Communication method and related device

Abstract

The present application provides a communication method and related devices. The method includes: determining a Doppler pre-compensation value, the Doppler pre-compensation value is obtained based on first perception auxiliary information and / or second perception auxiliary information, the first perception auxiliary information is used to indicate information of a first perception node, and the second perception auxiliary information is used to indicate information of a perception target, and the information of the perception target is obtained by perception of the second perception node; pre-compensating a first perception signal according to the Doppler pre-compensation value, the first perception signal being a perception signal between the first perception node and the perception target. By implementing the present application, the continuity of the perception service can be guaranteed, and the accuracy of the perception signal can be improved by pre-compensating the perception signal with the obtained Doppler pre-compensation value.

Description

Technical Field

[0001] The present application relates to the field of wireless communication technology, and in particular to a communication method and related devices. Background Art

[0002] In the Integrated Sensing And Communication (ISAC) system, the sensing device can sense by sending sensing signals and receiving echoes reflected by the detection target, and obtain information such as the distance between the sensing device and the sensing target through correlation operations between the sensing signals and the echo signals. However, in high-speed moving scenarios, since the sensing target moves quickly, multiple sensing nodes need to be quickly switched, which reduces the continuity of the sensing service. Therefore, how to improve the continuity of the sensing service is a problem that needs to be solved. Summary of the invention

[0003] The embodiments of the present application provide a communication method and related devices, which can improve the continuity of perception services.

[0004] In a first aspect, the present application provides a communication method, which can be applied to a first perception node, or to a device in the first perception node (for example, a chip, or a chip system, or a circuit), or a device that can be used with the first perception node. The following description is based on the application to the first perception node as an example. The communication method may include:

[0005] Determine a Doppler pre-compensation value, where the Doppler pre-compensation value is obtained based on first perception auxiliary information and / or second perception auxiliary information, where the first perception auxiliary information is used to indicate information of the first perception node, and the second perception auxiliary information is used to indicate information of a perception target, where the information of the perception target is obtained by perception of the second perception node;

[0006] The first sensing signal is pre-compensated according to the Doppler pre-compensation value, where the first sensing signal is a sensing signal between the first sensing node and the sensing target.

[0007] In the solution provided in the present application, when the perception node that perceives the perception target needs to be switched from the second perception node to the first perception node, the network device can calculate the Doppler frequency shift based on the information of the perception target obtained by the second perception node and the information of the first perception node, determine whether to perform Doppler pre-compensation and determine the Doppler pre-compensation value, and compensate for the Doppler frequency shift based on the Doppler pre-compensation value, thereby reducing the fluctuation of the perception accuracy to ensure the continuity of the perception service, and pre-compensating the perception signal by using the obtained Doppler pre-compensation value can also improve the accuracy of the perception signal.

[0008] In a possible implementation manner, the method further includes:

[0009] Sending first perception auxiliary information to the network device;

[0010] A Doppler pre-compensation value is received from a network device, where the Doppler pre-compensation value is calculated by the network device.

[0011] In the solution provided in the present application, the Doppler pre-compensation value can be calculated by the network device, thereby reducing the processing complexity of the first sensing node.

[0012] In a possible implementation manner, the method further includes:

[0013] A first request message is received from a network device, where the first request message is used to request first perception auxiliary information.

[0014] In a possible implementation manner, the method further includes:

[0015] receiving second perception auxiliary information;

[0016] A Doppler pre-compensation value is determined based on the second perceptual assistance information and the first perceptual assistance information.

[0017] In the solution provided in the embodiment of the present application, the Doppler pre-compensation value is determined by the first sensing node. That is, the first sensing node does not need to send the first sensing auxiliary information to the network device. Thus, the continuity of the sensing target is ensured, and the sensing signal is pre-compensated by the obtained Doppler pre-compensation value, which can improve the data security on the basis of improving the accuracy of the sensing signal.

[0018] In a possible implementation manner, the second perception auxiliary information includes at least one of the following:

[0019] Perceive the speed information of the target;

[0020] Sense the location information of the target;

[0021] Sense the radar cross-section of the target;

[0022] Transmit or receive beam direction;

[0023] The time difference between sending and receiving the sensing signal.

