A perception method, a perception system and a perception device

Abstract

The application discloses a sensing method, a sensing system and a sensing device, and relates to the technical field of communication. The method comprises the following steps: a terminal device performs beam scanning on a first carrier to obtain a first sensing result of a sensing object; the terminal device performs beam scanning on a second carrier to obtain a second sensing result of the sensing object; and the terminal device sends a target sensing result of the sensing object to a network device. The first beam is determined according to the first sensing result. The target sensing result comprises the first sensing result and the second sensing result, or the target sensing result is determined according to the first sensing result and the second sensing result. In this way, the accuracy of the sensing result can be improved.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a sensing method, sensing system and sensing device. Background Technology

[0002] Sensing technology can be applied to many fields, including industry and daily life. The principle of sensing technology is the same as that of radar: communication equipment estimates the motion pattern and other information of the sensed object based on received electromagnetic waves. The received electromagnetic waves can be echoes emitted by the communication equipment itself, or electromagnetic waves actively emitted by other devices.

[0003] However, the complex and changeable environment surrounding communication equipment, or other issues, can lead to lower accuracy in the perception results of the perceived object. Summary of the Invention

[0004] This application discloses a sensing method, sensing system, and sensing device, which are beneficial to improving the accuracy of sensing results for sensing objects.

[0005] In a first aspect, embodiments of this application provide a sensing method, the method comprising: a terminal device performing beam scanning on a first carrier to obtain a first sensing result of a sensing object; and performing beam scanning on a second carrier on a first beam to obtain a second sensing result of the sensing object; the first beam being determined based on the first sensing result; the terminal device sending a target sensing result of the sensing object to a network device; the target sensing result including the first sensing result and the second sensing result, or the target sensing result being determined based on the first sensing result and the second sensing result.

[0006] In one optional implementation, the method further includes: the terminal device receiving first indication information from the network device, the first indication information being used to instruct the terminal device to perform beam scanning on the second carrier; the first indication information being sent by the network device based on a first sensing result; and the specific implementation of the terminal device performing beam scanning on the second carrier is as follows: according to the first indication information, the terminal device performs beam scanning on the second carrier.

[0007] In one optional implementation, the first indication information includes at least one of the following: second indication information for indicating a target historical reference signal, wherein the first beam is determined based on the beam corresponding to the target historical reference signal, and the aforementioned second carrier is determined based on the carrier corresponding to the target historical reference signal; the direction of the first beam; the number of the first beams; the index of the second carrier; and information for indicating the second beam, wherein the first beam is determined based on the second beam, and the beam scanned by the terminal device during beam scanning on the first carrier includes the second beam.

[0008] In an optional implementation, the method further includes: receiving, by the terminal device, third indication information from the network device, the third indication information being used to indicate a correspondence between a historical reference signal transmitted by a wide beam and a historical reference signal transmitted by a narrow beam; wherein the second indication information includes an index of a target correspondence in the correspondence, and the target historical reference signal includes a historical reference signal transmitted by a narrow beam in the target correspondence.

[0009] In a second aspect, an embodiment of the present application provides another sensing method, which includes: receiving, by a network device, a first sensing result of a sensing object from a terminal device; the first sensing result is obtained by the terminal device performing beam sweeping on a first carrier; and sending, by the network device, first indication information to the terminal device according to the first sensing result, the first indication information being used to instruct the terminal device to perform beam sweeping on a first beam on a second carrier; the first beam is determined according to the first sensing result; receiving, by the network device, a second sensing result of the sensing object from the terminal device, the second sensing result being obtained by the terminal device performing beam sweeping on the first beam on the second carrier.

[0010] In an optional implementation, the first indication information includes at least one of the following: second indication information used to indicate a target historical reference signal, the first beam being determined according to a beam corresponding to the target historical reference signal, and the second carrier being determined according to a carrier corresponding to the target historical reference signal; a direction of the first beam; a number of the first beam; an index of the second carrier; information used to indicate a second beam, the first beam being determined according to the second beam, and the second beam being included in beams scanned by the terminal device in a process of performing beam sweeping on the first carrier.

[0011] In an optional implementation, the method further includes: sending, by the network device, third indication information to the terminal device, the third indication information being used to indicate a correspondence between a historical reference signal transmitted by a wide beam and a historical reference signal transmitted by a narrow beam; wherein the second indication information includes an index of a target correspondence in the correspondence, and the target historical reference signal includes a historical reference signal transmitted by a narrow beam in the target correspondence.

[0012] In a third aspect, an embodiment of the present application provides a sensing apparatus, which includes units for implementing the method in the first aspect.

[0013] In a fourth aspect, an embodiment of the present application provides another sensing apparatus, which includes units for implementing the method in the second aspect.

[0014] In a fifth aspect, an embodiment of the present application provides still another sensing apparatus, which includes a processor; and the processor is configured to execute the method in the first aspect or the second aspect.

[0015] In an optional implementation, the perception apparatus further includes a memory, and the memory is configured to store the computer program; and the processor is specifically configured to invoke the computer program from the memory and execute the method in the first aspect or the second aspect.

[0016] In a sixth aspect, an embodiment of the present application provides a perception system, which includes the terminal device in any one of the first aspect to the second aspect, the network device in any one of the first aspect to the second aspect, or the perception apparatus in the third aspect and the perception apparatus in the fourth aspect.

[0017] In a seventh aspect, an embodiment of the present application provides a chip, which is configured to execute the method in the first aspect or the second aspect.

[0018] In an eighth aspect, an embodiment of the present application provides a chip module, which includes a communication interface and a chip, where the communication interface is configured to perform internal communication of the chip module or to perform communication between the chip module and an external device; and the chip is configured to execute the method in the first aspect or the second aspect.

