Sensing methods, devices and communication equipment

Abstract

This application discloses a sensing method, apparatus, and communication device, belonging to the field of communication sensing technology. The sensing method of this application includes: a first device receiving echo signals of a first signal sent by a second device based on each receiving beam determined by a first beam scanning method; the first device, upon determining that a sensing object has been detected based on the first echo signal received at a first time, acquiring a first receiving beam used at a second time based on the first echo signal; the first device receiving a second echo signal of the first signal sent by the first device at a second time based on the first receiving beam; wherein, the second time is a time after the first time.

Description

Technical Field

[0001] This application belongs to the field of communication sensing technology, specifically relating to a sensing method, device, and communication equipment. Background Technology

[0002] Radar detection is one of the important use cases for integrated communication and sensing. Radar technology in integrated communication and sensing scenarios differs from traditional radar technology in many ways due to differences in constraints and application objectives. Currently, a clear scheme for adaptive beam pointing adjustment in integrated communication and sensing scenarios remains unclear. Summary of the Invention

[0003] This application provides a sensing method, apparatus, and communication device that can solve the problem of how to adaptively adjust the beam pointing in order to optimize the system's search and tracking efficiency.

[0004] Firstly, a perception method is provided, including:

[0005] The first device receives the echo signal of the first signal sent by the second device based on each receiving beam determined by the first beam scanning method;

[0006] When the first device determines that a sensing object has been detected based on the first echo signal received at the first moment, it obtains the first receiving beam to be used at the second moment based on the first echo signal.

[0007] The first device receives the second echo signal of the first signal sent by the first device at a second time, based on the first receiving beam.

[0008] The second time point is the time point following the first time point.

[0009] Secondly, a sensing device is provided, applied to a first device, comprising:

[0010] The first receiving module is used to receive the echo signal of the first signal sent by the second device for each receiving beam determined based on the first beam scanning method;

[0011] The first acquisition module is used to acquire the first receiving beam used at the second time based on the first echo signal when it is determined that a sensing object has been detected according to the first echo signal received at the first time.

[0012] The second receiving module is used to receive the second echo signal of the first signal sent by the first device at a second time, according to the first receiving beam.

[0013] The second time point is the time point following the first time point.

[0014] Thirdly, a perception method is provided, including:

[0015] The second device sends a first signal to the first device based on each transmission beam determined by the second beam scanning method;

[0016] When the second device determines that the first device has detected a sensing object at a first moment, it obtains the first transmission beam to be used at a second moment based on the first echo signal of the first signal received by the first device at the first moment.

[0017] The second device sends a first signal to the first device at a second moment according to the transmitted beam;

[0018] The second time point is the time point following the first time point.

[0019] Fourthly, a sensing device is provided for use in a second device, comprising:

[0020] The first transmitting module is used to transmit a first signal to the first device based on each transmitting beam determined by the second beam scanning method;

[0021] The second acquisition module is used to acquire the first transmission beam used in the second moment based on the first echo signal of the first signal received by the first device in the first moment when it is determined that the first device detects the sensing object in the first moment.

[0022] The second transmitting module is used to transmit a first signal to the first device at a second time according to the transmitting beam;

[0023] The second time point is the time point following the first time point.

[0024] Fifthly, a perception method is provided, including:

[0025] The sensing network element sends first information to the first device; and / or

[0026] The sensing network element sends second information to the second device;

[0027] The first information includes at least one of the following:

[0028] First beam scanning mode;

[0029] The first receiving beam used by the first device at the second moment;

[0030] The second information includes at least one of the following:

[0031] Second beam scanning mode;

[0032] The second device uses the first transmission beam at the second moment.

[0033] Sixthly, a sensing device is provided for use in a sensing function network element, comprising:

[0034] The third sending module is used to send first information to the first device; and / or

[0035] Send the second message to the second device;

[0036] The first information includes at least one of the following:

[0037] First beam scanning mode;

[0038] The first receiving beam used by the first device at the second moment;

[0039] The second information includes at least one of the following:

[0040] Second beam scanning mode;

[0041] The second device uses the first transmission beam at the second moment.

[0042] In a seventh aspect, a communication device is provided, the communication device being a first device, including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method described in the first aspect.

[0043] Eighthly, a communication device is provided, the communication device being a first device, including a processor and a communication interface, wherein the communication interface is used to receive echo signals of a first signal transmitted by a second device for each receiving beam determined based on a first beam scanning method; the processor is used to, when determining that a sensed object has been detected based on the first echo signal received at a first time, acquire a first receiving beam used at a second time based on the first echo signal; the communication interface is used to receive a second echo signal of the first signal transmitted by the first device at a second time based on the first receiving beam;

[0044] The second time point is the time point following the first time point.

[0045] A ninth aspect provides a communication device, which is a second device, including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method described in the third aspect.

[0046] In a tenth aspect, a communication device is provided, the communication device being a second device, comprising a processor and a communication interface, wherein the communication interface is used to transmit a first signal to a first device for each transmission beam determined by a second beam scanning method; the processor is used to, upon determining that the first device detects a sensing object at a first moment, acquire a first transmission beam to be used at a second moment based on a first echo signal of the first signal received by the first device at the first moment; the communication interface is used to transmit the first signal to the first device at the second moment according to the transmission beam;

[0047] The second time point is the time point following the first time point.

[0048] Eleventhly, a communication device is provided, the communication device being a sensing function network element, including a processor and a memory, the memory storing programs or instructions executable on the processor, the programs or instructions, when executed by the processor, implementing the steps of the method described in the fifth aspect.

[0049] In a twelfth aspect, a communication device is provided, the communication device being a sensing function network element, including a processor and a communication interface, wherein the communication interface is used to send first information to a first device; and / or

[0050] Send the second message to the second device;

[0051] The first information includes at least one of the following:

[0052] First beam scanning mode;

[0053] The first receiving beam used by the first device at the second moment;

[0054] The second information includes at least one of the following:

[0055] Second beam scanning mode;

[0056] The second device uses the first transmission beam at the second moment.

[0057] In a thirteenth aspect, a communication system is provided, comprising: a first device, a second device, and a sensing function network element, wherein the first device is configured to perform the steps of the sensing method as described in the first aspect, the second device is configured to perform the steps of the sensing method as described in the third aspect, and the sensing function network element is configured to perform the steps of the sensing method as described in the fifth aspect.

[0058] In a fourteenth aspect, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method as described in the first, third, or fifth aspects.

[0059] In a fifteenth aspect, a chip is provided, the chip including a processor and a communication interface coupled to the processor, the processor being configured to run programs or instructions to implement the steps of the methods described in the first, third, or fifth aspects.

[0060] In a sixteenth aspect, a computer program / program product is provided, the computer program / program product being stored in a storage medium, the computer program / program product being executed by at least one processor to perform the steps of the method as described in the first aspect, the third aspect, or the fifth aspect.

[0061] In this embodiment, the echo signal of the first signal sent by the second device is received by each receiving beam determined based on the first beam scanning method. When it is determined that a sensing object has been detected based on the first echo signal received at the first moment, the first receiving beam used at the second moment is obtained based on the first echo signal. Then, based on the first receiving beam, the second echo signal of the first signal sent by the first device is received at the second moment. This achieves adaptive adjustment of the receiving beam, which can optimize system search and improve tracking efficiency. Attached Figure Description

[0062] Figure 1 This is an optional network architecture diagram applicable to this application;

[0063] Figure 2 This is one of the flowcharts illustrating the sensing method according to an embodiment of this application;

[0064] Figure 3 This is a schematic diagram of the scanning beam arrangement;

[0065] Figure 4 This is one of the schematic diagrams of beam arrangement for scanning beams;

[0066] Figure 5 This is the second schematic diagram of the beam arrangement method for scanning beams;

[0067] Figure 6 This is a diagram illustrating scanning in row and column order;

[0068] Figure 7 This is a schematic diagram of scanning in circumferential order;

[0069] Figure 8 This is a schematic diagram of a partition scan;

[0070] Figure 9 This is a schematic diagram of SNR calculation for a one-dimensional graph;

[0071] Figure 10 This is a schematic diagram of a single-station radar beam scanning in application scenario one;

[0072] Figure 11 This is a schematic diagram of bistatic radar beam scanning in application scenario two;

[0073] Figure 12 This is one of the schematic diagrams illustrating the connection relationship between sensing network elements, terminals, and base stations under application scenario two;

[0074] Figure 13 This is the second schematic diagram illustrating the connection relationship between sensing network elements, terminals, and base stations under application scenario two.

[0075] Figure 14 This is the third schematic diagram illustrating the connection relationship between sensing network elements, terminals, and base stations under application scenario two;

[0076] Figure 15 This is one of the schematic diagrams of the sensing device according to an embodiment of this application;

[0077] Figure 16 This is one of the structural schematic diagrams of the first device according to an embodiment of this application;

[0078] Figure 17 This is a second schematic diagram of the structure of the first device according to an embodiment of this application;

[0079] Figure 18 This is a second schematic flowchart of the sensing method according to an embodiment of this application;

[0080] Figure 19 This is a second schematic diagram of the sensing device according to an embodiment of this application;

[0081] Figure 20 This is the third flowchart illustrating the sensing method according to an embodiment of this application;

[0082] Figure 21 This is the third schematic diagram of the sensing device in an embodiment of this application;

[0083] Figure 22 This is a schematic diagram of the structure of the sensing function network element in an embodiment of this application;

[0084] Figure 23 This is a schematic diagram of the structure of a communication device according to an embodiment of this application. Detailed Implementation

[0085] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0086] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0087] It is worth noting that the technologies described in this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency Division Multiple Access (SC-FDMA), and other systems. The terms "system" and "network" in this application are often used interchangeably, and the described technologies can be used with the systems and radio technologies mentioned above, as well as with other systems and radio technologies. The following description describes New Radio (NR) systems for illustrative purposes, and NR terminology is used in most of the following description; however, these technologies can also be applied to applications beyond NR systems, such as 6th generation (6G) radio systems. th Generation 6G communication system.

[0088] Figure 1This diagram illustrates a block diagram of a wireless communication system applicable to embodiments of this application. The wireless communication system includes a terminal 11 and a network-side device 12. Terminal 11 can be a mobile phone, tablet computer, laptop computer, personal digital assistant (PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, vehicle-mounted device (VUE), pedestrian terminal (PUE), smart home (home devices with wireless communication capabilities, such as refrigerators, televisions, washing machines, or furniture), game console, personal computer (PC), ATM, or self-service machine, etc. Wearable devices include: smartwatches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart chains, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, smart clothing, etc. It should be noted that the specific type of terminal 11 is not limited in this embodiment. Network-side equipment 12 may include access network equipment and core network equipment. Access network equipment may also be referred to as radio access network equipment, radio access network (RAN), radio access network function, or radio access network unit. Access network equipment may include base stations, WLAN access points, or WiFi nodes, etc. Base stations may be referred to as Node B, evolved Node B (eNB), access point, base transceiver station (BTS), radio base station, radio transceiver, Basic Service Set (BSS), Extended Service Set (ESS), home B node, home evolved B node, Transmitting Receiving Point (TRP), or any other suitable term in the field, as long as the same technical effect is achieved. The base station is not limited to specific technical terms. It should be noted that in this embodiment, only a base station in an NR system is used as an example for description, and the specific type of base station is not limited.Core network equipment may include, but is not limited to, at least one of the following: core network node, core network function, Mobility Management Entity (MME), Access and Mobility Management Function (AMF), Session Management Function (SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Server Discovery Function (EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (or L-NEF), Binding Support Function (BSF), and Application Function. Function (AF), etc. It should be noted that the embodiments of this application only use the core network equipment in the NR system as an example for introduction, and do not limit the specific type of core network equipment.

[0089] The relevant technologies involved in this application are described below:

[0090] Future B5G and 6G wireless communication systems are expected to provide a variety of high-precision sensing services, such as indoor positioning for robot navigation, Wi-Fi sensing for smart homes, and radar sensing for autonomous vehicles. Sensing and communication systems are typically designed separately and occupy different frequency bands. However, due to the widespread deployment of millimeter-wave and massive MIMO technologies, communication signals in future wireless communication systems often possess high resolution in both the time and angular domains, making it possible to achieve high-precision sensing using these signals. Therefore, it is best to design sensing and communication systems jointly, enabling them to share the same frequency band and hardware to improve frequency efficiency and reduce hardware costs. This has spurred research into Integrated Sensing and Communication (ISAC). ISAC will become a key technology in future wireless communication systems to support many important application scenarios. For example, in future autonomous vehicle networks, autonomous vehicles will obtain a wealth of information from the network, including ultra-high-resolution maps and near real-time information, for navigation and to avoid impending traffic congestion. In the same context, radar sensors in autonomous vehicles should be able to provide powerful, high-resolution obstacle detection capabilities, with resolution on the centimeter scale. ISAC technology for autonomous vehicles offers the possibility of achieving high data rate communication and high-resolution obstacle detection using the same hardware and spectrum resources. Other applications of ISAC include Wi-Fi-based indoor positioning and activity recognition, communication and sensing for unmanned aerial vehicles, XR, radar and communication integration, etc. Each application has different requirements, limitations, and regulatory issues. ISAC has attracted great research interest and attention from academia and industry. For example, there has been an increasing number of academic publications on ISAC recently, ranging from transceiver architecture design, ISAC waveform design, joint coding design, time-frequency-space signal processing, to experimental performance delays, prototyping and field testing.

[0091] Table 1 shows typical scenarios of integrated communication and sensing that can be realized by upgrading the technology based on the 5G communication system architecture.

[0092] Table 1 Typical Scenarios of Integrated Communication and Sensing

[0093]

[0094]

[0095] Radar is a transliteration of the English word "radar," an abbreviation of "Radio Detection and Ranging." It refers to the process of detecting and determining the distance to a target by transmitting radio waves and receiving the reflected echoes. With the development of radar technology, radar detection now includes not only measuring the target's distance but also its speed, azimuth, and elevation angles, and extracting further information about the target, including its size and shape.

[0096] In integrated wireless sensing applications, radar technology can be used in either monostation or bistation radar modes.

[0097] In monostatic radar mode, the transmitting and receiving signals share a common antenna, and the received and transmitted signals enter different radio frequency processing links through a circulator. In this mode, continuous wave signal waveforms can be used to achieve blind-zone-free detection, provided that the received and transmitted signals are well isolated, typically requiring an isolation of around 100dB, to eliminate the overwhelming effect of transmitted signal leakage on the received signal. Since the receiver of a monostatic radar has all the information of the transmitted signal, it can perform signal processing through matched filtering (pulse compression) to obtain high signal processing gain.

[0098] In bistatic radar mode, there is no isolation issue between the transmitting and receiving signals, greatly simplifying hardware complexity. Since radar signal processing is based on known information, in 5G NR integrated sensing applications, known information such as synchronization signals (primary synchronization signal (PSS) / secondary synchronization signal (SSS)) and reference signals (demodulation reference signal (DMRS) / channel state information reference signal (CSI-RS)) can be used for radar signal processing. However, due to the periodicity of synchronization and reference signals, the signal waveform ambiguity is no longer pin-shaped but rather pegboard-shaped, increasing the degree of time delay and Doppler ambiguity, and significantly reducing the main lobe gain compared to monostatic radar mode, thus decreasing the range of distance and velocity measurements. With appropriate parameter set design, the range of distance and velocity measurements can meet the measurement needs of common targets such as cars and pedestrians. Furthermore, the measurement accuracy of bistatic radar is related to the relative positions of the transmitting and receiving stations to the target, requiring the selection of suitable transmitting and receiving station pairs to improve detection performance.

[0099] The sensing methods, devices, and communication equipment provided in this application will be described in detail below with reference to the accompanying drawings and through some embodiments and application scenarios.

[0100] like Figure 2 As shown, this application provides a sensing method, including:

[0101] Step 201: The first device receives the echo signal of the first signal sent by the second device for each receiving beam determined based on the first beam scanning method;

[0102] It should be noted that the first beam scanning method includes: beam scanning range, scanning beam arrangement, and beam scanning sequence;

[0103] Step 202: When the first device determines that a sensing object has been detected based on the first echo signal received at the first moment, it obtains the first receiving beam used at the second moment based on the first echo signal.

[0104] Step 203: The first device receives the second echo signal of the first signal sent by the first device at a second time according to the first receiving beam.

[0105] It should be noted that the second time is the time following the first time.

[0106] It should be noted that when the first device determines that a sensing object has been detected based on the first echo signal received at the first moment, it can directly adjust the receiving beam for the next moment based on the echo signals obtained at the previous moment or multiple previous moments. Then, it uses the adjusted receiving beam to receive the echo signal until the sensing process ends. This achieves adaptive adjustment of the receiving beam, which can optimize the system search and improve tracking efficiency.

