Sensing sequence sending method, sensing sequence receiving method, and communication node and sensing system

Abstract

Disclosed in the present application are a sensing sequence sending method, a sensing sequence receiving method, and a communication node and a sensing system. The sensing sequence sending method is applied to a first communication node, and comprises: acquiring a first sensing sequence and a first resource location; and sending, at the first resource location, the first sensing sequence to a second communication node, wherein the first sensing sequence is the same as a second sensing sequence, or the first sensing sequence and a second sensing sequence are a pair of complementary sequences, and the second sensing sequence is a sensing sequence which is sent to the second communication node by another first communication node at a second resource location.

Description

Method for sending perception sequence, method for receiving perception sequence, communication node and perception system Technical Field

[0001] The present application relates to the field of communication technology, for example, to a method for sending a perception sequence, a method for receiving a perception sequence, a communication node, and a perception system. Background Art

[0002] Integrated Sensing and Communications (ISAC) is considered a key candidate technology for the sixth generation of mobile communications (6G). It can fully share the spatial, temporal, and frequency resources of wireless communications and radar sensing, enabling coexistence, mutual assistance, and shared benefits. ISAC sequence transmission is a research focus, but a comprehensive solution for implementing this technology remains unproven.

[0003] Summary of the Invention

[0004] An embodiment of the present application provides a method for sending a sensing sequence, which is applied to a first communication node and includes:

[0005] Obtain a first perception sequence and a first resource position; send the first perception sequence to the second communication node at the first resource position, wherein the first perception sequence is the same as the second perception sequence, or the first perception sequence and the second perception sequence are a pair of complementary sequences, and the second perception sequence is a perception sequence sent by another first communication node to the second communication node at the second resource position.

[0006] An embodiment of the present application provides a method for receiving a sensing sequence, which is applied to a second communication node and includes:

[0007] A first perception sequence sent by a first communication node is received at a first resource position, and a second perception sequence sent by another first communication node is received at a second resource position, wherein the first perception sequence is the same as the second perception sequence, or the first perception sequence and the second perception sequence are a pair of complementary sequences.

[0008] An embodiment of the present application provides a first communication node, comprising: a processor; the processor is configured to implement the method for sending a perception sequence of any of the above embodiments when executing a computer program.

[0009] An embodiment of the present application provides a second communication node, comprising: a processor; the processor is configured to implement the method for receiving a perception sequence of any of the above embodiments when executing a computer program.

[0010] An embodiment of the present application provides a perception system, comprising the second communication node of any of the above embodiments, at least two first communication nodes of any of the above embodiments, and a scatterer.

[0011] An embodiment of the present application further provides a computer-readable storage medium storing a computer program, which implements the method of any of the above embodiments when the computer program is executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] FIG1 is a schematic diagram of a network of a perception system provided by an embodiment;

[0013] FIG2 is a schematic flow chart of a method for sending a perception sequence according to an embodiment;

[0014] FIG3 is a flow chart of a method for generating a completely complementary sequence by a recursive construction method according to an embodiment;

[0015] FIG4 is a schematic flow chart of a method for receiving a sensing sequence provided by an embodiment;

[0016] FIG5 is an interactive diagram of a method for transmitting a perception sequence provided by an embodiment;

[0017] FIG6 is a schematic diagram of a first resource location and a second resource location provided by an embodiment in which frequency domain resources are the same but time domain resources are different;

[0018] FIG7 is a schematic diagram of a first resource location and a second resource location provided by an embodiment, in which frequency domain resources are different but time domain resources are the same;

[0019] FIG8 is a schematic structural diagram of a device for sending a sensing sequence according to an embodiment;

[0020] FIG9 is a schematic structural diagram of a receiving device for sensing a sequence according to an embodiment;

[0021] FIG10 is a schematic structural diagram of a base station provided by an embodiment;

[0022] FIG11 is a schematic structural diagram of a UE provided by an embodiment. DETAILED DESCRIPTION

[0023] The specific embodiments described herein are merely for explaining the present application. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0024] Cellular mobile systems possess powerful networking capabilities. Through large-scale deployment of cellular networks and the interaction between base stations and terminals, base stations and base stations, and base stations and core network equipment, a mobile network system with integrated perception and communication can be constructed. Network collaborative perception based on cellular mobile systems can fully utilize the base station resources of the cellular mobile system, reducing the cost of integrated communication and perception while realizing the networking capabilities of perception. By rationally selecting perception base stations within the cellular mobile system and sharing, supplementing, or merging perception information, the advantages of cellular networks can be retained while mitigating signal interference caused by an excessive number of nodes. Furthermore, the perception network can avoid obstructions through collaboration between base stations, further improving perception performance without upgrading hardware.

[0025] In a narrow sense, a perception network refers to a system capable of target positioning (such as ranging, speed, and angle measurement), target imaging, target detection, target tracking, and target identification. In a broad sense, a perception network refers to a system capable of perceiving the attributes and states of all services, networks, users, and terminals, as well as environmental objects. In a mobile network with interawareness, perception can be categorized as active or passive. Passive perception involves a perceiver (such as a network device or terminal device) sensing by acquiring electromagnetic waves (such as terahertz waves) emitted by a target object or by reflecting electromagnetic waves from outside the perceiver and target object. Active perception involves a perceiver (such as a network device or terminal device) transmitting electromagnetic waves, which are then reflected by the target object and then received as echoes. The node receiving the reflected wave is not necessarily the same node that sent the detection signal; multiple perceiver nodes can achieve active perception through some form of joint processing.

[0026] Wireless sensing signal links can generally be divided into the following categories:

[0027] (1) Base station echo perception link: the base station sends a perception signal and receives an echo signal; (2) Inter-base station perception link: base station 2 receives the perception signal sent by base station 1; (3) Uplink perception link: the base station receives the perception signal sent by the UE; (4) Downlink perception link: the UE receives the perception signal sent by the base station; (5) Terminal echo perception link: the UE sends a perception signal and receives an echo signal; (6) Inter-terminal perception link: UE2 receives the perception signal sent by UE1.

[0028] In an actual system, different perception links can be selected according to different perception requirements. Each perception link can have one or more sending nodes and receiving nodes, and the actual perception system can include multiple different perception links.