[0024] In a possible implementation manner, the first perception auxiliary information includes at least one of the following:

[0025] Speed ​​information of the first sensing node;

[0026] location information of the first sensing node;

[0027] The perception capability information of the first perception node.

[0028] In a possible implementation manner, the first request information includes a first sending condition of information of the first sensing node, and the first sending condition satisfies one or more of the following:

[0029] The speed of the first sensing node is greater than or equal to the first preset speed;

[0030] The change value of the speed of the first sensing node is greater than or equal to the first preset speed change value;

[0031] The strength of the sensing signal of the first sensing node is greater than or equal to the first preset signal strength;

[0032] The reception time of the sensing signal of the first sensing node is less than or equal to the first preset reception time;

[0033] The distance between the first sensing node and the sensing target is less than or equal to a first preset distance.

[0034] In a possible implementation manner, the first request information further includes one or more of the following:

[0035] A first preset speed;

[0036] A first preset speed change value;

[0037] a first preset signal strength;

[0038] A first preset receiving time;

[0039] A first preset distance.

[0040] In a possible implementation manner, the first request information also includes a type of perception assistance information, and the type of perception assistance information includes a first type and a second type. The first type of perception assistance information is information of a perception node, and the second type of perception assistance information is information of a perception target.

[0041] In a possible implementation manner, when the type of the perception auxiliary information is the second type, the first request information further includes an identification (ID) of the perception task and / or an identification ID of the perception target, and the perception task is associated with the perception target.

[0042] In a possible implementation manner, the method further includes: receiving a scheduling message, where the scheduling message is used to indicate the sensing resource.

[0043] Among them, the sensing resources may include one or more of time domain resources, frequency domain resources and power resources.

[0044] In a possible implementation manner, the method further includes: sending third perception auxiliary information to the network device, where the third perception auxiliary information is used to indicate the perception measurement information after Doppler pre-compensation.

[0045] In a possible implementation manner, the third perception assistance information includes a Doppler measurement value and / or a first equivalent relative speed.

[0046] In a possible implementation manner, the method further includes: receiving a Doppler pre-compensation indication from a network device, where the Doppler pre-compensation indication is used to indicate pre-compensation of the sensed echo signal or the original sensed signal;

[0047] The sensed echo signal or the original sensed signal is pre-compensated according to the Doppler pre-compensation indication and the Doppler pre-compensation value.

[0048] In a second aspect, the present application provides a communication method, which can be applied to a second sensing node, or to a device in the second sensing node (for example, a chip, or a chip system, or a circuit), or a device that can be used in conjunction with the second sensing node. The following description is based on the application to the second sensing node as an example. The communication method may include:

[0049] The second perception auxiliary information is sent, where the second perception auxiliary information is used to indicate information about the perception target perceived by the second perception node.

[0050] In a possible implementation manner, the method further includes: receiving second request information, where the second request information is used to request second perception auxiliary information.

[0051] In a possible implementation manner, the second perception auxiliary information includes at least one of the following:

[0052] Perceive the speed information of the target;

[0053] Sense the location information of the target;

[0054] Sense the radar cross-section of the target;

[0055] Transmit or receive beam direction;

[0056] The time difference between sending and receiving the sensing signal.

[0057] In a possible implementation manner, the second request information includes a second sending condition of the information of the sensing target, and the second sending condition satisfies any one or more of the following:

[0058] The speed of the perceived target is greater than or equal to a second preset speed;

[0059] The change value of the speed of the perceived target is greater than or equal to a second preset speed change value;

[0060] The strength of the sensing signal of the second sensing node is less than or equal to the second preset signal strength;

[0061] The reception time of the sensing signal of the second sensing node is greater than or equal to the second preset reception time;

[0062] The distance between the second sensing node and the sensing target is greater than or equal to a second preset distance.

[0063] In a possible implementation manner, the second request information further includes one or more of the following:

[0064] a second preset speed;

[0065] A second preset speed change value;

[0066] a second preset signal strength;

[0067] A second preset receiving time;

[0068] The second preset distance.

[0069] In a possible implementation, the second request information also includes a type of perception assistance information, and the type of perception assistance information includes a first type and a second type. The first type of perception assistance information is information about the perception node, and the second type of perception assistance information is information about the perception target.