[0107] It should be noted that the first device refers to the receiving end (also known as the receiving device) in the sensing communication process, and the corresponding first beam scanning method can be understood as the receiving beam scanning method; the first device can be a base station, transmission point (TRP), user equipment (UE, also known as a terminal), access point (AP), smart metasurface (RIS), etc.; the second device refers to the transmitting end (also known as the transmitting device) in the sensing communication process, and the second device can be a base station, TRP, UE, AP, RIS, etc., and the corresponding second beam scanning method can be understood as the transmitting beam scanning method.

[0108] It should be noted that when the first device receives the echo signal of the first signal sent by the second device based on each receiving beam determined by the first beam scanning method, the sensing process is in search mode. That is, the transmitting end sends a sensing signal, and the receiving end receives the echo signal of the sensing signal to search for the sensing object. After the receiving end finds the sensing object, it switches to tracking mode to track the found sensing object. In other words, the search mode mentioned in this application refers to the process of discovering the sensing object by traversing various angle intervals and / or distance intervals and / or velocity intervals within the range specified by the prior sensing information in the sensing requirements at the beginning of radar detection. Once the relevant parameters of the sensing object are obtained, the search mode ends. The tracking mode refers to the continuous detection of the sensing object at the parameter location of the sensing object, or within a certain range including the parameter of the sensing object, after the sensing object is discovered and its parameters are obtained through the search mode, and the parameters of the sensing object are updated with the detection results.

[0109] It should be further noted that the first moment and the second moment mentioned in the embodiments of this application can be understood as at least one first sensing frame and at least one second sensing frame. Since the transmission, reception and signal processing of the signal are all based on the sensing frame as the time unit, that is to say, the transmitting beam and receiving beam remain unchanged within the same sensing frame. The beam adaptive adjustment provided in the embodiments of this application adjusts the transmitting beam and receiving beam within the next sensing frame.

[0110] The acquisition of the first beam scanning method in the search mode will be explained in detail below.

[0111] I. Beam scanning range in the first beam scanning mode

[0112] Optionally, the method for obtaining the beam scanning range includes one of the following:

[0113] A11. Determine the beam scanning range based on the spatial range prior information of the perceived object in the prior information of perception and the position of the first device;

[0114] It should be noted that the prior information regarding the spatial extent includes the following:

[0115] A111, coordinates of the spatial boundary or vertex;

[0116] Alternatively, in this case, the detection priority within the spatial range satisfies one of the following:

[0117] All spatial locations within the spatial range are detected with the same priority.

[0118] Optionally, in this case, a default setting is used for detection priority, meaning all spatial locations have the same detection priority by default. Alternatively, the detection priority of certain spatial locations can be set individually based on the detection needs of different locations. For example, if the spatial range includes 10 locations, and the detection needs for locations 7 and 8 are higher, while the detection needs for locations 1 and 3 are lower, then locations 2, 4, 5, 6, 9, and 10 are set to have the same detection priority. Locations 7 and 8 have a higher detection priority than locations 2, 4, 5, 6, 9, and 10, while locations 1 and 3 have a lower detection priority than locations 2, 4, 5, 6, 9, and 10. It should be noted that when the detection priority of a specific location is not set individually, the default setting is used.

[0119] A112, the distribution range of the spatial range center coordinates and relative center.

[0120] It should be noted that the distribution range relative to the center can be described by a specific shape, such as a circle, an ellipse, a sphere, or an ellipsoid.

[0121] Optionally, in this case, a default setting is set for detection priority, that is, the detection priority of spatial locations at the center of the default spatial range is higher than the detection priority of spatial locations at the edges. Of course, the detection priority of certain locations can also be set individually according to the detection requirements of different spatial locations.

[0122] It should be noted that when the detection priority of a specific location is not set individually, the default setting will be used.

[0123] A12, Receive the beam scanning range transmitted by the sensing function network element.

[0124] It should be noted that in this case, the beam scanning range is determined by the sensing function network element. Specifically, the method by which the sensing function network element determines the beam scanning range can be found in A11, and will not be repeated here.

[0125] It should be noted that the sensing function network element mentioned in the embodiments of this application refers to a network node in the core network and / or radio access network that is responsible for at least one function such as sensing request processing, sensing resource scheduling, sensing information interaction, and sensing data processing. It can be an upgrade based on the access management function (AMF) or location management function (LMF) in the existing 5G network, or it can be other existing or newly defined network nodes.

[0126] It should be noted that the beam scanning range mentioned above is actually determined by the angle formed by the spatial range relative to the antenna array of the first device; that is, the beam scanning range can also be understood as the angle scanning range.

[0127] II. The arrangement of scanning beams in the first beam scanning mode

[0128] Optionally, the method for obtaining the scanning beam arrangement includes one of the following:

[0129] A21. Determine the scanning beam arrangement based on the beam scanning range, priority information within the scanning range, and beam width;

[0130] It should be noted here that the beam overlap method described refers to the overlap between two adjacent scanning beams in the angular domain, typically with a 3dB beam spacing, such as... Figure 3 As shown, the goal of determining the beam overlap pattern is to determine the value of the ratio coefficient k between the spacing between two adjacent beams and the beamwidth.

[0131] It should be further noted that, based on the beam scanning range and the priority information and beamwidth within the scanning range, the specific implementation of determining the scanning beam arrangement includes the following:

[0132] A211. Determine the ratio of the spacing between two adjacent beams to the beamwidth as a preset value;

[0133] In other words, in this case, a fixed beam overlap method is used, that is, a fixed or pre-set scaling factor k is used for beam arrangement.

[0134] A212. Based on the beam scanning range and beam width, determine the ratio coefficient between the spacing between two adjacent beams and the beam width;

[0135] It should be noted that in this case, the beam overlap pattern is determined based on the beam scanning range and beamwidth. In other words, the beam overlap pattern varies with the beam scanning range and beamwidth. Different beam scanning ranges and beamwidths will result in different beam overlap patterns in order to use the optimal number of beams to cover the angular scanning range.

[0136] A213. Based on the first criterion, determine the ratio coefficient between the spacing between two adjacent beams and the beamwidth;

[0137] The first criterion includes: different proportional coefficients are used for spatial locations with different detection priorities within the spatial range.

[0138] In other words, the scaling factor is different for different spatial locations in this case. If the prior information of the spatial range is given in the manner described in A112 above, that is, the coordinates of the center of the spatial range and the circular (elliptical, spherical, ellipsoidal) range of the relative center are given, then different scaling factor k values ​​are used for the area around the center of the spatial range and the edge area. This makes the high detection priority area at the center of the spatial range use a smaller k value for more intensive scanning, and the low detection priority area at the edge of the spatial range use a relatively larger k value for relatively sparse scanning.

[0139] It should also be noted that the beam arrangement of the scanning beam includes at least one of the following:

[0140] B11. Arrange by row and column;

[0141] It should be noted that the beams are arranged in rows in the azimuth direction and have multiple rows in the elevation direction, such as... Figure 4 As shown; or, arranged in rows in the elevation direction and having multiple columns in the azimuth direction; in this case, it is necessary to determine the ratio coefficient k of the overlap between the two sets of beams in the azimuth and elevation directions;

[0142] B12. Arranged in circles;

[0143] It should be noted that the beams are arranged in concentric circles centered on the spatial range of the object being sensed, such as... Figure 5 As shown; in this case, it is necessary to determine the beam overlap ratio k value between the loops;

[0144] It should also be noted that the beam arrangement should take into account the beam broadening effect of the beam width with the beam direction. The angle scanning range (in polar coordinates) is projected into the sinusoidal coordinate system for the above beam arrangement, and then the beam arrangement in the sinusoidal coordinate system is projected back into the polar coordinate system.

[0145] It is particularly important to note that several fixed beam overlap scaling factors, k, can be set. For example, k values ​​could be 0.5, ... There are three options, corresponding to detailed search, normal search, and coarse search, respectively.

[0146] For a given antenna array, the azimuth or elevation beamwidth takes several fixed values ​​based on the antenna aperture in the corresponding direction. For example, for an 8×8 antenna array, there are 8 options for the azimuth or elevation beamwidth, corresponding to antenna apertures of 1 to 8 antenna elements, respectively.

[0147] Therefore, based on each k value and each beamwidth value, the beam arrangement of the antenna array can be completed offline within the maximum scanning range, forming a beam arrangement dataset.

[0148] The beamformation dataset has the following properties:

[0149] B21. Each subset of the dataset corresponds to a combination of beam overlap scaling factor k, azimuth and elevation antenna aperture numbers;

[0150] B22. The data content of each subset of the dataset is the azimuth and elevation angles of the centers of each beam in the beam arrangement within the maximum scanning range.

[0151] B23. The number of subsets in the dataset is equal to the number of combinations of the scaling factor k, the azimuth, and the elevation antenna aperture.

[0152] The beamformation dataset can be stored in a sensing function network element, a first device, or other network nodes accessible to the sensing function network element or the first device.

[0153] In specific sensing applications, data from the beamform dataset can be accessed using three sets of parameters. These three sets of parameters are:

[0154] The angle scanning range includes azimuth and pitch directions;

[0155] Beam overlap ratio factor k value;

[0156] Antenna aperture in azimuth and elevation directions.

[0157] A22. Receive the scanning beam arrangement sent by the sensing function network element;

[0158] It should be noted that in this case, the scanning beam arrangement is determined by the sensing function network element. Specifically, the method by which the sensing function network element determines the scanning beam arrangement can be found in A21, and will not be repeated here.

[0159] III. Beam scanning sequence in the first beam scanning mode

[0160] Optionally, the beam scanning sequence includes one of the following:

[0161] A31. Scan in row and column order;

[0162] In other words, this method scans rows in the azimuth direction and columns in the elevation direction, such as... Figure 6 As shown.

[0163] A32. Scan in circle order;

[0164] In other words, this method involves scanning in circles from the center of the perceived object's spatial range outwards, such as... Figure 7 As shown.

[0165] A33, Partition Scan;

[0166] In other words, this method divides the spatial range of the perceived object into several regions according to priority and performs partition scanning. For each partition, scanning can be performed in row-column order or in circle order.

[0167] like Figure 8 The diagram shows a scan of each partition in row and column order.

[0168] It should be noted that the way the transmitting end obtains the transmit beam scanning mode is the same as the way the receiving end obtains the receive beam scanning mode. Please refer to the description above for details, which will not be repeated here.

[0169] It should be further explained that after obtaining the first beam scanning method, the echo signal of the first signal sent by the second device is received for each receiving beam determined according to the first beam scanning method. Optionally, the specific implementation of step 201 is as follows:

[0170] Step 2011: The first device receives the third echo signal of the first signal sent by the second device in the second receiving beam indicated by the first beam scanning mode;

[0171] Step 2012: The first device obtains a detection result as to whether a sensing object is detected based on the third echo signal;

[0172] Step 2013: If the detection result indicates that no sensing object has been detected, the first device receives the fourth echo signal of the first signal sent by the second device in the third receiving beam indicated by the first beam scanning mode.

[0173] It should be noted that the third receiving beam is the receiving beam located after the second receiving beam in the first beam scanning mode.

[0174] It should be noted that this method refers to starting from the first receiving beam indicated by the first beam scanning method, and sequentially receiving the echo signal of the first signal in each receiving beam. After each echo signal is received, it is necessary to obtain the detection result of whether the sensing object is detected based on the echo signal. If the sensing object is not detected, the method continues to move to the next receiving beam to continue receiving the echo signal of the first signal.

[0175] Optionally, the specific implementation of obtaining the detection result of whether the sensed object is detected based on the third echo signal includes one of the following:

[0176] C11. After performing the first operation, the first device compares the quality of the acquired echo signal with a preset value to determine whether the detection result of the sensing object is detected.

[0177] It should be noted that in this method, the detection result is determined by the first device, which determines the detection result based on the quality of the final acquired echo signal. Optionally, the first operation includes one of the following:

[0178] C111. Send the third echo signal to the sensing function network element and receive the measurement quantity and echo signal quality fed back by the sensing function network element;

[0179] In this case, all calculations for obtaining the echo signal quality are completed at the sensing function network element. That is, the sensing function network element first performs radar signal processing on the received third echo signal to determine the measurement quantity, then determines the echo signal quality based on the measurement quantity, and finally sends the echo signal quality and the measurement quantity to the first device.

[0180] C112. Perform radar signal processing on the third echo signal to determine the measurement quantity, and determine the echo signal quality based on the measurement quantity;

[0181] In this case, all calculations to obtain the quality of the echo signal are performed by the first device.

[0182] C113. Perform radar signal processing on the third echo signal to determine the measurement quantity, send the measurement quantity to the sensing function network element, and receive the echo signal quality fed back by the sensing function network element.

[0183] In this case, the calculation process for obtaining the echo signal quality is completed at the sensing function network element. That is, the sensing function network element is only responsible for determining the echo signal quality based on the received measurement and then sending the echo signal quality to the first device.

[0184] C114. Perform partial calculations in radar signal processing on the third echo signal to obtain the first part of the measured quantity, send the first part to the sensing function network element, and receive the second part of the measured quantity and the echo signal quality fed back by the sensing function network element. The first part is the part belonging to the first level among the different levels of the measured quantity. The first level can be understood as the lower level part of the measured quantity that can be directly processed by the first device based on the echo signal. The second part is the part belonging to the second level (i.e., the higher level part) among the different levels of the measured quantity.

[0185] In this case, the calculation process for obtaining the echo signal quality is completed at the sensing function network element. That is, the sensing function network element is only responsible for determining the second part of the measured quantity based on the first part of the received measured quantity, then determining the echo signal quality based on the first part and the second part, and finally sending the second part of the measured quantity and the echo signal quality to the first device.

[0186] C115. Perform partial calculations in radar signal processing on the third echo signal to obtain the first part of the measured quantity, send the first part to the sensing function network element, receive the second part of the measured quantity fed back by the sensing function network element, and determine the echo signal quality based on the first part and the second part.

[0187] In this case, the calculation process for obtaining the echo signal quality is completed at the sensing function network element. That is, the sensing function network element is only responsible for determining the second part of the measured quantity based on the first part of the received measured quantity, and then sending the second part to the first device. The first device determines the echo signal quality based on the complete measured quantity.

[0188] Specifically, the process by which the first device compares the quality of the acquired echo signal with a preset value to determine whether a sensed object has been detected is as follows:

[0189] If the quality of the echo signal is greater than or equal to a preset value, the detection result is determined to be that a sensing object has been detected; if the quality of the echo signal is less than the preset value, the detection result is determined to be that no sensing object has been detected.

[0190] It should be noted that the preset value can be a pre-set value, a specified change value, or a preset multiple of a specified change value.

[0191] C12. After performing the second operation, the first device receives the detection result of whether the sensing object is detected sent by the sensing function network element;

[0192] It should be noted that in this method, the detection result is determined by the sensing function network element, which determines the detection result based on the quality of the final acquired echo signal. Optionally, the second operation includes the following:

[0193] C121. Perform radar signal processing on the third echo signal to determine the measurement quantity, and send the measurement quantity to the sensing function network element;

[0194] In this case, the calculation process for obtaining the echo signal quality is completed at the first device. The first device first obtains the measurement quantity based on the third echo signal, and then sends the measurement quantity to the sensing function network element. The sensing function network element is responsible for determining the echo signal quality based on the received measurement quantity.

[0195] C122. Send the third echo signal to the sensing function network element;

[0196] In this case, all calculations for obtaining the echo signal quality are completed at the sensing function network element. That is, the sensing function network element first performs radar signal processing on the received third echo signal to determine the measurement quantity, and then determines the echo signal quality based on the measurement quantity.

[0197] C123. Perform partial calculations in radar signal processing on the third echo signal to obtain the first part of the measured quantity, and send the first part to the sensing function network element;

[0198] In this case, the calculation process for obtaining the echo signal quality is completed at the first device. The first device first obtains the first part of the measured quantity based on the third echo signal, and then sends the first part to the sensing function network element. The sensing function network element is responsible for determining the second part of the measured quantity based on the first part of the received measured quantity, and then determining the echo signal quality based on the first part and the second part.

[0199] C124. Perform radar signal processing on the third echo signal to determine the measurement quantity, determine the echo signal quality based on the measurement quantity, and send the measurement quantity and the echo signal quality to the sensing function network element;

[0200] In this case, all calculations for obtaining the echo signal quality are completed at the first device. That is, the first device first performs radar signal processing on the received third echo signal to determine the measurement quantity, then determines the echo signal quality based on the measurement quantity, and finally sends the measurement quantity and echo signal quality to the sensing function network element.