[0029] FIG1 shows a network diagram of a perception system provided by one embodiment. As shown in FIG1 , the perception system includes at least two first communication nodes 110, a second communication node 120, and a scatterer. FIG1 is drawn with two first communication nodes 110, and labeled as first communication node A and first communication node B, respectively. A communication link is established between the first communication node 110 and the second communication node 120, and a perception channel exists between the first communication node 110, the second communication node 120, and the scatterer. The scatterer can also be called a perception target, that is, a target to be perceived (such as a building, a tree, a mobile target, etc.), which has the function of scattering and refracting perception signals.

[0030] The first communication node 110 and the second communication node 120 can both be terminal devices or access network devices in a wireless communication system, or can be other devices (such as drones, aircraft, radar devices, etc.). The wireless communication system can be a long-term evolution (LTE) system, a fourth-generation mobile communication technology (4G) system, a fifth-generation mobile communication technology (5G) system, a post-5G (5G-and-Beyond, B5G) system, an LTE and 5G hybrid architecture system, a 5G New Radio (NR) system, and new communication systems emerging in future communication developments, such as a 6G system. The wireless communication system includes terminal devices, access network devices, and core network devices.

[0031] A terminal device can be a device with wireless transceiver capabilities, which can be deployed on land (such as indoors or outdoors, handheld, wearable or vehicle-mounted, etc.); it can also be deployed on the water (such as ships, etc.); it can also be deployed in the air (such as airplanes, balloons and satellites, etc.). Examples of some terminal devices include: user equipment (UE), mobile phones, mobile stations, tablet computers, laptop computers, ultra-mobile personal computers (UMPC), handheld computers, netbooks, personal digital assistants (PDAs), and other user devices that can be connected to the Internet, or virtual reality (VR) terminals, augmented reality (AR) terminals, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, etc., or Internet of Things nodes in the Internet of Things, or vehicle-mounted communication devices in the Internet of Vehicles, or entertainment, gaming devices or systems, or global positioning system devices, etc. The embodiments of the present application do not limit the technology and device form adopted by the terminal device. In addition, the terminal device can be referred to as a terminal.

[0032] The access network device is an access device that the terminal device uses to access the wireless communication system wirelessly. It can be a base station, an evolved NodeB (eNB or eNodeB) in Long Term Evolution Advanced (LTEA), a transmission reception point (TRP), a base station in a 5G mobile communication system or a next generation NodeB (gNB), a base station in a future mobile communication system, or an access node in a Wireless Fidelity (WiFi) system. The base station may include various macro base stations, micro base stations, home base stations, wireless remote stations, routers, WIFI devices, or various network-side devices such as primary cells and secondary cells, and location management function (LMF) devices. It can also be a module or unit that completes part of the functions of the base station, for example, it can be a centralized unit (CU) or a distributed unit (DU). The embodiments of the present application do not limit the technology and device form adopted by the access network device. In addition, the access network device can be referred to as a base station.

[0033] The core network equipment may include an access and mobility management network element and a session management network element. For example, a terminal device may access the core network through the access network equipment to achieve data transmission.

[0034] In an embodiment of the present application, a method for sending and receiving a perception sequence that can be run on the above-mentioned perception system is provided, which can realize the transmission of the perception sequence and thus provide support for integrated waveform design.

[0035] FIG2 is a flow chart illustrating a method for transmitting a sensing sequence according to an embodiment. As shown in FIG2 , the method according to this embodiment is applicable to a first communication node. In this example, the first communication node (also referred to as a first communication node device or a first node) may be an access network device, and the second communication node (also referred to as a second communication node device or a second node) may be an access network device or a terminal device. The method includes S110 to S120.

[0036] S110: Acquire a first perception sequence and a first resource location.

[0037] In one embodiment, the method of "obtaining the first perception sequence" in S110 may be: obtaining an orthogonal frequency division multiplexing (OFDM) signal; performing an inverse fast Fourier transform (IFFT) or an inverse discrete Fourier transform (IDFT) on the OFDM signal to obtain the first perception sequence.

[0038] S120. Send a first perception sequence to the second communication node at a first resource position, wherein the first perception sequence is the same as the second perception sequence, or the first perception sequence and the second perception sequence are a pair of complementary sequences, and the second perception sequence is a perception sequence sent by another first communication node to the second communication node at a second resource position.

[0039] In one embodiment, the first perception sequence and the second perception sequence may also be sequences generated by scrambling the same sequence using different sequence IDs or frame / subframe / time slot / symbol indices; or, the first perception sequence and the second perception sequence may also be sequences generated by scrambling a pair of complementary sequences using different sequence IDs or frame / subframe / time slot / symbol indices.

[0040] In one embodiment, before sending the first sensing sequence to the second communication node at the first resource location, the first communication node first needs to establish a communication link with the second communication node. The first communication node and the second communication node establish a communication link mainly in any one of the following two ways:

[0041] Method 1: When the first communication node is an access network device and the second communication node is an access network device, the first communication node sends a perception establishment request message to the second communication node, wherein the perception establishment request message includes at least one of indication information and index information of the resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier; the second communication node determines whether to respond to the perception establishment request message based on its own processing capability and processing resource status, and sends a perception establishment feedback message to the first communication node, and the perception establishment feedback message is used to indicate whether the perception establishment is successful.

[0042] Method 2: When the first communication node is an access network device and the second communication node is a terminal device, the first communication node sends a perception reception instruction to the second communication node, wherein the perception reception instruction includes at least one of indication information and index information of the resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier.

[0043] Through any of the above methods, a first communication node establishes a communication link with a second communication node, so that after the first communication node sends a first sensing sequence to the second communication node at a first resource location, the first communication node receives sensing result information sent by the second communication node, wherein the sensing result information includes at least one of position information, distance information, speed information, angle information, Doppler shift information, type information of the sensing target, and classification information of the sensing target. This enables sensing of the sensing target.

[0044] The type information of the perceived target is used to indicate the type of the perceived target, such as whether the perceived target is a building, tree, vehicle, human, etc.; the classification information of the perceived target is used to indicate the category to which the perceived target belongs, such as whether the perceived target is a living organism or a non-living organism.

