception frame period used for perceiving the perception object.

Description

Translated fromChinese

感知处理方法、装置、通信设备及可读存储介质Perception processing method, device, communication equipment and readable storage medium

相关申请的交叉引用Cross-references to related applications

本申请主张在2022年3月18日在中国提交的中国专利申请No.202210273462.5的优先权，其全部内容通过引用包含于此。This application claims priority from Chinese Patent Application No. 202210273462.5 filed in China on March 18, 2022, the entire content of which is incorporated herein by reference.

技术领域Technical field

本申请属于通信技术领域，具体涉及一种感知处理方法、装置、通信设备及可读存储介质。This application belongs to the field of communication technology, and specifically relates to a sensing processing method, device, communication equipment and readable storage medium.

背景技术Background technique

随着通信技术的发展，在通信系统中，可以实现通感一体化。通感一体化场景中同时存在通信和感知两种类型的业务，目前，在传统的感知场景中，通常采用固定的感知时间资源分配方式。在通感一体化场景下，存在通信业务和/或一个或多个感知业务，且通信负荷或感知场景在不断变化，采用固定的感知时间资源分配方式容易造成时间资源冗余或者无法满足感知性能需求。With the development of communication technology, synaesthesia integration can be realized in communication systems. In the integrated synaesthesia scenario, there are two types of services: communication and perception. Currently, in traditional perception scenarios, a fixed perception time resource allocation method is usually used. In a synesthesia integration scenario, there are communication services and/or one or more perception services, and the communication load or perception scenarios are constantly changing. Using a fixed perception time resource allocation method may easily cause time resource redundancy or fail to meet the perception performance. need.

发明内容Contents of the invention

本申请实施例提供一种感知处理方法、装置、通信设备及可读存储介质，能够在满足感知性能需求的情况下，最小化感知对时间资源的占用。Embodiments of the present application provide a sensing processing method, device, communication device, and readable storage medium, which can minimize the occupation of time resources by sensing while meeting sensing performance requirements.

第一方面，提供了一种感知处理方法，包括：The first aspect provides a perceptual processing method, including:

第一设备获取第一指标，所述第一指标用于表示对感知对象的感知性能；The first device acquires a first indicator, where the first indicator is used to represent the perceptual performance of the perceptual object;

所述第一设备根据所述第一指标调整感知更新周期，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期。The first device adjusts a sensing update period according to the first indicator, and one of the sensing update periods includes at least one sensing frame period for sensing the sensing object.

第二方面，提供了一种感知处理方法，包括：The second aspect provides a perception processing method, including:

在第一设备根据第一指标对感知更新周期进行调整的情况下，第二设备从所述第一设备接收第一指示信息，所述第一指标用于表示对感知对象的感知性能，所述第一指示信息用于指示调整后的感知更新周期的时长，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期；When the first device adjusts the sensing update cycle according to a first indicator, the second device receives first indication information from the first device, and the first indicator is used to represent the sensing performance of the sensing object, and the second device receives the first indication information from the first device. The first indication information is used to indicate the length of the adjusted sensing update period, and one of the sensing update periods includes at least one sensing frame period for sensing the sensing object;

其中，所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备和感知功能网元中的至少一项。Wherein, when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; the first device is a sensing node. In the case of a receiving device, the second device includes at least one of a sending device in a sensing node and a sensing function network element; when the first device is a sending device in a sensing node, the second device The device includes at least one of a receiving device in a sensing node and a sensing function network element.

第三方面，提供了一种感知处理装置，应用于第一设备，包括：In a third aspect, a perception processing device is provided, applied to the first device, including:

获取模块，用于获取第一指标，所述第一指标用于表示对感知对象的感知性能；An acquisition module, configured to acquire a first indicator, where the first indicator is used to represent the perceptual performance of the perceptual object;

调整模块，用于根据所述第一指标调整感知更新周期，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期。An adjustment module, configured to adjust a perception update period according to the first indicator. One of the perception update periods includes at least one perception frame period for sensing the perception object.

第四方面，提供了一种感知处理装置，应用于第二设备，包括：In a fourth aspect, a perception processing device is provided, applied to a second device, including:

第一接收模块，用于在第一设备根据第一指标对感知更新周期进行调整的情况下，第二设备从所述第一设备接收第一指示信息，所述第一指标用于表示对感知对象的感知性能，所述第一指示信息用于指示调整后的感知更新周期的时长，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期；A first receiving module configured to, when the first device adjusts the perception update cycle according to a first indicator, the second device receive first indication information from the first device, the first indicator being used to represent the perception update period. Perception performance of the object, the first indication information is used to indicate the length of the adjusted perception update cycle, and one of the perception update cycles includes at least one perception frame period for perceiving the perception object;

其中，所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备和感知功能网元中的至少一项。Wherein, when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; the first device is a sensing node. In the case of a receiving device, the second device includes at least one of a sending device in a sensing node and a sensing function network element; when the first device is a sending device in a sensing node, the second device The device includes at least one of a receiving device in a sensing node and a sensing function network element.

第五方面，提供了一种通信设备，该终端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 a fifth aspect, a communication device is provided. The terminal includes a processor and a memory. The memory stores programs or instructions that can be run on the processor. When the program or instructions are executed by the processor, the following is implemented: The steps of the method described in the first aspect, or the steps of implementing the method described in the second aspect.

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，在所述通信设备为第一设备时，所述通信接口用于获取第一指标，所述第一指标用于表示对感知对象的感知性能；所述处理器用于根据所述第一指标调整感知更新周期，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期；In a sixth aspect, a communication device is provided, including a processor and a communication interface, wherein when the communication device is a first device, the communication interface is used to obtain a first indicator, and the first indicator Used to represent the sensing performance of the sensing object; the processor is configured to adjust the sensing update period according to the first indicator, and one of the sensing update cycles includes at least one sensing frame period for sensing the sensing object;

或者，在所述通信设备为第二设备时，所述通信接口用于在第一设备根据第一指标对感知更新周期进行调整的情况下，从所述第一设备接收第一指示信息，所述第一指标用于表示对感知对象的感知性能，所述第一指示信息用于指示调整后的感知更新周期的时长，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期；Or, when the communication device is a second device, the communication interface is used to receive the first indication information from the first device when the first device adjusts the sensing update cycle according to the first indicator, so The first indicator is used to represent the sensing performance of the sensing object, and the first indication information is used to indicate the length of the adjusted sensing update cycle. One of the sensing update cycles includes at least one for performing sensing on the sensing object. Perceived perceptual frame period;

其中，所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备和感知功能网元中的至少一项。Wherein, when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; the first device is a sensing node. In the case of a receiving device, the second device includes at least one of a sending device in a sensing node and a sensing function network element; when the first device is a sending device in a sensing node, the second device The device includes at least one of a receiving device in a sensing node and a sensing function network element.

第七方面，提供了一种通信系统，包括：第一设备及第二设备，所述第一设备可用于执行如第一方面所述的感知处理方法的步骤，所述第二设备可用于执行如第二方面所述的感知处理方法的步骤。A seventh aspect provides a communication system, including: a first device and a second device. The first device can be used to perform the steps of the perception processing method as described in the first aspect. The second device can be used to perform The steps of the perception processing method described in the second aspect.

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. Programs or instructions are stored on the readable storage medium. When the programs or instructions are executed by a processor, the steps of the method described in the first aspect are implemented, or the steps of the method are implemented as described in the first aspect. The steps of the method described in the second aspect.

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的步骤，或实现如第二方面所述的方法的步骤。In a ninth aspect, a chip is provided. The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the method described in the first aspect. steps, or steps to implement the method described in the second aspect.

第十方面，提供了一种计算机程序产品，所述计算机程序产品被存储在存储介质中，所述计算机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，或实现如第二方面所述的方法的步骤。In a tenth aspect, a computer program product is provided, the computer program product is stored in a storage medium, and the computer program product is executed by at least one processor to implement the steps of the method as described in the first aspect, or to implement The steps of the method as described in the second aspect.

本申请实施例中，第一设备获取第一指标，所述第一指标用于表示对感知对象的感知性能；所述第一设备根据所述第一指标调整感知更新周期，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期。这样，可以根据感知环境的变化基于第一指标灵活调整感知更新周期，从而可以在满足感知性能需求的情况下，最小化感知对时间资源的占用。In this embodiment of the present application, the first device obtains a first indicator, and the first indicator is used to represent the perceptual performance of the perceptual object; the first device adjusts the perceptual update cycle according to the first indicator, and one of the perceptual updates The period includes at least one sensing frame for sensing the sensing object. cycle. In this way, the sensing update cycle can be flexibly adjusted based on the first indicator according to changes in the sensing environment, thereby minimizing the occupation of time resources by sensing while meeting sensing performance requirements.

附图说明Description of the drawings

图1是本申请实施例可应用的一种网络系统的结构图。Figure 1 is a structural diagram of a network system to which embodiments of the present application can be applied.

图2是本申请实施例提供的一种感知处理方法的流程示意图；Figure 2 is a schematic flowchart of a perception processing method provided by an embodiment of the present application;

图3A至图3C是本申请实施例提供的一种感知处理方法中感知更新周期的不同时长的示例图；Figures 3A to 3C are diagrams illustrating different durations of the perception update cycle in a perception processing method provided by an embodiment of the present application;

图4是本申请实施例提供的一种感知处理方法应用的感知示例图之一；Figure 4 is one of the perception example diagrams of the application of a perception processing method provided by the embodiment of the present application;

图5是本申请实施例提供的一种感知处理方法应用的感知示例图之二；Figure 5 is the second example diagram of perception applied by a perception processing method provided by the embodiment of the present application;

图6是本申请实施例提供的另一种感知处理方法的流程示意图；Figure 6 is a schematic flowchart of another perception processing method provided by an embodiment of the present application;

图7是本申请实施例提供的一种感知处理装置的结构图；Figure 7 is a structural diagram of a perception processing device provided by an embodiment of the present application;

图8是本申请实施例提供的另一种感知处理装置的结构图；Figure 8 is a structural diagram of another perception processing device provided by 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图；Figure 9 is a structural diagram of a communication device provided by an embodiment of the present application;

图10是本申请实施例提供的一种终端的结构图；Figure 10 is a structural diagram of a terminal provided by an embodiment of the present application;

图11是本申请实施例提供的一种网络侧设备的结构图。Figure 11 is a structural diagram of a network side device provided by 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 technical solutions in the embodiments of the present application will be clearly described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art fall within 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 description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances so that the embodiments of the present application can be practiced in sequences other than those illustrated or described herein, and that "first" and "second" are distinguished objects It is usually one type, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and/or" in the description and claims indicates at least one of the connected objects, and the character "/" generally indicates that the related objects are in an "or" relationship.

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)系统，还可用于其他无线通信系统，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)和其他系统。本申请实施例中的术语“系统”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系统和无线电技术，也可用于其他系统和无线电技术。以下描述出于示例目的描述了新空口(New Radio，NR)系统，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系统应用以外的应用，如第6代(6th Generation，6G)通信系统。It is worth pointing out that the technology described in the embodiments of this application is not limited to Long Term Evolution (Long Term Evolution, LTE)/LTE Evolution (LTE-Advanced, LTE-A) systems, and can also be used in other wireless communication systems, such as code Code Division Multiple Access (CDMA), Time Division Multiple Access (Time Division Multiple Access, TDMA), Frequency Division Multiple Access (Frequency Division Multiple Access, FDMA), Orthogonal Frequency Division Multiple Access (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 this application are often used interchangeably, and the described technology can be used not only for the above-mentioned systems and radio technologies, but also for other systems and radio technologies. The following description describes a New Radio (NR) system for example purposes, and uses NR terminology in much of the following description, but these techniques can also be applied to applications other than NR system applications, such as 6th Generation , 6G) communication system.

图1示出本申请实施例可应用的一种无线通信系统的框图。无线通信系统包括终端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(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系统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系统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。Figure 1 shows a block diagram of a wireless communication system to which embodiments of the present application are applicable. The wireless communication system includes a terminal 11 and a network side device 12. The terminal 11 may be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer), or a notebook computer, a personal digital assistant (Personal Digital Assistant, PDA), a palmtop computer, a netbook, or a super mobile personal computer. (ultra-mobile personal computer, UMPC), mobile Internet device (Mobile Internet Device, MID), augmented reality (AR)/virtual reality (VR) equipment, robots, wearable devices (Wearable Device) , Vehicle User Equipment (VUE), Pedestrian User Equipment (PUE), smart home (home equipment with wireless communication functions, such as refrigerators, TVs, washing machines or furniture, etc.), game consoles, personal computers (personal computer, PC), teller machine or self-service machine and other terminal-side devices. Wearable devices include: smart watches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart bracelets, smart rings, smart necklaces, smart anklets) bracelets, smart anklets, etc.), smart wristbands, smart clothing, etc. It should be noted that the embodiment of the present application does not limit the specific type of the terminal 11. The network side device 12 may include an access network device or a core network device, where the access network device may also be called a radio access network device, a radio access network (Radio Access Network, RAN), a radio access network function or a wireless access network unit. Access network equipment may include base stations, Wireless Local Area Network (WLAN) access points or WiFi nodes, etc. Base stations May be called Node B, Evolved Node B (eNB), Access Point, Base Transceiver Station (BTS), Radio Base Station, Radio Transceiver, Basic Service Set (BSS), Extended Service Set (Extended Service Set, ESS), home B-node, home evolved B-node, transmission and reception point (Transmission Reception Point, TRP) or some other appropriate term in the field, as long as the same technical effect is achieved, the above-mentioned The base station is not limited to specific technical terms. It should be noted that in the embodiment of this application, only the base station in the NR system is used as an example for introduction, and the specific type of the base station is not limited. Core network equipment may include but is not limited to at least one of the following: core network nodes, core network functions, mobility management entities (Mobility Management Entity, MME), access mobility management functions (Access and Mobility Management Function, AMF), session management functions (Session Management Function, SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Service Discovery function (Edge Application Server Discovery Function, EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), centralized network configuration ( Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (Local NEF, or L-NEF), Binding Support Function (Binding Support Function, BSF), application function (Application Function, AF), etc. It should be noted that in the embodiment of this application, only the core network equipment in the NR system is used as an example for introduction, and the specific type of the core network equipment is not limited.

为了方便理解，以下对本申请实施例涉及的一些内容进行说明：To facilitate understanding, some contents involved in the embodiments of this application are described below:

一、通感一体化。1. Synaesthesia integration.

通感一体化也可以称之为通信和感知一体化(Integrated Sensing And Communication,ISAC)。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，三是效率提升和成本降低。通信感知一体化的优势主要有三个方面：一是设备成本降低和尺寸减小，二是频谱利用率提升，三是系统性能提升。Synesthesia integration can also be called Integrated Sensing And Communication (ISAC). ISAC achieves integrated low-cost implementation of dual functions of communication and sensing through hardware device sharing and software-defined functions. The main features are: first, unified and simplified architecture; second, reconfigurable and scalable functions; third, efficiency improvement and cost reduce. The advantages of communication perception integration mainly include three aspects: first, reduced equipment cost and size, second, improved spectrum utilization, and third, improved system performance.

ISAC的发展划分为四个阶段：共存、共运行、共设计和共同协作。The development of ISAC is divided into four stages: coexistence, co-operation, co-design and co-collaboration.

共存：通信和感知是两个相互分立的系统，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、多输入多输出(Multiple Input Multiple Output，MIMO)技术和预编码等。Coexistence: Communication and perception are two separate systems. The two will interfere with each other. The main methods to solve the interference are: distance isolation, frequency band isolation, time-division work, Multiple Input Multiple Output (MIMO) technology and prediction Coding etc.

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系统性能影响较大。Co-operation: Communication and perception share a hardware platform and use shared information to improve common performance. The power allocation between the two has a greater impact on system performance.

共设计：通信和感知成为一个完全的联合系统，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技术(Orthogonal Frequency Division Multiplexing，OFDM)波形、MIMO技术等。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 focused on Orthogonal Frequency Division Multiplexing technology (Orthogonal Frequency Division) Multiplexing, OFDM) waveforms, MIMO technology, etc.

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系统、雷达辅助通信等。Collaboration: Multiple communication-aware integrated nodes collaborate with each other to achieve public goals. For example, radar detection information is shared through communication data transmission. Typical scenarios include driving assistance systems, radar-assisted communications, etc.

二、雷达技术。2. Radar technology.

随着雷达技术的发展，雷达探测目标不仅是测量目标的距离，还包括测量目标的速度、方位角、俯仰角，以及从以上信息中提取出更多有关目标的信息，包括目标的尺寸和形状等。With the development of radar technology, radar detection of targets not only measures the distance of the target, but also measures the speed, azimuth angle, and pitch angle of the target, and extracts more information about the target from the above information, including the size and shape of the target. wait.

雷达技术最初用于军事用途，用来探测飞机、导弹、车辆、舰艇等目标。随着技术的发展和社会的演进，雷达越来越多用于民用场景，典型应用是气象雷达通过测量云雨等气象目标的回波来测定关于云雨的位置、强度等信息用来进行天气的预报。进一步地，随着电子信息产业、物联网、通信技术等的蓬勃发展，雷达技术开始进入到人们的日常生活应用中，大大提高了工作和生活的便利性、安全性等。例如，汽车雷达通过测量车辆之间、车辆与周边环境物之间、车辆与行人之间等的距离和相对速度对车辆的驾驶提供预警信息，极大地提高了道路交通的安全水平。Radar technology was originally used for military purposes to detect aircraft, missiles, vehicles, ships and other targets. With the development of technology and the evolution of society, radar is increasingly used in civilian scenarios. A typical application is that weather radar measures the echoes of meteorological targets such as clouds and rain to determine the location, intensity and other information about clouds and rain for weather forecasting. Furthermore, with the vigorous development of the electronic information industry, Internet of Things, communication technology, etc., radar technology has begun to enter people's daily life applications, greatly improving the convenience and safety of work and life. For example, automotive radar provides early warning information for vehicle driving by measuring the distance and relative speed between vehicles, between vehicles and surrounding objects, and between vehicles and pedestrians, which greatly improves the safety level of road traffic.

在技术层面上，雷达有很多分类方式。按照雷达收发站点之间的位置关系可以分为：单站雷达和双站雷达，如下图所示。对于单站雷达，信号发射机与接收机一体、共用天线；优点是目标回波信号与接收机本振之间天然是相干的、信号处理较为方便；缺点是信号收发不能同时进行，只能采用具有一定占空比的信号波形，从而带来探测的盲区，需要采用复杂的算法来弥补；或者收发信号同时进行，收发之间严格隔离，但是对于大功率的军用雷达来说很难做到。对于双站雷达，信号发射机与接收机位于不同的位置；优点是信号收发能够同时进行，可以采用连续波波形进行探测；缺点是接收机与发射机之间很难实现同频和相干，信号处理较为复杂。On a technical level, radar is classified in many ways. According to the positional relationship between radar transceiver sites, it can be divided into: single-station radar and dual-station radar, as shown in the figure below. For single-station radar, the signal transmitter and receiver are integrated and share an antenna; the advantage is that the target echo signal and the local oscillator of the receiver are naturally coherent, and signal processing is more convenient; the disadvantage is that signal transmission and reception cannot be performed at the same time, and can only be have The signal waveform with a certain duty cycle creates a blind spot in detection, which requires the use of complex algorithms to compensate; or the signals can be sent and received at the same time, with strict isolation between sending and receiving, but this is difficult to achieve for high-power military radars. For dual-station radar, the signal transmitter and receiver are located at different locations; the advantage is that signal transmission and reception can be carried out simultaneously, and continuous wave waveforms can be used for detection; the disadvantage is that it is difficult to achieve the same frequency and coherence between the receiver and transmitter, and the signal The processing is more complicated.