[0201] Optionally, the echo signal quality includes at least one of the following:

[0202] Echo signal power, echo signal noise ratio (SNR), echo signal interference noise ratio (SINR), reference signal received power (RSRP) of the echo signal, and reference signal received quality (RSRQ) of the echo signal.

[0203] The echo signal power includes at least one of the following options:

[0204] C21. If the first signal is a sensing-dominant signal or a communication-sensing integrated signal, then the target echo signal power is the total power of the target echo signal.

[0205] C22. If the first signal is a communication-dominant signal or a sensing-enhanced communication-dominant signal, such as a 5G NR signal or a Wi-Fi signal, then the power of the target echo signal is the power of the preamble, and / or synchronization signal, and / or reference signal in the target echo signal; the reference signal may be DM-RS, phase tracking reference signal (PT-RS), CSI-RS, tracking reference signal (P-RS), channel sounding reference signal (SRS), etc.

[0206] Specifically, the method for obtaining the echo signal power can be at least one of the following:

[0207] C31. A constant false alarm rate (CFAR) detection method is used based on the one-dimensional time delay map obtained from fast time-dimensional FFT processing of the echo signal. The sample point with the largest amplitude exceeding the CFAR threshold is taken as the target sample point, and its amplitude is taken as the target signal amplitude. Figure 9 As shown:

[0208] C32. CFAR is performed on the Doppler one-dimensional map obtained from slow-time FFT processing of the echo signal. The sample point with the largest amplitude exceeding the CFAR threshold is taken as the target sample point, and its amplitude is taken as the target signal amplitude. Figure 9 As shown;

[0209] C33. Based on the time delay-Doppler two-dimensional map obtained by 2D-FFT processing of the echo signal, CFAR is performed, with the maximum amplitude sample point of CFAR exceeding the threshold as the target sample point and its amplitude as the target signal amplitude.

[0210] C34. Perform CFAR based on the time delay-Doppler-angle three-dimensional map obtained by 3D-FFT processing of echo signal, and take the sample point with the maximum amplitude of CFAR exceeding the threshold as the target sample point and its amplitude as the target signal amplitude.

[0211] It should be noted that, in addition to using the maximum amplitude sample point of CFAR crossing the threshold as the target sample point, the target signal amplitude can also be determined by using the average of the maximum amplitude sample point of CFAR crossing the threshold and its nearest several threshold-crossing sample points as the target signal amplitude.

[0212] Specifically, the method for obtaining the SNR / SINR can be:

[0213] C41. A constant false alarm rate (CFAR) detection method is performed based on the one-dimensional time delay map obtained from fast time-dimensional FFT processing of the echo signal. The sample point with the largest amplitude exceeding the CFAR threshold is taken as the target sample point, and its amplitude is taken as the target signal amplitude. All sample points in the one-dimensional map outside the target sample point (±ε sample points) are taken as interference / noise sample points, and their average interference / amplitude is calculated as the interference / noise signal amplitude. Figure 9 As shown, SNR / SINR is finally calculated based on the target signal amplitude and the interference / noise signal amplitude;

[0214] C42. Perform CFAR on the Doppler one-dimensional map obtained by slow-time FFT processing of the echo signal. Take the sample point with the largest amplitude that crosses the threshold in CFAR as the target sample point and its amplitude as the target signal amplitude. Take all sample points in the one-dimensional map that are within ±η sample points of the target sample point as interference / noise sample points and calculate their average amplitude as the interference / noise signal amplitude. Finally, calculate SNR / SINR using the target signal amplitude and the interference / noise signal amplitude.

[0215] C43. Based on the time-delay-Doppler two-dimensional map obtained by 2D-FFT processing of the echo signal, perform CFAR. Take the sample point with the largest amplitude that crosses the threshold in CFAR as the target sample point and its amplitude as the target signal amplitude. Take all sample points in the two-dimensional map that are ±ε (fast time dimension) and ±η (slow time dimension) sample points away from the target sample point as interference / noise sample points and calculate their average amplitude as the interference / noise signal amplitude. Finally, calculate SNR / SINR based on the target signal amplitude and the interference / noise signal amplitude.

[0216] C44. Based on the time delay-Doppler-angle three-dimensional map obtained by 3D-FFT processing of the echo signal, perform CFAR. Take the sample point with the largest amplitude that exceeds the threshold in CFAR as the target sample point and its amplitude as the target signal amplitude. Take all sample points in the three-dimensional map that are outside the target sample point by ±ε (fast time dimension), ±η (slow time dimension), and ±δ (angle dimension) sample points as interference / noise sample points and calculate their average amplitude as the interference / noise signal amplitude. Finally, calculate SNR / SINR based on the target signal amplitude and the interference / noise signal amplitude.

[0217] It should be noted that, in addition to using the maximum amplitude sample point of CFAR crossing the threshold as the target sample point, the target signal amplitude can also be determined by using the average of the maximum amplitude sample point of CFAR crossing the threshold and its nearest several threshold-crossing sample points as the target signal amplitude.

[0218] It should be noted that the determination of interference / noise sample points can also be based on further screening of the interference / noise sample points determined above. The screening method is as follows: For a one-dimensional time delay map, remove several sample points near the time delay of 0, and use the remaining interference / noise sample points as noise sample points; for a one-dimensional Doppler map, remove several sample points near the Doppler value of 0, and use the remaining interference / noise sample points as interference / noise sample points; for a two-dimensional time delay-Doppler map, remove the interference / noise sample points in the strip-shaped range formed by several points near the time delay of 0 and the entire Doppler range, and use the remaining noise sample points as interference / noise sample points; for a three-dimensional time delay-Doppler-angle map, remove the interference / noise sample points in the slice-shaped range formed by several points near the time dimension of 0, the entire Doppler range, and the entire angle range, and use the remaining interference / noise sample points as interference / noise sample points.

[0219] It should be noted that the radar signal processing mentioned in the embodiments of this application includes at least one of the following:

[0220] C51, Matched Filtering (Pulse Compression) Processing;

[0221] Optionally, the matched filtering process includes at least one of the following:

[0222] C511. Segment the known transmitted signal sequence to generate a matched filter, and perform matched filtering on the segmented reflected echo signal of the sensing object.

[0223] C512. Perform sliding window correlation processing on the known transmitted signal reflected echo signal from the sensing object.

[0224] C52, One-dimensional Fast Fourier Transform (FFT) processing;

[0225] It should be noted that if the sensing requirement only requires distance or velocity information of the object to be sensed, then only one-dimensional FFT processing is needed, including the following:

[0226] C521, Fast Time One-Dimensional FFT Processing to Extract Target Distance Information;

[0227] C522, slow-time one-dimensional FFT processing to extract target velocity information.

[0228] C53, Two-dimensional FFT processing;

[0229] It should be noted that if the sensing requirement requires distance and speed information of the object to be sensed, then two-dimensional FFT processing is required, namely fast time dimension FFT and slow time dimension FFT.

[0230] C54, 3D FFT processing;

[0231] It should be noted that if the sensing requirement requires the distance, speed and angle information of the object to be sensed, then three-dimensional FFT processing is required, namely fast time dimension FFT, slow time dimension FFT and angle dimension FFT.

[0232] C55, angle filtering processing;

[0233] It should be noted that angle filtering processing includes algorithms such as matrix eigenspace decomposition (MUSIC) and signal parameter estimation based on rotation factor invariance (ESPRIT) to improve the accuracy of angle sensing.

[0234] It should be noted that when the first device and the sensing function network element only acquire a portion of the measured quantities, the different contents of the measured quantities are classified into different levels. Specifically, the measured quantities and the classification of the measured quantities include one or more of the following:

[0235] C61. Level 1 Measurement Quantity: This refers to the measurement quantity that the receiver of the sensing node can directly obtain after processes such as antenna coupling, amplification, down-conversion, filtering, AGC, A / D sampling, digital down-conversion, and digital filtering. It includes: complex signals (including I-channel and Q-channel), signal amplitude, signal phase, signal power, polarization information, etc., as well as the threshold detection results and maximum / minimum value extraction results of the above measurement quantities.

[0236] C62. Secondary measurement quantities: These are the measurement quantities that can be obtained after the primary measurement quantities have undergone simple operations (including addition, subtraction, multiplication, division, matrix addition, subtraction, multiplication, matrix transpose, trigonometric operations, square root operations, power operations, etc., as well as threshold detection results and maximum / minimum value extraction results of the above operations). These include: amplitude ratio, phase difference, angle of arrival (AOA), angle of departure (AOD), time delay (distance) information, distance difference, angle difference, etc.

[0237] C63. Level 3 Measurement Quantities: These refer to the measurement quantities that can be obtained after Level 1 and / or Level 2 measurement quantities undergo complex calculations (including FFT / IFFT, DFT / IDFT, 2D-FFT, 3D-FFT, matched filtering, autocorrelation calculation, wavelet transform, digital filtering, etc., as well as threshold detection results, maximum / minimum value extraction results, etc. of the above calculation results). These include: the result of complex signal (or signal amplitude, or signal phase) after FFT (or IFFT) or its maximum value data point, power spectrum or its maximum value data point, Doppler frequency shift (velocity), Doppler spread, velocity difference, time delay Doppler two-dimensional map or its maximum value data point, radar one-dimensional imaging map or its maximum value data point, radar two-dimensional imaging map or its maximum value data point, SAR imaging map or its maximum value data point, etc.

[0238] It should be noted that the level of the first-level measurement is lower than that of the second-level measurement, and the level of the second-level measurement is lower than that of the third-level measurement; optionally, the first part mentioned above may include the first-level measurement, or it may include both the first-level measurement and the second-level measurement.

[0239] The measurement quantity classification has at least one of the following characteristics:

[0240] C71. In different perception use cases, depending on the scenario, the first-level measurement, second-level measurement, and third-level measurement may all be the final perception result, or they may not be the final perception result and require further processing to obtain the final perception result.

[0241] C72. In different perception use cases, depending on the perception target parameters and perception methods, only a first-level measurement may be required (e.g., RSS-based pedestrian / vehicle flow monitoring), or only a first-level and second-level measurement may be required (e.g., radar ranging), or a first-level, second-level, and third-level measurement may be required simultaneously (e.g., radar imaging).

[0242] C73. In different sensing scenarios, depending on the computing power of the sensing nodes, sensing function network elements, core network, application servers, and other devices executing the sensing process, as well as the requirements for sensing indicators, the measurement quantities at each level can be calculated in the same device, or in different devices within the sensing nodes, sensing function network elements, core network, and application servers; for example:

[0243] C731. If the sensing node performing the sensing process has strong computing power (such as a base station), and the amount of data of the sensing measurement is large (the transmission time overhead is large), and the sensing requirements have high requirements for sensing latency, then the calculation of the secondary and / or tertiary measurement can be completed at the sensing node, and the calculation results can be sent to the sensing function network element, core network, and application server.

[0244] C732. If the computing power of the sensing node performing the sensing process is weak (such as an IoT terminal), and the amount of data of the sensing measurement is large (the transmission time overhead is large), and the sensing requirements are not high in terms of sensing latency but high in terms of sensing accuracy, then the calculation of the first-level measurement can be completed at the sensing node, and the calculation results can be sent to the sensing function network element, core network, and application server, and the calculation of the second-level and / or third-level measurement can be performed by the sensing function network element, core network, and application server.

[0245] C733. If the amount of data for the sensing measurement is small (and the transmission time overhead is small), then under the scheduling of the core network or application server, the calculation of any level of measurement can be completed at the sensing node, sensing function network element, core network, or application server.

[0246] Optionally, after determining the detection result, and after obtaining the detection result of the detected object based on the echo signal quality, the first device also needs to obtain the target parameters of the detected object relative to the first device and the second device respectively. Specifically, the first device can obtain the target parameters of the detected object relative to the first device and the second device respectively in the following manner:

[0247] D11. The first device extracts the target parameters of the sensing object relative to the first device and the second device, respectively, based on the measured quantity and the quality of the echo signal.

[0248] It should be noted that in this method, the first device extracts the target parameters of the sensed object relative to the first device and the second device based on the acquired measurement.

[0249] D12. The first device receives the target parameters of the sensing object relative to the first device and the second device, respectively.

[0250] It should be noted that in this method, the sensing function network element extracts the target parameters of the sensing object relative to the first device and the second device based on the acquired measurement, and then sends the target parameters of the sensing object relative to the first device and the second device to the first device.

[0251] It should be further noted that the target parameter includes at least one of the following:

[0252] Angle, distance, and speed.

[0253] Optionally, after determining the detection result, when the detection result of the detected object is obtained based on the quality of the echo signal, the first device may perform subsequent processing in one of the following ways:

[0254] E11. If the detection result indicates that a sensing object has been detected, stop receiving the fourth echo signal of the first signal sent by the second device using the third receiving beam indicated by the first beam scanning method.

[0255] It should be noted that in this case, when a sensing object is detected in a certain receiving beam, the first device stops receiving echo signals in the scanning mode. That is, the first device no longer receives echo signals in the next receiving beam indicated by the first beam scanning mode, but switches to tracking mode to track the sensing object.

[0256] It should be further explained that when the first device detects a sensing object within a sensing frame, but loses the sensing object during the tracking process, it means that the sensing object cannot be tracked again. In this case, the scanning of the sensing object should be restarted. The first device should start scanning from the next receiving beam after the receiving beam that stopped scanning, until all beams in the beam arrangement with the maximum number of scans are detected.

[0257] E12. When the detection result indicates that a sensing object has been detected, the target parameters of the sensing object detected by the second receiving beam are recorded relative to the first device and the second device, respectively. The first device receives the fourth echo signal of the first signal sent by the second device in the third receiving beam indicated by the first beam scanning mode.

[0258] It should be noted that in this case, when a sensing object is detected in a certain receiving beam, there may be sensing objects in other locations. In this case, the first device does not immediately enter the tracking mode, but continues to perform the beam scanning process in the search mode until the detection of the receiving beam corresponding to the maximum number of scans is completed (i.e. until the beam scanning of all beams is completed).

[0259] It should be noted that a single beam scan means that the transmitting end has sent the first signal in all transmit beams and the receiving end has received the echo signal in all receive beams. It should also be noted that the transmitting end sends the first signal in each transmit beam, and the receiving end will only move to the next transmit beam to send the first signal again after all receive beams have received the echo signal.

[0260] It should also be noted that during the beam scanning process in the search mode, the first device also needs to receive the fifth echo signal of the first signal at the recorded angle of the sensing object relative to the first device based on a preset time interval, and update the recorded target parameters of the sensing object relative to the first device and the second device based on the fifth echo signal.

[0261] Optionally, the preset time interval is determined by at least one of the following:

[0262] E121. Based on the radar cross section (RCS) and motion characteristics of the perceived object, the motion characteristics are obtained by looking up a table, and the motion characteristics include at least one of the following: motion velocity and motion acceleration;

[0263] E122. Based on the first distance between the first device and the sensed object and the reference time interval, calculate the preset time interval at the second distance.

[0264] Optionally, after obtaining the target parameters of the sensing object relative to the first device and the second device respectively, the first device also needs to send the target parameters of the sensing object relative to the first device and the second device to the second device or the sensing function network element.

[0265] Optionally, after entering tracking mode from scanning mode, the receiver needs to determine the receiving beam for the next time step based on the echo signal received at the previous time step. Specifically, based on the first echo signal, the first receiving beam to be used at the second time step can be obtained using one of the following methods:

[0266] E21. Based on the first echo signal, determine the first receiving beam to be used in the second moment by measuring the angle of the sensing object relative to the first device in the first moment.

[0267] In other words, in this case, the receiving beam corresponding to the next moment is considered to be the same as the receiving beam corresponding to the previous moment.

[0268] E22. Based on the first echo signal, obtain the predicted value of the angle of the sensing object relative to the first device in the second time moment, and use the predicted value to determine the first receiving beam used in the second time moment;

[0269] It should be noted that in this method, a certain algorithm is used to predict the receiving beam corresponding to the next moment, and the prediction result is used to continue receiving the echo signal.

[0270] It should be noted that the prediction method described herein is part of the device implementation and is not limited in this application.

[0271] E23, the first receiving beam used in the second moment when receiving the sensing function network element;

[0272] It should be noted that in this case, the sensing function network element determines the first receiving beam to be used in the second moment, and then notifies the first device of the determination result. Specifically, the sensing function network element can determine the first receiving beam to be used in the second moment using the above-mentioned E21 or E22 method.