[0045] In one embodiment, the frequency domain resources of the first resource location and the second resource location are the same, and the time domain resources are different; or, the frequency domain resources of the first resource location and the second resource location are different, and the time domain resources are the same; or, the time domain resources and frequency domain resources of the first resource location and the second resource location are the same, and at least one of the following resources is different: spatial domain resources, code domain resources, and beam domain resources.

[0046] In one embodiment, the complementary sequence is a Golay complementary sequence or a fully complementary sequence.

[0047] When the complementary sequence is a Golay complementary sequence, the length of the Golay complementary sequence is 32, 64, 128, or 256. The Golay complementary sequence may also be scrambled using a sequence identifier (ID), where the sequence ID is a physical cell ID or a virtual cell ID.

[0048] When the complementary sequence is a completely complementary sequence, the autocorrelation function value of the completely complementary sequence is zero at all non-zero shifts or the difference from the value at zero shift is less than -20 dB, such as the autocorrelation function value of the completely complementary sequence is -30 dB or -40 dB. The cross-correlation function value of the completely complementary sequence is zero or the difference from the value at zero autocorrelation shift is less than -20 dB, such as the cross-correlation function value of the completely complementary sequence is -30 dB or -40 dB.

[0049] Ideally, a completely complementary sequence is defined as follows: Assume {A1, B1} is a pair of complementary sequences, {A'1, B'1} is another pair of complementary sequences, and the length of each sequence A1, B1, A'1, B'1 is N, if the following function is satisfied:

[0050] Then {A1, B1} and {A'1, B'1} are said to form a pair of completely complementary sequences. is the autocorrelation function of sequence A1, is the cross-correlation function of sequences A1 and A'1, equations (1) and (2) represent the autocorrelation functions of completely complementary sequences, equation (3) represents the cross-correlation function of completely complementary sequences, and τ represents the discrete time offset.

[0051] FIG3 shows a flow chart of a method for generating a fully complementary sequence by a recursive construction method according to an embodiment. As shown in FIG3 , in this application, a set of fully complementary sequences with a certain number and a certain length can be constructed by a recursive construction method using an initial complementary sequence. is the reverse sequence of A, assuming A=(a0,a1,a2,...,a n-1 ),but A * is the conjugate of A.

[0052] Therefore, the first perception sequence sent by the first communication node is a fully complementary sequence constructed using the above method, or a sequence after the fully complementary sequence is scrambled using a sequence ID, where the sequence ID is a physical cell ID or a virtual cell ID.

[0053] In one embodiment, the initialization sequence for constructing a fully complementary sequence may be the following complementary sequence:

[0054] Length 4:

[0055] Ga=[-1,-1,1j,-1j]; Gb=[-1j,-1j,1,-1].

[0056] Length is 5:

[0057] Ga=[1,1j,-1j,-1,1j]; Gb=[1,1,1,1j,-1j].

[0058] Length is 10:

[0059] Ga=[-1,-1,-1,-1,-1,1,-1,1,1,-1]; Gb=[-1,-1,1,1,-1,-1,-1,1,-1,1].

[0060] Length 26:

[0061] Ga=[1,1,1,1,-1,1,1,-1,-1,1,-1,1,-1,1,-1,-1,1,-1,1,1,1,-1,-1,1,1,1];

[0062] Gb=[1,1,1,1,-1,1,1,-1,-1,1,-1,1,1,1,1,1,-1,1,-1,-1,-1,1,1,-1,-1,-1].

[0063] Length is 64:

[0064] Ga=[-1,-1,1,-1,1,-1,-1,-1,1,1,-1,1,1,-1,-1,-1,-1,-1,1,-1,1,-1,-1,-1,-1,-1,1,-1,-1,1, 1,1,-1,-1,1,-1,1,-1,-1,-1,1,1,-1,1,1,-1,-1,-1,1,1,-1,1,-1,1,1,1,1,1,-1,1,1,-1,-1,-1];

[0065] Gb=[1,1,-1,1,-1,1,1,1,-1,-1,1,-1,-1,1,1,1,1,1,-1,1,-1,1,1,1,1,1,-1,1,1,-1,-1,-1, -1,-1,1,-1,1,-1,-1,-1,1,1,-1,1,1,-1,-1,-1,1,1,-1,1,-1,1,1,1,1,1,-1,1,1,-1,-1,-1].

[0066] Length is 128:

[0067] Ga=[1,1,-1,-1,-1,-1,-1,-1,-1,1,-1,1,1,-1,-1,1,1,1,-1,-1,1,1,1,1,-1,1,-1,1,-1,1,1, -1,-1,-1,1,1,1,1,1,1,1,-1,1,-1,-1,1,1,-1,1,1,-1,-1,1,1,1,1,-1,1,-1,1,-1,1,1,-1,1, 1,-1,-1,-1,-1,-1,-1,-1,-1,1,-1,-1,-1,-1,1,1,-1,-1,-1,-1,-1,-1,1,1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,1,-1,-1,-1,1,-1,-1,1,-1,1,-1,1,-1,1,-1,1,-1,1,-1,1,-1,1,-1,1,1;

[0068] Gb=[-1,-1,1,1,1,1,1,1,1,-1,1,-1,-1,1,1,-1,-1,-1,1,1,-1,-1,-1,-1,1,-1,1,-1,1,-1,-1,1 ,1,1,-1,-1,-1,-1,-1,-1,-1,1,-1,1,1,-1,-1,1,-1,-1,1,1,-1,-1,-1,-1,1,-1,1,-1,1,-1,-1, 1,1,1,-1,-1,-1,-1,-1,-1,-1,-1,-1,1,-1,-1,-1,-1,1,1,-1,-1,-1,-1,-1,1,1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,1,-1,-1,-1,1,-1,-1,1,-1,1,-1,1,-1,1,-1,1,-1,1,-1,1,-1,1,-1,1,-1,1,-1,1,1,-1,1,1,-1,1,1,-1,1,1,-1,1,1].