[0019] In a ninth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program includes program instructions, and the program instructions, when executed by a processor, cause the processor to execute the method in the first aspect or the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 FIG. 1 is a schematic diagram of an architecture of a communication system provided by an embodiment of the present application;

[0021] Figure 2 FIG. 2 is a schematic diagram of a perception method provided by an embodiment of the present application;

[0022] Figure 3 FIG. 3 is a schematic diagram of another perception method provided by an embodiment of the present application;

[0023] Figure 4 FIG. 4 is a schematic diagram of a perception apparatus provided by an embodiment of the present application;

[0024] Figure 5 FIG. 5 is a schematic diagram of another perception apparatus provided by an embodiment of the present application;

[0025] Figure 6 FIG. 6 is a schematic diagram of still another perception apparatus provided by an embodiment of the present application;

[0026] Figure 7 FIG. 7 is a schematic diagram of a chip module provided by an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to better understand the perception method disclosed in the embodiments of the present application, the communication system to which the embodiments of the present application are applicable will be described first.

[0028] Please refer to Figure 1 , Figure 1 The architecture of a communication system provided by the embodiments of the present application is shown in the figure. The communication system can include, but is not limited to, one terminal device, one network device and one perception object, Figure 1 The number and form of the devices and the number and form of the objects shown in the figure are used for example and do not constitute a limitation on the embodiments of the present application. In actual applications, two or more terminal devices, two or more network devices and two or more perception objects can be included. Figure 1 The communication system shown in the figure takes one terminal device 101, one network device 102 and one perception object 103 as an example.

[0029] The terminal device 101 can be configured to: perform beam sweeping on a first carrier to obtain a first perception result of the perception object 103; and perform beam sweeping on a second carrier on a first beam to obtain a second perception result of the perception object 103; wherein the first beam is determined according to the first perception result. The terminal device 101 can also be configured to send a target perception result of the perception object 103 to the network device 102; the target perception result includes the first perception result and the second perception result, or the target perception result is determined according to the first perception result and the second perception result.

[0030] The perception result (such as the first perception result, the second perception result, the target perception result) in the embodiments of the present application can be used to indicate at least one of the following: whether the perception object 103 moves, whether the perception object 103 is in a motion state, environmental information around the perception object 103, Doppler shift, Doppler spread, delay spread, average delay, angle of arrival, angle of departure, etc.

[0031] By implementing the embodiments of the present application, in the case where the first perception result has been obtained, the first beam is determined according to the first perception result, and the terminal device 102 further performs beam sweeping on the first beam on the second carrier to obtain the second perception result. In this way, more information related to the perception object can be obtained, thereby facilitating the improvement of the accuracy of the perception result.

[0032] The terminal device 101 is an entity for receiving or transmitting signals on the user side. The terminal device can also be referred to as a user equipment (UE), and can also be referred to as a terminal, a mobile station (MS), a mobile terminal (MT), etc. The terminal device can be a mobile phone, a wearable device, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical surgery, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, a terminal device supporting enhanced Machine-Type Communication (eMTC) and / or supporting long term evolution (LTE) of universal mobile telecommunications technology, etc. Embodiments of the present application do not limit the specific technology and specific device form of the terminal device. It can be understood that the terminal device 101 can have a communication function in addition to a sensing function.

[0033] The network device 102 can be an entity for transmitting or receiving signals on the network side. The network device 102 can be an access network device, which can be a radio access network (RAN) device. The access network device can include a base station (BS), which can be a device deployed in a wireless access network and capable of wireless communication with a terminal device. For example, the network device 102 can be a serving base station of the terminal device 101. The base station can have various forms, such as a macro base station, a micro base station, a relay station, and an access point, etc. The access network device can be a next generation NodeB (gNB) in a new radio (NR) system or a base station in other future mobile communication systems, etc. Embodiments of the present application do not limit the specific technology and specific device form of the network device.

[0034] Figure 1The perceiving object 103 is a person for example, and does not limit the embodiments of the present application. The perceiving object 103 can also be an animal, a plant, or other objects, and the embodiments of the present application do not limit the specific form of the perceiving object. For example, the perceiving object can be an active device, or a passive device or object. That is, the embodiments of the present application can perform perceiving measurement on an active device, and can also perform perceiving measurement on a passive device or object.

[0035] It should be noted that the technical solutions of the embodiments of the present application can be applied to various communication systems. For example: LTE communication system, 4th generation (4th generation, 4G) mobile communication system, 5th generation (5th generation, 5G) mobile communication system, 5G NR system. Optionally, the method of the embodiments of the present application is also applicable to various future communication systems, such as 6G system or other communication networks.

[0036] It can be understood that the communication system described in the embodiments of the present application is for more clearly illustrating the technical solutions of the embodiments of the present application, and does not limit the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of system architecture and the appearance of new business scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0037] Please refer to Figure 2 , a flowchart of a perceiving method provided by the embodiments of the present application is shown as follows, Figure 2 The perceiving method can include but is not limited to the following steps:

[0038] S201, the terminal device performs beam scanning on the first carrier to obtain a first perceiving result of the perceiving object.

[0039] In the case of needing to perceive the perceiving object, the terminal device can perform beam scanning on the first carrier to obtain a first perceiving result of the perceiving object.

[0040] The terminal device performs beam scanning on the first carrier means that the terminal device scans all beams on the first carrier in turn. The terminal device performs beam scanning on the first carrier can also be described as that the terminal device performs beam polling on the first carrier.