[0273] It should be noted that, regardless of whether the angle of the sensed object relative to the first device in the first moment is determined based on the echo signal, or whether the predicted angle of the sensed object relative to the first device in the second moment is determined, the process of obtaining the detection result of whether the sensed object was detected based on the echo signal of the previous moment must be completed first. Then, based on the measurement quantity and echo signal quality obtained during the detection result acquisition process, the angles of the sensed object relative to the first and second devices, respectively, must be extracted. Only when the sensed object is detected is the receiving beam for the next moment determined based on the extracted angle. It should be noted that the specific implementation of obtaining the detection result of whether the sensed object was detected and the angle extraction process can be found in the above description and will not be repeated here. It should also be noted that the method for determining the angle of the sensed object relative to the first device in the next moment can be based on the angle of the sensed object relative to the first device in the previous moment and combined with the previous angle of the sensed object relative to the first device to predict the angle of the sensed object relative to the first device in the next moment. The specific prediction method is not limited in this application.

[0274] It should be noted that the receiving beam of the first device is determined in the same way as the transmitting beam of the second device.

[0275] The embodiments of this application will be described in detail below in specific applications.

[0276] Application Scenario 1: Antenna Aperture Adaptation Based on Monostatic Radar Mode

[0277] First, it should be noted that monostationary radar refers to a radar where the signal transmitter and receiver are integrated and share an antenna. Its advantages are that the target echo signal and the receiver's local oscillator are naturally coherent, and signal processing is relatively convenient. Its disadvantages are that signal transmission and reception cannot be carried out simultaneously, and only signal waveforms with a certain duty cycle can be used, which introduces detection blind spots, requiring complex algorithms to compensate for them. Alternatively, signal transmission and reception can be carried out simultaneously with strict isolation between transmission and reception, but this is difficult to achieve for high-power military radar.

[0278] A schematic diagram of beam scanning for a single-station radar is shown below. Figure 10 As shown.

[0279] Taking the self-transmission and self-reception of sensing signals by base station A as an example, the main implementation process in this case includes:

[0280] Step S11: At the initial moment of sensing, base station A or sensing function network element sets the sensing signal configuration parameters based on the sensing target parameters (i.e., sensing object parameters), sensing index requirements, and sensing prior information in the sensing requirements, combined with the capability information of base station A.

[0281] The capability information includes: hardware configuration, software configuration, current hardware and software resource usage of the service, and the service type and priority information currently using hardware and software resources;

[0282] The sensing target parameters include at least one of the following:

[0283] Distance / Delay;

[0284] Velocity / Doppler;

[0285] angle.

[0286] The perception indicators include at least one of the following:

[0287] Distance / angle / velocity resolution;

[0288] Distance / angle / velocity measurement accuracy;

[0289] Distance / angle / velocity measurement range;

[0290] Target RCS requirements;

[0291] Sensing the target's maneuvering characteristics (acceleration);

[0292] Sensing data rate (the rate at which the parameters of the sensed target are updated per unit time, in Hz);

[0293] Detection probability / False alarm probability.

[0294] The prior information for perception is prior information provided to base station A regarding the spatial range and / or motion characteristics of the perceived target or area, including at least one of the following:

[0295] Prior information on spatial range: the location range of the target or area to be perceived, and / or the angular range, etc.;

[0296] Prior information on motion characteristics: the velocity range of the target to be sensed, and / or the acceleration range, etc.

[0297] The sensing signal configuration parameters include at least one of the following:

[0298] Signal frequency and operating bandwidth; if the first signal is an orthogonal frequency division multiplexing (OFDM) signal, it also includes OFDM signal subcarrier spacing, the number of resource elements (REs) spaced in the frequency domain of the sensing signal, and the number of OFDM symbols spaced in the time domain of the sensing signal;

[0299] Transmit / receive beamwidth;

[0300] The duration of a sensing frame (i.e., the duration of a sensing burst) refers to the time required for the radar to complete a sensing process according to the sensing index requirements in the sensing needs and obtain the required target characteristic parameters (range, and / or angle, and / or velocity). A sensing burst duration includes several pulse signal cycles, or several FMCW signal cycles, or several OFDM symbol durations.

[0301] Duty cycle and pulse period of the pulse signal;

[0302] Transmission power.

[0303] The process of setting the sensing signal configuration parameters according to the sensing index requirements includes at least one of the following:

[0304] Set the operating bandwidth according to the ranging resolution requirements;

[0305] Set the transmit beamwidth and receive beamwidth according to the angle measurement resolution requirements;

[0306] Set the duration of the sensing burst according to the speed measurement resolution requirements;

[0307] The number of OFDM symbols in the time domain of the OFDM signal can be set according to the ranging range requirements, or the duty cycle and pulse period of the pulse signal.

[0308] Set the transmit power and transmit / receive beam gain according to the ranging range, target RCS, and ranging / angle / velocity accuracy requirements;

[0309] Set the subcarrier spacing of the OFDM signal, the number of frequency domain intervals (REs), or the pulse period of the pulse signal according to the speed measurement range requirements.

[0310] It should be noted that this application mainly relates to link adaptation of beam pointing, therefore the sensing signal configuration parameters only list parameters related to link adaptation of antenna aperture.

[0311] Step S12: The sensing function network element or base station A determines the beam scanning method based on the sensing prior information, the location information of base station A, and the beamwidth determined in step S11.

[0312] Specifically, beam scanning methods include: beam scanning range, beam arrangement, and beam scanning sequence;

[0313] It should be noted that the specific method for determining the beam scanning mode can be found in the description above, and will not be repeated here.

[0314] Step S13: Base station A camps on each beam for one or more sensing burst durations according to the beam scanning method; during each sensing burst duration, base station A generates and sends a first signal according to the sensing signal configuration, and receives the radar reflection echo of the first signal to obtain the echo signal; if the sensing signal configuration parameters and / or beam scanning method are set by the sensing function network element, then before base station A generates the first signal, base station A also needs to receive the sensing signal configuration parameters and beam scanning method sent by the sensing function network element.

[0315] The first signal can be:

[0316] Dominant communication signals: such as NR signals, LTE signals, Wi-Fi signals, etc.

[0317] Sensing dominant signals: such as radar signals, including: FMCW radar signals, OFDM radar signals (including phase-coded OFDM radar signals), LFM signals, simple pulse train signals, phase-coded radar signals, etc.;

[0318] Dominant signals for sensing-enhanced communication: for example, NR signals with redesigned time-frequency domain density of reference signals for sensing functions;

[0319] Integrated communication and sensing signals: These refer to signal waveforms newly designed specifically for integrated communication and sensing scenarios. They may include: signal waveforms designed for reference signal applicability based on NR signals, multi-symbol OFDM pulse signal waveforms, etc.

[0320] The waveform of the first signal can be a continuous wave or a pulse waveform.

[0321] Step S14: After base station A receives the echo signal, it can obtain the measurement quantity based on the echo signal.

[0322] Specifically, the methods for obtaining the measured quantities can be found in the above description, and will not be repeated here.

[0323] Step S15: Base station A or sensing function network element obtains the echo signal quality based on the measured quantity of the echo signal;

[0324] Step S16: Base station A or sensing function network element determines whether a sensing object has been found based on the echo signal quality of the echo signal. If the echo signal quality is greater than or equal to a preset value, it is determined that a sensing object has been found; otherwise, it is determined that no sensing object has been found.

[0325] If no sensing object is found, proceed to the next beam dwell and repeat steps S13 to S15; based on the maximum number of scans in the sensing constraints in the sensing requirements, complete the search of all beams in the beam arrangement with the maximum number of scans set; if no sensing object is found after the maximum number of scans, report information indicating that no sensing object was found.

[0326] If a target object is found, one of the following two processing methods can be used:

[0327] F1. Stop scanning and switch to tracking, that is, switch to tracking the currently searched sensing object, and use the angle of the sensing object relative to the base station A measured at the current time to determine the beam at the next time; after tracking the sensing object for several sensing frames, use the predicted angle of the sensing object relative to the base station A at the next time to determine the beam at the next time. This process is specifically described in step S17.

[0328] It should also be noted that if stable target tracking cannot be established, that is, if the sensed object is lost after tracking for several sense frames, the scanning will continue from the next beam after the beam that stopped scanning, until the search of all beams in the beam arrangement with the maximum number of scans is completed.

[0329] F2. Continue scanning and record the target parameters (angle, distance, velocity, etc.) of the currently searched sensing object relative to base station A. Then, continue to monitor the next beam according to the beam arrangement in the beam scanning method, repeating steps S13 to S15 until all beams in the beam arrangement with the maximum number of scans are searched and the target parameters (angle, distance, velocity, etc.) of all searched sensing objects relative to base station A are recorded. Then, a second round of scanning is performed on all beams that have searched sensing objects. The beam for the next moment is determined by the angle of the sensing object relative to base station A measured at the current moment. After tracking the sensing object for several sensing frames, the beam for the next moment is determined by the predicted angle of the sensing object relative to base station A at the next moment. This process is specifically described in step S17.

[0330] It should be noted that during the continued scanning process, for each detected object, beam dwell is performed on the object at preset time intervals based on the latest recorded parameters of the detected object relative to base station A, until the scanning ends.

[0331] It should be noted that the preset time interval is described above and will not be repeated here.

[0332] It should also be noted that for sensing objects that fail to establish stable tracking (i.e., after entering tracking mode, base station A tracks the sensing object for a period of time, but suddenly cannot find the sensing object, this situation is called failure to establish stable tracking), the sensing object is deleted.

[0333] Step S17: For a sensing object that has entered the tracking mode, the beam of the sensing object at the next moment is determined by the angle of the sensing object relative to the base station A at the predicted next moment, and the beam scanning is no longer performed according to the beam arrangement position in the aforementioned beam scanning method; if there are multiple sensing objects, each sensing object is tracked in a time-division manner.

[0334] The first signal, radar signal processing, measurement quantity, echo signal power, and echo signal SNR / SINR of the tracking process can be found in the above description and will not be repeated here.

[0335] It should be noted that the prediction method described here is a device implementation and is not limited in this application.

[0336] Step S18: Base station A continues to execute the beam adaptation process for sensing object tracking in step S17 until the sensing process ends.

[0337] The methods for determining the end of the perception process include at least one of the following:

[0338] H1, the sensing timer has ended;

[0339] In other words, the perception process ends when the perception time reaches the required duration in the perception needs.

[0340] H2, perception indicators meet the standards;

[0341] In other words, the perception process ends when the specific perception indicators in the perception requirements are met; for example, in a radar imaging scenario, the radar imaging operation of the imaging range in the perception requirements is completed according to the imaging resolution requirements in the perception requirements.

[0342] H3, Beam failure;

[0343] In other words, if the object being sensed is obscured or the target is moving outside the sensing range required by the sensing needs, and the power of the sensed echo signal or the SNR of the sensed echo signal cannot meet the relevant requirements of the sensing needs, then the sensing process ends.

[0344] H4. The perceived object is lost;

[0345] In other words, if the radar cannot establish stable tracking of the object being sensed due to its motion characteristics (such as frequent acceleration and deceleration, or frequent turning), and the radar loses tracking of the object, the sensing process ends.

[0346] Application Scenario 2: Antenna Aperture Adaptation Based on Bistatic Radar Mode

[0347] First, it should be noted that bistatic radar refers to a radar where the signal transmitter and receiver are located in different positions. The advantage is that signal transmission and reception can be carried out simultaneously, and continuous wave waveforms can be used for detection. The disadvantage is that it is difficult to achieve coherence and synchronization between the receiver and transmitter, and signal processing is more complex.

[0348] A schematic diagram of beam scanning for bistatic radar is shown below. Figure 11 As shown.

[0349] Taking the transmitting device as a base station (i.e., the base station transmits sensing signals) and the receiving end as a terminal (i.e., the terminal receives sensing signals) as an example, the main implementation process in this case includes:

[0350] Step S21: At the initial moment of sensing, based on the sensing target parameters, sensing index requirements, and prior sensing information in the sensing requirements, and in conjunction with the capability information of the base station and the terminal, set the sensing signal configuration parameters; including the following options:

[0351] The sensing function network element sets the sensing signal configuration parameters based on the sensing target parameters, sensing index requirements, and sensing prior information in the sensing requirements, combined with the acquired base station and terminal capability information, and sends them to the base station and terminal.

[0352] Based on the sensing target parameters, sensing index requirements, and sensing prior information in the sensing requirements, the base station and the terminal set the relevant parts of the sensing signal configuration parameters according to their respective capabilities.

[0353] Based on the sensing target parameters, sensing index requirements, and prior sensing information in the sensing requirements, one of the base station and the terminal sets the sensing signal configuration parameters, and sends them to the other device, in conjunction with its own capability information and the acquired capability information of the other device.

[0354] The connection relationships and corresponding information interaction methods among the sensing function network element, base station, and terminal can be divided into the following three cases:

[0355] Any two of the sensing network element, base station, and terminal have a direct communication connection, such as... Figure 12 As shown, at this point, any two can directly exchange information;

[0356] The sensing network element has direct communication connections with both the base station and the terminal, but there is no direct communication connection between the base station and the terminal. Figure 13 As shown; at this time, the sensing function network element can directly interact with the base station or terminal, while the information interaction between the base station and the terminal needs to be forwarded through the sensing function network element.

[0357] The sensing function network element has a direct communication connection only with one of the base station or the terminal, and there is a direct communication connection between the base station and the terminal, such as... Figure 14 As shown; at this time, devices with direct communication with the sensing function network element can directly interact with the sensing function network element. Devices without direct communication with the sensing function network element need to be forwarded by devices with direct communication with the sensing function network element.

[0358] Before a base station or terminal is configured with sensing signals related to the other device, it needs to exchange information with the other device to obtain the other device's capability configuration information.

[0359] The sensing function network element acquires the capability information of the base station and the terminal in the following two ways:

[0360] The sensing function network element or other network nodes accessible by the sensing function network element have pre-stored the capability information of the base station and the terminal.

[0361] The sensing function network element interacts with the base station and the terminal, and the base station and the terminal report their own capability information to the sensing function network element.

[0362] The capability information of the base station and terminal includes: the hardware configuration and software configuration of the base station and terminal, the current hardware and software resource usage, and the service type and service priority information currently occupying the hardware and software resources of the base station and terminal;

[0363] The sensing target parameters, sensing indicators, sensing prior information, and sensing signal configuration parameters can be found in Application Scenario 1, and will not be repeated here.

[0364] Step S22: The sensing function network element determines the scanning mode of the transmitting beam and the receiving beam based on the sensing prior information, the location information of the base station, the location information of the terminal, the transmitting beamwidth of the base station, and the receiving beamwidth of the terminal.

[0365] or,

[0366] The base station determines the transmission beam scanning method based on prior sensing information, the base station's location information, and the base station's transmission beamwidth; the terminal determines the reception beam scanning method based on prior sensing information, the terminal's location information, and the terminal's reception beamwidth.

[0367] The transmit beam scanning method and receive beam scanning method are described above and will not be repeated here.

[0368] Step S23: The base station camps on each transmit beam according to the transmit beam scanning method, and at the same time, the terminal camps on each receive beam for one or more sensing burst durations according to the receive beam scanning method.

[0369] During each sensing burst duration, the base station generates and transmits a first signal according to the sensing signal configuration, and the terminal receives the radar reflection echo of the first signal to obtain the echo signal.

[0370] For details on the first signal, please refer to Application Case 1, which will not be repeated here.

[0371] Step S24: After the terminal receives the echo signal, it can obtain the measurement quantity based on the echo signal;

[0372] Specifically, the methods for obtaining the measured quantities can be found in the above description, and will not be repeated here.

[0373] Step S25: The terminal or sensing function network element obtains the echo signal quality based on the measured quantity of the echo signal;

[0374] Step S26: The terminal or sensing function network element determines whether a sensing object has been found based on the quality of the echo signal; if the quality of the echo signal is greater than or equal to a preset value, it is determined that a sensing object has been found; otherwise, it is determined that no sensing object has been found.

[0375] If no sensing object is found, the terminal dwells on the next receiving beam and repeats steps S13 and S14 until the terminal completes beam scanning of all beams in the receiving beam arrangement; then, the first device dwells on the next transmitting beam, and the terminal repeats receiving beam scanning; until the terminal completes receiving beam scanning of all transmitting beams of the base station.

[0376] If a target object is found, one of the following two processing methods can be used:

[0377] K1. Stop scanning and start tracking the current sensing object. The terminal sends the target parameters (angle, distance, speed, etc.) of the current sensing object relative to the base station and the terminal respectively to the base station. Alternatively, the sensing function network element sends the target parameters of the current sensing object relative to the base station and the terminal respectively to the base station and the terminal.

[0378] The base station uses the angle of the sensed object relative to the base station at the current moment to determine the transmission beam for the next moment. After stable tracking is established, the base station uses the predicted angle of the sensed object relative to the base station at the next moment to determine the transmission beam for the next moment. This process is described in step S27.

[0379] The terminal uses the angle of the sensed object relative to the terminal at the current moment to determine the transmission beam at the next moment. After establishing stable tracking, the terminal uses the predicted angle of the sensed object relative to the terminal at the next moment to determine the transmission beam at the next moment. This process is described in step S27.