在通感一体化无线感知应用中，雷达技术可以采用单站雷达模式，也可以采用双站雷达模式。In synaesthesia integrated wireless sensing applications, radar technology can adopt single-station radar mode or dual-station radar mode.

在单站雷达模式下，收发信号共用天线，接收信号与发射信号通过环形器进入不同的射频处理链路；在这种模式下，可以采用连续波信号波形实现无盲区的探测，前提是接收信号与发射信号需要很好的隔离，通常需要100dB左右的隔离度，以消除发射信号泄露对接收信号的淹没。由于单站雷达的接收机具有发射信号的全部信息，从而可以通过匹配滤波(脉冲压缩)的方式进行信号处理，获得较高的信号处理增益。In the single-station radar mode, the transmitting and receiving signals share the same antenna, and the receiving and transmitting signals enter different radio frequency processing links through the circulator; in this mode, the continuous wave signal waveform can be used to achieve detection without blind zones, provided that the receiving signal It needs good isolation from the transmitting signal, usually about 100dB, to eliminate the leakage of the transmitting signal from flooding the receiving signal. Since the single-station radar receiver has all the information of the transmitted signal, it can perform signal processing through matched filtering (pulse compression) to obtain higher signal processing gain.

在双站雷达模式下，不存在收发信号的隔离问题，极大地简化的硬件的复杂度。由于雷达信号处理建立在已知信息的基础上，在第5代移动通信技术(5th Generation Mobile Communication Technology，5G)NR通感一体化应用中，可以利用同步信号和参考信号等已知信息进行雷达信号处理。但是，由于同步信号、参考信号等的周期性，信号波形的模糊图不再是图钉形，而是钉板形，时延和多普勒的模糊程度会增大、且主瓣的增益相较单站雷达模式降低了许多，降低了距离和速度的测量范围。通过恰当的参数集设计，距离和速度的测量范围能够满足汽车、行人等常见目标的测量需求。此外，双站雷达的测量精度与收发站点相对目标的位置有关，需要选择合适的收发站点对来提高探测性能。In the dual-station radar mode, there is no isolation problem of sending and receiving signals, which greatly simplifies the complexity of the hardware. Since radar signal processing is based on known information, in the 5th Generation Mobile Communication Technology (5G) NR synaesthetic integrated application, known information such as synchronization signals and reference signals can be used to perform radar processing. signal processing. However, due to the periodicity of synchronization signals, reference signals, etc., the blur diagram of the signal waveform is no longer a pushpin shape, but a nail plate shape. The degree of delay and Doppler ambiguity will increase, and the gain of the main lobe will be relatively small. The single-station radar mode is much slower, reducing the range of distance and speed measurements. Through appropriate parameter set design, the measurement range of distance and speed can meet the measurement needs of common targets such as cars and pedestrians. In addition, the measurement accuracy of dual-station radar is related to the position of the transceiver station relative to the target. It is necessary to select an appropriate transceiver station pair to improve detection performance.

在传统的雷达技术中，所有的时间资源均用于感知。在多目标跟踪场景下，会采用变跟踪数据率的资源调度方法，在对目标的跟踪性能和跟踪目标数量之间进行权衡，以在满足一定的跟踪性能(特别是对精跟目标或主跟目标)的前提下，最大化跟踪目标的数量，对特定目标的跟踪周期(跟踪数据率的倒数)的时间长度一般为帧周期的整数倍。In traditional radar technology, all time resources are devoted to perception. In a multi-target tracking scenario, a resource scheduling method with variable tracking data rate will be used to balance the tracking performance of the target and the number of tracking targets in order to meet a certain tracking performance (especially for fine tracking targets or main tracking targets). Target), to maximize the number of tracking targets, the length of the tracking period (the reciprocal of the tracking data rate) for a specific target is generally an integer multiple of the frame period.

在通信感知一体化场景下，同时存在通信和感知两种类型的业务。除了可以采用通信感知一体化波形同时进行通信和感知业务以外，还可以通过对感知业务占用的时间资源进行优化设计，在满足感知性能的情况下，最小化感知业务对时间资源的占用。在执行特定的感知业务之外的时间资源可用于执行其他感知业务或进行数据通信。In the scenario of integrated communication and perception, there are two types of services: communication and perception. Apart from In addition to using the communication-sensing integrated waveform to conduct communication and sensing services at the same time, the time resources occupied by the sensing services can also be optimized and designed to minimize the time resources occupied by the sensing services while satisfying the sensing performance. Time resources other than performing specific sensing services can be used to perform other sensing services or perform data communication.

上述的通感一体化场景要求更加灵活的时间资源分配方式，传统雷达技术中相对固定的感知时间资源分配方式(跟踪周期只能是帧周期的整数倍)已不能满足通感一体化要求。为此提出了本申请的感知处理方法。The above-mentioned synaesthesia integration scenarios require a more flexible time resource allocation method. The relatively fixed perception time resource allocation method in traditional radar technology (the tracking period can only be an integer multiple of the frame period) can no longer meet the requirements of synaesthesia integration. For this reason, the perception processing method of this application is proposed.

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处理方法进行详细地说明。The perception processing method provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings through some embodiments and application scenarios.

参照图2，本申请实施例提供了一种感知处理方法，如图2所示，该感知处理方法包括：Referring to Figure 2, an embodiment of the present application provides a perception processing method. As shown in Figure 2, the perception processing method includes:

步骤201，第一设备获取第一指标，所述第一指标用于表示对感知对象的感知性能；Step 201: The first device obtains a first indicator, where the first indicator is used to represent the perceptual performance of the perceptual object;

步骤202，所述第一设备根据所述第一指标调整感知更新周期，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期。Step 202: The first device adjusts a sensing update period according to the first indicator. One of the sensing update periods includes at least one sensing frame period for sensing the sensing object.

本申请实施例中，上述第一指标可以基于执行感知业务所获得的感知结果确定，例如由感知节点通过发送和接收第一信号对感知对象进行感知测量，获得感知对象的测量结果。其中，第一信号可以为感知信号或者通感一体化信号。In the embodiment of the present application, the above-mentioned first indicator can be determined based on the sensing result obtained by executing the sensing service. For example, the sensing node performs sensing measurement on the sensing object by sending and receiving the first signal to obtain the measurement result of the sensing object. The first signal may be a sensory signal or a synaesthesia integrated signal.

上述第一设备可以为感知节点或者感知功能网元，该感知节点包括发送设备和接收设备中的至少一项。The above-mentioned first device may be a sensing node or a sensing function network element, and the sensing node includes at least one of a sending device and a receiving device.

可选地，上述感知更新周期可以理解为感知节点在第M1个感知帧周期内执行一次第一信号的慢时间维的信号处理并获取感知对象的第一参数对应的时间与在第M2个感知帧周期内执行一次信号的慢时间维的信号处理并获取感知对象的第一参数对应的时间之间的时间间隔。其中，M1和M2均为正整数，且M2与M1的差值等于感知更新周期包括的感知帧周期的数量，所述第一参数用于表示感知对象的位置信息和运动信息中的至少一项。一次第一信号的慢时间维的信号处理可以理解为：对一个感知帧周期内所有感知信号周期的第一信号的信号处理。Optionally, the above-mentioned sensing update period can be understood as the time when the sensing node performs signal processing of the slow time dimension of the first signal and obtains the first parameter of the sensing object once in the M1th sensing frame period and in the M2th sensing frame period. The time interval between performing signal processing in the slow time dimension of the signal once within the frame period and obtaining the time corresponding to the first parameter of the sensing object. Wherein, M1 and M2 are both positive integers, and the difference between M2 and M1 is equal to the number of sensing frame periods included in the sensing update period. The first parameter is used to represent at least one of the position information and motion information of the sensing object. . The slow time dimension signal processing of a first signal can be understood as: the signal processing of the first signal of all sensing signal periods within a sensing frame period.

可选地，感知帧周期可以理解为感知节点进行一次第一信号慢时间维的信号处理并获取感知对象的第一参数所需要的时间长度。具体可以包括第一时隙和第二时隙，其中，第一时隙可以包括多个感知信号周期，该第二时隙可以理解为一个用于信号处理、资源调度、信号波形产生等任务的综合处理时隙。Alternatively, the sensing frame period can be understood as the length of time required for the sensing node to perform signal processing in the slow time dimension of the first signal and obtain the first parameter of the sensing object. Specifically, it may include a first time slot and a second time slot, where the first time slot may include multiple sensing signal periods, and the second time slot may be understood as a time slot used for tasks such as signal processing, resource scheduling, and signal waveform generation. Comprehensive processing of time slots.

可选地，感知信号周期的时间长度等于感知节点进行一次第一信号快时间维的信号处理对应的感知信号的时间长度。一次第一信号快时间的维信号处理可以理解为一个信号周期内对第一信号的信号处理。Optionally, the time length of the sensing signal period is equal to the time length of the sensing signal corresponding to the sensing node performing signal processing of the first signal fast time dimension. Fast-time dimensional signal processing of a first signal can be understood as signal processing of the first signal within one signal period.

应理解，该第一信号可以采用脉冲信号体制，则感知信号周期可以理解为脉冲周期，或者称之为脉冲重复周期。It should be understood that the first signal may adopt a pulse signal system, and the sensing signal period may be understood as a pulse period, or may be called a pulse repetition period.

以下各实施例中，以一个所述感知更新周期内包括一个感知帧周期为例进行说明。例如，感知更新周期与感知帧周期的时间的对应关系如图3A至图3C所示：在图3A中，感知更新周期的时长为相邻两个感知帧周期的起始时刻或结束时刻的时间间隔；在图3B中，感知更新周期的时长等于感知帧周期的时长的整数倍；在图3C中，感知更新周期的时长等于任意数值，且感知更新周期大于或等于感知帧周期的时长的整数倍。In the following embodiments, description is given by taking one sensing update period including one sensing frame period as an example. For example, the corresponding relationship between the perception update period and the perception frame period is shown in Figure 3A to Figure 3C: In Figure 3A, the duration of the perception update cycle is the time between the start or end times of two adjacent perception frame periods. interval; in Figure 3B, the duration of the perception update cycle is equal to an integer multiple of the duration of the perception frame cycle; in Figure 3C, the duration of the perception update cycle is equal to any value, and the perception update cycle is greater than or equal to an integer multiple of the duration of the perception frame cycle. times.

可选地，第一指标可以是基于第一参数进行数据处理得到，具体可以包括以下至少一项：残差的方差或标准差、预测误差协方差和状态估计误差协方差。Optionally, the first indicator may be obtained by performing data processing based on the first parameter, and may specifically include at least one of the following: variance or standard deviation of residuals, prediction error covariance, and state estimation error covariance.

可选地，上述第一指标可以理解为感知对象的第一参数的第一指标。Optionally, the above-mentioned first indicator can be understood as a first indicator of the first parameter of the sensing object.

其中，感知对象的第一参数包括以下至少一项：Wherein, the first parameter of the sensing object includes at least one of the following:

感知节点直接获取的极坐标系下的参数，包括以下至少一项：感知对象相对于感知节点的径向距离、感知对象相对于感知节点的径向速度和感知对象相对于感知节点的角度，该角度进一步可以包括：方向角和俯仰角；The parameters in the polar coordinate system directly obtained by the sensing node include at least one of the following: the radial distance of the sensing object relative to the sensing node, the radial velocity of the sensing object relative to the sensing node, and the angle of the sensing object relative to the sensing node. Angle may further include: direction angle and pitch angle;

经坐标变换后在直角坐标系下的参数，包括以下至少一项：感知对象在直角坐标系下的坐标，(如x轴坐标、y轴坐标和z轴坐标)和感知对象在直角坐标系下的速度(如x向速度、y向速度和z向速度)。The parameters in the rectangular coordinate system after coordinate transformation include at least one of the following: the coordinates of the sensing object in the rectangular coordinate system (such as x-axis coordinates, y-axis coordinates, and z-axis coordinates) and the coordinates of the sensing object in the rectangular coordinate system speed (such as x-direction speed, y-direction speed and z-direction speed).

其中，第一指标可以包括以下至少一项：残差的方差或标准差；预测误差协方差；状态估计误差协方差。The first indicator may include at least one of the following: variance or standard deviation of residuals; prediction error covariance; state estimation error covariance.

需要说明的是，上述第一设备根据第一指标调整感知更新周期可以理解为根据第一指标自适应调整感知更新周期，例如包括增大或减小感知更新周期，也可以包括保持感知帧周期不变的情况。如图3A至图3C所示，感知更新周期最小可以等于感知帧周期，此时感知业务处于连续执行的状态；如果感知性能能够满足要求，可以在相邻的两个感知帧周期之间设置一定的间隔时间用于其他业务。该间隔时间可以为感知帧周期的整数倍，也可以为其他任意数值，在此不做进一步的限定。如果感知性能无法满足要求，则可以适当地减小感知更新周期的时长，从而以更快的频率来进行感知，进而可以有更多的时间资源用于感知业务，因此可以提高感知性能。It should be noted that the adjustment of the perception update period by the first device according to the first indicator can be understood as adaptively adjusting the perception update period according to the first indicator, which may include, for example, increasing or decreasing the perception update period, or may include keeping the perception frame period unchanged. changing circumstances. As shown in Figure 3A to Figure 3C, the minimum sensing update period can be equal to the sensing frame period. At this time, the sensing service is in a continuous execution state; if the sensing performance can meet the requirements, a certain amount can be set between two adjacent sensing frame periods. The interval is used for other services. The interval time can be an integer multiple of the sensing frame period, or can be any other value, which is not further limited here. If the sensing performance cannot meet the requirements, the length of the sensing update cycle can be appropriately reduced, so that sensing can be performed at a faster frequency. This will allow more time resources to be used for sensing services, thus improving the sensing performance.

本申请实施例中，第一设备获取第一指标，所述第一指标用于表示对感知对象的感知性能；所述第一设备根据所述第一指标调整感知更新周期，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期。这样，可以根据感知环境的变化基于第一指标灵活调整感知更新周期，从而可以在满足感知性能需求的情况下，最小化感知对时间资源的占用。In this embodiment of the present application, the first device obtains a first indicator, and the first indicator is used to represent the perceptual performance of the perceptual object; the first device adjusts the perceptual update cycle according to the first indicator, and one of the perceptual updates The period includes at least one sensing frame period for sensing the sensing object. In this way, the sensing update cycle can be flexibly adjusted based on the first indicator according to changes in the sensing environment, thereby minimizing the occupation of time resources by sensing while meeting sensing performance requirements.

可选地，在一些实施例中，所述第一设备根据所述第一指标调整感知更新周期之后，所述方法还包括以下至少一项：Optionally, in some embodiments, after the first device adjusts the sensing update cycle according to the first indicator, the method further includes at least one of the following:

在所述第一设备包括感知节点中的发送设备的情况下，所述第一设备根据调整后的感知更新周期发送所述第一信号；In the case where the first device includes a sending device in a sensing node, the first device sends the first signal according to the adjusted sensing update cycle;

在所述第一设备包括感知节点中的接收设备的情况下，所述第一设备根据调整后的感知更新周期接收所述第一信号。In the case where the first device includes a receiving device in a sensing node, the first device receives the first signal according to the adjusted sensing update cycle.

本申请实施例中，所述第一设备在确定调整后的感知更新周期后，可以通过发送和/或接收第一信号，执行感知业务，从而实现自适应调节感知更新周期。应理解，在所述第一设备包括感知节点中的接收设备的情况下，所述第一设备在接收第一信号获得回波数据后，还可以进一步包括以下行为之一：In this embodiment of the present application, after determining the adjusted sensing update cycle, the first device may perform sensing services by sending and/or receiving a first signal, thereby realizing adaptive adjustment of the sensing update cycle. It should be understood that, in the case where the first device includes a receiving device in a sensing node, after receiving the first signal and obtaining the echo data, the first device may further include one of the following actions:

向第二设备发送回波数据；Send echo data to the second device;

对回波数据进行第一运算获得中间感知结果，然后向第二设备发送中间感知结果；Perform a first operation on the echo data to obtain an intermediate sensing result, and then send the intermediate sensing result to the second device;

对回波数据进行第二运算获得目标感知结果，向第二设备发送目标感知结果，第二运算为所述第一运算中的部分运算。Perform a second operation on the echo data to obtain a target sensing result, and send the target sensing result to the second device. The second operation is part of the first operation.

可选地，在一些实施例中，所述第一设备获取第一指标之前，所述方法还包括：Optionally, in some embodiments, before the first device obtains the first indicator, the method further includes:

所述第一设备获取第一信息；The first device obtains first information;

所述第一设备根据所述第一信息确定感知配置，所述感知配置包括所述感知更新周期的初始时长和目标取值范围中的至少一项；The first device determines a sensing configuration based on the first information, where the sensing configuration includes at least one of an initial duration of the sensing update cycle and a target value range;

其中，所述感知更新周期的时长位于所述目标取值范围内，所述第一信息包括以下至少一项：感知目标区域、感知对象类型、感知服务质量(Quality of Service，QoS)、感知先验信息、感知节点的位置信息、与感知业务关联的第一时间资源信息和所述感知更新周期的调整方式。Wherein, the duration of the sensing update cycle is within the target value range, and the first information includes at least one of the following: sensing target area, sensing object type, sensing quality of service (QoS), sensing priority The detection information, the location information of the sensing node, the first time resource information associated with the sensing service and the adjustment method of the sensing update cycle.

本申请实施例中，在进行感知更新周期调整时，感知更新周期调整前的时长可以为上述初始时长，或者对初始时长进行一次或多次调整后的时长。例如，可以基于第一感知帧对应的感知更新周期的时长进行调整，得到第二感知帧对应的感知更新周期的时长。由于基于第一信息确定所述目标取值范围，从而根据实际的感知需求对感知更新周期的时长的调整范围进行限制，因此可以避免对感知更新周期的时长进行过度调整。In the embodiment of the present application, when adjusting the perception update cycle, the duration before the perception update cycle is adjusted can be the above-mentioned initial duration, or the duration after one or more adjustments to the initial duration. For example, the duration of the perception update cycle corresponding to the first perception frame can be adjusted to obtain the duration of the perception update cycle corresponding to the second perception frame. Since the target value range is determined based on the first information, and the adjustment range of the duration of the perception update cycle is limited based on actual perception requirements, excessive adjustment of the duration of the perception update cycle can be avoided.

上述感知目标区域是指感知对象可能存在的位置区域，或者需要进行成像或三维重构的位置区域。The above-mentioned sensing target area refers to the location area where the sensing object may exist, or the location area that needs to be imaged or three-dimensionally reconstructed.