[0070] In a possible implementation, when the type of the perception auxiliary information is the second type, the second request information further includes an identification ID of the perception task and / or an identification ID of the perception target, and the perception task is associated with the perception target.

[0071] In a third aspect, the present application provides a communication method, which can be applied to a network device, or to a device in a network device (for example, a chip, or a chip system, or a circuit), or a device that can be used with a network device. The following description is based on the application to a network device as an example. The communication method may include:

[0072] When the perception node that perceives the perception target is switched from the second perception node to the first perception node, second perception auxiliary information is received from the second perception node, where the second perception auxiliary information is used to indicate information about the perception target perceived by the second perception node.

[0073] In a possible implementation manner, the method further includes: receiving first perception auxiliary information from a first perception node; determining a Doppler pre-compensation value based on the second perception auxiliary information and the first perception auxiliary information, wherein the first perception auxiliary information is used to indicate information of the first perception node;

[0074] Sending the Doppler pre-compensation value to the first sensing node.

[0075] In a possible implementation manner, the method further includes: sending first request information to the first sensing node, where the first request information is used to request first sensing auxiliary information;

[0076] Send a second request message to the second perception node, where the second request message is used to request second perception auxiliary information.

[0077] In a possible implementation manner, the method further includes: sending second perception auxiliary information to the first perception node.

[0078] In a possible implementation manner, the method further includes: sending second request information to a second perception node, where the second request information is used to request second perception auxiliary information.

[0079] In a possible implementation manner, the second perception auxiliary information includes at least one of the following:

[0080] Perceive the speed information of the target;

[0081] Sense the location information of the target;

[0082] Sense the radar cross-section of the target;

[0083] Transmit or receive beam direction;

[0084] The time difference between sending and receiving the sensing signal.

[0085] In a possible implementation manner, the first perception auxiliary information includes at least one of the following:

[0086] Speed ​​information of the first sensing node;

[0087] location information of the first sensing node;

[0088] The perception capability information of the first perception node.

[0089] In a possible implementation manner, the first request information includes a first sending condition of the information of the first sensing node, and the first sending condition satisfies any one or more of the following:

[0090] The speed of the first sensing node is greater than or equal to the first preset speed;

[0091] The change value of the speed of the first sensing node is greater than or equal to the first preset speed change value;

[0092] The strength of the sensing signal of the first sensing node is greater than or equal to the first preset signal strength;

[0093] The reception time of the sensing signal of the first sensing node is less than or equal to the first preset reception time;

[0094] The distance between the first sensing node and the sensing target is less than or equal to a first preset distance.

[0095] In a possible implementation manner, the first request information further includes one or more of the following:

[0096] A first preset speed;

[0097] A first preset speed change value;

[0098] a first preset signal strength;

[0099] A first preset receiving time;

[0100] A first preset distance.

[0101] In a possible implementation manner, the second request information includes a second sending condition of the information of the sensing target, and the second sending condition satisfies any one or more of the following:

[0102] The speed of the perceived target is greater than or equal to a second preset speed;

[0103] The change value of the speed of the perceived target is greater than or equal to a second preset speed change value;

[0104] The strength of the sensing signal of the second sensing node is less than or equal to the second preset signal strength;

[0105] The reception time of the sensing signal of the second sensing node is greater than or equal to the second preset reception time;

[0106] The distance between the second sensing node and the sensing target is greater than or equal to a second preset distance.

[0107] In a possible implementation manner, the second request information further includes one or more of the following:

[0108] a second preset speed;

[0109] A second preset speed change value;

[0110] a second preset signal strength;

[0111] A second preset receiving time;

[0112] The second preset distance.

[0113] In a possible implementation, the first request information or the second request information also includes a type of perception auxiliary information, and the type of perception auxiliary information includes a first type and a second type. The first type of perception auxiliary information is information of the perception node, and the second type of perception auxiliary information is information of the perception target.

[0114] In a possible implementation, when the type of the perception auxiliary information is the second type, the first request information or the second request information further includes an identification ID of the perception task and / or an identification ID of the perception target, and the perception task is associated with the perception target.

[0115] In a possible implementation manner, the method further includes: sending a scheduling message to the first perception node, where the scheduling message is used to indicate the perception resources.

[0116] Among them, the sensing resources include one or more of time domain resources, frequency domain resources and power resources.