[0041] Optionally, S201 in a specific implementation includes: the terminal device performs periodic beam sweeping on the first carrier. At this time, the time-frequency resource used for beam sweeping can be periodic or semi-persistent. Wherein, the time-frequency resource used for beam sweeping is semi-persistent, which means that the time-frequency resource used for beam sweeping can be activated by one downlink control information (DCI) and deactivated by another DCI, and within the activated time period, the time-frequency resource used for beam sweeping is periodic. Optionally, the terminal device can receive radio resource control (RRC) signaling from the network device, which can be used to configure the time-frequency resource used for beam sweeping.

[0042] S202, the terminal device performs beam sweeping on the first carrier to obtain a second sensing result of the sensing object; wherein the first beam is determined according to the first sensing result.

[0043] After the terminal device obtains the first sensing result, it can further perform sensing measurement on the sensing object to improve the accuracy of the sensing result. Specifically, the terminal device can perform beam sweeping on the first beam on the second carrier to further perform sensing measurement on the sensing object. Wherein, performing beam sweeping on the first beam can mean: further sweeping for one beam on the first carrier. S201 performs coarse-grained beam sweeping, and S202 performs fine-grained beam sweeping, which can improve the accuracy of the sensing result.

[0044] Wherein, the first beam can indicate the direction that needs to be further sensed with higher accuracy according to the first sensing result. In one possible implementation, the first beam is determined by the network device, which can indicate the first beam to the terminal device so that the terminal device performs beam sweeping on the first beam on the second carrier. The specific implementation of this way can be referred to Figure 2 the description in the corresponding embodiment. In another possible implementation, the first beam can be determined by the terminal device. Specifically, the terminal device can determine whether higher accuracy sensing is needed according to the first sensing result, if needed, determine the first beam and perform S202; if not, it can send the first sensing result to the network device.

[0045] It should be noted that the higher-precision perception is performed in S202 in terms of the precision of the first perception result obtained in S201. It can be understood that the first beam is within the coverage of a beam scanned in the process of beam scanning in S201. For example, the beam scanning in S201 includes sequentially scanning beams 1, 2, …, 8 to obtain the first perception result. If it is determined according to the first perception result that higher-precision perception is needed, the first beam can be within the coverage of one of the eight beams. Alternatively, the number of first beams can be one or more. If the number of first beams is more than one, the first beams can be within the coverage of a beam scanned in the process of beam scanning in S201, or some of the first beams are within the coverage of a beam scanned in the process of beam scanning, and the other first beams are within the coverage of another beam scanned in the process of beam scanning. For example, the beam scanning in S201 includes sequentially scanning beams 1, 2, …, 8, and the first beams include beams a, b, and c. The beams a and b can be within the coverage of beam 1, and the beam c can be within the coverage of beam 2.

[0046] In an implementation manner, the higher-precision perception can be achieved by the following manner: the first carrier is a low-frequency carrier, and the second carrier is a high-frequency carrier. The advantage of using a low-frequency carrier for perception is wide beam coverage, and the advantage of using a high-frequency carrier for perception is fine beam and wide frequency band, and a high-resolution perception result can be obtained. Therefore, the higher-precision perception result can be obtained by performing S202.

[0047] It should be further noted that the low-frequency carrier and the high-frequency carrier are relative concepts. The high-frequency carrier refers to a carrier with a higher frequency relative to the low-frequency carrier, and the low-frequency carrier refers to a carrier with a lower frequency relative to the high-frequency carrier. The first carrier being a low-frequency carrier and the second carrier being a high-frequency carrier can also be described as: the frequency of the second carrier is higher than the frequency of the first carrier. For example, if 6 GHz is used as the judgment standard of high and low frequency carriers, a carrier with a frequency lower than 6 GHz can be referred to as a low-frequency carrier, and a carrier with a frequency higher than or equal to 6 GHz can be referred to as a high-frequency carrier.

[0048] Optionally, the scanned beam in the beam scanning process can be a wide beam, and the first beam can be a narrow beam (also referred to as a fine beam). It should be noted that the wide beam and the narrow beam are relative concepts. In relation to the wide beam, the narrow beam refers to a beam with a smaller main lobe width (or angle). In relation to the narrow beam, the wide beam refers to a beam with a larger main lobe width (or angle). The description that the scanned beam in the beam scanning process is a wide beam, and the first beam is a narrow beam can also be described as: the main lobe width (or angle) of the scanned beam in the beam scanning process is greater than the main lobe width (or angle) of the first beam.

[0049] S203, the terminal device sends a target sensing result of the sensing object to the network device; the target sensing result includes the first sensing result and the second sensing result, or the target sensing result is determined according to the first sensing result and the second sensing result. Correspondingly, the network device receives the target sensing result.

[0050] In the case where the target sensing result includes the first sensing result and the second sensing result, the terminal device can send the first sensing result and the second sensing result through the same message, or can send the first sensing result and the second sensing result through different messages. For example, the first sensing result is sent through message 1, and the second sensing result is sent through message 2. If the first sensing result and the second sensing result are sent through different messages, the present embodiment does not limit the execution order of sending the first sensing result and sending the second sensing result in step S202. For example, the terminal device can send the first sensing result to the network device before S202, or can send the first sensing result to the network device after S202, or can send the first sensing result to the network device before sending the second sensing result, or can send the first sensing result and the second sensing result to the network device at the same time.

[0051] After obtaining the first sensing result, if the terminal device determines that higher-precision sensing is needed according to the first sensing result, at this time, the target sensing result can be determined according to the first sensing result and the second sensing result. For example, the first sensing result is modified or added according to the second sensing result to obtain the target sensing result.