可选地，上述感知对象类型可以基于以下至少一项确定：典型感知对象的运动速度、典型感知对象的运动加速度和雷达截面积(Radar cross-section，RCS)。也就是说感知对象类型中包含了典型感知对象的运动速度、典型感知对象的运动加速度和典型RCS等信息等，其中，典型RCS可以理解为感知对象的反射截面积。Optionally, the above-mentioned sensing object type may be determined based on at least one of the following: motion speed of typical sensing objects, motion acceleration of typical sensing objects, and radar cross-section (RCS). That is to say, the type of sensing object includes information such as the motion speed of typical sensing objects, the motion acceleration of typical sensing objects, and typical RCS. Among them, typical RCS can be understood as the reflection cross-sectional area of the sensing object.

感知QoS可以理解为对感知目标区域或感知对象进行感知的性能指标，具体可以包括以下至少一项：感知分辨率要求、感知精度要求、感知范围要求、感知时延要求、感知更新速率要求、检测概率要求和虚警概率要求。其中，感知分辨率要求包括进一步分为测距分辨率要求、测角分辨率要求、测速分辨率要求和成像分辨率要求等；感知精度要求可以进一步分为测距精度要求、测角精度要求、测速精度要求和定位精度要求等；感知范围要求可以进一步分为测距范围要求、测速范围要求、测角范围要求和成像范围要求等；感知时延要求可以理解为感知信号发送到获得感知结果的时间间隔要求，或者从感知需求发起到获取感知结果的时间间隔要求；感知更新速率要求可以理解为相邻两次执行感知并获得感知结果的时间间隔要求；检测概率要求可以理解为在感知对象存在的情况下，被正确检测出来的概率要求；虚警概率可以理解为在感知对象不存在的情况下，被错误检测出来的概率。Perception QoS can be understood as a performance indicator for sensing the sensing target area or sensing object, which can include at least one of the following: sensing resolution requirements, sensing accuracy requirements, sensing range requirements, sensing delay requirements, sensing update rate requirements, detection Probability requirements and false alarm probability requirements. Among them, the perception resolution requirements include further divided into ranging resolution requirements, angle measurement resolution requirements, speed measurement resolution requirements and imaging resolution requirements, etc.; perception accuracy requirements can be further divided into ranging accuracy requirements, angle measurement accuracy requirements, Speed measurement accuracy requirements and positioning accuracy requirements, etc.; sensing range requirements can be further divided into distance measurement range requirements, speed measurement range requirements, angle measurement range requirements, imaging range requirements, etc.; The sensing delay requirement can be understood as the time interval requirement from sending the sensing signal to obtaining the sensing result, or the time interval requirement from the initiation of the sensing requirement to obtaining the sensing result; the sensing update rate requirement can be understood as the time interval requirement for performing sensing twice in a row and obtaining the sensing result. The time interval requirement; the detection probability requirement can be understood as the probability requirement of being correctly detected when the sensing object exists; the false alarm probability can be understood as the probability of being incorrectly detected when the sensing object does not exist.

可选地，感知先验信息是指提供给感知节点的关于感知对象或感知目标区域的空间范围和/或运动属性，并有助于感知节点缩小搜索范围的信息。具体包括以下至少一项：Optionally, the sensing prior information refers to the information provided to the sensing node about the spatial extent and/or motion attributes of the sensing object or sensing target area, and helps the sensing node narrow the search range. Specifically include at least one of the following:

空间范围先验信息，例如待感知对象或感知目标区域的距离或位置范围，和/或，角度范围等；Spatial range prior information, such as the distance or position range of the object to be sensed or the sensing target area, and/or the angle range, etc.;

运动属性先验信息，例如待感知对象的速度范围，和/或，加速度范围等。Prior information on motion attributes, such as the speed range and/or acceleration range of the object to be sensed, etc.

可选地，感知节点的位置信息可以包括以下两种情况：Optionally, the location information of the sensing node can include the following two situations:

对于固定位置的感知节点，如基站、TRP，感知节点的位置信息已知，可通过访问存储感知节点位置信息的网络功能(如网管系统、统一数据管理)、或由感知节点上报，获取感知节点位置信息；For sensing nodes with fixed positions, such as base stations and TRPs, the location information of the sensing node is known. It can be obtained by accessing the network function that stores the location information of the sensing node (such as network management system, unified data management), or by reporting it by the sensing node. location information;

对于移动的感知节点，如终端，在进行感知测量之前，感知功能网元应先获取感知节点的位置信息，获得位置信息的方法可以是向定位管理功能或其他服务功能请求和获得位置信息。所述定位管理功能可以是位置管理功能(Location Management Function，LMF)、接收最小化路测(Minimization of Drive Test，MDT)位置信息的网络功能；定位服务功能可以是应用服务(Application Function，AF)，该AF可以是Wi-Fi、蓝牙(Bluetooth)、或超宽带(Ultra Wide Band，UWB)等的定位服务器，也可以是可获得全球定位系统(Global Positioning System，GPS)等定位信息的应用功能，如地图应用程序(Application，APP)。For mobile sensing nodes, such as terminals, before performing sensing measurements, the sensing function network element should first obtain the location information of the sensing node. The method of obtaining location information may be to request and obtain location information from the positioning management function or other service functions. The positioning management function may be a location management function (LMF), a network function that receives location information from the Minimization of Drive Test (MDT); the positioning service function may be an application service (Application Function, AF) , the AF can be a positioning server such as Wi-Fi, Bluetooth, or Ultra Wide Band (UWB), or it can be an application function that can obtain positioning information such as Global Positioning System (GPS). , such as map application (Application, APP).

需要说明的是，基于第一设备的不同，对应的行为不同，具体包括以下情况：It should be noted that depending on the first device, the corresponding behavior is different, specifically including the following situations:

情况1：在第一设备是感知功能网元的情况下，感知功能网元从感知应用服务器和/或感知业务发起方获取第一信息或第一信息的第一部分；在感知功能网元获取第一信息的第一部分的情况下，由感知功能更网元根据获取的第一信息的第一部分生成第一信息的第二部分。Case 1: In the case where the first device is a sensing function network element, the sensing function network element obtains the first information or the first part of the first information from the sensing application server and/or the sensing service initiator; when the sensing function network element obtains the first information In the case of the first part of the information, the network element is updated by the sensing function according to the The first part of the first information generates a second part of the first information.

情况2：在第一设备是感知节点的情况下，感知节点从感知功能网元和/或感知应用服务器和/或感知业务发起方获取第一信息或第一信息的第一部分；在感知节点获取第一信息的第一部分的情况下，由感知节点根据获取的第一信息的第一部分生成第一信息的第二部分。Case 2: In the case where the first device is a sensing node, the sensing node obtains the first information or the first part of the first information from the sensing function network element and/or the sensing application server and/or the sensing service initiator; the sensing node obtains In the case of the first part of the first information, the sensing node generates the second part of the first information based on the acquired first part of the first information.

情况3：在第一设备是感知节点的情况下，感知功能网元从感知应用服务器和/或感知业务发起方获取第一信息的第一部分，并根据第一信息的第一部分生成第一信息的第二部分；感知节点根据所述第一信息的第一部分和/或第二部分生成第一信息的第三部分。Case 3: In the case where the first device is a sensing node, the sensing function network element obtains the first part of the first information from the sensing application server and/or the sensing service initiator, and generates the first part of the first information based on the first part of the first information. The second part: the sensing node generates the third part of the first information based on the first part and/or the second part of the first information.

应理解，感知功能网元可以理解为核心网和/或核心网中负责感知请求处理、感知资源调度、感知信息交互和感知数据处理等至少一项功能的网络节点，可以是基于5G网络中的AMF或LMF升级，也可以是其他网络节点或者新定义的网络节点，在此不做进一步的限定。It should be understood that the sensing function network element can be understood as the core network and/or a network node in the core network responsible for at least one function such as sensing request processing, sensing resource scheduling, sensing information interaction, and sensing data processing, and can be based on the 5G network. AMF or LMF upgrade can also be other network nodes or newly defined network nodes, which are not further limited here.

可选地，所述第一时间资源信息包括以下任一项：Optionally, the first time resource information includes any of the following:

用于分配给所述感知业务的固定时间资源；Fixed time resources allocated to the sensing service;

时间单元和所述时间单元内可用于执行所述感知业务的时间资源配比。The time unit and the time resource allocation that can be used to execute the sensing service within the time unit.

本申请实施例中，可以分配固定时间资源用来执行当前感知业务；此种时间资源配置方式基于对时间资源按照某个颗粒度进行划分；所述的颗粒度可以是：5G通信业务中的OFDM符号周期、时隙、半帧或帧等；或者，秒、毫秒、微秒等时间单位。具体地，可以通过以下方式进行分配In the embodiment of this application, fixed time resources can be allocated to execute the current sensing service; this time resource configuration method is based on dividing time resources according to a certain granularity; the granularity can be: OFDM in 5G communication services Symbol period, time slot, half frame or frame, etc.; or, time unit such as seconds, milliseconds, microseconds, etc. Specifically, allocation can be done in the following ways

1、位图方式：以位图的方式配置分配给感知业务的时间资源，位图中为1代表相应的时间资源分配给感知业务、位图中为0代表相应的时间资源不分配给感知业务；此种方式可配置连续或不连续、周期或非周期的任意类型时间资源；1. Bitmap mode: Configure the time resources allocated to the sensing service in the form of a bitmap. A 1 in the bitmap means that the corresponding time resources are allocated to the sensing service, and a 0 in the bitmap means that the corresponding time resources are not allocated to the sensing service. ;This method can configure any type of time resources that are continuous or discontinuous, periodic or aperiodic;

2、长度加周期方式：指定分配给感知业务的每段时间资源的长度，并给出分配给感知业务的各段时间资源出现的周期；此种方式可配置周期性的时间资源。可选地，此种时间资源配置方式还可以包括分配给感知业务的每段时间资源相对于某个时间点的偏移。2. Length plus period method: Specify the length of each time period resource allocated to the sensing service, and give the period of occurrence of each time period resource allocated to the sensing service; this method can configure periodic time resources. Optionally, this time resource configuration method may also include an offset of each time period resource allocated to the sensing service relative to a certain time point.

可以指定当前感知业务可占用的时间资源配比以及该时间资源配比对应的时间单元，在不超过该比例的前提下，具体占用的时间资源可根据感知的需求灵活设置。You can specify the time resource ratio that can be occupied by the current sensing service and the corresponding time resource ratio. time unit, the specific time resources occupied can be flexibly set according to perceived needs as long as this ratio is not exceeded.

可选地，在一些实施例中，所述第一时间资源信息满足以下任一项：Optionally, in some embodiments, the first time resource information satisfies any of the following:

所述第一时间资源信息包括所述第一设备从第一目标设备获取的第二时间资源信息；The first time resource information includes second time resource information obtained by the first device from the first target device;

所述第一时间资源信息基于第三信息和所述第一设备从第一目标设备获取的第二时间资源信息确定；The first time resource information is determined based on the third information and the second time resource information obtained by the first device from the first target device;

所述第一时间资源信息包括所述第一设备基于第二信息确定的第三时间资源信息；The first time resource information includes third time resource information determined by the first device based on the second information;

所述第一时间资源信息基于第三信息和所述第一设备基于第二信息确定的第三时间资源信息确定；The first time resource information is determined based on the third information and the third time resource information determined by the first device based on the second information;

其中，所述第二时间资源信息和所述第三时间资源信息均与所述感知业务关联；所述第二信息包括所述感知目标区域、所述感知对象类型和所述感知QoS中的至少一项；所述第三信息包括感知节点的工作负荷和所述感知业务的优先级中的至少一项；所述第一设备为感知功能网元的情况下，所述第一目标设备包括应用服务器和所述感知业务的发起方中的至少一项，所述第一设备为感知节点的情况下，所述第一目标设备包括感知功能网元、应用服务器和所述感知业务的发起方中的至少一项。Wherein, the second time resource information and the third time resource information are both associated with the sensing service; the second information includes at least one of the sensing target area, the sensing object type and the sensing QoS. One item; the third information includes at least one of the workload of the sensing node and the priority of the sensing service; when the first device is a sensing function network element, the first target device includes an application At least one of the server and the initiator of the sensing service. When the first device is a sensing node, the first target device includes a sensing function network element, an application server and the initiator of the sensing service. at least one of.

可选地，上述感知业务的发起方可以包括第三方应用服务器、终端或网络侧设备等，在此不做进一步限定。Optionally, the initiator of the above sensing service may include a third-party application server, terminal or network side device, etc., which is not further limited here.

应理解，上述第二信息可以理解为感知需求信息。It should be understood that the above-mentioned second information can be understood as perception demand information.

本申请实施例中，基于第一设备的不同，对应的行为不同，具体包括以下情况：In the embodiment of this application, based on the difference in the first device, the corresponding behavior is different, specifically including the following situations:

情况1：感知功能网元或感知节点可以从感知应用服务和/或感知业务发起方获取第一信息或者获取第一信息的部分信息，该第一信息或第一信息的部分信息包含第一时间资源信息；Case 1: The sensing function network element or sensing node can obtain the first information or part of the first information from the sensing application service and/or the sensing service initiator. The first information or part of the first information includes the first time. resource information;

情况2：感知功能网元或感知节点可以根据第一信息中的感知需求信息确定第一时间资源信息；Case 2: The sensing function network element or sensing node can determine the first time resource information based on the sensing demand information in the first information;

情况3：感知功能网元或感知节点结合，从感知应用服务器和/或感知业务发起方获取的第二时间资源信息，或，根据第一信息中的感知需求信息确定的第三时间资源信息，和，感知节点的工作负荷和所述感知业务的全局优先级，确定第一时间资源信息。Scenario 3: The sensing function network element or sensing node is combined, from the sensing application server and/or sensing industry The second time resource information obtained by the service initiator, or the third time resource information determined according to the sensing demand information in the first information, and the workload of the sensing node and the global priority of the sensing service determine the first Time resource information.

可选地，在一些实施例中，所述目标取值范围满足以下至少一项：Optionally, in some embodiments, the target value range satisfies at least one of the following:

所述目标取值范围的下限值基于所述第一时间资源信息确定；The lower limit of the target value range is determined based on the first time resource information;

所述目标取值范围的上限值基于所述感知对象类型或通信速率确定。The upper limit of the target value range is determined based on the sensing object type or communication rate.

可选地，在一些实施例中，若感知QoS包括感知更新周期要求的情况下，目标取值范围的上限值和下限值可以进一步考虑感知更新周期要求。其中，感知更新周期要求的感知更新周期可以为感知更新速率的倒数。也就是说：所述目标取值范围满足以下至少一项：所述目标取值范围的下限值基于所述第一时间资源信息和所述感知更新周期要求确定；所述目标取值范围的上限值基于所述感知更新周期要求以及所述感知对象类型或通信速率确定。例如，所述目标取值范围的下限值可以为基于所述第一时间资源信息确定的下限值和基于感知更新周期要求确定的下限值中较大的值；所述目标取值范围的上限值可以为基于所述第一时间资源信息确定的上限值和基于感知更新周期要求确定的上限值中较小的值。Optionally, in some embodiments, if the sensing QoS includes sensing update cycle requirements, the upper limit and lower limit of the target value range may further consider the sensing update cycle requirements. The sensing update period required by the sensing update period may be the reciprocal of the sensing update rate. That is to say: the target value range satisfies at least one of the following: the lower limit of the target value range is determined based on the first time resource information and the sensing update period requirement; The upper limit value is determined based on the sensing update cycle requirement and the sensing object type or communication rate. For example, the lower limit of the target value range may be the larger value of the lower limit determined based on the first time resource information and the lower limit determined based on the sensing update period requirements; the target value range The upper limit value of may be the smaller value of the upper limit value determined based on the first time resource information and the upper limit value determined based on the sensing update period requirement.

可选地，在一些实施例中，所述目标取值范围的下限值基于所述第一时间资源信息确定，所述目标取值范围的下限值满足以下至少一项：Optionally, in some embodiments, the lower limit of the target value range is determined based on the first time resource information, and the lower limit of the target value range satisfies at least one of the following:

在所述第一时间资源信息包括用于分配给所述感知业务的固定时间资源的情况下，所述目标取值范围的下限值基于所述感知帧周期的时长或者所述固定时间资源的周期的时长确定；In the case where the first time resource information includes fixed time resources allocated to the sensing service, the lower limit of the target value range is based on the length of the sensing frame period or the fixed time resource. The duration of the cycle is determined;

在所述第一时间资源信息包括时间单元和所述时间单元内可用于执行所述感知业务的时间资源配比的情况下，所述目标取值范围的下限值等于所述感知帧周期与所述时间资源配比的比值。In the case where the first time resource information includes a time unit and a time resource ratio that can be used to perform the sensing service within the time unit, the lower limit of the target value range is equal to the sensing frame period and The ratio of the time resource allocation.

应理解，上述目标取值范围的下限值可以理解为感知更新周期的时长的下限值，也可以称之为感知更新周期的取值下限或者感知更新周期的下限值；目标取值范围的上限值可以理解为感知更新周期的时长的上限值，也可以称之为感知更新周期的取值上限或者感知更新周期的上限值。例如，在一些实施例中，所述目标取值范围的下限值等于所述感知帧周期的时长或者等于所述固定时间资源的周期的时长。在其他实施例中，可以所述目标取值范围的下限值等于所述感知帧周期的时长或者等于所述固定时间资源的周期的时长加上预设的偏移值。It should be understood that the lower limit of the above target value range can be understood as the lower limit of the duration of the sensing update cycle, and can also be called the lower limit of the sensing update cycle or the lower limit of the sensing update cycle; the target value range The upper limit value of can be understood as the upper limit value of the duration of the sensing update cycle, which can also be called the upper limit value of the sensing update cycle or the upper limit value of the sensing update cycle. For example, in some embodiments, the lower limit of the target value range is equal to the length of the sensing frame period or equal to the The duration of the period of the fixed-time resource. In other embodiments, the lower limit of the target value range may be equal to the duration of the sensing frame period or equal to the duration of the fixed time resource period plus a preset offset value.

本申请实施例中，如果单个时间资源段的长度包含若干个感知帧周期时间长度，则在单个时间资源段内的感知更新周期的取值下限是感知帧周期，时间资源段之间的感知帧周期会发生变化；或者感知更新周期的下限取值为分配时间资源的周期。In the embodiment of this application, if the length of a single time resource segment includes several sensing frame cycle time lengths, the lower limit of the sensing update cycle within a single time resource segment is the sensing frame period, and the sensing frame between time resource segments The cycle will change; or the lower limit of the sensing update cycle is the cycle of allocated time resources.

在所述第一时间资源信息包括时间单元和所述时间单元内可用于执行所述感知业务的时间资源配比的情况下，假设时间资源配比为50％，则感知更新周期的下限值为感知帧周期的两倍，即相邻两个感知帧周期之间空出一个感知帧周期的时长用于执行其他业务。In the case where the first time resource information includes a time unit and a time resource ratio that can be used to perform the sensing service within the time unit, assuming that the time resource ratio is 50%, the lower limit of the sensing update period is It is twice the sensing frame period, that is, the duration of one sensing frame period between two adjacent sensing frame periods is used to perform other services.