[0069] Taking the 64-bit fully complementary sequence generated by the recursive construction method as an example, two pairs of complementary sequences {A, B} and {A', B'} with zero autocorrelation and zero cross-correlation are:

[0070] A=[1,1,1,1,1,-1,1,-1,-1,-1,1,1,1,-1,-1,1,1,1,-1,-1,1,-1,-1,1,-1,-1,-1,-1,1,-1,1,-1,- 1,-1,-1,-1,-1,1,-1,1,1,1,-1,-1,-1,1,1,-1,1,1,-1,-1,1,-1,-1,1,-1,-1,-1,-1,1,-1,1,-1];

[0071] B=[1,1,1,1,1,-1,1,-1,-1,-1,1,1,1,-1,-1,1,1,1,-1,-1,1,-1,-1,1,-1,-1,-1,-1,1,-1,1, -1,1,1,1,1,1,-1,1,-1,-1,-1,1,1,1,-1,-1,1,-1,-1,1,1,-1,1,1,-1,1,1,1,1,-1,1,-1,1];

[0072] A'=[1,-1,1,-1,1,1,1,1,-1,1,1,-1,1,1,-1,-1,1,-1,-1,1,1,1,-1,-1,-1,1,-1,1,1,1,1,1, -1,1,-1,1,-1,-1,-1,-1,1,-1,-1,1,-1,-1,1,1,1,-1,-1,1,1,1,-1,-1,-1,1,-1,1,1,1,1,1];

[0073] B'=[1,-1,1,-1,1,1,1,1,-1,1,1,-1,1,1,-1,-1,1,-1,-1,1,1,1,-1,-1,-1,1,-1,1,1,1,1,1, 1,-1,1,-1,1,1,1,1,-1,1,1,-1,1,1,-1,-1,-1,1,1,-1,-1,-1,1,1,1,-1,1,-1,-1,-1,-1,-1].

[0074] In one embodiment, the first sensing sequence is a Cyclic Algorithm New (CAN) sequence, i.e., a sequence generated using the CAN, also known as a sequence generated using the MM (Majorization-Minimization) algorithm. The primary advantage of using the CAN sequence as the first sensing sequence is that it can generate a significant number of sequences with excellent autocorrelation and good cross-correlation.

[0075] The CAN sequence is initialized in one of the following ways:

[0076] N rand is a random vector of N, where N is the sequence length of the CAN sequence; n∈[0,N-1], N is the sequence length of the CAN sequence; m∈[0,N-1],M r is an even number, N is the sequence length of the CAN sequence; m∈[0,N-1],M r is an even or odd number, N is the sequence length of the CAN sequence; ej*π*n*(n+1) / N, n∈[0,N-1], N is the sequence length of the CAN sequence; ej*π*n*(n / N-1), n∈[0,N-1], N is the sequence length of the CAN sequence; initialized according to the Zadoff-Chu sequence.

[0077] In one embodiment, the sequence generated by the above initialization method can be used as the initialization sequence of the CAN sequence, or the sequence obtained by scrambling the above initialization sequence using the sequence ID can be used as the final initialization sequence. The CAN sequence generation method mainly includes the following operations:

[0078] S1: Given X, calculate X is a sequence consisting of an N-length initialization sequence generated by the above initialization method and an N-length zero vector cascaded.

[0079] S2: Based on the calculated V, calculate X = e jarg(PV) ; Repeat S1 and S2 until the preset stop condition || X is met (i) -X (i+1) ||<η, η is a predefined value, such as η=10 -5 , P is the Fourier transform matrix.

[0080] FIG4 is a schematic flow diagram of a method for receiving a sensing sequence according to an embodiment. As shown in FIG4 , the method provided in this embodiment is applicable to a second communication node. In this example, the first communication node (also referred to as a first communication node device or a first node) may be an access network device, and the second communication node (also referred to as a second communication node device or a second node) may be an access network device or a terminal device. The method includes S210.

[0081] S210. Receive a first perception sequence sent by a first communication node at a first resource location, and receive a second perception sequence sent by another first communication node at a second resource location, wherein the first perception sequence is the same as the second perception sequence, or the first perception sequence and the second perception sequence are a pair of complementary sequences.

[0082] In one embodiment, the first perception sequence and the second perception sequence may also be sequences generated by scrambling the same sequence using different sequence IDs or frame / subframe / time slot / symbol indices; or, the first perception sequence and the second perception sequence may also be sequences generated by scrambling a pair of complementary sequences using different sequence IDs or frame / subframe / time slot / symbol indices.

[0083] In one embodiment, before receiving the first sensing sequence sent by the first communication node at the first resource location, the first communication node first needs to establish a communication link with the second communication node. The first communication node and the second communication node establish a communication link mainly in one of the following two ways:

[0084] Method 1: When the first communication node is an access network device and the second communication node is an access network device, the second communication node receives a perception establishment request message sent by the first communication node, wherein the perception establishment request message includes at least one of indication information and index information of the resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier; the second communication node determines whether to respond to the perception establishment request message based on its own processing capability and processing resource status, and sends a perception establishment feedback message to the first communication node, and the perception establishment feedback message is used to indicate whether the perception establishment is successful.

[0085] Method 2: When the first communication node is an access network device and the second communication node is a terminal device, the second communication node receives a perception reception instruction sent by the first communication node, wherein the perception reception instruction includes at least one of indication information and index information of the resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier.

[0086] Through any of the above methods, a first communication node establishes a communication link with a second communication node, so that the second communication node receives a first sensing sequence sent by the first communication node at a first resource location, and receives a second sensing sequence sent by another first communication node at a second resource location. The second communication node then sends sensing result information to the first communication node, where the sensing result information includes at least one of position information, distance information, speed information, angle information, Doppler shift information, type information, and classification information of a sensing target. This enables sensing of the sensing target.

[0087] In one embodiment, the frequency domain resources of the first resource location and the second resource location are the same, and the time domain resources are different; or, the frequency domain resources of the first resource location and the second resource location are different, and the time domain resources are the same; or, the time domain resources and frequency domain resources of the first resource location and the second resource location are the same, and at least one of the following resources is different: spatial domain resources, code domain resources, and beam domain resources.

[0088] In one embodiment, the complementary sequence is a Golay complementary sequence or a fully complementary sequence.