[0117] In a possible implementation manner, the method further includes: sending a Doppler pre-compensation indication to the first sensing node, where the Doppler pre-compensation indication is used to instruct to pre-compensate the sensed echo signal or the original sensed signal.

[0118] In a possible implementation manner, the method further includes: receiving third perception auxiliary information from the first perception node, where the third perception auxiliary information is used to indicate perception measurement information after Doppler pre-compensation.

[0119] In a possible implementation manner, the third perception assistance information includes a Doppler measurement value and / or a first equivalent relative speed.

[0120] In a fourth aspect, the present application provides a communication device, which includes a module / unit for executing any of the methods described in the first aspect and its possible implementations. The device can be a first perception node, or a module (such as a chip, a chip system, or a processor) applied to the first perception node, or a logical node, a logical module, or software that can implement all or part of the functions of the first perception node.

[0121] In a fifth aspect, the present application provides a communication device, which includes a module / unit for executing any of the methods described in the second aspect and its possible implementations. The device can be a second perception node, or a module (such as a chip, a chip system, or a processor) applied to the second perception node, or a logical node, a logical module, or software that can implement all or part of the functions of the second perception node.

[0122] In a sixth aspect, the present application provides a communication device, which includes a module / unit for executing any of the methods described in the third aspect and its possible implementations. The device can be a network device, or a module (such as a chip, a chip system, or a processor) applied to a network device, or a logical node, a logical module, or software that can implement all or part of the functions of the network device.

[0123] In a seventh aspect, an embodiment of the present application provides a communication device, which may be a first perception node, or a device in the first perception node (for example, a chip, or a chip system, or a circuit). The communication device may include a processor, the processor is coupled to a memory, and the memory is used to store a program or instruction. When the program or instruction is executed by the processor, the communication device executes the method executed by the first perception node or the device in the first perception node in the above method embodiment.

[0124] In an eighth aspect, an embodiment of the present application provides a communication device, which may be a second perception node, or a device in the second perception node (for example, a chip, or a chip system, or a circuit). The communication device may include a processor, the processor is coupled to a memory, and the memory is used to store a program or instruction. When the program or instruction is executed by the processor, the communication device executes the method executed by the second perception node or the device in the second perception node in the above method embodiment.

[0125] In a ninth aspect, an embodiment of the present application provides a communication device, which may be a network device or a device in a network device (e.g., a chip, or a chip system, or a circuit). The communication device may include a processor, the processor is coupled to a memory, the memory is used to store programs or instructions, and when the program or instruction is executed by the processor, the communication device executes the method executed by the network device or the device in the network device in the above method embodiment.

[0126] In the tenth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program or computer instructions. When the computer program or computer instructions are run on a computer, the computer executes the method in the first aspect or any possible implementation of the first aspect, the method in the second aspect or any possible implementation of the second aspect, or the method in the third aspect or any possible implementation of the third aspect.

[0127] In the eleventh aspect, an embodiment of the present application provides a computer program product comprising program instructions, which, when running on a computer, enables the computer to execute the method in the above-mentioned first aspect or any possible implementation of the first aspect, the method in the second aspect or any possible implementation of the second aspect, or the method in the third aspect or any possible implementation of the third aspect.

[0128] In a twelfth aspect, an embodiment of the present application provides a chip system, which includes a processor for implementing the functions in the above methods. In a possible implementation, the chip system may also include a memory for storing program instructions and / or data. The chip system may be composed of a chip, or may include a chip and other discrete devices.

[0129] In the thirteenth aspect, an embodiment of the present application provides a communication system, which includes a first sensing node, a second sensing node and a network device. When the first sensing node, the second sensing node and the network device are operating in the communication system, they are used to execute any one of the methods described in the first to third aspects above. BRIEF DESCRIPTION OF THE DRAWINGS

[0130] In order to more clearly illustrate the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0131] Figure 1 A schematic diagram of the architecture of a communication system;

[0132] Figure 2 It is a flow chart of a communication method provided in an embodiment of the present application;

[0133] Figure 3 is an interactive schematic diagram of another communication method provided in an embodiment of the present application;

[0134] Figure 4 is a structural diagram of a communication device provided in an embodiment of the present application;

[0135] Figure 5 is a structural diagram of another communication device provided in an embodiment of the present application;

[0136] Figure 6 It is a structural diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0137] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0138] The at least one (item) involved in the embodiments of the present application as follows indicates one (item) or more (items). More than one (item) refers to two (items) or more than two (items). "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects before and after are in an "or" relationship. In addition, it should be understood that although the terms first, second, etc. may be used to describe each object in the embodiments of the present application, these objects should not be limited to these terms. These terms are only used to distinguish each object from each other.