[0052] In an implementation manner, the network device can pre-configure some configured grant (CG) resources for the terminal device, and the terminal device can perform sensing on the CG resources. The CG resources can include resources used by the terminal device for higher-precision sensing (i.e., S202), such as a second carrier. The CG resources can also include resources used by the terminal device for low-precision sensing (i.e., S201), such as a first carrier. In an implementation manner, the resources used by the terminal device for higher-precision sensing (i.e., S202) can be periodic or semi-persistent.

[0053] In an implementation manner, the network device can send configuration information to the terminal device to configure the terminal device with the resource used for sensing. The configuration information can explicitly carry the resource used for sensing, or the configuration information can implicitly carry the resource used for sensing. Explicitly carrying means that the configuration information includes an identifier of the resource used for sensing, and implicitly carrying means that the configuration information includes information having a corresponding relationship with the resource used for sensing, and the terminal device can determine the resource used for sensing through the information and the corresponding relationship.

[0054] Optionally, the resource used for sensing can be used only for sensing. For example, the network device separately configures some carriers for sensing. Alternatively, the resource used for sensing can be used not only for sensing but also for communication. For example, the network device configures a component carrier (CC) that can be used for both sensing and communication for the terminal device through an explicit or implicit manner. Optionally, the first carrier and the second carrier can both belong to the CC that can be used for both sensing and communication.

[0055] By implementing the embodiments of the present application, in the case that the first sensing result is obtained, the first beam is determined according to the first sensing result, and then the terminal device performs beam scanning on the first beam on the second carrier to obtain the second sensing result. In this way, more information related to the sensing object can be obtained, thereby facilitating improvement of the accuracy of the sensing result.

[0056] Please refer to Figure 3 , Figure 3 is a flowchart of another sensing method provided by the embodiments of the present application, as shown in Figure 3 , the sensing method can include but is not limited to the following steps:

[0057] S301, the terminal device performs beam scanning on a first carrier to obtain a first sensing result of a sensing object.

[0058] It should be noted that the execution process of step S301 can refer to the specific description of step S201 in the corresponding embodiment, which will not be described here again. Figure 2

[0059] S302, the terminal device sends the first sensing result to the network device. Correspondingly, the network device receives the first sensing result.

[0060] The terminal device sends the first sensing result to the network device, so that the network device determines whether higher-precision sensing is needed according to the first sensing result.

[0061] ​S303. Based on the first sensing result, the network device sends a first instruction information to the terminal device, which instructs the terminal device to perform beam scanning on the second carrier. Accordingly, the terminal device receives the first instruction information.

[0062] If the network device determines, based on the first sensing result, that higher precision sensing is required, it can generate first indication information and send the first indication information to the terminal device to instruct the terminal device to perform beam scanning on the second carrier to complete higher precision sensing.

[0063] In one implementation, the first indication information may include, but is not limited to, at least one of the following: second indication information for indicating a target historical reference signal, wherein the first beam is determined based on the beam corresponding to the target historical reference signal, and the second carrier is determined based on the carrier corresponding to the target historical reference signal; the direction of the first beam; the number of the first beams; the index of the second carrier; and information for indicating the second beam, wherein the first beam is determined based on the second beam, and the beam scanned by the terminal device during beam scanning on the first carrier includes the second beam.

[0064] In cases where higher-precision sensing is required, the network device can determine the beam direction for which higher-precision sensing is needed. In this case, the first indication information may include the direction of the first beam. For example, the network device may indicate that higher-precision sensing is achieved using two first beams: a 40-degree beam and a 60-degree beam. Alternatively, the first indication information may include information indicating a second beam. After receiving the first indication information, the terminal device can determine the first beam based on the second beam, and the first beam is within the coverage area of ​​the first beam. The beam scanned by the terminal device during beam scanning on the first carrier includes this second beam. If the beam scanning refers to a wide-beam scan, then the second beam is a wide-beam. Optionally, the first beam can be determined based on the second beam by identifying N first beams, and these N first beams are within the coverage area of ​​the second beam. Here, N can be a preset integer greater than or equal to 1. For example, if the second beam is an 80-degree beam and N=3, the determined first beam can include: a 20-degree beam, a 40-degree beam, and a 60-degree beam. Optionally, N can be agreed upon by the protocol or can be set or modified by the terminal device by default.

[0065] If it is determined that higher precision sensing is required, the network device can also determine the number of first beams that need to be sensed with higher precision; in other words, the aforementioned N can be indicated by the network device.

[0066] The second indication information is used to indicate a target historical reference signal. The historical reference signal can refer to a reference signal transmitted between the terminal device and the network device before step S303. The historical reference signal can include a reference signal transmitted by the terminal device to the network device, or a reference signal transmitted by the network device to the terminal device. Optionally, the second indication information can include an index of a target corresponding relationship in the corresponding relationship (between a historical reference signal transmitted by a wide beam and a historical reference signal transmitted by a narrow beam), and the target historical reference signal includes a historical reference signal transmitted by a narrow beam in the target corresponding relationship. For example, the corresponding relationship can be as shown in Table 1.

[0067] Table 1: Corresponding relationship

[0068]

[0069] Referring to Table 1, if the second indication information is index-2, it indicates that the target corresponding relationship is the second corresponding relationship in Table 1. In this case, the target historical reference signal includes historical reference signal 2, historical reference signal 3, and historical reference signal 4.

[0070] As can be seen from Table 1, in the corresponding relationship, a historical reference signal transmitted by a wide beam can correspond to one or more historical reference signals transmitted by a narrow beam. One historical reference signal transmitted by a wide beam can have multiple corresponding relationships, and the corresponding historical reference signals transmitted by a narrow beam are different in different corresponding relationships. For example, in Table 1, historical reference signal 1 corresponds to two corresponding relationships. In the first corresponding relationship, historical reference signal 1 corresponds to historical reference signal 2. In the second corresponding relationship, historical reference signal 1 corresponds to historical reference signal 2, historical reference signal 3, and historical reference signal 4.