[0380] If stable tracking cannot be established, the scanning continues from the next beam after the beam that stopped scanning.

[0381] K2. Continue scanning and record the target parameters of the currently searched sensing objects relative to the base station and the terminal respectively. The terminal continues to stay on the next receiving beam according to the receiving beam arrangement. Repeat steps S23 and S24 until the terminal has scanned all receiving beams and recorded the target parameters (angle, distance, speed, etc.) of all searched sensing objects relative to the base station and the terminal respectively.

[0382] Then, the base station camps the transmit beam onto the next transmit beam according to the beam scanning order in the transmit beam scanning method, and the terminal performs receive beam scanning according to the beam scanning order in the receive beam scanning method, repeating steps S23 and S24. This process continues until the terminal's receive beam scanning is completed on all base station transmit beams.

[0383] The terminal sends all the detected sensing objects to the base station with their target parameters relative to both the base station and the terminal; or, the sensing function network element sends all the detected sensing objects to the base station and the terminal with their target parameters relative to both the base station and the terminal.

[0384] Then, a second round of scanning is performed:

[0385] The base station uses the angle of the sensed object relative to the base station A at the current moment to determine the transmission beam for the next moment. After tracking the sensed object for several sense frames, the base station uses the predicted angle of the sensed object relative to the base station at the next moment to determine the transmission beam for the next moment. This process is described in step S27.

[0386] The terminal uses the current sensing object relative to the terminal to determine the transmission beam for the next moment. After tracking the sensing object for several sensing frames, the terminal uses the predicted angle of the sensing object relative to the terminal for the next moment to determine the transmission beam for the next moment. This process is described in step S27.

[0387] During the continued scanning process, for each detected object, beam dwell is performed at preset time intervals based on the latest recorded image of the detected object relative to base station A and the terminal, until the scanning ends.

[0388] It should be noted that the preset time interval is described above and will not be repeated here.

[0389] It should also be noted that for sensing objects that fail to establish stable tracking, the sensing object is deleted.

[0390] Step S27: For each sensing object entering the tracking mode, at each time step, the terminal or sensing function network element predicts the target parameters of the sensing object relative to the base station and the terminal respectively in the next time step; then, the terminal sends the target parameters of the sensing object relative to the base station and the terminal respectively to the base station, or the sensing function network element sends the target parameters of the sensing object relative to the base station and the terminal respectively to the base station and the terminal; if there are multiple sensing objects, each sensing object is tracked in a time-division manner.

[0391] Then, the base station uses the predicted angle of the sensed object relative to the base station in the next moment to determine the transmit beam for the next moment; the terminal uses the predicted angle of the sensed object relative to the terminal in the next moment to determine the receive beam for the next moment.

[0392] The first signal, radar signal processing, measurement quantity, echo signal power, and echo signal SNR / SINR of the tracking process can be found in the above description and will not be repeated here.

[0393] It should be noted that the prediction method described here pertains to the device implementation and is not limited in this application.

[0394] Step S28: The base station and the terminal continue to execute the beam adaptation process for sensing object tracking in step S17 until the sensing process ends.

[0395] Specifically, the method for determining the end of the sensing process can be found in Application Scenario 1, and will not be repeated here.

[0396] It should be noted that this application presents a link adaptive adjustment method for radar signal beam pointing in a sensing-integrated scenario. In search mode, adaptive beam scanning is performed according to sensing requirements; in tracking mode, adaptive adjustment of beam pointing at the next moment is performed according to the target's angle to optimize the search and tracking efficiency of the target.

[0397] The sensing method provided in this application can be executed by a sensing device. This application uses the example of a sensing device executing the sensing method to illustrate the sensing device provided in this application.

[0398] like Figure 15 As shown, this application embodiment provides a sensing device 1500, applied to a first device, comprising:

[0399] The first receiving module 1501 is used to receive the echo signal of the first signal sent by the second device based on each receiving beam determined by the first beam scanning method;

[0400] The first acquisition module 1502 is used to acquire the first receiving beam used at the second time based on the first echo signal when it is determined that a sensing object has been detected based on the first echo signal received at the first time.

[0401] The second receiving module 1503 is used to receive the second echo signal of the first signal sent by the first device at a second time according to the first receiving beam.

[0402] The second time point is the time point following the first time point.

[0403] Optionally, the first beam scanning method includes at least one of the following:

[0404] Beam scanning range, beam arrangement, and beam scanning sequence.

[0405] Optionally, the method for obtaining the beam scanning range includes one of the following:

[0406] The first device determines the beam scanning range based on the spatial range prior information of the perceived object in the prior information of perception and the position of the first device;

[0407] The first device receives the beam scanning range sent by the sensing function network element.

[0408] Optionally, the prior information on the spatial extent includes one of the following:

[0409] The coordinates of the spatial boundary or vertex;

[0410] The spatial range includes the center coordinates and the distribution range of the relative center.

[0411] Optionally, if the prior information of the spatial range includes the coordinates of the spatial range boundary or vertex, the detection priority of all spatial locations within the spatial range is the same.

[0412] Optionally, when the prior information of the spatial range includes the center coordinates of the spatial range and the distribution range relative to the center, the detection priority of the spatial position at the center of the spatial range is higher than the detection priority of the spatial position at the edge.

[0413] Optionally, the method for obtaining the scanning beam arrangement includes one of the following:

[0414] The first device determines the scanning beam arrangement based on the beam scanning range, priority information within the scanning range, and beam width;

[0415] The first device receives the scanning beam arrangement sent by the sensing function network element.

[0416] Optionally, the method for determining the scanning beam arrangement based on the beam scanning range and the priority information and beamwidth within the scanning range includes one of the following:

[0417] The ratio of the spacing between two adjacent beams to the beamwidth is set to a preset value;

[0418] Based on the beam scanning range and beam width, determine the ratio coefficient between the spacing between two adjacent beams and the beam width;

[0419] Based on the first criterion, determine the ratio coefficient between the spacing of two adjacent beams and the beamwidth;

[0420] The first criterion includes: different proportional coefficients are used for spatial locations with different detection priorities within the spatial range.

[0421] Optionally, the beam arrangement of the scanning beam arrangement includes at least one of the following:

[0422] Arranged by rows and columns;

[0423] Arranged in circles.

[0424] Optionally, the beam scanning sequence includes one of the following:

[0425] Scan in row and column order;

[0426] Scan in circular order;

[0427] Partition scan.

[0428] Optionally, the partition scan satisfies at least one of the following:

[0429] Each partition is scanned in row-column order;

[0430] Each partition is scanned in a circle-by-circle sequence.

[0431] Optionally, the first receiving module 1501 includes:

[0432] The first receiving unit is configured to receive the third echo signal of the first signal transmitted by the second device in the second receiving beam indicated by the first beam scanning mode;

[0433] The first acquisition unit is used to acquire a detection result of whether a sensed object is detected based on the third echo signal;

[0434] The first execution unit is configured to, when the detection result indicates that no sensed object is detected, receive the fourth echo signal of the first signal sent by the second device in the third receiving beam indicated by the first beam scanning mode.

[0435] The third receiving beam is the receiving beam located after the second receiving beam in the first beam scanning mode.

[0436] Optionally, the first acquisition unit is configured to implement one of the following:

[0437] After performing the first operation, the quality of the acquired echo signal is compared with the preset value to determine whether the detection result of the sensed object has been detected.

[0438] After performing the second operation, receive the detection result of whether the sensed object is detected from the sensing function network element;

[0439] The first operation includes one of the following:

[0440] The third echo signal is sent to the sensing function network element, and the measurement quantity and echo signal quality fed back by the sensing function network element are received.

[0441] The third echo signal is processed by radar signal processing to determine the measurement quantity, and the echo signal quality is determined based on the measurement quantity.

[0442] The third echo signal is processed by radar signal to determine the measurement quantity, the measurement quantity is sent to the sensing function network element, and the echo signal quality fed back by the sensing function network element is received.

[0443] The third echo signal is processed by radar signal processing to obtain the first part of the measurement quantity. The first part is sent to the sensing function network element. The second part of the measurement quantity and the echo signal quality are received from the sensing function network element. The first part is the lower-level part among the different levels of the measurement quantity. The second part is the higher-level part among the different levels of the measurement quantity.

[0444] The radar signal processing part of the third echo signal is used to obtain the first part of the measurement quantity. The first part is sent to the sensing function network element. The second part of the measurement quantity fed back by the sensing function network element is received. The echo signal quality is determined based on the first part and the second part.

[0445] The second operation includes one of the following:

[0446] The third echo signal is processed by radar signal processing to determine the measurement quantity, and the measurement quantity is sent to the sensing function network element;

[0447] The third echo signal is sent to the sensing function network element;

[0448] The third echo signal is processed by radar signal processing to obtain the first part of the measured quantity, and the first part is sent to the sensing function network element.

[0449] The third echo signal is processed by radar signal processing to determine the measurement quantity, the echo signal quality is determined based on the measurement quantity, and the measurement quantity and the echo signal quality are sent to the sensing function network element.

[0450] Optionally, the echo signal quality includes at least one of the following:

[0451] Echo signal power, echo signal noise ratio (SNR), echo signal interference noise ratio (SINR), echo signal reference signal received power (RSRP), and echo signal reference signal received quality (RSRQ).

[0452] Optionally, after obtaining the detection result of the detected object based on the echo signal quality, the method further includes:

[0453] A first extraction module is configured to extract target parameters of the sensing object relative to a first device and a second device, respectively, based on the measured quantity and the echo signal quality; or

[0454] The third receiving module is used to receive the target parameters of the sensing object relative to the first device and the second device, respectively.

[0455] The target parameter includes at least one of the following:

[0456] Angle, distance, and speed.

[0457] Optionally, after the first acquisition unit acquires the detection result of whether a sensed object is detected based on the echo signal, the method further includes the following:

[0458] The first execution module is configured to, when the detection result indicates that a sensed object has been detected, stop receiving the fourth echo signal of the first signal sent by the second device using the third receiving beam indicated by the first beam scanning method.

[0459] The second execution module is used to record the target parameters of the detected object relative to the first device and the second device respectively when the detection result indicates that a sensing object has been detected, and the first device receives the fourth echo signal of the first signal sent by the second device in the third receiving beam indicated by the first beam scanning mode.

[0460] The target parameter includes at least one of the following:

[0461] Angle, distance, and speed.

[0462] Optionally, the device further includes:

[0463] An update module is used to receive a fifth echo signal of a first signal at a recorded angle of the sensing object relative to a first device based on a preset time interval, and update the recorded target parameters of the sensing object relative to the first device and the second device based on the fifth echo signal.

[0464] Optionally, the preset time interval is determined by at least one of the following:

[0465] The motion characteristics are obtained by looking up a table based on the radar cross section (RCS) and motion characteristics of the perceived object, and the motion characteristics include at least one of the following: motion velocity and motion acceleration.

[0466] Based on the first distance between the first device and the sensed object and the reference time interval, the preset time interval at the second distance is calculated.

[0467] Optionally, the device further includes:

[0468] The fourth sending module is used to send the target parameters of the sensed object relative to the first device and the second device to the second device or the sense function network element.

[0469] Optionally, the first acquisition module 1502 is configured to implement one of the following:

[0470] Based on the first echo signal, the angle of the sensing object relative to the first device in the first moment is used to determine the first receiving beam used in the second moment;

[0471] Based on the first echo signal, a predicted value of the angle of the sensing object relative to the first device is obtained in the second time moment, and the predicted value is used to determine the first receiving beam used in the second time moment;

[0472] The first receiving beam used in the second moment of receiving the sensing function network element.

[0473] It should be noted that, in this embodiment of the application, the echo signal of the first signal sent by the second device is received by each receiving beam determined based on the first beam scanning method. When it is determined that a sensing object has been detected based on the first echo signal received at the first moment, the first receiving beam used at the second moment is obtained based on the first echo signal. Then, based on the first receiving beam, the second echo signal of the first signal sent by the first device is received at the second moment. This achieves adaptive adjustment of the receiving beam, which can optimize the system search and improve tracking efficiency.

[0474] The sensing device in this application embodiment can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or other devices besides a terminal. For example, the terminal can include, but is not limited to, the type of terminal 11 listed above; other devices can be servers, network attached storage (NAS), etc., and this application embodiment does not specifically limit the types.

[0475] The sensing device provided in this application embodiment can achieve... Figure 2 The various processes implemented in the method embodiments achieve the same technical effect, and will not be described again here to avoid repetition.

[0476] This application embodiment also provides a communication device, which is a first device including a processor and a communication interface. The communication interface is used to receive echo signals of a first signal sent by a second device for each receiving beam determined based on a first beam scanning method. The processor is used to obtain a first receiving beam used at a second time based on the first echo signal when it is determined that a sensing object has been detected based on the first echo signal received at a first time. The communication interface is used to receive a second echo signal of the first signal sent by the first device at a second time based on the first receiving beam.

[0477] The second time point is the time point following the first time point.

[0478] This communication device embodiment corresponds to the first device-side method embodiment described above. All implementation processes and methods of the above method embodiment can be applied to this terminal embodiment and achieve the same technical effect. Specifically, Figure 16 A schematic diagram of the hardware structure of a first device according to an embodiment of this application.

[0479] The first device 1600 includes, but is not limited to, at least some of the following components: radio frequency unit 1601, network module 1602, audio output unit 1603, input unit 1604, sensor 1605, display unit 1606, user input unit 1607, interface unit 1608, memory 1609, and processor 1610.

[0480] Those skilled in the art will understand that the terminal 1600 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 1610 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 16 The first device structure shown does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0481] It should be understood that, in this embodiment, the input unit 1604 may include a graphics processing unit (GPU) 16041 and a microphone 16042. The GPU 16041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 1606 may include a display panel 16061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 1607 includes at least one of a touch panel 16071 and other input devices 16072. The touch panel 16071 is also called a touch screen. The touch panel 16071 may include a touch detection device and a touch controller. Other input devices 16072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail here.

[0482] In this embodiment, after receiving downlink data from the network-side device, the radio frequency unit 1601 can transmit it to the processor 1610 for processing; in addition, the radio frequency unit 1601 can send uplink data to the network-side device. Typically, the radio frequency unit 1601 includes, but is not limited to, antennas, amplifiers, transceivers, couplers, low-noise amplifiers, duplexers, etc.

[0483] The memory 1609 can be used to store software programs or instructions, as well as various data. The memory 1609 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 1609 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 16016 in the embodiments of this application includes, but is not limited to, these and any other suitable types of memory.

[0484] Processor 1610 may include one or more processing units; optionally, processor 1610 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 1610.

[0485] The radio frequency unit 1601 is used to receive the echo signal of the first signal sent by the second device for each receiving beam determined based on the first beam scanning method.

[0486] The processor 1610 is configured to, upon determining that a sensed object has been detected based on a first echo signal received at a first moment, acquire a first receiving beam to be used at a second moment based on the first echo signal.

[0487] Radio frequency unit 1601 is used to receive a second echo signal of a first signal sent by the first device at a second time, based on the first receiving beam.

[0488] The second time point is the time point following the first time point.

[0489] Optionally, the first beam scanning method includes at least one of the following:

[0490] Beam scanning range, beam arrangement, and beam scanning sequence.

[0491] Optionally, the method for obtaining the beam scanning range includes one of the following:

[0492] The beam scanning range is determined based on the spatial range prior information of the perceived object in the prior information and the position of the first device;

[0493] The beam scanning range transmitted by the receiving sensing network element.

[0494] Optionally, the prior information on the spatial extent includes one of the following:

[0495] The coordinates of the spatial boundary or vertex;

[0496] The spatial range includes the center coordinates and the distribution range of the relative center.

[0497] Optionally, if the prior information of the spatial range includes the coordinates of the spatial range boundary or vertex, the detection priority of all spatial locations within the spatial range is the same.

[0498] Optionally, when the prior information of the spatial range includes the coordinates of the center of the spatial range and the distribution range relative to the center, the detection priority of the spatial position at the center of the spatial range is higher than the detection priority of the spatial position at the edge.

[0499] Optionally, the method for obtaining the scanning beam arrangement includes one of the following:

[0500] The scanning beam arrangement is determined based on the beam scanning range, priority information within the scanning range, and beam width.

[0501] The scanning beam arrangement is received from the sensing network element.

[0502] Optionally, the method for determining the scanning beam arrangement based on the beam scanning range and the priority information and beamwidth within the scanning range includes one of the following:

[0503] The ratio of the spacing between two adjacent beams to the beamwidth is set to a preset value;

[0504] Based on the beam scanning range and beam width, determine the ratio coefficient between the spacing between two adjacent beams and the beam width;

[0505] Based on the first criterion, determine the ratio coefficient between the spacing of two adjacent beams and the beamwidth;

[0506] The first criterion includes: different proportional coefficients are used for spatial locations with different detection priorities within the spatial range.