[0089] When the complementary sequence is a Golay complementary sequence, the length of the Golay complementary sequence is 32, 64, 128, or 256. The Golay complementary sequence may also be scrambled using a sequence identifier (ID), where the sequence ID is a physical cell ID or a virtual cell ID.

[0090] When the complementary sequence is a completely complementary sequence, the autocorrelation function value of the completely complementary sequence is zero at all non-zero shifts or the difference from the value at zero shift is less than -20 dB, and the cross-correlation function value of the completely complementary sequence is zero or the difference from the value at autocorrelation zero shift is less than -20 dB.

[0091] In one embodiment, the first sensing sequence is a cyclic algorithm CAN sequence.

[0092] The CAN sequence is initialized in one of the following ways:

[0093] N rand is a random vector of N, where N is the sequence length of the CAN sequence; n∈[0,N-1], N is the sequence length of the CAN sequence; m∈[0,N-1],M r is an even number, N is the sequence length of the CAN sequence; m∈[0,N-1],M r is an even or odd number, N is the sequence length of the CAN sequence; ej*π*n*(n+1) / N, n∈[0,N-1], N is the sequence length of the CAN sequence; ej*π*n*(n / N-1), n∈[0,N-1], N is the sequence length of the CAN sequence; initialized according to the Zadoff-Chu sequence.

[0094] Figure 5 illustrates an interactive diagram of a method for transmitting a perception sequence according to an embodiment. As shown in Figure 5 , the perception system includes a first communication node A, a first communication node B, and a second communication node. First communication node A, first communication node B, and second communication node are all access network devices. Assuming that first communication node A and first communication node B have each established a communication link with the second communication node, the method for establishing the communication link can be referenced from the description of the above embodiment. The perception sequence transmission method includes steps S301-S305.

[0095] S301. The first communication node A obtains a first perception sequence and a first resource location.

[0096] S302. The first communication node A sends a first perception sequence to the second communication node at a first resource location.

[0097] S303. The first communication node B obtains a second sensing sequence and a second resource position.

[0098] S304. The first communication node B sends a second perception sequence to the second communication node at a second resource location.

[0099] S305. Receive a first perception sequence sent by a first communication node at a first resource location, and receive a second perception sequence sent by another first communication node at a second resource location, wherein the first perception sequence is the same as the second perception sequence, or the first perception sequence and the second perception sequence are a pair of complementary sequences.

[0100] In one embodiment, the first perception sequence and the second perception sequence may also be sequences generated by scrambling the same sequence using different sequence IDs or frame / subframe / time slot / symbol indices; or, the first perception sequence and the second perception sequence may also be sequences generated by scrambling a pair of complementary sequences using different sequence IDs or frame / subframe / time slot / symbol indices.

[0101] In one embodiment, the frequency domain resources of the first resource location and the second resource location are the same, and the time domain resources are different; or, the frequency domain resources of the first resource location and the second resource location are different, and the time domain resources are the same; or, the time domain resources and frequency domain resources of the first resource location and the second resource location are the same, and at least one of the following resources is different: spatial domain resources, code domain resources, and beam domain resources.

[0102] Figure 6 shows a schematic diagram of an embodiment in which the frequency domain resources of the first and second resource locations are the same, but the time domain resources are different. As shown in Figure 6, Figure 6(a) shows the case where the first perception sequence and the second perception sequence are a pair of complementary sequences; Figure 6(b) shows the case where the first perception sequence and the second perception sequence are the same. In the case where the first perception sequence and the second perception sequence are a pair of complementary sequences, the autocorrelation performance of the second communication node is good, but the second communication node needs to wait for the arrival of the other half of the complementary sequence before performing signal autocorrelation detection of the complementary sequence.

[0103] FIG7 shows a schematic diagram of an embodiment in which the frequency domain resources of the first resource position and the second resource position are different, but the time domain resources are the same. As shown in FIG7 , FIG7 (a) shows the case where the first perception sequence and the second perception sequence are a pair of complementary sequences; FIG7 (b) shows the case where the first perception sequence and the second perception sequence are the same. Compared with the case shown in FIG6 above, the second communication node does not need to wait for a period of time to perform correlation detection of the complementary sequences. However, since the OFDM system is extremely sensitive to frequency deviation, even a small amount of frequency deviation will destroy the orthogonality of the frequency domain subcarriers.

[0104] FIG8 shows a schematic structural diagram of a device for sending a perception sequence provided by an embodiment. The device may be configured in a first communication node. As shown in FIG8 , the device includes: an acquisition module 801 and a communication module 802 .

[0105] The acquisition module 801 is configured to acquire a first perception sequence and a first resource position; the communication module 802 is configured to send a first perception sequence to a second communication node at the first resource position, wherein the first perception sequence is the same as the second perception sequence, or the first perception sequence and the second perception sequence are a pair of complementary sequences, and the second perception sequence is a perception sequence sent by another first communication node to the second communication node at the second resource position.

[0106] The device for sending a perception sequence provided in this embodiment is to implement the method for sending a perception sequence of the embodiment shown in FIG. 2 . The implementation principle and technical effects of the device for sending a perception sequence provided in this embodiment are similar to those of the above embodiment and will not be described in detail here.

[0107] In one embodiment, the frequency domain resources of the first resource location and the second resource location are the same, and the time domain resources are different; or, the frequency domain resources of the first resource location and the second resource location are different, and the time domain resources are the same; or, the time domain resources and frequency domain resources of the first resource location and the second resource location are the same, and at least one of the following resources is different: spatial domain resources, code domain resources, and beam domain resources.

[0108] In one embodiment, the acquisition module 801 is configured to acquire an orthogonal frequency division multiplexing (OFDM) signal; and perform an inverse fast Fourier transform (IFFT) or an inverse discrete Fourier transform (IDFT) on the OFDM signal to obtain a first perception sequence.

[0109] In one embodiment, the communication module 802 is further configured to send a perception establishment request message to the second communication node, wherein the perception establishment request message includes at least one of indication information and index information of the resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier; and receive a perception establishment feedback message sent by the second communication node, wherein the perception establishment feedback message is used to indicate whether the perception establishment is successful.