可选地，在根据感知对象类型设置感知更新周期的情况下，在感知更新周期较大时，即感知帧周期之间不连续时，感知节点保持对感知对象的跟踪是基于预测算法：在第n感知帧基于之前获取的感知对象的第一参数预测第n+1感知帧时感知对象的位置；在第n+1帧时感知节点将波束对准预测位置探测感知对象。Optionally, when the sensing update period is set according to the type of sensing object, when the sensing update period is large, that is, when there is discontinuity between sensing frame periods, the sensing node keeps tracking of the sensing object based on the prediction algorithm: in the The n sensing frame predicts the position of the sensing object in the n+1th sensing frame based on the previously acquired first parameter of the sensing object; in the n+1th frame, the sensing node aims the beam at the predicted position to detect the sensing object.

可选地，对于通信感知一体化的情况，根据通信速率要求设置感知更新周期的上限。Optionally, for the case of integration of communication and sensing, the upper limit of the sensing update period is set according to the communication rate requirement.

如图4所示，A点表示第n帧感知对象的位置；B点表示第n+1帧感知对象的位置；C1点表示第n+2帧感知对象的实际位置；D1点表示第n+2帧感知对象的预测位置；C2点表示进行感知更新周期限制后，第n+2帧感知对象的实际位置；D2点表示进行感知更新周期限制后，第n+2帧感知对象的预测位置。其中，在第n感知帧感知节点预测感知对象在第n+1感知帧的位置；感知节点在预测的位置附近检测到感知对象，并基于新获取的感知对象的第一参数，预测感知对象在第n+2感知帧的位置；然而，感知对象在第n+1感知帧后发生较大机动的转向使得感知对象在第n+2感知帧时偏离出以预测位置为中心的波束范围，则感知节点无法检测到感知对象。如果对感知更新周期的取值加以限制，在第n+2感知帧时感知对象出现在图中C2点和D2点，则感知节点仍然可能检测出感知对象。As shown in Figure 4, point A represents the position of the sensing object in the nth frame; point B represents the position of the sensing object in the n+1th frame; point C1 represents the actual position of the sensing object in the n+2th frame; point D1 represents the n+th The predicted position of the sensing object in frame 2; point C2 represents the actual position of the sensing object in frame n+2 after limiting the sensing update cycle; point D2 represents the predicted position of the sensing object in frame n+2 after limiting the sensing update cycle. Among them, in the nth sensing frame, the sensing node predicts the position of the sensing object in the n+1th sensing frame; the sensing node detects the sensing object near the predicted position, and based on the newly acquired first parameter of the sensing object, predicts the position of the sensing object in The position of the n+2th sensing frame; however, the sensing object undergoes a large maneuver after the n+1th sensing frame, causing the sensing object to deviate from the beam range centered on the predicted position at the n+2th sensing frame, then The sensing node cannot detect the sensing object. If the value of the sensing update cycle is restricted, and the sensing object appears at point C2 and D2 in the figure at the n+2th sensing frame, then the sensing node may still detect the sensing object.

可选地，在一些实施例中，可以将感知更新周期的下限值设置为感知更新周期的初始时长。例如，在感知过程执行之前，根据分配给该感知业务的时间资源，设置感知更新周期的初始时长。设置方法为：在分配的时间资源允许范围内，最小化感知更新周期。感知节点以该感知更新周期的初始时长对感知对象和/或感知目标区域进行初始搜索和初始跟踪，待建立感知对象的稳定运动轨迹后，进入感知更新周期的调整。Optionally, in some embodiments, the lower limit value of the sensing update period may be set to the initial duration of the sensing update period. For example, before the sensing process is executed, the initial duration of the sensing update cycle is set according to the time resources allocated to the sensing service. The setting method is to minimize the sensing update cycle within the allowed range of allocated time resources. The sensing node performs an initial search and initial tracking of the sensing object and/or sensing target area with the initial duration of the sensing update cycle. After the stable motion trajectory of the sensing object is established, it enters the adjustment of the sensing update cycle.

如图5所示，曲线表示感知对象的运动轨迹。从第n感知帧到第n+2感知帧，感知对象近似进行匀速直线运动，感知对象的预测位置、滤波位置均与实际位置较为接近，即残差的方差或标准差、预测误差协方差、状态估计误差协方差均较小，在这段时间内，可以采用较大的感知更新周期即可维持对感知对象的跟踪，相邻感知帧之间空出的时间可用于执行其他业务。As shown in Figure 5, the curve represents the motion trajectory of the sensing object. From the nth sensing frame to the n+2th sensing frame, the sensing object approximately moves in a straight line at a uniform speed. The predicted position and filtered position of the sensing object are relatively close to the actual position, that is, the variance or standard deviation of the residual, the covariance of the prediction error, The state estimation error covariance is small. During this period, a larger sensing update cycle can be used to maintain tracking of the sensing object, and the time vacated between adjacent sensing frames can be used to perform other services.

从第n+3感知帧开始，感知对象做曲线运动。而第n+2感知帧对n+3感知帧的预测是基于第n+2感知帧之前感知对象进行匀速直线运动得到的，且第n+3感知帧与第n+2感知帧之间时间间隔较大；因此第n+3感知帧的预测位置与实际位置误差较大，进而第n+3感知帧的滤波位置与实际位置也存在一定误差。此时，应降低感知更新周期。图中以第n+4感知帧与第n+3感知帧之间距离变小表示降低感知更新周期。Starting from the n+3th sensing frame, the sensing object makes a curved motion. The prediction of the n+2th sensing frame to the n+3 sensing frame is based on the uniform linear motion of the sensing object before the n+2th sensing frame, and the time between the n+3th sensing frame and the n+2th sensing frame The interval is large; therefore, the error between the predicted position and the actual position of the n+3th sensing frame is large, and there is also a certain error between the filtered position and the actual position of the n+3th sensing frame. At this time, the sensing update cycle should be reduced. In the figure, the smaller distance between the n+4th sensing frame and the n+3rd sensing frame indicates that the sensing update cycle is reduced.

在第n+4感知帧，由于感知更新周期变小，且预测和滤波中均包含了第n+3时刻的数据，预测和滤波的误差变小。到第n+5感知帧时预测和滤波的误差进一步变小。In the n+4th sensing frame, since the sensing update period becomes smaller, and both prediction and filtering include the data at the n+3th moment, the errors in prediction and filtering become smaller. By the n+5th sensing frame, the prediction and filtering errors further become smaller.

可选地，在一些实施例中，所述第一设备根据所述第一指标调整感知更新周期包括：Optionally, in some embodiments, the first device adjusting the sensing update period according to the first indicator includes:

所述第一设备根据所述第一指标、预设门限值和所述感知更新周期的调整方式调整所述感知更新周期。The first device adjusts the perception update period according to the first indicator, the preset threshold value and the adjustment method of the perception update period.

本申请实施例中，可以基于第一感知帧获得的第一指标调整第二感知帧对应的感知更新周期，其中，第一感知帧为当前感知帧，第二感知帧位于第一感知帧之后的感知帧。其中，一个感知帧周期可以理解为一个感知帧，每一个感知帧对应的时长为感知帧周期的时长。In the embodiment of the present application, the perception update period corresponding to the second perception frame can be adjusted based on the first indicator obtained from the first perception frame, where the first perception frame is the current perception frame, and the second perception frame is located after the first perception frame. perceptual frame. Among them, a sensing frame period can be understood as a sensing frame, and the corresponding duration of each sensing frame is the duration of the sensing frame period.

可选地，所述感知更新周期的调整方式包括以下任一项：Optionally, the adjustment method of the sensing update cycle includes any of the following:

按照固定时长增大或减小所述感知更新周期；Increase or decrease the sensing update period according to a fixed duration;

按照目标比值增大或减小所述感知更新周期；Increase or decrease the sensing update period according to the target ratio;

按照感知更新周期参数表调整所述感知更新周期，所述感知更新周期参数表包括至少两个第一值，所述第一值为所述感知更新周期的时长。The perception update cycle is adjusted according to a perception update cycle parameter table, where the perception update cycle parameter table includes at least two first values, and the first values are the duration of the perception update cycle.

可选地，所述目标比值为目标值与所述第一指标的比值，所述目标值基于所述预设门限值确定。Optionally, the target ratio is a ratio between a target value and the first indicator, and the target value is determined based on the preset threshold value.

本申请实施例中，目标值的确定方式可以根据实际需要进行设置，例如，当预设门限值包括一个门限值的情况下，上述目标值等于预设门限值。当预设门限值包括两个门限值的情况下，该目标值可以等于该两个门限值的几何平均值或算术平均值。In the embodiment of the present application, the method of determining the target value can be set according to actual needs. For example, when the preset threshold value includes a threshold value, the above target value is equal to the preset threshold value. When the preset threshold value includes two threshold values, the target value may be equal to the geometric mean or arithmetic mean of the two threshold values.

应理解，上述预设门限值可以包括一个或者多个门限值，在包括的门限值不同的情况下，对应的调整感知更新周期的方式不同。It should be understood that the above-mentioned preset threshold value may include one or more threshold values. In the case where the included threshold values are different, the corresponding methods of adjusting the sensing update period are different.

例如，在一些实施例中，所述预设门限值包括一个门限值，所述感知更新周期的调整规则满足以下至少一项：For example, in some embodiments, the preset threshold value includes a threshold value, and the adjustment rule of the sensing update period satisfies at least one of the following:

在所述第一指标大于所述预设门限值的情况下，减小所述感知更新周期；If the first indicator is greater than the preset threshold value, reduce the sensing update period;

在所述第一指标小于所述预设门限值的情况下，增大所述感知更新周期。If the first indicator is less than the preset threshold value, the sensing update period is increased.

可选地，在一些实施例中，所述预设门限值包括第一门限值和第二门限值，其中第一门限值小于第二门限值，所述感知更新周期的调整规则满足以下至少一项：Optionally, in some embodiments, the preset threshold value includes a first threshold value and a second threshold value, wherein the first threshold value is less than the second threshold value, and the adjustment of the sensing update period The rules satisfy at least one of the following:

在所述第一指标大于所述第二门限值的情况下，减小所述感知更新周期；If the first indicator is greater than the second threshold value, reduce the sensing update period;

在所述第一指标小于所述第一门限值的情况下，增大所述感知更新周期。If the first indicator is less than the first threshold, the sensing update period is increased.

可选地，一些实施例中，所述预设门限值包括第三门限值和第四门限值，所述感知更新周期的调整规则满足以下至少一项：Optionally, in some embodiments, the preset threshold value includes a third threshold value and a fourth threshold value, and the adjustment rule of the sensing update period satisfies at least one of the following:

在所述第一指标大于所述第三门限值，且所述第一指标与所述第三门限值的偏差大于所述第四门限值的情况下，减小所述感知更新周期；When the first indicator is greater than the third threshold, and the deviation between the first indicator and the third threshold is greater than the fourth threshold, the sensing update period is reduced. ;

在所述第一指标小于所述第三门限值，且所述第三门限值与所第一指标的偏差大于所述第四门限值的情况下，增大所述感知更新周期。If the first indicator is less than the third threshold, and the deviation between the third threshold and the first indicator is greater than the fourth threshold, the sensing update period is increased.

应理解，上述偏差可以基于差值、差值的平方、比值等方式确定，在此不做进一步的限定。It should be understood that the above deviation can be determined based on the difference, the square of the difference, the ratio, etc., and is not further limited here.

以下针对感知更新周期的不同调整方式对感知更新周期的调整进行示例性说明。The following is an exemplary description of the adjustment of the perception update cycle based on different adjustment methods of the perception update cycle.

针对按照固定时长增大或减小所述感知更新周期的方式，如果第一指标大于预设门限值，则将第一感知帧对应的感知更新周期的取值减小固定时长后作为第二感知帧的感知更新周期的取值；如果第一指标小于预设门限值，则将第一感知帧对应的感知更新周期的取值增大固定时长后作为第二感知帧的感知更新周期的取值。Regarding the method of increasing or decreasing the sensing update period according to a fixed duration, if the first indicator is greater than the preset threshold value, then the value of the sensing update period corresponding to the first sensing frame is reduced by a fixed duration and used as the second The value of the perception update cycle of the perception frame; if the first indicator is less than the preset threshold value, then the value of the perception update cycle corresponding to the first perception frame is increased by a fixed length of time as the perception update cycle of the second perception frame Take value.

可选地，在一些实施例中，在第一指标小于预设门限值的情况下，可以保持感知更新周期的取值不变。Optionally, in some embodiments, when the first indicator is less than the preset threshold value, the value of the sensing update period may be kept unchanged.

可选地，预设门限值可以为一个门限值，也可以包括第一门限值和第二门限值，且第一门限值小于第二门限值。当预设门限值包括第一门限值和第二门限值，则第一指标大于预设门限值可以理解为第一指标大于第二门限值，第一指标小于预设门限值可以理解为第一指标小于第一门限值。Optionally, the preset threshold value may be one threshold value, or may include a first threshold value and a second threshold value, and the first threshold value is smaller than the second threshold value. When the preset threshold value includes a first threshold value and a second threshold value, then the first indicator being greater than the preset threshold value can be understood as the first indicator being greater than the second threshold value, and the first indicator being less than the preset threshold value. The value can be understood as the first indicator being less than the first threshold value.

针对按照目标比值增大或减小所述感知更新周期的方式，如果第一指标小于或大于预设门限值，则第二感知帧的感知更新周期的取值T′为：其中，Q表示第一指标的取值，Q0表示目标值。例如，当第一预设门限为一个门限值的情况下，Q0为该预设门限值；当预设门限值包括第一门限值和第二门限值，且第一门限值小于第二门限值的情况下，可以采用第一门限值和第二门限值的几何平均值或算术平均值作为Q0，且第一指标大于预设门限值可以理解为第一指标大于第二门限值，第一指标小于预设门限值可以理解为第一指标小于第一门限值。Regarding the method of increasing or decreasing the sensing update period according to the target ratio, if the first indicator is less than or greater than the preset threshold value, the value T' of the sensing update period of the second sensing frame is: Among them, Q represents the value of the first indicator, and Q0 represents the target value. For example, when the first preset threshold is a threshold value, Q0 is the preset threshold value; when the preset threshold value includes a first threshold value and a second threshold value, and the first threshold value When the value is less than the second threshold value, the geometric mean or arithmetic mean value of the first threshold value and the second threshold value can be used as Q0, and the first indicator is greater than the preset threshold value, which can be understood as the first If the indicator is greater than the second threshold value and the first indicator is less than the preset threshold value, it can be understood that the first indicator is less than the first threshold value.

针对按照感知更新周期参数表调整所述感知更新周期的方式，可以理解为，感知更新周期参数表包括至少一个数组，在该数组中包括多个大小不同的第一值，该第一值表示感知更新周期的时长的取值，在需要增大或者减小感知更新周期的情况下，可以基于当前感知更新周期的取值大小，在数组中选择一个增大或减小的新的第一值作为更新后的感知更新周期的取值。例如，预设门限值包括第三门限和第四门限，如果第一指标大于第三门限，且第一指标与第三门限的偏差大于第四门限，则在数组中选择一个减小的新的第一值作为更新后的感知更新周期的取值；如果第一指标小于第三门限，且第四门限与第一指标的偏差大于第四门限，则在数组中选择一个增大的新的第一值作为更新后的感知更新周期的取值。Regarding the method of adjusting the perception update cycle according to the perception update cycle parameter table, it can be understood that the perception update cycle parameter table includes at least one array, and the array includes a plurality of first values of different sizes, and the first value represents the perception update cycle. The value of the duration of the update cycle. If it is necessary to increase or decrease the perception update cycle, a new first value that increases or decreases can be selected in the array based on the value of the current perception update cycle. The value of the updated perception update period. For example, the preset threshold value includes the third threshold and the fourth threshold. If the first indicator is greater than the third threshold, and the deviation between the first indicator and the third threshold is greater than the fourth threshold, then a new reduced value is selected in the array. The first value of is used as the value of the updated perception update cycle; if the first indicator is less than the third threshold, and the deviation between the fourth threshold and the first indicator is greater than the fourth threshold, select a new and increased value in the array First The value is used as the value of the updated perception update period.

可选地，感知更新周期参数表中包含若干个典型的感知帧周期的取值(如第二值)、每个感知帧周期的取值又有若干个感知更新周期的取值(即第一值)。也就是每一个感知帧周期的取值对应的若干个感知更新周期的取值为一个数组。在进行调整时，首先可以基于当前的感知帧周期确定数组，然后基于确定的数组进行感知更新周期的调整。例如，当第一指标与第三门限值的偏差超过第四门限值时，可以根据第一指标的取值从感知更新周期参数表中重新选择感知更新周期的取值。Optionally, the perception update period parameter table contains several typical values of the perception frame period (such as the second value), and each value of the perception frame period has several values of the perception update period (i.e., the first value). value). That is, the values of several sensing update periods corresponding to the value of each sensing frame period are an array. When making adjustments, the array can first be determined based on the current sensing frame period, and then the sensing update period can be adjusted based on the determined array. For example, when the deviation between the first indicator and the third threshold value exceeds the fourth threshold value, the value of the perception update cycle can be reselected from the perception update cycle parameter table according to the value of the first indicator.

可选地，对于第一指标的确定方式可以根据实际需要进行设置，例如，在一些实施例中，在所述第一设备包括所述感知节点中的接收设备的情况下，所述第一设备获取第一指标包括：Optionally, the method for determining the first indicator can be set according to actual needs. For example, in some embodiments, when the first device includes a receiving device in the sensing node, the first device Obtaining the first indicators includes:

所述第一设备根据当前的感知更新周期接收第一信号获得回波数据；The first device receives the first signal according to the current sensing update cycle to obtain echo data;

所述第一设备根据所述回波数据确定目标感知结果，所述目标感知结果满足：所述目标感知结果包括是否检测到所述感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括第一参数，所述第一参数用于表示感知对象的位置信息和运动信息中的至少一项；The first device determines a target sensing result based on the echo data, and the target sensing result satisfies: the target sensing result includes result information of whether the sensing object is detected; in the case where the sensing object is detected , the target sensing result also includes a first parameter, the first parameter is used to represent at least one of the position information and motion information of the sensing object;

所述第一设备根据所述第一参数确定第一指标。The first device determines a first indicator based on the first parameter.

例如，在一些实施例中，在所述第一设备为感知功能网元或感知节点中的发送设备的情况下，所述第一设备获取第一指标之前，所述方法还包括：For example, in some embodiments, when the first device is a sensing function network element or a sending device in a sensing node, before the first device acquires the first indicator, the method further includes:

所述第一设备从感知节点中的接收设备接收第四信息，所述第四信息包括回波数据、对回波数据进行第一运算得到的中间感知结果、对回波数据进行第二运算得到的目标感知结果和第一指标中的任一项，其中，所述回波数据为所述感知节点基于当前的感知更新周期执行感知业务获得的数据，所述第一运算为所述第二运算中的部分运算，所述目标感知结果满足：所述目标感知结果包括是否检测到所述感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括第一参数，所述第一参数用于表示感知对象的位置信息和运动信息中的至少一项；The first device receives fourth information from the receiving device in the sensing node. The fourth information includes echo data, an intermediate sensing result obtained by performing a first operation on the echo data, and an intermediate sensing result obtained by performing a second operation on the echo data. Any one of the target sensing results and the first indicator, wherein the echo data is the data obtained by the sensing node performing sensing services based on the current sensing update cycle, and the first operation is the second operation Part of the operation in , the first parameter is used to represent at least one of the position information and motion information of the sensing object;

所述第一设备根据所述第四信息确定第一指标。The first device determines a first indicator based on the fourth information.