[0071] Optionally, the network device can send third indication information to the terminal device, and the third indication information is used to indicate the corresponding relationship (between a historical reference signal transmitted by a wide beam and a historical reference signal transmitted by a narrow beam). Correspondingly, the terminal device can receive the third indication information from the network device, so as to obtain the corresponding relationship. Optionally, the third indication information can be carried in RRC signaling, or the third indication information is RRC signaling.

[0072] The network device indicates the target historical reference signal to the terminal device, and specifically indicates the terminal device to perform beam scanning with reference to the target historical reference signal. Specifically, the terminal device performs beam scanning according to a beam corresponding to the target historical reference signal and a carrier corresponding to the target historical reference signal. For example, the terminal device performs beam scanning using the beam corresponding to the target historical reference signal and the carrier corresponding to the target historical reference signal. If the target historical reference signal is a reference signal previously transmitted by the terminal device to the network device, the beam corresponding to the target historical reference signal can be a transmission beam used by the terminal device when the target historical reference signal is transmitted, and the carrier corresponding to the target historical reference signal can be a carrier used by the terminal device when the target historical reference signal is transmitted. If the target historical reference signal is a reference signal previously received by the terminal device from the network device, the beam corresponding to the target historical reference signal can be a reception beam used by the terminal device when the target historical reference signal is received, and the carrier corresponding to the target historical reference signal can be a carrier used by the terminal device when the target historical reference signal is received.

[0073] Optionally, the first indication information can be carried in the DCI, or the first indication information is the DCI. Optionally, the carrier carrying the first indication information can belong to the same carrier unit as the second carrier, or the carrier carrying the first indication information can not belong to the same carrier unit as the second carrier, which is a cross-carrier scheduling case.

[0074] S304, the terminal device performs beam scanning on the first beam on the second carrier according to the first indication information to obtain a second sensing result of the sensing object; wherein the first beam is determined according to the first sensing result.

[0075] In the case that the first indication information includes second indication information for indicating the target historical reference signal, the terminal device can perform beam scanning with reference to the target historical reference signal after learning the target historical reference signal. Specifically, the terminal device can perform beam scanning with reference to the target historical reference signal in the following manner: the terminal device determines a first beam according to a beam corresponding to the target historical reference signal, and determines a second carrier according to a carrier corresponding to the target historical reference signal, and performs beam scanning on the first beam on the second carrier. Optionally, the first beam can be the beam corresponding to the target historical reference signal, and the second carrier can be the carrier corresponding to the target historical reference signal.

[0076] It should be noted that the remaining execution process of step S304 can be referred to Figure 2 The specific description in step S202 in the corresponding embodiment will not be repeated here.

[0077] S305. The terminal device sends the second sensing result of the sensing object to the network device. Correspondingly, the network device receives the second sensing result.

[0078] By implementing the embodiments of the present application, the network device sends first indication information to the terminal device according to the first sensing result, so that the terminal device performs beam sweeping on the first beam on the second carrier according to the first indication information to obtain the second sensing result. In this way, more information related to the sensing object can be obtained, thereby facilitating improvement of the accuracy of the sensing result.

[0079] Please refer to Figure 4 , Figure 4 is a structural schematic diagram of a sensing device provided by the embodiments of the present application. As Figure 4 indicated, the sensing device 40 includes a beam sweeping unit 401 and a sending unit 402. Wherein,

[0080] The beam sweeping unit 401 is configured to perform beam sweeping on a first carrier to obtain a first sensing result of a sensing object.

[0081] The beam sweeping unit 401 is further configured to perform beam sweeping on the first beam on a second carrier to obtain a second sensing result of the sensing object, the first beam being determined according to the first sensing result.

[0082] The sending unit 402 is configured to send a target sensing result of the sensing object to a network device, the target sensing result including the first sensing result and the second sensing result, or the target sensing result being determined according to the first sensing result and the second sensing result.

[0083] In an optional implementation, the sensing device 40 further includes a receiving unit 403, the receiving unit 403 being configured to receive first indication information from the network device, the first indication information being used to instruct the sensing device 40 to perform beam sweeping on the first beam on the second carrier, the first indication information being sent by the network device according to the first sensing result, and the beam sweeping unit 401 being configured to perform beam sweeping on the first beam on the second carrier according to the first indication information.

[0084] In an optional implementation, the first indication information includes at least one of the following: second indication information used to instruct a target historical reference signal, the first beam being determined according to a beam corresponding to the target historical reference signal, and the second carrier being determined according to a carrier corresponding to the target historical reference signal; a direction of the first beam; a number of the first beam; an index of the second carrier; information used to instruct a second beam, the first beam being determined according to the second beam, and the beam swept by the sensing device 40 in the process of performing beam sweeping on the first carrier including the second beam.

[0085] In an optional implementation, the receiving unit 403 can further be configured to receive third indication information from the network device, the third indication information being used to indicate a correspondence relationship between a historical reference signal transmitted by a wide beam and a historical reference signal transmitted by a narrow beam; wherein the second indication information includes an index of a target correspondence relationship in the correspondence relationship, and the target historical reference signal includes a historical reference signal transmitted by a narrow beam in the target correspondence relationship.

[0086] The perception apparatus 40 can also be configured to implement the functions of the terminal device in the corresponding embodiments, which will not be described herein again. Figure 2-3 The functions of the terminal device in the corresponding embodiments, which will not be described herein again.