[0110] In one embodiment, the communication module 802 is further configured to send a perception reception instruction to the second communication node, wherein the perception reception instruction includes at least one of indication information and index information of the resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier.

[0111] In one embodiment, the communication module 802 is further configured to receive perception result information sent by the second communication node after sending the first perception sequence to the second communication node at the first resource location, wherein the perception result information includes at least one of the position information, distance information, speed information, angle information, Doppler frequency shift information, type information of the perception target, and classification information of the perception target.

[0112] In one embodiment, the complementary sequence is a Golay complementary sequence or a fully complementary sequence.

[0113] In one embodiment, the length of the Golay complementary sequence is 32, 64, 128, or 256.

[0114] In one embodiment, the Golay complementary sequence is scrambled using a sequence identifier ID, where the sequence ID is a physical cell ID or a virtual cell ID.

[0115] In one embodiment, the autocorrelation function value of the fully complementary sequence is zero at non-zero shift or the difference from the value at zero shift is less than -20dB, and the cross-correlation function value of the fully complementary sequence is zero or the difference from the value at zero autocorrelation shift is less than -20dB.

[0116] In one embodiment, the first sensing sequence is a cyclic algorithm CAN sequence.

[0117] In one embodiment, the initialization method of the CAN sequence includes one of the following:

[0118] N rand is a random vector of N, where N is the sequence length of the CAN sequence; n∈[0,N-1], N is the sequence length of the CAN sequence; m∈[0,N-1],M r is an even number, N is the sequence length of the CAN sequence; m∈[0,N-1],M r is an even or odd number, N is the sequence length of the CAN sequence; ej*π*n*(n+1) / N, n∈[0,N-1], N is the sequence length of the CAN sequence; ej*π*n*(n / N-1), n∈[0,N-1], N is the sequence length of the CAN sequence; initialized according to the Zadoff-Chu sequence.

[0119] FIG9 shows a schematic structural diagram of a receiving device for a perception sequence provided by an embodiment. The device may be configured in a second communication node. As shown in FIG9 , the device includes: a communication module 901 .

[0120] The communication module 901 is configured to receive a first perception sequence sent by a first communication node at a first resource position, and to receive a second perception sequence sent by another first communication node at a second resource position, wherein the first perception sequence is the same as the second perception sequence, or the first perception sequence and the second perception sequence are a pair of complementary sequences.

[0121] The device for receiving the perception sequence provided in this embodiment is to implement the method for receiving the perception sequence of the embodiment shown in FIG4 . The implementation principle and technical effects of the device for receiving the perception sequence provided in this embodiment are similar to those of the above embodiment and will not be described in detail here.

[0122] In one embodiment, the frequency domain resources of the first resource location and the second resource location are the same, and the time domain resources are different; or, the frequency domain resources of the first resource location and the second resource location are different, and the time domain resources are the same; or, the time domain resources and frequency domain resources of the first resource location and the second resource location are the same, and at least one of the following resources is different: spatial domain resources, code domain resources, and beam domain resources.

[0123] In one embodiment, the communication module 901 is further configured to receive a perception establishment request message sent by the first communication node, wherein the perception establishment request message includes at least one of indication information and index information of the resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier; and send a perception establishment feedback message to the first communication node, wherein the perception establishment feedback message is used to indicate whether the perception establishment is successful.

[0124] In one embodiment, the communication module 901 is further configured to receive a perception reception instruction sent by the first communication node, wherein the perception reception instruction includes at least one of indication information and index information of the resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier.

[0125] In one embodiment, the communication module 901 is further configured to receive a first perception sequence sent by a first communication node at a first resource location, and after receiving a second perception sequence sent by another first communication node at a second resource location, send perception result information to the first communication node, wherein the perception result information includes at least one of the position information, distance information, speed information, angle information, Doppler frequency shift information, type information of the perception target, and classification information of the perception target.

[0126] In one embodiment, the complementary sequence is a Golay complementary sequence or a fully complementary sequence.

[0127] In one embodiment, the length of the Golay complementary sequence is 32, 64, 128, or 256.

[0128] In one embodiment, the Golay complementary sequence is scrambled using a sequence identifier ID, where the sequence ID is a physical cell ID or a virtual cell ID.

[0129] In one embodiment, the autocorrelation function value of the fully complementary sequence is zero at non-zero shift or the difference from the value at zero shift is less than -20dB, and the cross-correlation function value of the fully complementary sequence is zero or the difference from the value at zero autocorrelation shift is less than -20dB.

[0130] In one embodiment, the first sensing sequence is a cyclic algorithm CAN sequence.

[0131] In one embodiment, the initialization method of the CAN sequence includes one of the following:

[0132] N rand is a random vector of N, where N is the sequence length of the CAN sequence; n∈[0,N-1], N is the sequence length of the CAN sequence; m∈[0,N-1],M r is an even number, N is the sequence length of the CAN sequence; m∈[0,N-1],M r is an even or odd number, N is the sequence length of the CAN sequence; ej*π*n*(n+1) / N, n∈[0,N-1], N is the sequence length of the CAN sequence; ej*π*n*(n / N-1), n∈[0,N-1], N is the sequence length of the CAN sequence; initialized according to the Zadoff-Chu sequence.

[0133] An embodiment of the present application also provides a communication node, comprising: a processor, the processor being used to implement the method provided in any embodiment of the present application when executing a computer program. The communication node may be a first communication node or a second communication node. The first communication node comprises: a processor, the processor being used to implement the method for sending a perception sequence provided in any embodiment of the present application when executing a computer program; the second communication node comprises: a processor, the processor being used to implement the method for receiving a perception sequence provided in any embodiment of the present application when executing a computer program. Exemplarily, the first communication node may be an access network device provided in any embodiment of the present application, such as a base station, and the present application does not limit this. The second communication node may be a terminal device or an access network device provided in any embodiment of the present application, and the present application does not limit this.

[0134] Illustratively, the following embodiments respectively provide structural diagrams in which a communication node is a base station and a UE.