本申请实施例中，在所述第一设备为感知节点中的发送设备的情况下，第一设备还需要基于当前的感知更新周期发送第一信号。In this embodiment of the present application, when the first device is a sending device in a sensing node, The first device also needs to send the first signal based on the current sensing update cycle.

可选地，当第四信息包括回波数据时，第一设备可以对回波数据进行第二运算获得第一参数，然后确定第一指标；当第四信息包括中间感知结果时，第一设备可以对中间感知结果进行第二运算中除第一运算之外的剩余运算获得第一参数，然后确定第一指标。当第四信息包括目标感知结果时，第一设备可以直接从第四信息中解析获得第一参数，然后确定第一指标。Optionally, when the fourth information includes echo data, the first device can perform a second operation on the echo data to obtain the first parameter, and then determine the first indicator; when the fourth information includes an intermediate sensing result, the first device The remaining operations in the second operation except the first operation can be performed on the intermediate sensing result to obtain the first parameter, and then the first index is determined. When the fourth information includes the target sensing result, the first device can directly parse and obtain the first parameter from the fourth information, and then determine the first indicator.

可选地，所述第一参数包括以下至少一项：极坐标系下的参数；直角坐标系下的参数。Optionally, the first parameter includes at least one of the following: parameters in a polar coordinate system; parameters in a rectangular coordinate system.

可选地，所述方法还包括以下至少一项：Optionally, the method also includes at least one of the following:

在所述第一设备为感知节点中的接收设备的情况下，所述第一设备向第二目标设备发送第一指示信息，所述第一指示信息用于指示调整后的感知更新周期的时长，所述第二目标设备包括所述感知节点中的发送设备，或者包括所述感知节点中的发送设备和感知功能网元；When the first device is a receiving device in a sensing node, the first device sends first indication information to the second target device, where the first indication information is used to indicate the adjusted duration of the sensing update cycle. , the second target device includes a sending device in the sensing node, or includes a sending device and a sensing function network element in the sensing node;

在所述第一设备为感知节点中的发送设备的情况下，所述第一设备向第三目标设备发送第一指示信息，所述第一指示信息用于指示调整后的感知更新周期的时长，所述第三目标设备包括所述感知节点中的接收设备，或者包括所述感知节点中的接收设备和感知功能网元；When the first device is a sending device in a sensing node, the first device sends first indication information to the third target device, where the first indication information is used to indicate the adjusted duration of the sensing update cycle. , the third target device includes a receiving device in the sensing node, or includes a receiving device and a sensing function network element in the sensing node;

在所述第一设备为感知功能网元的情况下，所述第一设备向感知节点中的发送设备和接收设备发送第一指示信息，所述第一指示信息用于指示调整后的感知更新周期的时长。When the first device is a sensing function network element, the first device sends first indication information to the sending device and the receiving device in the sensing node, and the first indication information is used to indicate the adjusted sensing update. The length of the cycle.

为了更好的理解本申请以下通过一些实例进行详细说明。In order to better understand this application, some examples will be described in detail below.

在一些实施例中，感知节点的发送设备和感知节点的接收设备属于同一个设备，采用感知节点自发自收的方式执行感知业务的情况下，感知更新周期的自适应调节的流程如下：In some embodiments, the sending device of the sensing node and the receiving device of the sensing node belong to the same device. When the sensing node performs the sensing service in a spontaneous and self-receiving manner, the process of adaptive adjustment of the sensing update cycle is as follows:

步骤1，感知节点或感知功能网元获取用来进行感知更新周期设置的第一信息。Step 1: The sensing node or sensing function network element obtains first information used to set the sensing update cycle.

步骤2，感知节点或感知功能网元根据第一时间资源信息和感知需求中的感知对象类型设置感知更新周期的取值范围和初始时长。Step 2: The sensing node or sensing function network element sets the value range and initial duration of the sensing update cycle according to the first time resource information and the sensing object type in the sensing requirement.

可选地，如果执行上述操作的设备为感知功能网元，在执行上述过程之后，还包括感知功能网元将感知更新周期的初始时长发送至感知节点。Optionally, if the device that performs the above operation is a sensing function network element, before performing the above process Finally, the sensing function network element also sends the initial duration of the sensing update cycle to the sensing node.

步骤3，感知节点根据感知更新周期进行第一信号的发送和接收，并得到回波数据；由感知节点和/或感知功能网元对回波数据进行感知信号处理，包括以下选项之一Step 3: The sensing node sends and receives the first signal according to the sensing update cycle and obtains the echo data; the sensing node and/or the sensing function network element performs sensing signal processing on the echo data, including one of the following options

感知节点对回波数据进行感知信号处理，生成目标感知结果；The sensing node performs sensing signal processing on the echo data to generate target sensing results;

感知节点对回波数据进行感知信号处理的部分运算，得到中间感知结果，并将中间感知结果发送给感知功能网元，由感知功能网元进行感知信号处理的剩余部分运算，生成目标感知结果；The sensing node performs part of the sensing signal processing operation on the echo data to obtain an intermediate sensing result, and sends the intermediate sensing result to the sensing function network element. The sensing function network element performs the remaining part of the sensing signal processing operation to generate the target sensing result;

感知节点将回波数据发送给感知功能网元，由感知功能网元对回波数据进行感知信号处理，生成目标感知结果。The sensing node sends the echo data to the sensing function network element, and the sensing function network element performs sensing signal processing on the echo data to generate target sensing results.

所述目标感知结果包括：是否检测出感知对象，以及在检测出感知对象的情况下感知对象的第一参数。The target sensing result includes: whether the sensing object is detected, and if the sensing object is detected, the first parameter of the sensing object.

如果所述目标感知结果显示没有检测出感知对象，则循环执行本步骤操作；如果所述目标感知结果显示检测出感知对象，则进入下一步流程。If the target sensing result shows that no sensing object is detected, this step is executed in a loop; if the target sensing result shows that the sensing object is detected, the next step is entered.

步骤4，感知节点或感知功能网元根据目标感知结果中的第一参数的第一指标调节感知更新周期。Step 4: The sensing node or sensing function network element adjusts the sensing update cycle according to the first indicator of the first parameter in the target sensing result.

根据目标感知结果的生成由感知节点或感知功能网元，以及执行感知更新周期调节的设备是感知节点或感知功能网元，包括以下情况之一：According to the generation of target sensing results by sensing nodes or sensing function network elements, and the device that performs sensing update cycle adjustment is the sensing node or sensing function network element, including one of the following situations:

目标感知结果由感知节点生成，且执行感知更新周期调节的设备是感知节点，则无需交互感知结果和感知更新周期；The target sensing result is generated by the sensing node, and the device that performs sensing update cycle adjustment is the sensing node, so there is no need to interact with the sensing result and sensing update cycle;

目标感知结果由感知节点生成，且执行感知更新周期调节的设备是感知功能网元，则在执行感知更新周期调节之前，感知节点需向感知功能网元发送目标感知结果，在执行感知更新周期调节之后，感知功能网元需向感知节点发送调节后的感知更新周期；The target sensing result is generated by the sensing node, and the device that performs the sensing update cycle adjustment is the sensing function network element. Before performing the sensing update cycle adjustment, the sensing node needs to send the target sensing result to the sensing function network element. After performing the sensing update cycle adjustment, Afterwards, the sensing function network element needs to send the adjusted sensing update cycle to the sensing node;

目标感知结果由感知功能网元生成，且执行感知更新周期调节的设备是感知节点，则在执行感知更新周期调节之前，感知功能网元需向感知节点发送目标感知结果；The target sensing result is generated by the sensing function network element, and the device that performs sensing update cycle adjustment is a sensing node. Before performing sensing update cycle adjustment, the sensing function network element needs to send the target sensing result to the sensing node;

目标感知结果由感知功能网元生成，且执行感知更新周期调节的设备是感知功能网元，则在执行感知更新周期调节之后，感知功能网元需向感知节点发送调节后的感知更新周期。The target sensing result is generated by the sensing function network element, and the device that performs the sensing update cycle adjustment is the sensing function network element. After performing the sensing update cycle adjustment, the sensing function network element needs to report to the sensing node. Click to send the adjusted sensing update period.

步骤5，感知节点根据调节后的感知更新周期，调节第一信号的发送和接收，并得到回波数据；由感知节点和/或感知功能网元对回波数据进行感知信号处理和/或数据处理，获得回波信号质量和/或感知对象的第一参数，包括以下情况之一：Step 5: The sensing node adjusts the sending and receiving of the first signal according to the adjusted sensing update cycle, and obtains the echo data; the sensing node and/or the sensing function network element performs sensing signal processing and/or data processing on the echo data. Processing to obtain the echo signal quality and/or the first parameter of the perceived object, including one of the following situations:

感知节点对回波数据进行感知信号处理和/或数据处理，得到目标感知结果；The sensing node performs sensing signal processing and/or data processing on the echo data to obtain the target sensing result;

感知节点对回波数据进行感知信号处理和/或数据处理的部分运算，得到中间感知结果，并将中间感知结果发送给感知功能网元，由感知功能网元进行感知信号处理和/或数据处理的剩余部分运算，得到目标感知结果；The sensing node performs some operations of sensing signal processing and/or data processing on the echo data to obtain an intermediate sensing result, and sends the intermediate sensing result to the sensing function network element, which performs sensing signal processing and/or data processing. The remaining part of the operation is performed to obtain the target perception result;

感知节点将回波数据发送给感知功能网元，由感知功能网元对回波数据进行感知信号处理和/或数据处理，得到目标感知结果。The sensing node sends the echo data to the sensing function network element, and the sensing function network element performs sensing signal processing and/or data processing on the echo data to obtain the target sensing result.

最后，循环执行步骤4和步骤5，直至感知过程结束。Finally, step 4 and step 5 are executed in a loop until the sensing process ends.

在一些实施例中，感知节点的发送设备和感知节点的接收设备属于不同的设备，可以采用发送设备发送第一信号，接收设备接收第一信号的方式执行感知业务的情况下，感知更新周期的自适应调节的流程如下：In some embodiments, the sending device of the sensing node and the receiving device of the sensing node belong to different devices. When the sensing service can be performed by using the sending device to send the first signal and the receiving device to receive the first signal, the sensing update period is The process of adaptive adjustment is as follows:

步骤1，发送端设备、或接收端设备或感知功能网元获取用来进行感知更新周期设置的第一信息Step 1: The sending end device, the receiving end device, or the sensing function network element obtains the first information used to set the sensing update cycle.

步骤2，发送端设备、或接收端设备或感知功能网元根据第一时间资源信息和感知需求中的感知对象类型设置感知更新周期的取值范围和初始时长。Step 2: The sending end device, or the receiving end device, or the sensing function network element sets the value range and initial duration of the sensing update cycle according to the first time resource information and the sensing object type in the sensing requirement.

可选地，如果执行上述操作的设备为感知功能网元，在执行上述过程之后，感知功能网元将感知更新周期的初始时长发送至发送端设备和接收端设备；如果执行上述操作的设备为发送端设备，在执行上述过程之后，发送端设备将感知更新周期的初始时长发送至接收端设备或接收端设备和感知功能网元；如果执行上述操作的设备为接收端设备，在执行上述过程之后，接收端设备将感知更新周期的初始时长发送至发送端设备或发送端设备和感知功能网元。Optionally, if the device that performs the above operation is a sensing function network element, after performing the above process, the sensing function network element sends the initial duration of the sensing update cycle to the sending device and the receiving device; if the device that performs the above operation is The sending device, after performing the above process, sends the initial duration of the sensing update cycle to the receiving device or the receiving device and the sensing function network element; if the device performing the above operation is the receiving device, after performing the above process Afterwards, the receiving end device sends the initial duration of the sensing update cycle to the sending end device or the sending end device and the sensing function network element.

步骤3，发送端设备和接收端设备根据感知更新周期的初始时长进行第一信号的发送和接收，接收端设备得到回波数据；由接收端设备和/或感知功能网元对回波数据进行感知信号处理，包括以下选项之一：Step 3: The sending end device and the receiving end device transmit and receive the first signal according to the initial duration of the sensing update cycle, and the receiving end device obtains the echo data; the receiving end device and/or the sensing function The network element can perform sensing signal processing on the echo data, including one of the following options:

接收端设备对回波数据进行感知信号处理，生成目标感知结果；The receiving device performs sensing signal processing on the echo data to generate target sensing results;

接收端设备对回波数据进行感知信号处理的部分运算，得到中间感知结果，并将中间感知结果发送给感知功能网元，由感知功能网元进行感知信号处理的剩余部分运算，生成目标感知结果；The receiving end device performs part of the sensing signal processing operation on the echo data to obtain an intermediate sensing result, and sends the intermediate sensing result to the sensing function network element. The sensing function network element performs the remaining part of the sensing signal processing operation to generate the target sensing result. ;

接收端设备将回波数据发送给感知功能网元，由感知功能网元对回波数据进行感知信号处理，生成目标感知结果。The receiving end device sends the echo data to the sensing function network element, and the sensing function network element performs sensing signal processing on the echo data to generate target sensing results.

所述目标感知结果包括：是否检测出感知对象，以及在检测出感知对象的情况下感知对象的第一参数。The target sensing result includes: whether the sensing object is detected, and if the sensing object is detected, the first parameter of the sensing object.

如果所述目标感知结果显示没有检测出感知对象，则循环执行本步骤操作；如果所述目标感知结果显示检测出感知对象，则进入下一步流程。If the target sensing result shows that no sensing object is detected, this step is executed in a loop; if the target sensing result shows that the sensing object is detected, the next step is entered.

步骤4，发送端设备、或接收端设备、或感知功能网元根据目标感知结果中的第一参数的第一指标调节感知更新周期。Step 4: The sending end device, the receiving end device, or the sensing function network element adjusts the sensing update cycle according to the first indicator of the first parameter in the target sensing result.

根据目标感知结果的生成由接收端设备或感知功能网元，以及执行感知更新周期调节的设备是发送端设备、或接收端设备或感知功能网元，包括以下情况之一：The target sensing result is generated by the receiving device or the sensing function network element, and the device that performs sensing update cycle adjustment is the sending device, or the receiving device or the sensing function network element, including one of the following situations:

目标感知结果由接收端设备生成，且执行感知更新周期调节的设备是接收端设备，则在执行感知更新周期调节之后，接收端设备需向发送端设备发送调节后的感知更新周期；The target sensing result is generated by the receiving device, and the device that performs the sensing update cycle adjustment is the receiving device. After performing the sensing update cycle adjustment, the receiving device needs to send the adjusted sensing update cycle to the sending device;

目标感知结果由接收端设备生成，且执行感知更新周期调节的设备是感知功能网元，则在执行感知更新周期调节之前，接收端设备需向感知功能网元发送目标感知结果，在执行感知更新周期调节之后，感知功能网元需向发送端设备和接收端设备发送调节后的感知更新周期；The target sensing result is generated by the receiving device, and the device that performs the sensing update cycle adjustment is the sensing function network element. Before performing the sensing update cycle adjustment, the receiving device needs to send the target sensing result to the sensing function network element. After performing the sensing update After the cycle adjustment, the sensing function network element needs to send the adjusted sensing update cycle to the sending end device and the receiving end device;

目标感知结果由接收端设备生成，且执行感知更新周期调节的设备是发送端设备，则在执行感知更新周期调节之前，接收端设备需向发送端设备发送目标感知结果，在执行感知更新周期调节之后，发送端设备需向接收端设备发送调节后的感知更新周期；The target sensing result is generated by the receiving device, and the device that performs the sensing update cycle adjustment is the sending device. Before performing the sensing update cycle adjustment, the receiving device needs to send the target sensing result to the sending device. After performing the sensing update cycle adjustment, Afterwards, the sending device needs to send the adjusted sensing update cycle to the receiving device;

目标感知结果由感知功能网元生成，且执行感知更新周期调节的设备是感知功能网元，则在执行感知更新周期调节之后，感知功能网元需向发送端设备和接收端设备发送调节后的感知更新周期；The target sensing result is generated by the sensing function network element, and the device that performs the sensing update cycle adjustment is the sensing function network element. After performing the sensing update cycle adjustment, the sensing function network element needs to report to the sending end. The device and the receiving device send the adjusted sensing update cycle;

目标感知结果由感知功能网元生成，且执行感知更新周期调节的设备是发送端设备，则在执行感知更新周期调节之前，感知功能网元需向发送端设备发送目标感知结果，在执行感知更新周期调节之后，发送端设备需向接收端设备和感知功能网元发送调节后的感知更新周期；The target sensing result is generated by the sensing function network element, and the device that performs the sensing update cycle adjustment is the sending device. Before performing the sensing update cycle adjustment, the sensing function network element needs to send the target sensing result to the sending device. Before performing the sensing update After the cycle adjustment, the sending device needs to send the adjusted sensing update cycle to the receiving device and the sensing function network element;

目标感知结果由感知功能网元生成，且执行感知更新周期调节的设备是接收端设备，则在执行感知更新周期调节之前，感知功能网元需向接收端设备发送目标感知结果，在执行感知更新周期调节之后，接收端设备需向发送端设备和感知功能网元发送调节后的感知更新周期。The target sensing result is generated by the sensing function network element, and the device that performs the sensing update cycle adjustment is the receiving device. Before performing the sensing update cycle adjustment, the sensing function network element needs to send the target sensing result to the receiving device. Before performing the sensing update After the cycle adjustment, the receiving device needs to send the adjusted sensing update cycle to the sending device and the sensing function network element.

步骤5，发送端设备和接收端设备根据调节后的感知更新周期，调节第一信号的发送和接收，接收端设备得到回波数据；由接收端设备和/或感知功能网元对回波数据进行感知信号处理和/或数据处理，获得回波信号质量和/或感知对象的第一参数，包括以下选项之一：Step 5: The sending end device and the receiving end device adjust the sending and receiving of the first signal according to the adjusted sensing update cycle, and the receiving end device obtains the echo data; the receiving end device and/or the sensing function network element analyzes the echo data Perform sensing signal processing and/or data processing to obtain echo signal quality and/or first parameters of the sensing object, including one of the following options:

接收端设备对回波数据进行感知信号处理和/或数据处理，得到目标感知结果；The receiving device performs sensing signal processing and/or data processing on the echo data to obtain target sensing results;

接收端设备对回波数据进行感知信号处理和/或数据处理的部分运算，得到中间感知结果，并将中间感知结果发送给感知功能网元，由感知功能网元进行感知信号处理和/或数据处理的剩余部分运算，得到目标感知结果；The receiving end device performs some operations of sensing signal processing and/or data processing on the echo data to obtain an intermediate sensing result, and sends the intermediate sensing result to the sensing function network element, which performs sensing signal processing and/or data processing. The remaining part of the processing is calculated to obtain the target perception result;

接收端设备将回波数据发送给感知功能网元，由感知功能网元对回波数据进行感知信号处理和/或数据处理，得到目标感知结果。The receiving end device sends the echo data to the sensing function network element, and the sensing function network element performs sensing signal processing and/or data processing on the echo data to obtain the target sensing result.