[0087] Please refer to Figure 5 , Figure 5 is another structure diagram of a perception apparatus provided by the embodiments of the present application. As shown in Figure 5 , the perception apparatus 50 includes a receiving unit 501 and a sending unit 502. Wherein,

[0088] The receiving unit 501 is configured to receive a first perception result of a perception object from a terminal device; the first perception result is obtained by the terminal device performing beam sweeping on a first carrier;

[0089] The sending unit 502 is configured to send first indication information to the terminal device according to the first perception result, the first indication information being used to instruct the terminal device to perform beam sweeping on a first beam on a second carrier; the first beam is determined according to the first perception result.

[0090] The receiving unit 501 is further configured to receive a second perception result of the perception object from the terminal device, the second perception result being obtained by the terminal device performing beam sweeping on the first beam on the second carrier.

[0091] In an optional implementation, the first indication information includes at least one of the following: second indication information used to indicate a target historical reference signal, the first beam being determined according to a beam corresponding to the target historical reference signal, and the second carrier being determined according to a carrier corresponding to the target historical reference signal; a direction of the first beam; a number of the first beam; an index of the second carrier; information used to indicate a second beam, the first beam being determined according to the second beam, and the second beam being included in beams scanned by the terminal device in a process of performing beam sweeping on the first carrier.

[0092] In an optional implementation, the transmitting unit 502 may further be used to transmit third indication information to the terminal device. The third indication information is used to indicate the correspondence between historical reference signals transmitted via a wide beam and historical reference signals transmitted via a narrow beam. The aforementioned second indication information includes an index of the target correspondence in the correspondence, and the target historical reference signal includes the historical reference signal transmitted via the narrow beam in the target correspondence.

[0093] The sensing device 50 can also be used to achieve Figure 2-3 The functions of the network devices in the corresponding embodiments will not be described in detail here.

[0094] Please see Figure 6 , Figure 6 Another sensing device 60 is provided for embodiments of this application. It can be used to implement the functions of the terminal device in the above method embodiments, or to implement the functions of the network device in the above method embodiments. The sensing device 60 may include a transceiver 601 and a processor 602. Optionally, the sensing device may also include a memory 603. The transceiver 601, processor 602, and memory 603 can be connected via a bus 604 or other means. Figure 6 The connections between other components are shown in bold lines only and are not intended to be limiting. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0095] The coupling in this application embodiment is an indirect coupling or communication connection between devices, units, or modules, which can be electrical, mechanical, or other forms, used for information exchange between devices, units, or modules. This application embodiment does not limit the specific connection medium between the transceiver 601, processor 602, and memory 603 described above.

[0096] Memory 603 may include read-only memory and random access memory, and provides instructions and data to processor 602. A portion of memory 603 may also include non-volatile random access memory.

[0097] The processor 602 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor, and alternatively, the processor 602 can also be any conventional processor.

[0098] In an example, when the terminal device adopts the form shown in Figure 6 , Figure 6 The processor in the terminal device can perform the method performed by the terminal device in any of the above method embodiments.

[0099] In an example, when the network device adopts the form shown in Figure 6 , Figure 6 The processor in the network device can perform the method performed by the network device in any of the above method embodiments.

[0100] In an alternative implementation, the memory 603 is configured to store program instructions, and the processor 602 is configured to invoke the program instructions stored in the memory 603 to perform the steps performed by the terminal device and the network device in the corresponding embodiments. Specifically, Figure 2 , Figure 3 The functions / implementation processes of the beam sweeping unit, the sending unit and the receiving unit in the corresponding embodiments can be implemented by the processor 602 in the terminal device / network device invoking the computer-executed instructions stored in the memory 603. Alternatively, Figure 4 The functions / implementation processes of the beam sweeping unit in the corresponding embodiments can be implemented by the processor 602 in the terminal device / network device invoking the computer-executed instructions stored in the memory 603, Figure 6 The functions / implementation processes of the sending unit and the receiving unit in the corresponding embodiments can be implemented by the transceiver 601 in the terminal device / network device. Figure 4 The functions / implementation processes of the sending unit and the receiving unit in the corresponding embodiments can be implemented by the processor 602 in the terminal device / network device invoking the computer-executed instructions stored in the memory 603. Alternatively, Figure 6 The functions / implementation processes of the sending unit and the receiving unit in the corresponding embodiments can be implemented by the processor 602 in the terminal device / network device invoking the computer-executed instructions stored in the memory 603, Figure 4 The functions / implementation processes of the sending unit and the receiving unit in the corresponding embodiments can be implemented by the transceiver 601 in the terminal device / network device. Figure 6 The functions / implementation processes of the sending unit and the receiving unit in the corresponding embodiments can be implemented by the processor 602 in the terminal device / network device invoking the computer-executed instructions stored in the memory 603. Alternatively, Figure 5 The functions / implementation processes of the sending unit and the receiving unit in the corresponding embodiments can be implemented by the processor 602 in the terminal device / network device invoking the computer-executed instructions stored in the memory 603, Figure 6 The functions / implementation processes of the sending unit and the receiving unit in the corresponding embodiments can be implemented by the processor 602 in the terminal device / network device invoking the computer-executed instructions stored in the memory 603. Alternatively, Figure 5 The functions / implementation processes of the sending unit and the receiving unit in the corresponding embodiments can be implemented by the processor 602 in the terminal device / network device invoking the computer-executed instructions stored in the memory 603, Figure 6The transceiver 601 in the terminal device 600 can be used to implement the method.