[0135] FIG10 is a schematic diagram illustrating the structure of a base station provided by an embodiment. As shown in FIG10 , the base station includes a processor 60, a memory 61, and a communication interface 62. The base station may include one or more processors 60, with FIG10 using one processor 60 as an example. The processor 60, memory 61, and communication interface 62 in the base station may be connected via a bus or other means, with FIG10 using a bus as an example. The term "bus" refers to one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus structures.

[0136] The memory 61, as a computer-readable storage medium, can be configured to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the methods in the embodiments of the present application. The processor 60 executes the software programs, instructions, and modules stored in the memory 61 to execute at least one functional application and data processing of the base station, thereby implementing the above-mentioned method.

[0137] The memory 61 may include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the use of the terminal. Furthermore, the memory 61 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some instances, the memory 61 may include memory remotely located relative to the processor 60, and such remote memory may be connected to a base station via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a network, a mobile communication network, and combinations thereof.

[0138] The communication interface 62 can be configured to receive and send data.

[0139] Figure 11 shows a schematic structural diagram of a UE provided by an embodiment. The UE can be implemented in various forms. The UE in this application may include but is not limited to mobile terminal devices such as mobile phones, smart phones, laptops, digital broadcast receivers, personal digital assistants (PDAs), tablet computers (PADs), portable multimedia players (PMPs), navigation devices, vehicle-mounted terminal devices, vehicle-mounted display terminals, vehicle-mounted electronic rearview mirrors, etc., as well as fixed terminal devices such as digital televisions (TVs) and desktop computers.

[0140] As shown in FIG11 , UE 50 may include a wireless communication unit 51, an audio / video (A / V) input unit 52, a user input unit 53, a sensing unit 54, an output unit 55, a memory 56, an interface unit 57, a processor 58, and a power supply unit 59, among others. FIG11 shows a UE including various components, but it should be understood that implementation of all illustrated components is not required. More or fewer components may be implemented instead.

[0141] In this embodiment, the wireless communication unit 51 allows radio communication between the UE 50 and a base station or network. The A / V input unit 52 is configured to receive audio or video signals. The user input unit 53 can generate key input data based on user input commands to control various operations of the UE 50. The sensing unit 54 detects the current state of the UE 50, the location of the UE 50, the presence or absence of user touch input to the UE 50, the orientation of the UE 50, the acceleration or deceleration movement and direction of the UE 50, and generates commands or signals for controlling the operation of the UE 50. The interface unit 57 serves as an interface through which at least one external device can connect to the UE 50. The output unit 55 is configured to provide output signals in a visual, audio, and / or tactile manner. The memory 56 can store software programs, etc., for processing and control operations executed by the processor 58, or can temporarily store data that has been output or is to be output. The memory 56 can include at least one type of storage medium. Furthermore, the UE 50 can cooperate with a network storage device that performs the storage function of the memory 56 via a network connection. The processor 58 generally controls the overall operation of the UE 50. The power supply unit 59 receives external power or internal power under the control of the processor 58 and provides appropriate power required to operate various elements and components.

[0142] The processor 58 executes at least one functional application and data processing by running the program stored in the memory 56, such as implementing the method provided in the embodiment of the present application.

[0143] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method provided in any embodiment of the present application is implemented.

[0144] The computer storage medium of the embodiment of the present application may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. Computer-readable storage media include (a non-exhaustive list): an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by an instruction execution system, device or device or used in combination with it.

[0145] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, the data signal carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0146] The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

[0147] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination of multiple programming languages, including object-oriented programming languages ​​(such as Java, Smalltalk, C++, Ruby, Go), and conventional procedural programming languages ​​(such as "C" or similar programming languages). The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0148] It will be appreciated by those skilled in the art that the term user terminal covers any suitable type of wireless user equipment, such as a mobile phone, a portable data processing device, a portable web browser or a vehicle-mounted mobile station.

[0149] In general, various embodiments of the present application may be implemented in hardware or dedicated circuits, software, logic, or any combination thereof. For example, some aspects may be implemented in hardware, while other aspects may be implemented in firmware or software that can be executed by a controller, microprocessor, or other computing device, although the present application is not limited thereto.

[0150] Embodiments of the present application may be implemented by executing computer program instructions by a data processor of a mobile device, for example, in a processor entity, or by hardware, or by a combination of software and hardware. The computer program instructions may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages.

[0151] Any block diagram of a logical flow in the drawings of this application may represent program operations, or may represent interconnected logical circuits, modules and functions, or may represent a combination of program operations and logical circuits, modules and functions. A computer program may be stored on a memory. The memory may be of any type suitable for the local technical environment and may be implemented using any suitable data storage technology, such as, but not limited to, read-only memory (ROM), random access memory (RAM), optical memory devices and systems (digital versatile discs DVD or CD), etc. Computer-readable media may include non-transitory storage media. A data processor may be of any type suitable for the local technical environment, such as, but not limited to, a general-purpose computer, a special-purpose computer, a microprocessor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a programmable logic device (FPGA), and a processor based on a multi-core processor architecture.

Claims

1. A method for sending a perception sequence, applied to a first communication node, comprising: Obtaining a first perception sequence and a first resource location; The first perception sequence is sent to the second communication node at the first resource position, wherein the first perception sequence is the same as the second perception sequence, or the first perception sequence and the second perception sequence are a pair of complementary sequences, and the second perception sequence is a perception sequence sent by another first communication node to the second communication node at the second resource position.

2. The method for sending a perception sequence according to claim 1, wherein: The frequency domain resources of the first resource location and the second resource location are the same, and the time domain resources are different; or, the frequency domain resources of the first resource location and the second resource location are different, and the time domain resources are the same; or, the time domain resources and frequency domain resources of the first resource location and the second resource location are the same, and at least one of the following resources is different: spatial domain resources, code domain resources, beam domain resources.

3. The method for transmitting a perception sequence according to claim 1, wherein: Acquiring the first perception sequence includes: Obtaining orthogonal frequency division multiplexing OFDM signal; Perform an inverse fast Fourier transform IFFT or an inverse discrete Fourier transform IDFT on the OFDM signal to obtain the first perception sequence.

4. The method for sending a perception sequence according to claim 1, further comprising: Sending a perception establishment request message to the second communication node, wherein the perception establishment request message includes at least one of indication information and index information of a resource position, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource position includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier; Receive a perception establishment feedback message sent by the second communication node, wherein the perception establishment feedback message is used to indicate whether the perception establishment is successful.