最后，循环执行步骤4和步骤5，直至感知过程结束。Finally, step 4 and step 5 are executed in a loop until the sensing process ends.

参照图6，本申请实施例还提供了另一种感知处理方法。如图6所示，该感知处理方法包括：Referring to Figure 6, this embodiment of the present application also provides another perception processing method. As shown in Figure 6, the perception processing method includes:

步骤601，在第一设备根据第一指标对感知更新周期进行调整的情况下，第二设备从所述第一设备接收第一指示信息，所述第一指标用于表示对感知对象的感知性能，所述第一指示信息用于指示调整后的感知更新周期的时长，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期；Step 601: When the first device adjusts the sensing update cycle according to a first indicator, the second device receives first indication information from the first device, and the first indicator is used to represent the sensing performance of the sensing object. , the first indication information is used to indicate the length of the adjusted sensing update cycle, and one of the sensing update cycles includes at least one sensing frame period for sensing the sensing object;

其中，所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备和感知功能网元中的至少一项。Wherein, when the first device is a sensing function network element, the second device includes sensing function At least one of a receiving device in a node and a sending device in a sensing node; when the first device is a receiving device in a sensing node, the second device includes a sending device in a sensing node and a sensing function network at least one of the elements; if the first device is a sending device in a sensing node, the second device includes at least one of a receiving device in the sensing node and a sensing function network element.

应理解，上述第一指标可以理解为感知对象的第一参数的第一指标。It should be understood that the above-mentioned first index can be understood as a first index of the first parameter of the sensing object.

可选地，所述方法还包括以下至少一项：Optionally, the method also includes at least one of the following:

在所述第二设备包括感知节点中的发送设备的情况下，所述第二设备根据调整后的感知更新周期发送第一信号；In the case where the second device includes a sending device in a sensing node, the second device sends the first signal according to the adjusted sensing update cycle;

在所述第二设备包括感知节点中的接收设备的情况下，所述第二设备根据调整后的感知更新周期接收第一信号获得回波数据，向所述第一设备或感知功能网元发送第四信息，所述第四信息包括回波数据、对回波数据进行第一运算得到的中间感知结果、对回波数据进行第二运算得到的目标感知结果和第一指标中的任一项，其中，所述回波数据为所述感知节点基于调整后的感知更新周期执行感知业务获得的数据，所述第一运算为所述第二运算中的部分运算，所述目标感知结果满足：所述目标感知结果包括是否检测到所述感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括第一参数，所述第一参数用于表示感知对象的位置信息和运动信息中的至少一项。In the case where the second device includes a receiving device in a sensing node, the second device receives the first signal according to the adjusted sensing update cycle to obtain echo data, and sends the echo data to the first device or sensing function network element. Fourth information, the fourth information includes any one of the echo data, the intermediate sensing result obtained by performing the first operation on the echo data, the target sensing result obtained by performing the second operation on the echo data, and the first indicator. , wherein the echo data is the data obtained by the sensing node performing sensing services based on the adjusted sensing update cycle, the first operation is part of the second operation, and the target sensing result satisfies: The target sensing result includes result information of whether the sensing object is detected; in the case where the sensing object is detected, the target sensing result also includes a first parameter, and the first parameter is used to represent the sensing object. At least one of position information and motion information.

可选地，所述第二设备从第一设备接收第一指示信息之前，所述方法还包括：Optionally, before the second device receives the first indication information from the first device, the method further includes:

所述第二设备从所述第一设备接收第二指示信息，所述第二指示信息用于指示所述感知更新周期的初始时长。The second device receives second indication information from the first device, where the second indication information is used to indicate the initial duration of the sensing update cycle.

可选地，所述感知更新周期的调整方式包括以下任一项：Optionally, the adjustment method of the sensing update cycle includes any of the following:

按照固定时长增大或减小所述感知更新周期；Increase or decrease the sensing update period according to a fixed duration;

按照目标比值增大或减小所述感知更新周期；Increase or decrease the sensing update period according to the target ratio;

按照感知更新周期参数表调整所述感知更新周期，所述感知更新周期参数表包括至少两个第一值，所述第一值为所述感知更新周期的时长。The perception update cycle is adjusted according to a perception update cycle parameter table, where the perception update cycle parameter table includes at least two first values, and the first values are the duration of the perception update cycle.

可选地，所述目标比值为目标值与所述第一指标的比值，所述目标值基于预设门限值确定。Optionally, the target ratio is the ratio of the target value to the first indicator, and the target value is based on Determined at the preset threshold value.

可选地于，所述第一指标包括以下至少一项：Optionally, the first indicator includes at least one of the following:

残差的方差或标准差；The variance or standard deviation of the residuals;

预测误差协方差；Forecast error covariance;

状态估计误差协方差。State estimation error covariance.

本申请实施例提供的感知处理方法，执行主体可以为感知处理装置。本申请实施例中以感知处理装置执行感知处理方法为例，说明本申请实施例提供的感知处理装置。For the perception processing method provided by the embodiments of the present application, the execution subject may be a perception processing device. In the embodiment of the present application, the perception processing device executing the perception processing method is taken as an example to illustrate the perception processing device provided by the embodiment of the present application.

参照图7，本申请实施例提供了一种感知处理装置，应用于第一设备，如图7所示，该感知处理装置700，包括：Referring to Figure 7, an embodiment of the present application provides a perception processing device, which is applied to the first device. As shown in Figure 7, the perception processing device 700 includes:

获取模块701，用于获取第一指标，所述第一指标用于表示对感知对象的感知性能；The acquisition module 701 is used to acquire a first indicator, where the first indicator is used to represent the perceptual performance of the perceptual object;

调整模块702，用于根据所述第一指标调整感知更新周期，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期。The adjustment module 702 is configured to adjust a perception update cycle according to the first indicator. One perception update cycle includes at least one perception frame cycle for sensing the perception object.

可选地，所述感知处理装置700还包括：第一确定模块，Optionally, the perception processing device 700 further includes: a first determination module,

所述获取模块701，还用于获取第一信息；The acquisition module 701 is also used to acquire the first information;

所述第一确定模块，用于根据所述第一信息确定感知配置，所述感知配置包括所述感知更新周期的初始时长和目标取值范围中的至少一项；The first determination module is configured to determine a sensing configuration according to the first information, where the sensing configuration includes at least one of the initial duration of the sensing update cycle and a target value range;

其中，所述感知更新周期的时长位于所述目标取值范围内，所述第一信息包括以下至少一项：感知目标区域、感知对象类型、感知服务质量QoS、感知先验信息、感知节点的位置信息、与感知业务关联的第一时间资源信息和所述感知更新周期的调整方式。Wherein, the duration of the sensing update cycle is within the target value range, and the first information includes at least one of the following: sensing target area, sensing object type, sensing quality of service QoS, sensing prior information, sensing node Location information, first time resource information associated with the sensing service, and adjustment method of the sensing update cycle.

可选地，所述第一时间资源信息包括以下任一项：Optionally, the first time resource information includes any of the following:

用于分配给所述感知业务的固定时间资源；Fixed time resources allocated to the sensing service;

时间单元和所述时间单元内可用于执行所述感知业务的时间资源配比。The time unit and the time resource allocation that can be used to execute the sensing service within the time unit.

可选地，所述感知对象类型基于以下至少一项确定：典型感知对象的运动速度、典型感知对象的运动加速度和典型雷达截面积。Optionally, the sensing object type is determined based on at least one of the following: motion speed of typical sensing objects, motion acceleration of typical sensing objects, and typical radar cross-sectional area.

可选地，所述第一时间资源信息满足以下任一项：Optionally, the first time resource information satisfies any of the following:

所述第一时间资源信息包括所述第一设备从第一目标设备获取的第二时间资源信息；The first time resource information includes the second time resource information obtained by the first device from the first target device. room resource information;

所述第一时间资源信息基于第三信息和所述第一设备从第一目标设备获取的第二时间资源信息确定；The first time resource information is determined based on the third information and the second time resource information obtained by the first device from the first target device;

所述第一时间资源信息包括所述第一设备基于第二信息确定的第三时间资源信息；The first time resource information includes third time resource information determined by the first device based on the second information;

所述第一时间资源信息基于第三信息和所述第一设备基于第二信息确定的第三时间资源信息确定；The first time resource information is determined based on the third information and the third time resource information determined by the first device based on the second information;

其中，所述第二时间资源信息和所述第三时间资源信息均与所述感知业务关联；所述第二信息包括所述感知目标区域、所述感知对象类型和所述感知QoS中的至少一项；所述第三信息包括感知节点的工作负荷和所述感知业务的优先级中的至少一项；所述第一设备为感知功能网元的情况下，所述第一目标设备包括应用服务器和所述感知业务的发起方中的至少一项，所述第一设备为感知节点的情况下，所述第一目标设备包括感知功能网元、应用服务器和所述感知业务的发起方中的至少一项。Wherein, the second time resource information and the third time resource information are both associated with the sensing service; the second information includes at least one of the sensing target area, the sensing object type and the sensing QoS. One item; the third information includes at least one of the workload of the sensing node and the priority of the sensing service; when the first device is a sensing function network element, the first target device includes an application At least one of the server and the initiator of the sensing service. When the first device is a sensing node, the first target device includes a sensing function network element, an application server and the initiator of the sensing service. at least one of.

可选地，所述目标取值范围满足以下至少一项：Optionally, the target value range meets at least one of the following:

所述目标取值范围的下限值基于所述第一时间资源信息确定；The lower limit of the target value range is determined based on the first time resource information;

所述目标取值范围的上限值基于所述感知对象类型或通信速率确定。The upper limit of the target value range is determined based on the sensing object type or communication rate.

可选地，所述目标取值范围的下限值基于所述第一时间资源信息确定，所述目标取值范围的下限值满足以下至少一项：Optionally, the lower limit of the target value range is determined based on the first time resource information, and the lower limit of the target value range satisfies at least one of the following:

在所述第一时间资源信息包括用于分配给所述感知业务的固定时间资源的情况下，所述目标取值范围的下限值基于所述感知帧周期的时长或者所述固定时间资源的周期的时长确定；In the case where the first time resource information includes fixed time resources allocated to the sensing service, the lower limit of the target value range is based on the length of the sensing frame period or the fixed time resource. The duration of the cycle is determined;

在所述第一时间资源信息包括时间单元和所述时间单元内可用于执行所述感知业务的时间资源配比的情况下，所述目标取值范围的下限值等于所述感知帧周期与所述时间资源配比的比值。In the case where the first time resource information includes a time unit and a time resource ratio that can be used to perform the sensing service within the time unit, the lower limit of the target value range is equal to the sensing frame period and The ratio of the time resource allocation.

可选地，所述调整模块702具体用于：根据所述第一指标、预设门限值和所述感知更新周期的调整方式调整所述感知更新周期。Optionally, the adjustment module 702 is specifically configured to adjust the perception update period according to the first indicator, the preset threshold value and the adjustment method of the perception update period.

可选地，所述感知更新周期的调整方式包括以下任一项：Optionally, the adjustment method of the sensing update cycle includes any of the following:

按照固定时长增大或减小所述感知更新周期；Increase or decrease the sensing update period according to a fixed duration;

按照目标比值增大或减小所述感知更新周期；Increase or decrease the sensing update period according to the target ratio;

按照感知更新周期参数表调整所述感知更新周期，所述感知更新周期参数表包括至少两个第一值，所述第一值为所述感知更新周期的时长。The perception update cycle is adjusted according to a perception update cycle parameter table, where the perception update cycle parameter table includes at least two first values, and the first values are the duration of the perception update cycle.

可选地，所述目标比值为目标值与所述第一指标的比值，所述目标值基于所述预设门限值确定。Optionally, the target ratio is a ratio between a target value and the first indicator, and the target value is determined based on the preset threshold value.

可选地，所述预设门限值包括一个门限值，所述感知更新周期的调整规则满足以下至少一项：Optionally, the preset threshold value includes a threshold value, and the adjustment rule of the sensing update period satisfies at least one of the following:

在所述第一指标大于所述预设门限值的情况下，减小所述感知更新周期；If the first indicator is greater than the preset threshold value, reduce the sensing update period;

在所述第一指标小于所述预设门限值的情况下，增大所述感知更新周期。If the first indicator is less than the preset threshold value, the sensing update period is increased.

可选地，所述预设门限值包括第一门限值和第二门限值，且所述第一门限值小于所述第二门限值，所述感知更新周期的调整规则满足以下至少一项：Optionally, the preset threshold value includes a first threshold value and a second threshold value, and the first threshold value is less than the second threshold value, and the adjustment rule of the sensing update period satisfies At least one of the following:

在所述第一指标大于所述第二门限值的情况下，减小所述感知更新周期；If the first indicator is greater than the second threshold value, reduce the sensing update period;

在所述第一指标小于所述第一门限值的情况下，增大所述感知更新周期。If the first indicator is less than the first threshold, the sensing update period is increased.

可选地，所述预设门限值包括第三门限值和第四门限值，所述感知更新周期的调整规则满足以下至少一项：Optionally, the preset threshold value includes a third threshold value and a fourth threshold value, and the adjustment rule of the sensing update period satisfies at least one of the following:

在所述第一指标大于所述第三门限值，且所述第一指标与所述第三门限值的偏差大于所述第四门限值的情况下，减小所述感知更新周期；When the first indicator is greater than the third threshold, and the deviation between the first indicator and the third threshold is greater than the fourth threshold, the sensing update period is reduced. ;

在所述第一指标小于所述第三门限值，且所述第三门限值与所第一指标的偏差大于所述第四门限值的情况下，增大所述感知更新周期。If the first indicator is less than the third threshold, and the deviation between the third threshold and the first indicator is greater than the fourth threshold, the sensing update period is increased.

可选地，所述第一指标包括以下至少一项：Optionally, the first indicator includes at least one of the following:

残差的方差或标准差；The variance or standard deviation of the residuals;

预测误差协方差；Forecast error covariance;

状态估计误差协方差。State estimation error covariance.

可选地，在所述第一设备包括所述感知节点中的接收设备的情况下，所述获取模块701具体用于：根据当前的感知更新周期接收第一信号获得回波数据；根据所述回波数据确定目标感知结果，所述目标感知结果满足：所述目标感知结果包括是否检测到所述感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括第一参数，所述第一参数用于表示感知对象的位置信息和运动信息中的至少一项；根据所述第一参数确定第一指标。Optionally, in the case where the first device includes a receiving device in the sensing node, the acquisition module 701 is specifically configured to: receive the first signal according to the current sensing update cycle to obtain echo data; The echo data determines the target sensing result, and the target sensing result satisfies: the target sensing result includes the result information of whether the sensing object is detected; in the case of detecting the sensing object, the target sensing result also includes A first parameter, the first parameter is used to represent at least one of the position information and motion information of the sensing object; the first parameter is determined according to the first parameter. index.

可选地，在所述第一设备为感知功能网元或感知节点中的发送设备的情况下，所述获取模块701具体用于：用于从感知节点中的接收设备接收第四信息，所述第四信息包括回波数据、对回波数据进行第一运算得到的中间感知结果、对回波数据进行第二运算得到的目标感知结果和第一指标中的任一项，其中，所述回波数据为所述感知节点基于当前的感知更新周期执行感知业务获得的数据，所述第一运算为所述第二运算中的部分运算，所述目标感知结果满足：所述目标感知结果包括是否检测到所述感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括第一参数，所述第一参数用于表示感知对象的位置信息和运动信息中的至少一项；根据所述第四信息确定第一指标。Optionally, in the case where the first device is a sensing function network element or a sending device in a sensing node, the obtaining module 701 is specifically configured to: receive the fourth information from a receiving device in the sensing node, so The fourth information includes any one of echo data, an intermediate sensing result obtained by performing a first operation on the echo data, a target sensing result obtained by performing a second operation on the echo data, and a first indicator, wherein, the The echo data is the data obtained by the sensing node executing the sensing service based on the current sensing update cycle. The first operation is part of the second operation. The target sensing result satisfies: the target sensing result includes: Whether the result information of the sensing object is detected; in the case of detecting the sensing object, the target sensing result also includes a first parameter, the first parameter is used to represent the position information and motion information of the sensing object At least one item of; determining the first indicator according to the fourth information.

可选地，所述第一参数包括以下至少一项：Optionally, the first parameter includes at least one of the following:

极坐标系下的参数；Parameters in polar coordinate system;

直角坐标系下的参数。Parameters in the Cartesian coordinate system.

可选地，所述感知处理装置700还包括第一发送模块，用于执行以下至少一项：Optionally, the perception processing device 700 further includes a first sending module, configured to perform at least one of the following:

在所述第一设备为感知节点中的接收设备的情况下，向第二目标设备发送第一指示信息，所述第一指示信息用于指示调整后的感知更新周期的时长，所述第二目标设备包括所述感知节点中的发送设备，或者包括所述感知节点中的发送设备和感知功能网元；In the case where the first device is a receiving device in a sensing node, first indication information is sent to the second target device, where the first indication information is used to indicate the adjusted length of the sensing update cycle, and the second The target device includes the sending device in the sensing node, or includes the sending device and the sensing function network element in the sensing node;

在所述第一设备为感知节点中的发送设备的情况下，向第三目标设备发送第一指示信息，所述第一指示信息用于指示调整后的感知更新周期的时长，所述第三目标设备包括所述感知节点中的接收设备，或者包括所述感知节点中的接收设备和感知功能网元；In the case where the first device is a sending device in a sensing node, first indication information is sent to the third target device, where the first indication information is used to indicate the adjusted length of the sensing update cycle, and the third The target device includes a receiving device in the sensing node, or includes a receiving device and a sensing function network element in the sensing node;

在所述第一设备为感知功能网元的情况下，向感知节点中的发送设备和接收设备发送第一指示信息，所述第一指示信息用于指示调整后的感知更新周期的时长。When the first device is a sensing function network element, first indication information is sent to the sending device and the receiving device in the sensing node, where the first indication information is used to indicate the adjusted length of the sensing update cycle.

可选地，所述感知处理装置700还包括：Optionally, the perception processing device 700 further includes:

第一发送模块，用于在所述第一设备包括感知节点中的发送设备的情况下，根据调整后的感知更新周期发送所述第一信号；A first sending module, used when the first device includes a sending device in a sensing node Next, send the first signal according to the adjusted sensing update cycle;

第二接收模块，用于在所述第一设备包括感知节点中的接收设备的情况下，根据调整后的感知更新周期接收所述第一信号。The second receiving module is configured to receive the first signal according to the adjusted sensing update cycle when the first device includes a receiving device in a sensing node.