[0507] Optionally, the beam arrangement of the scanning beam arrangement includes at least one of the following:

[0508] Arranged by rows and columns;

[0509] Arranged in circles.

[0510] Optionally, the beam scanning sequence includes one of the following:

[0511] Scan in row and column order;

[0512] Scan in circular order;

[0513] Partition scan.

[0514] Optionally, the partition scan satisfies at least one of the following:

[0515] Each partition is scanned in row-column order;

[0516] Each partition is scanned in a circle-by-circle sequence.

[0517] Optionally, the radio frequency unit 1601 is used to receive the third echo signal of the first signal sent by the second device in the second receiving beam indicated by the first beam scanning mode;

[0518] The processor 1610 is used to obtain a detection result of whether a sensed object is detected based on the third echo signal;

[0519] The radio frequency unit 1601 is used to receive the fourth echo signal of the first signal sent by the second device in the third receiving beam indicated by the first beam scanning mode when the detection result indicates that no sensing object is detected.

[0520] The third receiving beam is the receiving beam located after the second receiving beam in the first beam scanning mode.

[0521] Optionally, the processor 1610 is configured to:

[0522] After performing the first operation, the first device compares the quality of the acquired echo signal with a preset value to determine whether a detection result of the sensed object has been detected; or

[0523] The radio frequency unit 1601 is used to receive the detection result of whether the sensing object is detected sent by the sensing function network element after the first device performs the second operation;

[0524] The first operation includes one of the following:

[0525] The third echo signal is sent to the sensing function network element, and the measurement quantity and echo signal quality fed back by the sensing function network element are received.

[0526] The third echo signal is processed by radar signal processing to determine the measurement quantity, and the echo signal quality is determined based on the measurement quantity.

[0527] The third echo signal is processed by radar signal to determine the measurement quantity, the measurement quantity is sent to the sensing function network element, and the echo signal quality fed back by the sensing function network element is received.

[0528] The third echo signal is processed by radar signal processing to obtain the first part of the measurement quantity. The first part is sent to the sensing function network element. The second part of the measurement quantity and the echo signal quality are received from the sensing function network element. The first part is the lower-level part among the different levels of the measurement quantity. The second part is the higher-level part among the different levels of the measurement quantity.

[0529] The radar signal processing part of the third echo signal is used to obtain the first part of the measurement quantity. The first part is sent to the sensing function network element. The second part of the measurement quantity fed back by the sensing function network element is received. The echo signal quality is determined based on the first part and the second part.

[0530] The second operation includes one of the following:

[0531] The third echo signal is processed by radar signal processing to determine the measurement quantity, and the measurement quantity is sent to the sensing function network element;

[0532] The third echo signal is sent to the sensing function network element;

[0533] The third echo signal is processed by radar signal processing to obtain the first part of the measured quantity, and the first part is sent to the sensing function network element.

[0534] The third echo signal is processed by radar signal processing to determine the measurement quantity, the echo signal quality is determined based on the measurement quantity, and the measurement quantity and the echo signal quality are sent to the sensing function network element.

[0535] Optionally, the echo signal quality includes at least one of the following:

[0536] Echo signal power, echo signal noise ratio (SNR), echo signal interference noise ratio (SINR), echo signal reference signal received power (RSRP), and echo signal reference signal received quality (RSRQ).

[0537] Optionally, the processor 1610 is configured to:

[0538] Based on the measured quantity and the echo signal quality, extract the target parameters of the sensed object relative to the first device and the second device, respectively; or

[0539] The radio frequency unit 1601 is used to receive target parameters of the sensing object relative to the first device and the second device, respectively.

[0540] The target parameter includes at least one of the following:

[0541] Angle, distance, and speed.

[0542] Optionally, the processor 1610 is configured to:

[0543] If the detection result indicates that a sensing object has been detected, stop receiving the fourth echo signal of the first signal sent by the second device using the third receiving beam indicated by the first beam scanning method;

[0544] When the detection result indicates that a sensing object has been detected, the target parameters of the sensing object detected by the second receiving beam are recorded relative to the first device and the second device, respectively. The first device receives the fourth echo signal of the first signal sent by the second device in the third receiving beam indicated by the first beam scanning mode.

[0545] The target parameter includes at least one of the following:

[0546] Angle, distance, and speed.

[0547] Optionally, the processor 1610 is further configured to:

[0548] Based on a preset time interval, the fifth echo signal of the first signal is received at the recorded angle of the sensing object relative to the first device, and the recorded target parameters of the sensing object relative to the first device and the second device are updated based on the fifth echo signal.

[0549] Optionally, the preset time interval is determined by at least one of the following:

[0550] The motion characteristics are obtained by looking up a table based on the radar cross section (RCS) and motion characteristics of the perceived object, and the motion characteristics include at least one of the following: motion velocity and motion acceleration.

[0551] Based on the first distance between the first device and the sensed object and the reference time interval, the preset time interval at the second distance is calculated.

[0552] Optionally, the radio frequency unit 1601 is used for:

[0553] The sensing object is sent to the second device or sensing function network element relative to the target parameters of the first device and the second device, respectively.

[0554] Optionally, the processor 1610 is configured to implement one of the following:

[0555] Based on the first echo signal, the angle of the sensing object relative to the first device in the first moment is used to determine the first receiving beam used in the second moment;

[0556] Based on the first echo signal, a predicted value of the angle of the sensing object relative to the first device is obtained in the second time moment, and the predicted value is used to determine the first receiving beam used in the second time moment;

[0557] The first receiving beam used in the second moment of receiving the sensing function network element.

[0558] It should be noted that, in this embodiment of the application, by receiving the echo signal of the first signal sent by the second device through each receiving beam determined based on the first beam scanning method, when it is determined that a sensing object has been detected based on the first echo signal received at the first moment, the first receiving beam used at the second moment is obtained based on the first echo signal, and then the second echo signal of the first signal sent by the first device is received at the second moment based on the first receiving beam; thereby realizing the adaptive adjustment of the receiving beam, which can optimize the system search and improve the tracking efficiency.

[0559] Specifically, Figure 17 A schematic diagram of the hardware structure of another first device to implement an embodiment of this application.

[0560] like Figure 17As shown, the first device 1700 includes: an antenna 1701, a radio frequency (RF) device 1702, a baseband device 1703, a processor 1704, and a memory 1705. The antenna 1701 is connected to the RF device 1702. In the uplink direction, the RF device 1702 receives information through the antenna 1701 and transmits the received information to the baseband device 1703 for processing. In the downlink direction, the baseband device 1703 processes the information to be transmitted and sends it to the RF device 1702. The RF device 1702 processes the received information and transmits it through the antenna 1701.

[0561] The method executed by the first device in the above embodiments can be implemented in the baseband device 1703, which includes a baseband processor.

[0562] The baseband device 1703 may, for example, include at least one baseband board on which multiple chips are disposed, such as... Figure 17 As shown, one of the chips is, for example, a baseband processor, which is connected to the memory 1705 via a bus interface to call the program in the memory 1705 and execute the network device operation shown in the above method embodiment.

[0563] The network-side device may also include a network interface 1706, such as a common public radio interface (CPRI).

[0564] Specifically, the first device 1700 of this embodiment further includes: instructions or programs stored in memory 1705 and executable on processor 1704, wherein processor 1704 calls the instructions or programs in memory 1705 to execute. Figure 15 The methods executed by each module shown achieve the same technical effect, and to avoid repetition, they will not be described in detail here.

[0565] like Figure 18 As shown in the embodiments of this application, a sensing method is also provided, including:

[0566] Step 1801: Send a first signal to the first device based on each transmit beam determined by the second beam scanning method;

[0567] Step 1802: If it is determined that the first device detects a sensing object at the first moment, the first transmission beam used at the second moment is obtained based on the first echo signal of the first signal received by the first device at the first moment.

[0568] Step 1803: According to the transmitted beam, send a first signal to the first device at a second time.

[0569] The second time point is the time point following the first time point.

[0570] Optionally, the second beam scanning method includes at least one of the following: beam scanning range, scanning beam arrangement, and beam scanning sequence.

[0571] Optionally, the step of sending a first signal to the first device for each transmitted beam determined based on the second beam scanning method includes:

[0572] After the second device sends a first signal to the second device via the second transmission beam indicated by the second beam scanning mode, the second device obtains the detection result of whether the first device has detected the sensing object;

[0573] If the detection result indicates that the first device has not detected the object, the second device sends a first signal to the first device via the third transmission beam indicated by the second beam scanning mode.

[0574] The third transmission beam is the transmission beam located after the second transmission beam in the second beam scanning mode.

[0575] Optionally, obtaining the detection result of whether the first device detected the perceived object includes:

[0576] The second device receives a detection result from the sensing function network element indicating whether the first device detected a sensing object, and the target parameters of the detected sensing object relative to the first and second devices, respectively; or

[0577] The second device receives the detection result of whether the first device detected the sensing object, and the target parameters of the detected sensing object relative to the first device and the second device, respectively, sent by the first device.

[0578] Optionally, after obtaining the detection result of whether the first device detected the perceived object, the method further includes the following:

[0579] When the detection result indicates that the first device has detected a sensing object, the second device stops sending the first signal to the first device using the third transmission beam indicated by the second beam scanning method;

[0580] When the detection result indicates that the first device has detected a sensing object, the second device sends a first signal to the first device using the third transmission beam indicated by the second beam scanning method.

[0581] Optionally, obtaining the first transmission beam used at the second time based on the first echo signal of the first signal received by the first device at the first time includes:

[0582] The second device determines the first transmission beam used in the second moment by using the angle of the sensed object relative to the second device in the first moment; or

[0583] The second device determines the first transmission beam to be used at the second moment based on the predicted value of the angle of the sensed object relative to the second device at the second moment; or

[0584] The first transmit beam used in the second moment of receiving the sensing function network element.

[0585] Optionally, the method for obtaining the beam scanning range includes at least one of the following:

[0586] The beam scanning range is determined based on the spatial range prior information of the perceived object in the prior information and the position of the second device;

[0587] The beam scanning range transmitted by the receiving sensing network element.

[0588] Optionally, the prior information on the spatial extent includes one of the following:

[0589] The coordinates of the spatial boundary or vertex;

[0590] The spatial range includes the center coordinates and the distribution range of the relative center.

[0591] Optionally, if the prior information of the spatial range includes the coordinates of the spatial range boundary or vertex, the detection priority of all spatial locations within the spatial range is the same.

[0592] Optionally, when the prior information of the spatial range includes the center coordinates of the spatial range and the distribution range relative to the center, the detection priority of the spatial position at the center of the spatial range is higher than the detection priority of the spatial position at the edge.

[0593] Optionally, the method for obtaining the scanning beam arrangement includes one of the following:

[0594] The scanning beam arrangement is determined based on the beam scanning range, priority information within the scanning range, and beam width.

[0595] The scanning beam arrangement is received from the sensing network element.

[0596] Optionally, determining the scanning beam arrangement based on the beam scanning range and priority information and beamwidth within the scanning range includes one of the following:

[0597] The ratio of the spacing between two adjacent beams to the beamwidth is set to a preset value;

[0598] Based on the beam scanning range and beam width, determine the ratio coefficient between the spacing between two adjacent beams and the beam width;

[0599] Based on the first criterion, determine the ratio coefficient between the spacing of two adjacent beams and the beamwidth;

[0600] The first criterion includes: different proportional coefficients are used for spatial locations with different detection priorities within the spatial range.

[0601] Optionally, the beam arrangement of the scanning beam arrangement includes at least one of the following:

[0602] Arranged by rows and columns;

[0603] Arranged in circles.

[0604] Optionally, the beam scanning sequence includes one of the following:

[0605] Scan in row and column order;

[0606] Scan in circular order;

[0607] Partition scan.

[0608] Optionally, the partition scan satisfies at least one of the following:

[0609] Each partition is scanned in row-column order;

[0610] Each partition is scanned in a circle-by-circle sequence.

[0611] Optionally, the second beam scanning method can be understood as a transmit beam scanning method. Specifically, the acquisition principle of the transmit beam scanning method is the same as that of the receive beam scanning method. For details, please refer to the embodiment on the first device side, which will not be repeated here.

[0612] It should be noted that the embodiments of this application are method embodiments of the second device side corresponding to the embodiments of the first device side described above. All the implementation methods of the first device side described above are applicable to the embodiments of the second device side and can achieve the same technical effect, so they will not be described again here.

[0613] like Figure 19 As shown, this application embodiment also provides a sensing device 1900, applied to a second device, comprising:

[0614] The first transmitting module 1901 is used to transmit a first signal to the first device based on each transmitting beam determined by the second beam scanning method;

[0615] The second acquisition module 1902 is used to acquire the first transmission beam used in the second moment based on the first echo signal of the first signal received by the first device in the first moment when it is determined that the first device detects the sensing object in the first moment.

[0616] The second transmitting module 1903 is used to transmit a first signal to the first device at a second time according to the transmitting beam;

[0617] The second time point is the time point following the first time point.

[0618] Optionally, the second beam scanning method includes at least one of the following: beam scanning range, scanning beam arrangement, and beam scanning sequence.

[0619] Optionally, the first transmitting module 1901 includes:

[0620] The second acquisition unit is used to acquire the detection result of whether the first device has detected the sensing object after the second transmission beam indicated by the second beam scanning mode sends the first signal to the second device;

[0621] The second execution unit is configured to send a first signal to the first device via the third transmission beam indicated by the second beam scanning mode when the detection result indicates that the first device has not detected the sensing object.

[0622] The third transmission beam is the transmission beam located after the second transmission beam in the second beam scanning mode.

[0623] Optionally, the second acquisition unit is configured to:

[0624] The receiving sensing function network element sends the detection result of whether the first device detected the sensing object and the target parameters of the detected sensing object relative to the first device and the second device, respectively; or

[0625] The second device receives the detection result of whether the first device detected the sensing object, and the target parameters of the detected sensing object relative to the first device and the second device, respectively, sent by the first device.

[0626] Optionally, after the second acquisition unit acquires the detection result of whether the first device detected the sensing object, the following item is further included:

[0627] The third execution module is used to stop sending the first signal to the first device using the third transmission beam indicated by the second beam scanning method when the detection result indicates that the first device has detected a sensing object.

[0628] The fourth execution module is used to send a first signal to the first device in the third transmission beam indicated by the second beam scanning mode when the detection result indicates that the first device has detected a sensing object.

[0629] Optionally, the second acquisition module 1902 is used to implement:

[0630] The angle of the sensed object relative to the second device in the first moment is used to determine the first transmission beam used in the second moment; or

[0631] The predicted angle of the sensed object relative to the second device at the second moment is used to determine the first transmission beam used at the second moment; or

[0632] The first transmit beam used in the second moment of receiving the sensing function network element.

[0633] Optionally, the method for obtaining the beam scanning range includes at least one of the following:

[0634] The beam scanning range is determined based on the spatial range prior information of the perceived object in the prior information and the position of the second device;

[0635] The beam scanning range transmitted by the receiving sensing network element.

[0636] Optionally, the prior information on the spatial extent includes one of the following:

[0637] The coordinates of the spatial boundary or vertex;

[0638] The spatial range includes the center coordinates and the distribution range of the relative center.

[0639] Optionally, if the prior information of the spatial range includes the coordinates of the spatial range boundary or vertex, the detection priority of all spatial locations within the spatial range is the same.

[0640] Optionally, when the prior information of the spatial range includes the center coordinates of the spatial range and the distribution range relative to the center, the detection priority of the spatial position at the center of the spatial range is higher than the detection priority of the spatial position at the edge.

[0641] Optionally, the method for obtaining the scanning beam arrangement includes one of the following:

[0642] The scanning beam arrangement is determined based on the beam scanning range, priority information within the scanning range, and beam width.

[0643] The scanning beam arrangement is received from the sensing network element.

[0644] Optionally, determining the scanning beam arrangement based on the beam scanning range and priority information and beamwidth within the scanning range includes one of the following:

[0645] The ratio of the spacing between two adjacent beams to the beamwidth is set to a preset value;

[0646] Based on the beam scanning range and beam width, determine the ratio coefficient between the spacing between two adjacent beams and the beam width;

[0647] Based on the first criterion, determine the ratio coefficient between the spacing of two adjacent beams and the beamwidth;

[0648] The first criterion includes: different proportional coefficients are used for spatial locations with different detection priorities within the spatial range.

[0649] Optionally, the beam arrangement of the scanning beam arrangement includes at least one of the following:

[0650] Arranged by rows and columns;

[0651] Arranged in circles.