5. The method for sending a perception sequence according to claim 1, further comprising: A perception reception instruction is sent to the second communication node, wherein the perception reception instruction includes at least one of indication information and index information of a resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier.

6. The method for sending a sensing sequence according to claim 4 or 5, after sending the first sensing sequence to the second communication node at the first resource position, further comprising: receiving the sensing result information sent by the second communication node, wherein the sensing result information includes the position information, distance information, speed information, angle information, Doppler frequency shift information, At least one of the type information of the perception target and the classification information of the perception target.

7. The method for transmitting a perception sequence according to claim 1, wherein: The complementary sequence is a Golay complementary sequence or a completely complementary sequence.

8. The method for sending a perception sequence according to claim 7, wherein: The length of the Golay complementary sequence is 32, 64, 128 or 256.

9. The method for sending a perception sequence according to claim 8, wherein: The Golay complementary sequence is scrambled using a sequence identifier ID, and the sequence ID is a physical cell ID or a virtual cell ID.

10. The method for sending a perception sequence according to claim 7, wherein: The autocorrelation function value of the completely complementary sequence is zero at non-zero shift or the difference with the value at zero shift is less than -20dB, and the cross-correlation function value of the completely complementary sequence is zero or the difference with the value at autocorrelation zero shift is less than -20dB.

11. The method for transmitting a perception sequence according to claim 1, wherein: The first sensing sequence is a cyclic algorithm CAN sequence.

12. The method for sending a perception sequence according to claim 11, wherein: The initialization method of the CAN sequence includes one of the following: N rand is a random vector of N, N is the sequence length of the CAN sequence; n∈[0,N-1], N is the sequence length of the CAN sequence; m∈[0,N-1],M r is an even number, N is the sequence length of the CAN sequence; m∈[0,N-1],M r is an even number or an odd number, and N is the sequence length of the CAN sequence; e j*π*n*(n+1) / N , n∈[0,N-1], N is the sequence length of the CAN sequence; e j*π*n*(n / N-1) , n∈[0,N-1], N is the sequence length of the CAN sequence; Initialize according to the Zadoff-Chu sequence.

13. A method for receiving a perception sequence, applied to a second communication node, comprising: A first perception sequence sent by a first communication node is received at a first resource position, and a second perception sequence sent by another first communication node is received at a second resource position, wherein the first perception sequence is the same as the second perception sequence, or the first perception sequence and the second perception sequence are a pair of complementary sequences.

14. The method for receiving a perceptual sequence according to claim 13, wherein: The frequency domain resources of the first resource location and the second resource location are the same, and the time domain resources are different; or, the frequency domain resources of the first resource location and the second resource location are different, and the time domain resources are the same; or, the time domain resources and frequency domain resources of the first resource location and the second resource location are the same, and at least one of the following resources is different: spatial domain resources, code domain resources, beam domain resources.

15. The method for receiving a perceptual sequence according to claim 13, further comprising: receiving a perception establishment request message sent by the first communication node, wherein the perception establishment request message includes at least one of indication information and index information of a resource position, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource position includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier; Sending a perception establishment feedback message to the first communication node, wherein the perception establishment feedback message is used to indicate whether the perception establishment is successful.

16. The method for receiving a perceptual sequence according to claim 13, further comprising: Receive a perception reception instruction sent by the first communication node, wherein the perception reception instruction includes at least one of indication information and index information of a resource location, the indication information is used to indicate whether a perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier.

17. The method for receiving a sensing sequence according to claim 15 or 16, further comprising, after receiving a first sensing sequence sent by a first communication node at a first resource position and receiving a second sensing sequence sent by another first communication node at a second resource position: Sending perception result information to the first communication node, wherein the perception result information includes at least one of position information, distance information, speed information, angle information, Doppler frequency shift information, type information of the perception target, and classification information of the perception target.

18. The method for receiving a perceptual sequence according to claim 13, wherein: The complementary sequence is a Golay complementary sequence or a completely complementary sequence.

19. The method for receiving a perceptual sequence according to claim 18, wherein: The length of the Golay complementary sequence is 32, 64, 128 or 256.

20. The method for receiving a perceptual sequence according to claim 19, wherein: The Golay complementary sequence is scrambled using a sequence identifier ID, and the sequence ID is a physical cell ID or a virtual cell ID.

21. The method for transmitting a perception sequence according to claim 18, wherein: The autocorrelation function value of the completely complementary sequence is zero at non-zero shift or the difference with the value at zero shift is less than -20dB, and the cross-correlation function value of the completely complementary sequence is zero or the difference with the value at autocorrelation zero shift is less than -20dB.

22. The method for receiving a perceptual sequence according to claim 13, wherein: The first sensing sequence is a cyclic algorithm CAN sequence.

23. The method for receiving a perceptual sequence according to claim 22, wherein: The initialization method of the CAN sequence includes one of the following: N rand is a random vector of N, N is the sequence length of the CAN sequence; n∈[0,N-1], N is the sequence length of the CAN sequence; m∈[0,N-1],M r is an even number, N is the sequence length of the CAN sequence; m∈[0,N-1],M r is an even number or an odd number, and N is the sequence length of the CAN sequence; e j*π*n*(n+1) / N , n∈[0,N-1], N is the sequence length of the CAN sequence; e j*π*n*(nN / -1) , n∈[0,N-1], N is the sequence length of the CAN sequence; Initialize according to the Zadoff-Chu sequence.

24. A first communication node, comprising: processor; The processor is configured to implement the method for sending a perception sequence as described in any one of claims 1 to 12 when executing a computer program.

25. A second communication node, comprising: processor; The processor is configured to implement the method for receiving a perception sequence as claimed in any one of claims 13 to 23 when executing the computer program.

26. A sensing system comprising the second communication node according to claim 25, at least two first communication nodes according to claim 24, and a scatterer.

27. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the computer program implements the method for sending a perception sequence as described in any one of claims 1 to 12, or implements the method for receiving a perception sequence as described in any one of claims 13 to 23.

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