参照图8，本申请实施例提供了一种感知处理装置，应用于第二设备，如图8所示，该感知处理装置800，包括：Referring to Figure 8, an embodiment of the present application provides a perception processing device applied to a second device. As shown in Figure 8, the perception processing device 800 includes:

第一接收模块801，用于在第一设备根据第一指标对感知更新周期进行调整的情况下，从所述第一设备接收第一指示信息，所述第一指标用于表示对感知对象的感知性能，所述第一指示信息用于指示调整后的感知更新周期的时长，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期；The first receiving module 801 is configured to receive first indication information from the first device when the first device adjusts the sensing update cycle according to a first indicator, where the first indicator is used to represent the perception of the sensing object. Sensing performance, the first indication information is used to indicate the length of the adjusted sensing update cycle, and one of the sensing update cycles includes at least one sensing frame period for sensing the sensing object;

其中，所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备和感知功能网元中的至少一项。Wherein, when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; the first device is a sensing node. In the case of a receiving device, the second device includes at least one of a sending device in a sensing node and a sensing function network element; when the first device is a sending device in a sensing node, the second device The device includes at least one of a receiving device in a sensing node and a sensing function network element.

可选地，所述感知处理装置800还包括以下至少一项：Optionally, the perception processing device 800 further includes at least one of the following:

第二发送模块，用于在所述第二设备包括感知节点中的发送设备的情况下，根据调整后的感知更新周期发送第一信号；A second sending module, configured to send the first signal according to the adjusted sensing update cycle when the second device includes a sending device in a sensing node;

第三接收模块，用于在所述第二设备包括感知节点中的接收设备的情况下，根据调整后的感知更新周期接收第一信号获得回波数据，向所述第一设备或感知功能网元发送第四信息，所述第四信息包括回波数据、对回波数据进行第一运算得到的中间感知结果、对回波数据进行第二运算得到的目标感知结果和第一指标中的任一项，其中，所述回波数据为所述感知节点基于调整后的感知更新周期执行感知业务获得的数据，所述第一运算为所述第二运算中的部分运算，所述目标感知结果满足：所述目标感知结果包括是否检测到所述感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括第一参数，所述第一参数用于表示感知对象的位置信息和运动信息中的至少一项。A third receiving module, configured to receive the first signal according to the adjusted sensing update cycle to obtain echo data when the second device includes a receiving device in a sensing node, and send the echo data to the first device or the sensing function network. The fourth information includes echo data, an intermediate sensing result obtained by performing a first operation on the echo data, a target sensing result obtained by performing a second operation on the echo data, and any of the first indicators. One item, wherein the echo data is data obtained by the sensing node performing sensing services based on the adjusted sensing update cycle, the first operation is part of the second operation, and the target sensing result Satisfies: the target sensing result includes the result information of whether the sensing object is detected; in the case of detecting the sensing object, the target sensing result also includes a first parameter, and the first parameter is used to represent the sensing object. At least one of position information and motion information of the object.

可选地，所述第一接收模块还用于：从所述第一设备接收第二指示信息，所述第二指示信息用于指示所述感知更新周期的初始时长。Optionally, the first receiving module is further configured to: receive second indication information from the first device, where the second indication information is used to indicate an initial duration of the perception update cycle.

可选地，所述感知更新周期的调整方式包括以下任一项：Optionally, the adjustment method of the sensing update cycle includes any of the following:

按照固定时长增大或减小所述感知更新周期；Increase or decrease the sensing update period according to a fixed duration;

按照目标比值增大或减小所述感知更新周期；Increase or decrease the sensing update period according to the target ratio;

按照感知更新周期参数表调整所述感知更新周期，所述感知更新周期参数表包括至少两个第一值，所述第一值为所述感知更新周期的时长。The perception update cycle is adjusted according to a perception update cycle parameter table, where the perception update cycle parameter table includes at least two first values, and the first values are the duration of the perception update cycle.

可选地，所述目标比值为目标值与所述第一指标的比值，所述目标值基于预设门限值确定。Optionally, the target ratio is a ratio between a target value and the first indicator, and the target value is determined based on a preset threshold value.

可选地于，所述第一指标包括以下至少一项：Optionally, the first indicator includes at least one of the following:

残差的方差或标准差；The variance or standard deviation of the residuals;

预测误差协方差；Forecast error covariance;

状态估计误差协方差。State estimation error covariance.

本申请实施例中的感知处理装置可以是电子设备，例如具有操作系统的电子设备，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 perception processing device in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or may be a component in the electronic device, such as an integrated circuit or chip. The electronic device may be a terminal or other devices other than the terminal. For example, terminals may include but are not limited to the types of terminals 11 listed above, and other devices may be servers, network attached storage (Network Attached Storage, NAS), etc., which are not specifically limited in the embodiment of this application.

本申请实施例提供的感知处理装置能够实现图2至图6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 processing device provided by the embodiments of the present application can implement each process implemented by the method embodiments of Figures 2 to 6, and achieve the same technical effect. To avoid duplication, the details will not be described here.

可选的，如图9所示，本申请实施例还提供一种通信设备900，包括处理器901和存储器902，存储器902上存储有可在所述处理器901上运行的程序或指令，该程序或指令被处理器901执行时实现上述感知处理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 Figure 9, this embodiment of the present application also provides a communication device 900, which includes a processor 901 and a memory 902. The memory 902 stores programs or instructions that can be run on the processor 901. When the program or instruction is executed by the processor 901, each step of the above-mentioned perception processing method embodiment is implemented, and the same technical effect can be achieved. To avoid duplication, the details will not be described here.

本申请实施例还提供一种终端，包括处理器和通信接口，在所述终端为第一设备时，所述通信接口用于获取第一指标，所述第一指标用于表示对感知对象的感知性能；所述处理器用于根据所述第一指标调整感知更新周期，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期；Embodiments of the present application also provide a terminal, including a processor and a communication interface. When the terminal is a first device, the communication interface is used to obtain a first indicator, and the first indicator is used to represent a response to a sensing object. Perception performance; the processor is configured to adjust a perception update cycle according to the first indicator, and one perception update cycle includes at least one perception frame cycle for sensing the perception object;

或者，在所述终端为第二设备时，所述通信接口用于在第一设备根据第一指标对感知更新周期进行调整的情况下，第二设备从所述第一设备接收第一指示信息，所述第一指标用于表示对感知对象的感知性能，所述第一指示信息用于指示调整后的感知更新周期的时长，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期；其中，所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备；所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备。Or, when the terminal is a second device, the communication interface is used to receive the first indication information from the first device when the first device adjusts the sensing update cycle according to the first indicator. , the first indicator is used to represent the sensing performance of the sensing object, the first indication information is used to indicate the length of the adjusted sensing update cycle, and one of the sensing update cycles includes at least one for sensing the sensing object. The sensing frame period for the object to sense; wherein, when the first device is a receiving device in a sensing node, the second device includes a sending device in a sensing node; the first device is a sending device in a sensing node In the case of a device, the second device includes a receiving device in a sensing node.

该终端实施例与上述终端侧方法实施例对应，上述方法实施例的各个实施过程和实现方式均可适用于该终端实施例中，且能达到相同的技术效果。具体地，图10为实现本申请实施例的一种终端的硬件结构示意图。This terminal embodiment corresponds to the above-mentioned terminal-side method embodiment. Each implementation process and implementation manner of the above-mentioned method embodiment can be applied to this terminal embodiment, and can achieve the same technical effect. Specifically, FIG. 10 is a schematic diagram of the hardware structure of a terminal that implements an embodiment of the present application.

该终端1000包括但不限于：射频单元1001、网络模块1002、音频输出单元1003、输入单元1004、传感器1005、显示单元1006、用户输入单元1007、接口单元1008、存储器1009以及处理器1010等中的至少部分部件。The terminal 1000 includes but is not limited to: a radio frequency unit 1001, a network module 1002, an audio output unit 1003, an input unit 1004, a sensor 1005, a display unit 1006, a user input unit 1007, an interface unit 1008, a memory 1009, a processor 1010, etc. At least some parts.

本领域技术人员可以理解，终端1000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系统与处理器1010逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。图10中示出的终端结构并不构成对终端的限定，终端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 can understand that the terminal 1000 may also include a power supply (such as a battery) that supplies power to various components. The power supply may be logically connected to the processor 1010 through a power management system, thereby managing charging, discharging, and power consumption through the power management system. Management and other functions. The terminal structure shown in FIG. 10 does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown in the figure, or some components may be combined or arranged differently, which will not be described again here.

应理解的是，本申请实施例中，输入单元1004可以包括图形处理单元(Graphics Processing Unit，GPU)10041和麦克风10042，图形处理器10041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1006可包括显示面板10061，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10061。用户输入单元1007包括触控面板10071以及其他输入设备10072中的至少一种。触控面板10071，也称为触摸屏。触控面板10071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10072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 1004 may include a graphics processing unit (GPU) 10041 and a microphone 10042. The graphics processor 10041 is responsible for the image capture device (GPU) in the video capture mode or the image capture mode. Process the image data of still pictures or videos obtained by cameras (such as cameras). The display unit 1006 may include a display panel 10061, which may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 1007 includes at least one of a touch panel 10071 and other input devices 10072 . Touch panel 10071, also known as touch screen. The touch panel 10071 may include two parts: a touch detection device and a touch controller. Other input devices 10072 may include but are not limited to physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which will not be described again here.

本申请实施例中，射频单元1001接收来自网络侧设备的下行数据后，可以传输给处理器1010进行处理；另外，射频单元1001可以向网络侧设备发送上行数据。通常，射频单元1001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 this embodiment of the present application, after receiving downlink data from the network side device, the radio frequency unit 1001 can transmit it to the processor 1010 for processing; in addition, the radio frequency unit 1001 can send uplink data to the network side device. Generally, the radio frequency unit 1001 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.

存储器1009可用于存储软件程序或指令以及各种数据。存储器1009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系统、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1009可以包括易失性存储器或非易失性存储器，或者，存储器1009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1009包括但不限于这些和任意其它适合类型的存储器。Memory 1009 may be used to store software programs or instructions as well as various data. The memory 1009 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, Image playback function, etc.) etc. Additionally, memory 1009 may include volatile memory or nonvolatile memory, or memory 1009 may include both volatile and nonvolatile memory. Among them, non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically removable memory. Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. Volatile memory can be random access memory (Random Access Memory, RAM), static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDRSDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synch link DRAM) , SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DRRAM). The memory 1009 in the embodiment of the present application includes, but is not limited to, these and any other suitable types of memory.

处理器1010可包括一个或多个处理单元；可选的，处理器1010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系统、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1010中。The processor 1010 may include one or more processing units; optionally, the processor 1010 integrates an application processor and a modem processor, where the application processor mainly handles operations related to the operating system, user interface, application programs, etc., Modem processors mainly process wireless communication signals, such as baseband processors. It can be understood that the above modem processor may not be integrated into the processor 1010.

其中，在所述终端为第一设备时，射频单元1001，用于获取第一指标，所述第一指标用于表示对感知对象的感知性能；所述处理器1010用于根据所述第一指标调整感知更新周期，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期；Wherein, when the terminal is the first device, the radio frequency unit 1001 is used to obtain a first indicator, the first indicator is used to represent the perceptual performance of the perceptual object; the processor 1010 is used to obtain the perceptual performance of the perceptual object according to the first Indicator adjustment sensing update cycle, one of the sensing update cycles includes at least one sensing frame period for sensing the sensing object;

或者，在所述终端为第二设备时，所述射频单元1001用于在第一设备根据第一指标对感知更新周期进行调整的情况下，第二设备从所述第一设备接收第一指示信息，所述第一指标用于表示对感知对象的感知性能，所述第一指示信息用于指示调整后的感知更新周期的时长，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期；其中，所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备；所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备。Alternatively, when the terminal is a second device, the radio frequency unit 1001 is configured to: when the first device adjusts the sensing update cycle according to the first indicator, the second device receives a first indication from the first device. information, the first indicator is used to represent the sensing performance of the sensing object, the first indication information is used to indicate the length of the adjusted sensing update cycle, and one of the sensing update cycles includes at least one parameter for sensing the sensing object. The sensing frame period during which the sensing object performs sensing; wherein, when the first device is a receiving device in a sensing node, the second device includes a sending device in a sensing node; the first device is a receiving device in a sensing node. In the case of a sending device, the second device includes a receiving device in a sensing node.

本申请实施例中，可以根据感知环境的变化基于第一指标灵活调整感知更新周期，从而可以在满足感知性能需求的情况下，最小化感知对时间资源的占用。In the embodiment of the present application, the sensing update cycle can be flexibly adjusted based on the first indicator according to changes in the sensing environment, thereby minimizing the occupation of time resources by sensing while meeting sensing performance requirements.

本申请实施例还提供一种网络侧设备，包括处理器和通信接口，在所述网络侧设备为第一设备时，所述通信接口用于获取第一指标，所述第一指标用于表示对感知对象的感知性能；所述处理器用于根据所述第一指标调整感知更新周期，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期；Embodiments of the present application also provide a network side device, including a processor and a communication interface. When the network side device is a first device, the communication interface is used to obtain a first indicator, and the first indicator is used to represent Perception performance of the sensing object; the processor is configured to adjust a sensing update period according to the first indicator, and one of the sensing update periods includes at least one sensing frame period for sensing the sensing object;

或者，在所述网络侧设备为第二设备，所述通信接口用于在第一设备根据第一指标对感知更新周期进行调整的情况下，第二设备从所述第一设备接收第一指示信息，所述第一指标用于表示对感知对象的感知性能，所述第一指示信息用于指示调整后的感知更新周期的时长，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期；Alternatively, when the network side device is a second device, the communication interface is used to receive a first indication from the first device when the first device adjusts the sensing update cycle according to the first indicator. information, the first indicator is used to represent the sensing performance of the sensing object, the first indication information is used to indicate the length of the adjusted sensing update cycle, and one of the sensing update cycles includes at least one parameter for sensing the sensing object. The sensing frame period during which the sensing object performs sensing;

其中，所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备和感知功能网元中的至少一项。Wherein, when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; the first device is a sensing node. In the case of a receiving device, the second device includes at least one of a sending device in a sensing node and a sensing function network element; when the first device is a sending device in a sensing node, the second device The device includes at least one of a receiving device in a sensing node and a sensing function network element.

该网络侧设备实施例与上述网络侧设备方法实施例对应，上述方法实施例的各个实施过程和实现方式均可适用于该网络侧设备实施例中，且能达到相同的技术效果。This network-side device embodiment corresponds to the above-mentioned network-side device method embodiment. Each implementation process and implementation manner of the above-mentioned method embodiment can be applied to this network-side device embodiment, and can achieve Same technical effect.

具体地，本申请实施例还提供了一种网络侧设备。如图11所示，该网络侧设备1100包括：天线1101、射频装置1102、基带装置1103、处理器1104和存储器1105。天线1101与射频装置1102连接。在上行方向上，射频装置1102通过天线1101接收信息，将接收的信息发送给基带装置1103进行处理。在下行方向上，基带装置1103对要发送的信息进行处理，并发送给射频装置1102，射频装置1102对收到的信息进行处理后经过天线1101发送出去。Specifically, the embodiment of the present application also provides a network side device. As shown in Figure 11, the network side device 1100 includes: an antenna 1101, a radio frequency device 1102, a baseband device 1103, a processor 1104 and a memory 1105. The antenna 1101 is connected to the radio frequency device 1102. In the uplink direction, the radio frequency device 1102 receives information through the antenna 1101 and sends the received information to the baseband device 1103 for processing. In the downlink direction, the baseband device 1103 processes the information to be sent and sends it to the radio frequency device 1102. The radio frequency device 1102 processes the received information and then sends it out through the antenna 1101.

以上实施例中网络侧设备执行的方法可以在基带装置1103中实现，该基带装置1103包括基带处理器。The method performed by the network side device in the above embodiment can be implemented in the baseband device 1103, which includes a baseband processor.

基带装置1103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11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1105连接，以调用存储器1105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 1103 may include, for example, at least one baseband board, which is provided with multiple chips, as shown in FIG. Program to perform the network device operations shown in the above method embodiments.

该网络侧设备还可以包括网络接口1106，该接口例如为通用公共无线接口(common public radio interface，CPRI)。The network side device may also include a network interface 1106, which is, for example, a common public radio interface (CPRI).

具体地，本申请实施例的网络侧设备1100还包括：存储在存储器1105上并可在处理器1104上运行的指令或程序，处理器1104调用存储器1105中的指令或程序执行图7或图8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 network side device 1100 in the embodiment of the present application also includes: instructions or programs stored in the memory 1105 and executable on the processor 1104. The processor 1104 calls the instructions or programs in the memory 1105 to execute Figure 7 or Figure 8 The execution methods of each module are shown and achieve the same technical effect. To avoid repetition, they will not be described in detail here.

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感知处理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。Embodiments of the present application also provide a readable storage medium. Programs or instructions are stored on the readable storage medium. When the program or instructions are executed by a processor, each process of the above embodiments of the perception processing method is implemented and the same can be achieved. The technical effects will not be repeated here to avoid repetition.

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，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。Wherein, the processor is the processor in the terminal described in the above embodiment. The readable storage medium includes computer readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disk or optical disk, etc.

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，实现上述感知处理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. The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the above embodiments of the perception processing method. Each process can achieve the same technical effect. To avoid duplication, it will not be described again here.

应理解，本申请实施例提到的芯片还可以称为系统级芯片，系统芯片，芯片系统或片上系统芯片等。It should be understood that the chips mentioned in the embodiments of this application may also be called system-on-chip, system-on-a-chip, system-on-chip or system-on-chip, etc.

本申请实施例另提供了一种计算机程序产品，所述计算机程序产品被存储在存储介质中，所述计算机程序产品被至少一个处理器执行以实现上述感知处理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。Embodiments of the present application further provide a computer program product. The computer program product is stored in a storage medium. The computer program product is executed by at least one processor to implement each process of the above-mentioned perception processing method embodiment, and can To achieve the same technical effect, to avoid repetition, we will not repeat them here.

本申请实施例还提供了一种通信系统，包括：第一设备及第二设备，所述第一设备用于执行如图2及上述各个方法实施例的各个过程，所述第二设备用于执行如图6及上述各个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。Embodiments of the present application also provide a communication system, including: a first device and a second device. The first device is used to perform various processes in Figure 2 and the above method embodiments. The second device is used to Each process in Figure 6 and the above method embodiments is executed, and the same technical effect can be achieved. To avoid repetition, the details will not be described here.

需要说明的是，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, in this document, the terms "comprising", "comprises" or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or device that includes a series of elements not only includes those elements, It also includes other elements not expressly listed or inherent in the process, method, article or apparatus. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article or apparatus that includes that element. In addition, it should be pointed out 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, but may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. Functions may be performed, for example, the methods described may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, 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现有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 embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better. implementation. Based on this understanding, the technical solution of the present application can be embodied in the form of a computer software product that is essentially or contributes to the existing technology. The computer software product is stored in a storage medium (such as ROM/RAM, disk , CD), including several instructions to cause a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of this application.

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 have been described above in conjunction with the accompanying drawings, but the present application is not limited to the above. The above-described specific implementations are only illustrative and not restrictive. Those of ordinary skill in the art, inspired by this application, can do so without departing from the purpose of this application and the scope protected by the claims. , many forms can also be made, all of which fall within the protection of this application.