[0652] Optionally, the beam scanning sequence includes one of the following:

[0653] Scan in row and column order;

[0654] Scan in circular order;

[0655] Partition scan.

[0656] Optionally, the partition scan satisfies at least one of the following:

[0657] Each partition is scanned in row-column order;

[0658] Each partition is scanned in a circle-by-circle sequence.

[0659] The sensing device provided in this application embodiment can achieve... Figure 18 The various processes implemented in the method embodiments achieve the same technical effect, and will not be described again here to avoid repetition.

[0660] This application embodiment also provides a communication device, which is a second device, including a processor and a communication interface. The communication interface is used to send a first signal to a first device for each transmission beam determined by a second beam scanning method. The processor is used to, when it is determined that the first device detects a sensing object at a first moment, obtain a first transmission beam to be used at a second moment based on a first echo signal of the first signal received by the first device at the first moment. The communication interface is used to send the first signal to the first device at the second moment according to the transmission beam.

[0661] The second time point is the time point following the first time point.

[0662] This communication device embodiment corresponds to the second device-side method embodiment described above. All implementation processes and methods of the above method embodiments can be applied to this terminal embodiment and can achieve the same technical effect.

[0663] Specifically, the hardware structure of the second device in this application embodiment can be found in [reference needed]. Figure 16 Or 17, which will not be elaborated here.

[0664] like Figure 20 As shown in the embodiments of this application, a sensing method is also provided, including:

[0665] Step 2001: The sensing function network element sends first information to the first device; and / or

[0666] Step 2002: The sensing function network element sends the second information to the second device;

[0667] The first information includes at least one of the following:

[0668] First beam scanning mode;

[0669] The first receiving beam used by the first device at the second moment;

[0670] The second information includes at least one of the following:

[0671] Second beam scanning mode;

[0672] The second device uses the first transmission beam at the second moment.

[0673] Optionally, the method further includes:

[0674] The sensing function network element acquires the measurement quantity and echo signal quality of the echo signal of the third signal received by the first device;

[0675] The sensing function network element obtains the detection result of whether the first device detected the sensing object and the target parameters of the detected sensing object relative to the first device and the second device, respectively, based on the measurement quantity and the quality of the echo signal.

[0676] The target parameter includes at least one of the following:

[0677] Angle, distance, and speed.

[0678] Optionally, the measurement of the third echo signal of the first signal received by the first device and the echo signal quality include one of the following:

[0679] The sensing function network element receives the measurement quantity and echo signal quality sent by the first device;

[0680] The sensing function network element receives the measurement quantity sent by the first device and determines the echo signal quality of the third echo signal based on the measurement quantity.

[0681] The sensing function network element receives the third echo signal sent by the first device, performs radar signal processing on the third echo signal to determine the measurement quantity, and determines the echo signal quality of the third echo signal based on the measurement quantity.

[0682] The sensing function network element receives a first part of the measurement quantity corresponding to the third echo signal of the received first signal sent by the first device, obtains a second part of the measurement quantity based on the first part, and determines the echo signal quality of the third echo signal based on the first part and the second part.

[0683] Wherein, the first part is the part belonging to the first level among the different levels of the measured quantity, and the second part is the part belonging to the second level among the different levels of the measured quantity.

[0684] Optionally, obtaining the detection result of whether the first device detected the perceived object includes:

[0685] The quality of the echo signal is compared with a preset value;

[0686] If the quality of the echo signal is greater than the preset value, the detection result is determined to be that a sensing object has been detected; otherwise, the detection result is determined to be that no sensing object has been detected.

[0687] Optionally, if the detection result indicates that a sensed object has been detected, the method further includes:

[0688] Extract the target parameters of the sensing object relative to the first device and the second device, respectively.

[0689] Optionally, after obtaining the detection result of whether the first device detected the perceived object, the method further includes:

[0690] The detection results are sent to the first device and / or the second device.

[0691] Optionally, the acquisition method of the first receiving beam used by the first device at the second moment includes one of the following:

[0692] The sensing function network element will acquire the angle of the sensing object relative to the first device in the first moment and determine the first receiving beam to be used in the second moment.

[0693] The sensing function network element will use the predicted value of the angle of the sensing object relative to the first device in the second time moment to determine the first receiving beam to be used in the second time moment.

[0694] Optionally, the acquisition method of the first transmitted beam used by the second device at the second moment includes:

[0695] The sensing function network element will use the predicted value of the angle of the sensing object relative to the second device within the second time moment to determine the first transmission beam to be used in the second time moment;

[0696] The sensing function network element will acquire the angle of the sensing object relative to the second device in the first moment and determine the first transmission beam to be used in the second moment.

[0697] Optionally, the method further includes one of the following:

[0698] Receive the third echo signal sent by the first device, obtain the measurement quantity and echo signal quality based on the third echo signal, and send the measurement quantity and echo signal quality to the first device;

[0699] Receive the measurement quantity sent by the first device, obtain the echo signal quality based on the measurement quantity, and send the echo signal quality to the first device;

[0700] Receive a first part of the measurement quantity sent by a first device, determine a second part of the measurement quantity based on the first part, and determine the echo signal quality based on the first part and the second part, and send the second part and the echo signal quality to the first device;

[0701] Receive a first part of the measurement quantity sent by a first device, determine a second part of the measurement quantity based on the first part, and send the second part to the first device;

[0702] Wherein, the first part is the portion belonging to the first level among the different levels of the measured quantity, and the second part is the portion belonging to the second level among the different levels of the measured quantity.

[0703] It should be noted that the embodiments of this application are method embodiments of the sensing function network element corresponding to the embodiments of the first device side described above. All implementation methods of the first device side described above are applicable to the embodiments of the sensing function network element and can achieve the same technical effect, so they will not be described again here.

[0704] like Figure 21 As shown, this application embodiment also provides a sensing device 2100, applied to a sensing function network element, including:

[0705] The third sending module 2101 is used to send first information to the first device; and / or

[0706] Send the second message to the second device;

[0707] The first information includes at least one of the following:

[0708] First beam scanning mode;

[0709] The first receiving beam used by the first device at the second moment;

[0710] The second information includes at least one of the following:

[0711] Second beam scanning mode;

[0712] The second device uses the first transmission beam at the second moment.

[0713] Optionally, the sensing device 2100 further includes:

[0714] The third acquisition module is used to acquire the measurement quantity and echo signal quality of the echo signal of the third signal received by the first device;

[0715] The fourth acquisition module is used to acquire, based on the measured quantity and the quality of the echo signal, the detection result of whether the first device detected the sensing object and the target parameters of the detected sensing object relative to the first device and the second device, respectively.

[0716] The target parameter includes at least one of the following:

[0717] Angle, distance, and speed.

[0718] Optionally, the third acquisition module is configured to implement one of the following:

[0719] Receive the measured quantities and echo signal quality sent by the first device;

[0720] Receive the measurement data sent by the first device, and determine the echo signal quality of the third echo signal based on the measurement data;

[0721] Receive the measurement data sent by the first device, and determine the echo signal quality of the third echo signal based on the measurement data;

[0722] Receive a third echo signal sent by a first device, perform radar signal processing on the third echo signal to determine a measurement quantity, and determine the echo signal quality of the third echo signal based on the measurement quantity;

[0723] The system receives a first portion of the measurement quantity corresponding to the third echo signal of the received first signal sent by the first device, obtains a second portion of the measurement quantity based on the first portion, and determines the echo signal quality of the third echo signal based on the first portion and the second portion.

[0724] Wherein, the first part is the part belonging to the first level among the different levels of the measured quantity, and the second part is the part belonging to the second level among the different levels of the measured quantity.

[0725] Optionally, when the fourth acquisition module acquires the detection result of whether the first device detects a sensed object, it includes:

[0726] The comparison unit is used to compare the quality of the echo signal with a preset value;

[0727] The determining unit is configured to determine that the detection result is that a sensing object has been detected if the quality of the echo signal is greater than the preset value, and otherwise determine that the detection result is that no sensing object has been detected.

[0728] Optionally, if the detection result indicates that a sensed object has been detected, the sensing device 2100 further includes:

[0729] The second extraction module is used to extract the target parameters of the sensing object relative to the first device and the second device, respectively.

[0730] Optionally, after the third acquisition module acquires the detection result of whether the first device detected the sensing object, the method further includes:

[0731] The fifth sending module is used to send the detection results to the first device and / or the second device.

[0732] Optionally, the acquisition method of the first receiving beam used by the first device at the second moment includes one of the following:

[0733] The angle of the sensed object relative to the first device within the first moment is used to determine the first receiving beam to be used in the second moment.

[0734] The predicted angle of the perceived object relative to the first device within the second time moment is used to determine the first receiving beam to be used in the second time moment.

[0735] Optionally, the acquisition method of the first transmitted beam used by the second device at the second moment includes:

[0736] The predicted value of the angle of the sensed object relative to the second device within the second moment is used to determine the first transmission beam used in the second moment;

[0737] The angle of the perceived object relative to the second device within the first moment is used to determine the first transmission beam to be used in the second moment.

[0738] Optionally, the sensing device 2100 further includes one of the following:

[0739] The fifth execution module is used to receive the third echo signal sent by the first device, obtain the measurement quantity and echo signal quality based on the third echo signal, and send the measurement quantity and echo signal quality to the first device.

[0740] The sixth execution module is used to receive the measurement quantity sent by the first device, obtain the echo signal quality based on the measurement quantity, and send the echo signal quality to the first device.

[0741] The seventh execution module is configured to receive a first part of the measurement quantity sent by the first device, determine a second part of the measurement quantity based on the first part, determine the echo signal quality based on the first part and the second part, and send the second part and the echo signal quality to the first device.

[0742] The eighth execution module is used to receive a first part of the measurement quantity sent by the first device, determine a second part of the measurement quantity based on the first part, and send the second part to the first device;

[0743] Wherein, the first part is the portion belonging to the first level among the different levels of the measured quantity, and the second part is the portion belonging to the second level among the different levels of the measured quantity.

[0744] It should be noted that this device embodiment is a device corresponding to the above method. All implementation methods in the above method embodiments are applicable to this device embodiment and can achieve the same technical effect, so they will not be described again here.

[0745] Preferably, this application embodiment also provides a communication device, which is a sensing function network element, including a processor, a memory, and a program or instructions stored in the memory and executable on the processor. When the program or instructions are executed by the processor, they implement various processes of the sensing method embodiment applied to the sensing function network element side and can achieve the same technical effect. To avoid repetition, they will not be described again here.

[0746] This application also provides a readable storage medium on which a program or instruction is stored. When the program or instruction is executed by a processor, it implements various processes of the sensing method embodiment applied to the sensing function network element side and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0747] The computer-readable storage medium mentioned above includes, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0748] This application embodiment also provides a communication device, which is a sensing function network element, including a processor and a communication interface, wherein the communication interface is used to send first information to a first device; and / or

[0749] Send the second message to the second device;

[0750] The first information includes at least one of the following:

[0751] First beam scanning mode;

[0752] The first receiving beam used by the first device at the second moment;

[0753] The second information includes at least one of the following:

[0754] Second beam scanning mode;

[0755] The second device uses the first transmission beam at the second moment.

[0756] This sensing function network element embodiment corresponds to the above-described sensing function network element method embodiment. All implementation processes and methods of the above-described method embodiment can be applied to this sensing function network element embodiment and can achieve the same technical effect.

[0757] Specifically, embodiments of this application also provide a sensing function network element. For example... Figure 22 As shown, the sensing function network element 2200 includes: a processor 2201, a network interface 2202, and a memory 2203. The network interface 2202 is, for example, a common public radio interface (CPRI).

[0758] Specifically, the sensing function network element 2200 in this embodiment of the invention further includes: instructions or programs stored in memory 2203 and executable on processor 2201, wherein processor 2201 calls the instructions or programs in memory 2203 to execute. Figure 21 The methods executed by each module shown achieve the same technical effect, and to avoid repetition, they will not be described in detail here.

[0759] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described sensing method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0760] The processor is the processor in the terminal described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0761] Optional, such as Figure 23 As shown in the illustration, this application also provides a communication device 2300, including a processor 2301 and a memory 2302. The memory 2302 stores a program or instructions that can run on the processor 2301. For example, when the communication device 2300 is a first device, the program or instructions executed by the processor 2301 implement the various steps of the above-described sensing method embodiments and achieve the same technical effect. When the communication device 2300 is a second device, the program or instructions executed by the processor 2301 implement the various steps of the above-described sensing method embodiments and achieve the same technical effect. When the communication device 2300 is a sensing function network element, the program or instructions executed by the processor 2301 implement the various steps of the above-described sensing method embodiments and achieve the same technical effect. To avoid repetition, further details are omitted here.

[0762] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described sensing method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0763] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0764] This application also provides a computer program / program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above-described sensing method embodiments, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0765] This application also provides a communication system, including: a first device, a second device, and a sensing function network element. The first device can be used to perform the steps of the sensing method described above, the second device can be used to perform the steps of the sensing method described above, and the sensing function network element can be used to perform the steps of the sensing method described above.

[0766] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0767] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0768] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A sensing method, characterized in that, include: The first device receives the echo signal of the first signal sent by the second device in each receiving beam determined by the first beam scanning method. The echo signal of the first signal is the echo signal formed by the reflection of the first signal sent by the second device by the sensing object. When the first device determines that a sensing object has been detected based on the first echo signal received at the first moment, it obtains the first receiving beam to be used at the second moment based on the first echo signal. The first device receives the second echo signal of the first signal sent by the second device at a second time according to the first receiving beam. The second echo signal of the first signal is the echo signal formed by the reflection of the first signal sent by the second device by the sensing object. Wherein, the second time point is the time point following the first time point; Wherein, the first device receives the echo signal of the first signal sent by the second device for each receiving beam determined based on the first beam scanning method, including: The first device receives the third echo signal of the first signal sent by the second device in the second receiving beam indicated by the first beam scanning mode. The third echo signal of the first signal is the echo signal formed by the reflection of the first signal sent by the second device by the sensing object. The first device obtains a detection result as to whether a sensed object is detected based on the third echo signal; When the detection result indicates that no object is detected, the first device receives the fourth echo signal of the first signal sent by the second device in the third receiving beam indicated by the first beam scanning mode. The fourth echo signal of the first signal is the echo signal formed by the reflection of the first signal sent by the second device by the object. Wherein, the third receiving beam is the receiving beam located after the second receiving beam in the first beam scanning mode; The step of obtaining the detection result of whether a sensed object is detected based on the third echo signal includes the following: After performing the first operation, the first device compares the quality of the acquired echo signal with a preset value to determine whether the detection result of the sensing object has been detected. After performing the second operation, the first device receives a detection result from the sensing function network element indicating whether a sensing object has been detected. The first operation includes one of the following: The third echo signal is sent to the sensing function network element, and the measurement quantity and echo signal quality fed back by the sensing function network element are received. The third echo signal is processed by radar signal processing to determine the measurement quantity, and the echo signal quality is determined based on the measurement quantity. The third echo signal is processed by radar signal to determine the measurement quantity, the measurement quantity is sent to the sensing function network element, and the echo signal quality fed back by the sensing function network element is received. The third echo signal is processed by radar signal processing to obtain the first part of the measured quantity. The first part is sent to the sensing function network element. The second part of the measured quantity and the echo signal quality are received from the sensing function network element. The first part is the part of the first level among the different levels of the measured quantity. The second part is the part of the second level among the different levels of the measured quantity. The radar signal processing part of the third echo signal is used to obtain the first part of the measurement quantity. The first part is sent to the sensing function network element. The second part of the measurement quantity fed back by the sensing function network element is received. The echo signal quality is determined based on the first part and the second part. The second operation includes one of the following: The third echo signal is processed by radar signal processing to determine the measurement quantity, and the measurement quantity is sent to the sensing function network element; The third echo signal is sent to the sensing function network element; The third echo signal is processed by radar signal processing to obtain the first part of the measured quantity, and the first part is sent to the sensing function network element. The third echo signal is processed by radar signal processing to determine the measurement quantity, the echo signal quality is determined based on the measurement quantity, and the measurement quantity and the echo signal quality are sent to the sensing function network element.

2. The method according to claim 1, characterized in that, The first beam scanning method includes at least one of the following: Beam scanning range, beam arrangement, and beam scanning sequence.

3. The method according to claim 2, characterized in that, The method for obtaining the beam scanning range includes one of the following: The first device determines the beam scanning range based on the spatial range prior information of the perceived object in the prior information of perception and the position of the first device; The first device receives the beam scanning range sent by the sensing function network element.

4. The method according to claim 3, characterized in that, The prior information regarding the spatial extent includes one of the following: The coordinates of the spatial boundary or vertex; The spatial range includes the center coordinates and the distribution range of the relative center.