[0101] In the embodiments of the present application, the method provided by the embodiments of the present application can be implemented by running a computer program (including program codes) capable of performing each step involved in the above method on a general computing device such as a computer including processing elements and storage elements such as CPU, RAM, ROM, etc. The computer program can be recorded on a computer readable recording medium such as a computer readable recording medium, loaded into the above computing device through the computer readable recording medium, and run therein.

[0102] Based on the same inventive concept, the principle and beneficial effects of the sensing device provided in the embodiments of the present application for solving problems are similar to those of the terminal device and network device in the method embodiments for solving problems. For brevity, the principles and beneficial effects of the method embodiments are not described again.

[0103] The aforementioned sensing device (such as the sensing device 40, the sensing device 50, and the sensing device 60) can be, for example, a chip or a chip module.

[0104] The embodiments of the present application also provide a chip, which can perform the related steps of the terminal device and network device in the foregoing method embodiments.

[0105] For the case where the chip is used to implement the functions of the terminal device in the embodiments of the present application:

[0106] The chip is used to:

[0107] Perform beam sweeping on the first carrier to obtain a first sensing result of the sensing object;

[0108] Perform beam sweeping on the first carrier to obtain a first sensing result of the sensing object;

[0109] Send a target sensing result of the sensing object to the network device; the target sensing result includes the first sensing result and the second sensing result, or the target sensing result is determined according to the first sensing result and the second sensing result.

[0110] In an optional implementation, the chip can also be used to receive first indication information from the network device, the first indication information being used to instruct the terminal device to perform beam sweeping on the first carrier on the second carrier; the first indication information is sent by the network device according to the first sensing result; and the chip is used to perform beam sweeping on the first carrier on the second carrier, and specifically used to perform beam sweeping on the first carrier on the second carrier according to the first indication information.

[0111] In an optional implementation, the first indication information comprises at least one of the following: second indication information used for indicating a target historical reference signal, the first beam being determined according to a beam corresponding to the target historical reference signal, the second carrier being determined according to a carrier corresponding to the target historical reference signal; a direction of the first beam; a quantity of the first beam; an index of the second carrier; information used for indicating a second beam, the first beam being determined according to the second beam, the second beam being included in the beams scanned by the terminal device in the process of performing the beam sweeping on the first carrier.

[0112] In an optional implementation, the chip can also be used to receive third indication information from the network device, the third indication information being used for indicating a correspondence relationship between a historical reference signal transmitted through a wide beam and a historical reference signal transmitted through a narrow beam; wherein the second indication information comprises an index of a target correspondence relationship in the correspondence relationship, and the target historical reference signal comprises a historical reference signal transmitted through a narrow beam in the target correspondence relationship.

[0113] Specifically, in this case, the operations performed by the chip can refer to the above Figure 2 、 Figure 3 introduction of the terminal device in the corresponding embodiments.

[0114] For the case where the chip is used to implement the functions of the network device in the embodiments of the present application:

[0115] The chip is used to:

[0116] receive a first sensing result of a sensing object from the terminal device; the first sensing result is obtained by the terminal device performing beam sweeping on a first carrier;

[0117] According to the first sensing result, the first indication information is sent to the terminal device, the first indication information being used for instructing the terminal device to perform beam sweeping on a first beam on a second carrier; the first beam being determined according to the first sensing result;

[0118] receive a second sensing result of a sensing object from the terminal device, the second sensing result being obtained by the terminal device performing beam sweeping on the first beam on the second carrier.

[0119] In an optional implementation, the first indication information comprises at least one of the following: second indication information used for indicating a target historical reference signal, the first beam being determined according to a beam corresponding to the target historical reference signal, the second carrier being determined according to a carrier corresponding to the target historical reference signal; a direction of the first beam; a quantity of the first beam; an index of the second carrier; information used for indicating a second beam, the first beam being determined according to the second beam, the second beam being scanned by the terminal device in a process of beam scanning on the first carrier.

[0120] In an optional implementation, the chip can further be used to send, to the terminal device, third indication information used for indicating a correspondence relationship between a historical reference signal sent by a wide beam and a historical reference signal sent by a narrow beam; wherein the second indication information comprises an index of a target correspondence relationship in the correspondence relationship, and the target historical reference signal comprises a historical reference signal sent by a narrow beam in the target correspondence relationship.

[0121] Specifically, in this case, the operations performed by the chip can refer to the above Figure 2 、 Figure 3 the above description of the network device in the corresponding embodiments.

[0122] In a possible implementation, the chip comprises at least one processor, at least one first memory and at least one second memory; wherein the at least one first memory and the at least one processor are interconnected by a line, and the first memory stores instructions; the at least one second memory and the at least one processor are interconnected by a line, and the second memory stores data required to be stored in the method embodiments.

[0123] For each device, product applied to or integrated into the chip, each module contained therein can be realized in a hardware manner such as a circuit, or at least part of the modules can be realized in a software program manner, the software program running on a processor integrated in the chip, and the remaining (if any) part of the modules can be realized in a hardware manner such as a circuit.

[0124] Please refer to Figure 7 , Figure 7 A structural schematic diagram of a chip module provided by the embodiments of the present application. The chip module 70 can perform the related steps of the terminal device and the network device in the above method embodiments. The chip module 70 comprises a communication interface 701 and a chip 702.

[0125] The communication interface is used for internal communication of the chip module, or for communication between the chip module and an external device; and the chip is used to implement the functions of the terminal device or the network device in the embodiments of the present application, which can be referred to in the above Figure 2 ,Figure 3 Optionally, the chip module 70 can further include a storage module 703, a power supply module 704. The storage module 703 is configured to store data and instructions. The power supply module 704 is configured to provide power for the chip module.