Claims (26)

Translated fromChinese

一种感知处理方法，包括：A method of perceptual processing that includes:第一设备获取第一指标，所述第一指标用于表示对感知对象的感知性能；The first device acquires a first indicator, where the first indicator is used to represent the perceptual performance of the perceptual object;所述第一设备根据所述第一指标调整感知更新周期，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期。The first device adjusts a sensing update period according to the first indicator, and one of the sensing update periods includes at least one sensing frame period for sensing the sensing object.根据权利要求1所述的方法，其中，所述第一设备获取第一指标之前，所述方法还包括：The method according to claim 1, wherein before the first device obtains the first indicator, the method further includes:所述第一设备获取第一信息；The first device obtains first information;所述第一设备根据所述第一信息确定感知配置，所述感知配置包括所述感知更新周期的初始时长和目标取值范围中的至少一项；The first device determines a sensing configuration based on the first information, where the sensing configuration includes at least one of an initial duration of the sensing update cycle and a target value range;其中，所述感知更新周期的时长位于所述目标取值范围内，所述第一信息包括以下至少一项：感知目标区域、感知对象类型、感知服务质量QoS、感知先验信息、感知节点的位置信息、与感知业务关联的第一时间资源信息和所述感知更新周期的调整方式。Wherein, the duration of the sensing update cycle is within the target value range, and the first information includes at least one of the following: sensing target area, sensing object type, sensing quality of service QoS, sensing prior information, sensing node Location information, first time resource information associated with the sensing service, and adjustment method of the sensing update cycle.根据权利要求2所述的方法，其中，所述第一时间资源信息包括以下任一项：The method according to claim 2, wherein the first time resource information includes any of the following:用于分配给所述感知业务的固定时间资源；Fixed time resources allocated to the sensing service;时间单元和所述时间单元内可用于执行所述感知业务的时间资源配比。The time unit and the time resource allocation that can be used to execute the sensing service within the time unit.根据权利要求2所述的方法，其中，所述感知对象类型基于以下至少一项确定：典型感知对象的运动速度、典型感知对象的运动加速度和典型雷达截面积。The method of claim 2, wherein the sensing object type is determined based on at least one of the following: a motion speed of a typical sensing object, a motion acceleration of a typical sensing object, and a typical radar cross-sectional area.根据权利要求2所述的方法，其中，所述第一时间资源信息满足以下任一项：The method according to claim 2, wherein the first time resource information satisfies any of the following:所述第一时间资源信息包括所述第一设备从第一目标设备获取的第二时间资源信息；The first time resource information includes second time resource information obtained by the first device from the first target device;所述第一时间资源信息基于第三信息和所述第一设备从第一目标设备获取的第二时间资源信息确定；The first time resource information is determined based on the third information and the second time resource information obtained by the first device from the first target device;所述第一时间资源信息包括所述第一设备基于第二信息确定的第三时间资源信息；The first time resource information includes a third time determined by the first device based on the second information. resource information;所述第一时间资源信息基于第三信息和所述第一设备基于第二信息确定的第三时间资源信息确定；The first time resource information is determined based on the third information and the third time resource information determined by the first device based on the second information;其中，所述第二时间资源信息和所述第三时间资源信息均与所述感知业务关联；所述第二信息包括所述感知目标区域、所述感知对象类型和所述感知QoS中的至少一项；所述第三信息包括感知节点的工作负荷和所述感知业务的优先级中的至少一项；所述第一设备为感知功能网元的情况下，所述第一目标设备包括应用服务器和所述感知业务的发起方中的至少一项，所述第一设备为感知节点的情况下，所述第一目标设备包括感知功能网元、应用服务器和所述感知业务的发起方中的至少一项。Wherein, the second time resource information and the third time resource information are both associated with the sensing service; the second information includes at least one of the sensing target area, the sensing object type and the sensing QoS. One item; the third information includes at least one of the workload of the sensing node and the priority of the sensing service; when the first device is a sensing function network element, the first target device includes an application At least one of the server and the initiator of the sensing service. When the first device is a sensing node, the first target device includes a sensing function network element, an application server and the initiator of the sensing service. at least one of.根据权利要求2所述的方法，其中，所述目标取值范围满足以下至少一项：The method according to claim 2, wherein the target value range satisfies at least one of the following:所述目标取值范围的下限值基于所述第一时间资源信息确定；The lower limit of the target value range is determined based on the first time resource information;所述目标取值范围的上限值基于所述感知对象类型或通信速率确定。The upper limit of the target value range is determined based on the sensing object type or communication rate.根据权利要求6所述的方法，其中，所述目标取值范围的下限值基于所述第一时间资源信息确定，所述目标取值范围的下限值满足以下至少一项：The method according to claim 6, wherein the lower limit of the target value range is determined based on the first time resource information, and the lower limit of the target value range satisfies at least one of the following:在所述第一时间资源信息包括用于分配给所述感知业务的固定时间资源的情况下，所述目标取值范围的下限值基于所述感知帧周期的时长或者所述固定时间资源的周期的时长确定；In the case where the first time resource information includes fixed time resources allocated to the sensing service, the lower limit of the target value range is based on the length of the sensing frame period or the fixed time resource. The duration of the cycle is determined;在所述第一时间资源信息包括时间单元和所述时间单元内可用于执行所述感知业务的时间资源配比的情况下，所述目标取值范围的下限值等于所述感知帧周期与所述时间资源配比的比值。In the case where the first time resource information includes a time unit and a time resource ratio that can be used to perform the sensing service within the time unit, the lower limit of the target value range is equal to the sensing frame period and The ratio of the time resource allocation.根据权利要求1所述的方法，其中，所述第一设备根据所述第一指标调整感知更新周期包括：The method according to claim 1, wherein the first device adjusting the sensing update period according to the first indicator includes:所述第一设备根据所述第一指标、预设门限值和所述感知更新周期的调整方式调整所述感知更新周期。The first device adjusts the perception update period according to the first indicator, the preset threshold value and the adjustment method of the perception update period.根据权利要求8所述的方法，其中，所述感知更新周期的调整方式包括以下任一项：The method according to claim 8, wherein the adjustment method of the sensing update cycle includes any of the following:按照固定时长增大或减小所述感知更新周期；Increase or decrease the sensing update period according to a fixed duration;按照目标比值增大或减小所述感知更新周期；Increase or decrease the sensing update period according to the target ratio;按照感知更新周期参数表调整所述感知更新周期，所述感知更新周期参数表包括至少两个第一值，所述第一值为所述感知更新周期的时长。The perception update cycle is adjusted according to a perception update cycle parameter table, where the perception update cycle parameter table includes at least two first values, and the first values are the duration of the perception update cycle.根据权利要求9所述的方法，其中，所述目标比值为目标值与所述第一指标的比值，所述目标值基于所述预设门限值确定。The method of claim 9, wherein the target ratio is a ratio between a target value and the first indicator, and the target value is determined based on the preset threshold value.根据权利要求9所述的方法，其中，所述预设门限值包括一个门限值，所述感知更新周期的调整规则满足以下至少一项：The method according to claim 9, wherein the preset threshold value includes a threshold value, and the adjustment rule of the sensing update period satisfies at least one of the following:在所述第一指标大于所述预设门限值的情况下，减小所述感知更新周期；If the first indicator is greater than the preset threshold value, reduce the sensing update period;在所述第一指标小于所述预设门限值的情况下，增大所述感知更新周期。If the first indicator is less than the preset threshold value, the sensing update period is increased.根据权利要求9所述的方法，其中，所述预设门限值包括第一门限值和第二门限值，且所述第一门限值小于所述第二门限值，所述感知更新周期的调整规则满足以下至少一项：The method according to claim 9, wherein the preset threshold value includes a first threshold value and a second threshold value, and the first threshold value is less than the second threshold value, and the The adjustment rules for the sensing update cycle satisfy at least one of the following:在所述第一指标大于所述第二门限值的情况下，减小所述感知更新周期；If the first indicator is greater than the second threshold value, reduce the sensing update period;在所述第一指标小于所述第一门限值的情况下，增大所述感知更新周期。If the first indicator is less than the first threshold, the sensing update period is increased.根据权利要求9所述的方法，其中，所述预设门限值包括第三门限值和第四门限值，所述感知更新周期的调整规则满足以下至少一项：The method according to claim 9, wherein the preset threshold value includes a third threshold value and a fourth threshold value, and the adjustment rule of the sensing update period satisfies at least one of the following:在所述第一指标大于所述第三门限值，且所述第一指标与所述第三门限值的偏差大于所述第四门限值的情况下，减小所述感知更新周期；When the first indicator is greater than the third threshold, and the deviation between the first indicator and the third threshold is greater than the fourth threshold, the sensing update period is reduced. ;在所述第一指标小于所述第三门限值，且所述第三门限值与所第一指标的偏差大于所述第四门限值的情况下，增大所述感知更新周期。If the first indicator is less than the third threshold, and the deviation between the third threshold and the first indicator is greater than the fourth threshold, the sensing update period is increased.根据权利要求1所述的方法，其中，所述第一指标包括以下至少一项：The method of claim 1, wherein the first indicator includes at least one of the following:残差的方差或标准差；The variance or standard deviation of the residuals;预测误差协方差；Forecast error covariance;状态估计误差协方差。State estimation error covariance.根据权利要求1至14中任一项所述的方法，其中，在所述第一设备包括所述感知节点中的接收设备的情况下，所述第一设备获取第一指标包括：The method according to any one of claims 1 to 14, wherein, in the case where the first device includes a receiving device in the sensing node, obtaining the first indicator by the first device includes:所述第一设备根据当前的感知更新周期接收第一信号获得回波数据；The first device receives the first signal according to the current sensing update cycle to obtain echo data;所述第一设备根据所述回波数据确定目标感知结果，所述目标感知结果满足：所述目标感知结果包括是否检测到所述感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括第一参数，所述第一参数用于表示感知对象的位置信息和运动信息中的至少一项；The first device determines a target sensing result based on the echo data, and the target sensing result satisfies: the target sensing result includes result information of whether the sensing object is detected; In the case of the sensing object, the target sensing result further includes a first parameter, the first parameter is used to represent at least one of position information and motion information of the sensing object;所述第一设备根据所述第一参数确定第一指标。The first device determines a first indicator based on the first parameter.根据权利要求1至14中任一项所述的方法，其中，在所述第一设备为感知功能网元或感知节点中的发送设备的情况下，所述第一设备获取第一指标包括：The method according to any one of claims 1 to 14, wherein when the first device is a sensing function network element or a sending device in a sensing node, obtaining the first indicator by the first device includes:所述第一设备从感知节点中的接收设备接收第四信息，所述第四信息包括回波数据、对回波数据进行第一运算得到的中间感知结果、对回波数据进行第二运算得到的目标感知结果和第一指标中的任一项，其中，所述回波数据为所述感知节点基于当前的感知更新周期执行感知业务获得的数据，所述第一运算为所述第二运算中的部分运算，所述目标感知结果满足：所述目标感知结果包括是否检测到所述感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括第一参数，所述第一参数用于表示感知对象的位置信息和运动信息中的至少一项；The first device receives fourth information from the receiving device in the sensing node. The fourth information includes echo data, an intermediate sensing result obtained by performing a first operation on the echo data, and an intermediate sensing result obtained by performing a second operation on the echo data. Any one of the target sensing results and the first indicator, wherein the echo data is the data obtained by the sensing node performing sensing services based on the current sensing update cycle, and the first operation is the second operation Part of the operation in , the first parameter is used to represent at least one of the position information and motion information of the sensing object;所述第一设备根据所述第四信息确定第一指标。The first device determines a first indicator based on the fourth information.根据权利要求15或16所述的方法，其中，所述第一参数包括以下至少一项：The method of claim 15 or 16, wherein the first parameter includes at least one of the following:感知对象相对于感知节点的径向距离；The radial distance of the sensing object relative to the sensing node;感知对象相对于感知节点的径向速度；The radial velocity of the sensing object relative to the sensing node;感知对象相对于感知节点的角度；The angle of the sensing object relative to the sensing node;感知对象在直角坐标系下的坐标；Perceive the coordinates of the object in the Cartesian coordinate system;感知对象在直角坐标系下的速度。Perceive the speed of the object in the Cartesian coordinate system.根据权利要求1至14中任一项所述的方法，其中，所述方法还包括以下至少一项：The method according to any one of claims 1 to 14, wherein the method further includes at least one of the following:在所述第一设备为感知节点中的接收设备的情况下，所述第一设备向第二目标设备发送第一指示信息，所述第一指示信息用于指示调整后的感知更新周期的时长，所述第二目标设备包括所述感知节点中的发送设备，或者包括所述感知节点中的发送设备和感知功能网元；When the first device is a receiving device in a sensing node, the first device sends first indication information to the second target device, where the first indication information is used to indicate the adjusted duration of the sensing update cycle. , the second target device includes a sending device in the sensing node, or includes a sending device and a sensing function network element in the sensing node;在所述第一设备为感知节点中的发送设备的情况下，所述第一设备向第三目标设备发送第一指示信息，所述第一指示信息用于指示调整后的感知更新周期的时长，所述第三目标设备包括所述感知节点中的接收设备，或者包括所述感知节点中的接收设备和感知功能网元；In the case where the first device is a sending device in a sensing node, the first device transmits The third target device sends first indication information, the first indication information is used to indicate the length of the adjusted sensing update cycle, and the third target device includes a receiving device in the sensing node, or includes a receiving device in the sensing node. Receiving equipment and sensing function network elements;在所述第一设备为感知功能网元的情况下，所述第一设备向感知节点中的发送设备和接收设备发送第一指示信息，所述第一指示信息用于指示调整后的感知更新周期的时长。When the first device is a sensing function network element, the first device sends first indication information to the sending device and the receiving device in the sensing node, and the first indication information is used to indicate the adjusted sensing update. The length of the cycle.根据权利要求1至14中任一项所述的方法，其中，所述第一设备根据所述第一指标调整感知更新周期之后，所述方法还包括以下至少一项：The method according to any one of claims 1 to 14, wherein after the first device adjusts the sensing update period according to the first indicator, the method further includes at least one of the following:在所述第一设备包括感知节点中的发送设备的情况下，所述第一设备根据调整后的感知更新周期发送第一信号；In the case where the first device includes a sending device in a sensing node, the first device sends the first signal according to the adjusted sensing update cycle;在所述第一设备包括感知节点中的接收设备的情况下，所述第一设备根据调整后的感知更新周期接收第一信号。In the case where the first device includes a receiving device in a sensing node, the first device receives the first signal according to the adjusted sensing update cycle.一种感知处理方法，包括：A method of perceptual processing that includes:在第一设备根据第一指标对感知更新周期进行调整的情况下，第二设备从所述第一设备接收第一指示信息，所述第一指标用于表示对感知对象的感知性能，所述第一指示信息用于指示调整后的感知更新周期的时长，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期；When the first device adjusts the sensing update cycle according to a first indicator, the second device receives first indication information from the first device, and the first indicator is used to represent the sensing performance of the sensing object, and the second device receives the first indication information from the first device. The first indication information is used to indicate the length of the adjusted sensing update period, and one of the sensing update periods includes at least one sensing frame period for sensing the sensing object;其中，所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备和感知功能网元中的至少一项。Wherein, when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; the first device is a sensing node. In the case of a receiving device, the second device includes at least one of a sending device in a sensing node and a sensing function network element; when the first device is a sending device in a sensing node, the second device The device includes at least one of a receiving device in a sensing node and a sensing function network element.根据权利要求20所述的方法，其中，所述方法还包括以下至少一项：The method of claim 20, wherein the method further includes at least one of the following:在所述第二设备包括感知节点中的发送设备的情况下，所述第二设备根据调整后的感知更新周期发送第一信号；In the case where the second device includes a sending device in a sensing node, the second device sends the first signal according to the adjusted sensing update cycle;在所述第二设备包括感知节点中的接收设备的情况下，所述第二设备根据调整后的感知更新周期接收第一信号获得回波数据，向所述第一设备或感知功能网元发送第四信息，所述第四信息包括回波数据、对回波数据进行第一运算得到的中间感知结果、对回波数据进行第二运算得到的目标感知结果和第一指标中的任一项，其中，所述回波数据为所述感知节点基于调整后的感知更新周期执行感知业务获得的数据，所述第一运算为所述第二运算中的部分运算，所述目标感知结果满足：所述目标感知结果包括是否检测到所述感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括第一参数，所述第一参数用于表示感知对象的位置信息和运动信息中的至少一项。In the case where the second device includes a receiving device in a sensing node, the second device receives the first signal according to the adjusted sensing update cycle to obtain echo data, and sends the echo data to the first device or sensing function network element. Fourth information, the fourth information includes echo data, the echo data is processed for the third time Any one of the intermediate sensing results obtained by a first operation, the target sensing results obtained by a second operation on echo data, and the first indicator, wherein the echo data is based on the adjusted sensing update cycle of the sensing node. The data obtained by executing the sensing service, the first operation is part of the operation in the second operation, and the target sensing result satisfies: the target sensing result includes the result information of whether the sensing object is detected; In the case of the sensing object, the target sensing result further includes a first parameter, and the first parameter is used to represent at least one of position information and motion information of the sensing object.根据权利要求20所述的方法，其中，所述第二设备从第一设备接收第一指示信息之前，所述方法还包括：The method according to claim 20, wherein before the second device receives the first indication information from the first device, the method further includes:所述第二设备从所述第一设备接收第二指示信息，所述第二指示信息用于指示所述感知更新周期的初始时长。The second device receives second indication information from the first device, where the second indication information is used to indicate the initial duration of the sensing update cycle.一种感知处理装置，应用于第一设备，包括：A perception processing device, applied to a first device, including:获取模块，用于获取第一指标，所述第一指标用于表示对感知对象的感知性能；An acquisition module, configured to acquire a first indicator, where the first indicator is used to represent the perceptual performance of the perceptual object;调整模块，用于根据所述第一指标调整感知更新周期，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期。An adjustment module, configured to adjust a perception update period according to the first indicator. One of the perception update periods includes at least one perception frame period for sensing the perception object.一种感知处理装置，应用于第二设备，包括：A perception processing device, applied to a second device, including:第一接收模块，用于在第一设备根据的第一指标对感知更新周期进行调整的情况下，第二设备从所述第一设备接收第一指示信息，所述第一指标用于表示对感知对象的感知性能，所述第一指示信息用于指示调整后的感知更新周期的时长，一个所述感知更新周期内包括至少一个用于对所述感知对象进行感知的感知帧周期；A first receiving module configured to, when the first device adjusts the sensing update cycle according to a first indicator, the second device receives first indication information from the first device, and the first indicator is used to indicate the The sensing performance of the sensing object, the first indication information is used to indicate the length of the adjusted sensing update cycle, and one of the sensing update cycles includes at least one sensing frame period for sensing the sensing object;其中，所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备和感知功能网元中的至少一项。Wherein, when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; the first device is a sensing node. In the case of a receiving device, the second device includes at least one of a sending device in a sensing node and a sensing function network element; when the first device is a sending device in a sensing node, the second device The device includes at least one of a receiving device in a sensing node and a sensing function network element.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至22中任一项所述的感知处理方法的步骤。A communication device including a processor and a memory, the memory storing the The program or instructions run on the processor, and when the program or instructions are executed by the processor, the steps of the perception processing method according to any one of claims 1 to 22 are implemented.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至22任一项所述的感知处理方法的步骤。A readable storage medium on which a program or instructions are stored. When the program or instructions are executed by a processor, the steps of the perception processing method according to any one of claims 1 to 22 are implemented.