5. The method according to claim 4, characterized in that, When the prior information of the spatial range includes the coordinates of the spatial range boundary or vertex, all spatial locations within the spatial range are detected with the same priority.

6. The method according to claim 4, characterized in that, When the prior information of the spatial range includes the center coordinates of the spatial range and the distribution range of the relative center, the detection priority of the spatial position at the center of the spatial range is higher than the detection priority of the spatial position at the edge.

7. The method according to claim 2, characterized in that, The method for obtaining the scanning beam arrangement includes one of the following: The first device determines the scanning beam arrangement based on the beam scanning range, priority information within the scanning range, and beam width; The first device receives the scanning beam arrangement sent by the sensing function network element.

8. The method according to claim 7, characterized in that, The step of determining the scanning beam arrangement based on the beam scanning range, priority information within the scanning range, and beam width includes the following: The ratio of the spacing between two adjacent beams to the beamwidth is set to a preset value; Based on the beam scanning range and beam width, determine the ratio coefficient between the spacing between two adjacent beams and the beam width; Based on the first criterion, determine the ratio coefficient between the spacing of two adjacent beams and the beamwidth; The first criterion includes: different proportional coefficients are used for spatial locations with different detection priorities within the spatial range.

9. The method according to claim 7, characterized in that, The beam arrangement of the scanning beam configuration includes at least one of the following: Arranged by rows and columns; Arranged in circles.

10. The method according to claim 2, characterized in that, The beam scanning sequence includes one of the following: Scan in row and column order; Scan in circular order; Partition scan.

11. The method according to claim 10, characterized in that, The partition scan satisfies at least one of the following: Each partition is scanned in row-column order; Each partition is scanned in a circle-by-circle sequence.

12. The method according to claim 1, characterized in that, The echo signal quality includes at least one of the following: Echo signal power, echo signal noise ratio (SNR), echo signal interference noise ratio (SINR), echo signal reference signal received power (RSRP), and echo signal reference signal received quality (RSRQ).

13. The method according to claim 1, characterized in that, After obtaining the detection result of whether the sensed object was detected based on the third echo signal, the method further includes: The first device extracts target parameters of the sensed object relative to the first device and the second device based on the measured quantity and the echo signal quality; or The first device receives target parameters of the sensing object relative to the first device and the second device, respectively. The target parameter includes at least one of the following: Angle, distance, and speed.

14. The method according to claim 1, characterized in that, After obtaining the detection result of whether the sensed object was detected based on the third echo signal, the following item is also included: If the detection result indicates that a sensing object has been detected, stop receiving the fourth echo signal of the first signal sent by the second device using the third receiving beam indicated by the first beam scanning method; When the detection result indicates that a sensing object has been detected, the target parameters of the sensing object detected by the second receiving beam are recorded relative to the first device and the second device, respectively. The first device receives the fourth echo signal of the first signal sent by the second device in the third receiving beam indicated by the first beam scanning mode. The target parameter includes at least one of the following: Angle, distance, and speed.

15. The method according to claim 14, characterized in that, Also includes: Based on a preset time interval, the fifth echo signal of the first signal is received at the recorded angle of the sensing object relative to the first device, and the recorded target parameters of the sensing object relative to the first device and the second device are updated based on the fifth echo signal.

16. The method according to claim 15, characterized in that, The preset time interval is determined by at least one of the following: The motion characteristics are obtained by looking up a table based on the radar cross section (RCS) and motion characteristics of the perceived object, and the motion characteristics include at least one of the following: motion velocity and motion acceleration. Based on the first distance between the first device and the sensed object and the reference time interval, the preset time interval at the second distance is calculated.

17. The method according to claim 14 or 15, characterized in that, Also includes: The sensing object is sent to the second device or sensing function network element relative to the target parameters of the first device and the second device, respectively.

18. The method according to any one of claims 1-13, characterized in that, The step of obtaining the first receiving beam used at the second moment based on the first echo signal includes one of the following: Based on the first echo signal, the first receiving beam to be used in the second moment is determined according to the angle of the sensing object relative to the first device in the first moment. Based on the first echo signal, a predicted value of the angle of the sensing object relative to the first device is obtained in the second time moment, and the first receiving beam used in the second time moment is determined according to the predicted value; The first receiving beam used in the second moment of receiving the sensing function network element.

19. A sensing method, characterized in that, include: The second device sends a first signal to the first device based on each transmission beam determined by the second beam scanning method; When the second device determines that the first device has detected a sensing object at a first moment, it obtains the first transmission beam to be used at a second moment based on the first echo signal of the first signal received by the first device at the first moment. The second device sends a first signal to the first device at a second moment according to the transmitted beam; Wherein, the second time point is the time point following the first time point; The step of sending a first signal to the first device for each transmitted beam determined based on the second beam scanning method includes: After the second device sends a first signal to the first device via the second transmission beam indicated by the second beam scanning mode, the second device obtains the detection result of whether the first device has detected the sensing object; If the detection result indicates that the first device has not detected the object, the second device sends a first signal to the first device via the third transmission beam indicated by the second beam scanning mode. The third transmission beam is the transmission beam located after the second transmission beam in the second beam scanning method; Wherein, obtaining the detection result of whether the first device detects the perceived object includes: The second device receives a detection result from the sensing function network element indicating whether the first device detected a sensing object, and the target parameters of the detected sensing object relative to the first and second devices, respectively; or The second device receives the detection result of whether the first device detected the sensing object, and the target parameters of the detected sensing object relative to the first device and the second device, respectively, sent by the first device.

20. The method according to claim 19, characterized in that, The second beam scanning method includes at least one of the following: beam scanning range, scanning beam arrangement, and beam scanning sequence.

21. The method according to claim 19, characterized in that, After obtaining the detection result of whether the first device detected the sensing object, the following item is also included: When the detection result indicates that the first device has detected a sensing object, the second device stops sending the first signal to the first device using the third transmission beam indicated by the second beam scanning method; When the detection result indicates that the first device has detected a sensing object, the second device sends a first signal to the first device using the third transmission beam indicated by the second beam scanning method.

22. The method according to claim 19, characterized in that, The step of obtaining the first transmission beam to be used at the second time based on the first echo signal of the first signal received by the first device at the first time includes: The second device determines the first transmission beam to use at the second moment based on the angle of the sensed object relative to the second device during the first moment; or The second device determines the first transmission beam to use at the second moment based on the predicted value of the angle of the sensed object relative to the second device within the second moment; or The first transmit beam used in the second moment of receiving the sensing function network element.

23. A sensing method, characterized in that, include: The sensing network element sends the first information to the first device; and / or The sensing network element sends second information to the second device; The first information includes at least one of the following: First beam scanning mode; The first receiving beam used by the first device at the second moment; The second information includes at least one of the following: Second beam scanning mode; The second device uses the first transmitted beam at the second moment; The method further includes: The sensing function network element acquires the measurement quantity and echo signal quality of the third echo signal of the first signal received by the first device; The sensing function network element obtains the detection result of whether the first device detected the sensing object and the target parameters of the detected sensing object relative to the first device and the second device, respectively, based on the measurement quantity and the quality of the echo signal. The target parameter includes at least one of the following: Angle, distance, and speed; The measurement of the third echo signal of the first signal received by the first device and the quality of the echo signal include one of the following: The sensing function network element receives the measurement quantity and echo signal quality sent by the first device; The sensing function network element receives the measurement quantity sent by the first device and determines the echo signal quality of the third echo signal based on the measurement quantity. The sensing function network element receives the third echo signal sent by the first device, performs radar signal processing on the third echo signal to determine the measurement quantity, and determines the echo signal quality of the third echo signal based on the measurement quantity. The sensing function network element receives a first part of the measurement quantity corresponding to the third echo signal of the received first signal sent by the first device, obtains a second part of the measurement quantity based on the first part, and determines the echo signal quality of the third echo signal based on the first part and the second part. Wherein, the first part is the part belonging to the first level among the different levels of the measured quantity, and the second part is the part belonging to the second level among the different levels of the measured quantity; or, The method further includes the following: Receive the third echo signal sent by the first device, obtain the measurement quantity and echo signal quality based on the third echo signal, and send the measurement quantity and echo signal quality to the first device; Receive the measurement quantity sent by the first device, obtain the echo signal quality based on the measurement quantity, and send the echo signal quality to the first device; Receive a first part of the measurement quantity sent by a first device, determine a second part of the measurement quantity based on the first part, and determine the echo signal quality based on the first part and the second part, and send the second part and the echo signal quality to the first device; Receive a first part of the measurement quantity sent by a first device, determine a second part of the measurement quantity based on the first part, and send the second part to the first device; Wherein, the first part is the portion belonging to the first level among the different levels of the measured quantity, and the second part is the portion belonging to the second level among the different levels of the measured quantity.

24. The method according to claim 23, characterized in that, The step of obtaining the detection result of whether the first device detected the perceived object includes: The quality of the echo signal is compared with a preset value; If the quality of the echo signal is greater than the preset value, the detection result is determined to be that a sensing object has been detected; otherwise, the detection result is determined to be that no sensing object has been detected.

25. The method according to claim 23, characterized in that, In cases where the detection result indicates that a sensed object has been detected, the following are also included: Extract the target parameters of the sensing object relative to the first device and the second device, respectively.

26. The method according to claim 23, characterized in that, After obtaining the detection result of whether the first device detected the sensing object, the method further includes: The detection results are sent to the first device and / or the second device.

27. The method according to claim 23, characterized in that, The acquisition method of the first receiving beam used by the first device at the second moment includes one of the following: The sensing function network element determines the first receiving beam to be used in the second moment based on the angle of the sensing object relative to the first device in the first moment. The sensing function network element determines the first receiving beam to be used in the second moment based on the predicted value of the angle of the sensing object relative to the first device within the second moment.

28. The method according to claim 23, characterized in that, The acquisition method of the first transmitted beam used by the second device at the second moment includes: The sensing function network element determines the first transmission beam to be used in the second moment based on the predicted value of the angle of the sensing object relative to the second device within the second moment. The sensing function network element determines the first transmission beam to be used in the second moment based on the angle of the sensing object relative to the second device in the first moment.

29. A sensing device applied to a first device, characterized in that, include: The first receiving module is used to receive the echo signal of the first signal sent by the second device for each receiving beam determined based on the first beam scanning method. The echo signal of the first signal is the echo signal formed by the reflection of the first signal sent by the second device by the sensing object. The first acquisition module is used to acquire the first receiving beam used at the second time based on the first echo signal when it is determined that a sensing object has been detected according to the first echo signal received at the first time. The second receiving module is configured to receive, at a second time, a second echo signal of a first signal sent by the second device, based on the first receiving beam, wherein the second echo signal of the first signal is an echo signal formed by the reflection of the first signal sent by the second device by the sensing object. Wherein, the second time point is the time point following the first time point; The first receiving module includes: The first receiving unit is configured to receive a third echo signal of a first signal sent by a second device via a second receiving beam indicated by the first beam scanning mode. The third echo signal of the first signal is an echo signal formed by the reflection of the first signal sent by the second device by a sensing object. The first acquisition unit is used to acquire a detection result of whether a sensed object is detected based on the third echo signal; The first execution unit is configured to, when the detection result indicates that no sensing object is detected, receive the fourth echo signal of the first signal sent by the second device in the third receiving beam indicated by the first beam scanning mode, wherein the fourth echo signal of the first signal is an echo signal formed by the reflection of the first signal sent by the second device by the sensing object. Wherein, the third receiving beam is the receiving beam located after the second receiving beam in the first beam scanning mode; The first acquisition unit is configured to implement one of the following: After performing the first operation, the quality of the acquired echo signal is compared with the preset value to determine whether the detection result of the sensed object has been detected. After performing the second operation, receive the detection result of whether the sensed object is detected from the sensing function network element; The first operation includes one of the following: The third echo signal is sent to the sensing function network element, and the measurement quantity and echo signal quality fed back by the sensing function network element are received. The third echo signal is processed by radar signal processing to determine the measurement quantity, and the echo signal quality is determined based on the measurement quantity. The third echo signal is processed by radar signal to determine the measurement quantity, the measurement quantity is sent to the sensing function network element, and the echo signal quality fed back by the sensing function network element is received. The third echo signal is processed by radar signal processing to obtain the first part of the measured quantity. The first part is sent to the sensing function network element. The second part of the measured quantity and the echo signal quality are received from the sensing function network element. The first part is the part of the first level among the different levels of the measured quantity. The second part is the part of the second level among the different levels of the measured quantity. The radar signal processing part of the third echo signal is used to obtain the first part of the measurement quantity. The first part is sent to the sensing function network element. The second part of the measurement quantity fed back by the sensing function network element is received. The echo signal quality is determined based on the first part and the second part. The second operation includes one of the following: The third echo signal is processed by radar signal processing to determine the measurement quantity, and the measurement quantity is sent to the sensing function network element; The third echo signal is sent to the sensing function network element; The third echo signal is processed by radar signal processing to obtain the first part of the measured quantity, and the first part is sent to the sensing function network element. The third echo signal is processed by radar signal processing to determine the measurement quantity, the echo signal quality is determined based on the measurement quantity, and the measurement quantity and the echo signal quality are sent to the sensing function network element.

30. A sensing device applied to a second device, characterized in that, include: The first transmitting module is used to transmit a first signal to the first device based on each transmitting beam determined by the second beam scanning method; The second acquisition module is used to acquire the first transmission beam used in the second moment based on the first echo signal of the first signal received by the first device in the first moment when it is determined that the first device detects the sensing object in the first moment. The second transmitting module is used to transmit a first signal to the first device at a second time according to the transmitting beam; Wherein, the second time point is the time point following the first time point; The first sending module includes: The second acquisition unit is used to acquire the detection result of whether the first device has detected the sensing object after the second transmission beam indicated by the second beam scanning mode sends the first signal to the first device; The second execution unit is configured to send a first signal to the first device via the third transmission beam indicated by the second beam scanning mode when the detection result indicates that the first device has not detected the sensing object. The third transmission beam is the transmission beam located after the second transmission beam in the second beam scanning method; The second acquisition unit is used for: The receiving sensing function network element sends the detection result of whether the first device detected the sensing object and the target parameters of the detected sensing object relative to the first device and the second device, respectively; or The system receives the detection result of whether the first device has detected a sensing object, and the target parameters of the detected sensing object relative to the first device and the second device, respectively.

31. A sensing device applied to a sensing functional network element, characterized in that, include: The third sending module is used to send the first information to the first device; and / or Send the second message to the second device; The first information includes at least one of the following: First beam scanning mode; The first receiving beam used by the first device at the second moment; The second information includes at least one of the following: Second beam scanning mode; The second device uses the first transmitted beam at the second moment; The sensing device further includes: The third acquisition module is used to acquire the measurement quantity and echo signal quality of the third echo signal of the first signal received by the first device; The fourth acquisition module is used to acquire, based on the measured quantity and the quality of the echo signal, the detection result of whether the first device detected the sensing object and the target parameters of the detected sensing object relative to the first device and the second device, respectively. The target parameter includes at least one of the following: Angle, distance, and speed; The third acquisition module is used to implement one of the following: Receive the measured quantities and echo signal quality sent by the first device; Receive the measurement data sent by the first device, and determine the echo signal quality of the third echo signal based on the measurement data; Receive a third echo signal sent by a first device, perform radar signal processing on the third echo signal to determine a measurement quantity, and determine the echo signal quality of the third echo signal based on the measurement quantity; The system receives a first portion of the measurement quantity corresponding to the third echo signal of the received first signal sent by the first device, obtains a second portion of the measurement quantity based on the first portion, and determines the echo signal quality of the third echo signal based on the first portion and the second portion. Wherein, the first part is the part belonging to the first level among the different levels of the measured quantity, and the second part is the part belonging to the second level among the different levels of the measured quantity; or, The sensing device further includes one of the following: The fifth execution module is used to receive the third echo signal sent by the first device, obtain the measurement quantity and echo signal quality based on the third echo signal, and send the measurement quantity and echo signal quality to the first device. The sixth execution module is used to receive the measurement quantity sent by the first device, obtain the echo signal quality based on the measurement quantity, and send the echo signal quality to the first device. The seventh execution module is configured to receive a first part of the measurement quantity sent by the first device, determine a second part of the measurement quantity based on the first part, determine the echo signal quality based on the first part and the second part, and send the second part and the echo signal quality to the first device. The eighth execution module is used to receive a first part of the measurement quantity sent by the first device, determine a second part of the measurement quantity based on the first part, and send the second part to the first device; Wherein, the first part is the portion belonging to the first level among the different levels of the measured quantity, and the second part is the portion belonging to the second level among the different levels of the measured quantity.

32. A communication device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the sensing method as described in any one of claims 1 to 28.

33. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the sensing method as described in any one of claims 1 to 28.

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