[0126] For each device, product applied to or integrated into the chip module, each module contained therein can be realized in the form of hardware such as a circuit, different modules can be located in the same component (such as a chip, a circuit module, etc.) or different components of the chip module, or at least part of the modules can be realized in the form of a software program running on a processor integrated in the chip module, and the remaining (if any) part of the modules can be realized in the form of hardware such as a circuit.

[0127] The embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores one or more instructions. The one or more instructions are adapted to be loaded by a processor and execute the method provided by the method embodiment.

[0128] The embodiment of the present application further provides a computer program product containing instructions, which, when executed on a computer, cause the computer to perform the method provided by the method embodiment.

[0129] The embodiment of the present application further provides a perception system, which can include Figure 2 , Figure 3 The terminal device and the network device in the corresponding embodiment, or the system can include Figure 4 The perception device 40 in the corresponding embodiment and Figure 5 The perception device 50 in the corresponding embodiment.

[0130] It should be noted that, for each of the above-mentioned method embodiments, in order to simply describe, each of the above-mentioned method embodiments is described as a series of action combinations, but those skilled in the art should know that the application is not limited by the action sequence described, because according to the application, some steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily necessary for the application.

[0131] It should be noted that, for each of the above-mentioned method embodiments, in order to simply describe, each of the above-mentioned method embodiments is described as a series of action combinations, but those skilled in the art should know that the application is not limited by the action sequence described, because according to the application, some steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily necessary for the application.

[0132] The steps in the method embodiments of the application can be adjusted in sequence, combined and deleted according to actual needs.

[0133] The modules in the device embodiments of the application can be combined, divided and deleted according to actual needs.

[0134] Those of ordinary skill in the art can understand that all or part of the steps of the various methods of the above-mentioned embodiments can be completed by a program instructing related hardware, and the program can be stored in a computer readable storage medium, which can include a flash disk, a ROM, a RAM, a magnetic disk or an optical disk, etc.

[0135] The above disclosures only represent a preferred embodiment of the present application and only part of the embodiments of the present application, and cannot be used to limit the scope of the rights of the present application.

Claims

1. A perception method, comprising: The method comprises: The terminal device performs beam scanning on a first carrier to obtain a first sensing result of a sensing object; The terminal device performs beam scanning on a first beam on a second carrier to obtain a second sensing result of the sensing object; the first beam is determined according to the first sensing result; The terminal device sends a target sensing result of the sensing object to a network device; the target sensing result comprises the first sensing result and the second sensing result, or the target sensing result is determined according to the first sensing result and the second sensing result.

2. The method of claim 1, wherein, The method further comprises: The terminal device receives first indication information from the network device, the first indication information being used to instruct the terminal device to perform beam scanning on the first beam on the second carrier; the first indication information is sent by the network device according to the first sensing result; The terminal device performs beam scanning on a first beam on a second carrier, comprising: The terminal device performs beam scanning on the first beam on the second carrier according to the first indication information.

3. The method of claim 2, wherein, The first indication information comprises at least one of: Second indication information used to instruct a target historical reference signal, the first beam being determined according to a beam corresponding to the target historical reference signal, and the second carrier being determined according to a carrier corresponding to the target historical reference signal; A direction of the first beam; A quantity of the first beam; An index of the second carrier; Information used to instruct a second beam, the first beam being determined according to the second beam, and a beam scanned by the terminal device in a process of performing beam scanning on the first carrier comprising the second beam.

4. The method of claim 3, wherein, The method further comprises: The terminal device receives third indication information from the network device, the third indication information being used to instruct a corresponding relationship between a historical reference signal sent through a wide beam and a historical reference signal sent through a narrow beam; The second indication information comprises an index of a target corresponding relationship in the corresponding relationship, and the target historical reference signal comprises a historical reference signal sent through a narrow beam in the target corresponding relationship.

5. A perception method comprising: The method comprises: A network device receives a first sensing result of a sensing object from a terminal device; the first sensing result is obtained by the terminal device performing beam scanning on a first carrier; The network device sends first indication information to the terminal device according to the first sensing result, the first indication information being used to instruct the terminal device to perform beam scanning on a first beam on a second carrier; the first beam is determined according to the first sensing result; The network device receives a second sensing result of the sensing object from the terminal device, the second sensing result being obtained by the terminal device performing beam scanning on the first beam on the second carrier.

6. The method of claim 5, wherein, The first indication information comprises at least one of: Second indication information used to instruct a target historical reference signal, the first beam being determined according to a beam corresponding to the target historical reference signal, and the second carrier being determined according to a carrier corresponding to the target historical reference signal; A direction of the first beam; A number of the first beam; An index of the second carrier; Information used for indicating a second beam, the first beam being determined according to the second beam, the second beam being included in beams scanned by the terminal device in a process of beam scanning on the first carrier.

7. The method of claim 6, wherein, The method further comprises: The network device sends third indication information to the terminal device, the third indication information being used for indicating a correspondence relationship between a historical reference signal transmitted by a wide beam and a historical reference signal transmitted by a narrow beam; The second indication information comprises an index of a target correspondence relationship in the correspondence relationship, and the target historical reference signal comprises a historical reference signal transmitted by a narrow beam in the target correspondence relationship.

8. A perception system, comprising: The system comprises a terminal device for executing the perception method according to any one of claims 1-4, and a network device for executing the perception method according to any one of claims 5-7.

9. A perception device, comprising: comprise a processor; The processor is configured to execute the perception method according to any one of claims 1-4 or 5-7.

10. The perception device of claim 9, wherein, The perception device further comprises a memory: The memory is configured to store a computer program; The processor is specifically configured to call the computer program from the memory and execute the perception method according to any one of claims 1-4 or 5-7.

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