[0139] The terms "including" and "having" and any variations thereof mentioned in the following description of the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes other steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices. It should be noted that, in the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any method or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other methods or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete manner.

[0140] In order to better understand the embodiments of the present application, the system architecture involved in the embodiments of the present application is first introduced below:

[0141] The technology provided in the embodiments of the present application can be applied to various communication systems. For example, the communication system can be a third generation (3G) communication system (e.g., evolved universal terrestrial radio access and NR dual connection (evolved universal terrestrial radio access, E-UTRA), universal mobile telecommunication system (UMTS)), a fourth generation (4G) communication system (e.g., long term evolution (LTE) system), a fifth generation (5G) communication system, a world-wide interoperability for microwave access (WiMAX) or a wireless local area network (WLAN) system, or a fusion system of multiple systems, or a future communication system, such as a sixth generation (6G) communication system. Among them, the 5G communication system can also be called a new radio (NR) system.

[0142] A network element in a communication system can send a signal to another network element or receive a signal from another network element. The signal may include information or data, etc. The network element may also be referred to as an entity, a network entity, a device, a communication device, a communication module, a node, a communication node, etc. The network element is used as an example for description in the embodiments of the present application. For example, a communication system may include at least one terminal device and at least one network device. The network element that sends the signal may be a network device, and the network element that receives the signal may be a terminal device; or, the network element that sends the signal may be a terminal device, and the network element that receives the signal may be a network device. In addition, it can be understood that if the communication system includes multiple terminal devices, multiple terminal devices can also send signals to each other, that is, the network element that sends the signal and the network element that receives the signal can both be terminal devices.

[0143] See also Figure 1 A communication system is illustrated, as an example, the communication system includes a network device 110, two sensing nodes (i.e., a first sensing node 120 and a second sensing node 130), and a sensing target 140. At least one of the first sensing node 120 and the second sensing node 130 can sense the sensing target 140 and send uplink data to the network device 110, and the network device 110 can receive the uplink data. The network device can send downlink data to at least one of the first sensing node 120 and the second sensing node 130.

[0144] Below Figure 1 The terminal devices and network devices involved are described in detail.

[0145] The first sensing node 120, the second sensing node 130 and the sensing target 140 may be the same or different terminal devices. The terminal device is also called a terminal, user equipment (UE), mobile station (MS), mobile terminal (MT), etc. It is a device that provides voice and / or data connectivity to users. The terminal device can communicate with one or more core network devices through a network device. The terminal device includes a handheld device with a wireless connection function, other processing devices connected to a wireless modem, or a vehicle-mounted device. The terminal device may be a portable, pocket-sized, handheld, computer-built-in, or vehicle-mounted mobile device. Some examples of terminal devices are: personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), wireless network cameras, mobile phones, tablet computers, laptop computers, PDAs, mobile internet devices (MIDs), wearable devices such as smart watches, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, terminals in Internet of Vehicles systems, wireless terminals in self driving, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities such as smart gas pumps, terminal devices on high-speed railways, and wireless terminals in smart homes such as smart speakers, smart coffee machines, and smart printers.

[0146] In the embodiment of the present application, the communication device for realizing the function of the terminal device may be a terminal device, or a terminal device with some terminal functions, or a device capable of supporting the terminal device to realize the function, such as a chip system, which may be installed in the terminal device. In the embodiment of the present application, the chip system may be composed of a chip, or may include a chip and other discrete devices. In the technical solution provided in the embodiment of the present application, the communication device for realizing the function of the terminal device is a terminal device or a UE for description as an example.

[0147] In the embodiments of the present application, "sending information to... (terminal device)" can be understood as the destination of the information being the terminal device, and can include directly or indirectly sending information to the terminal device. "Receiving information from... (terminal device)" can be understood as the source of the information being the terminal device, and can include directly or indirectly receiving information from the terminal device. The information may be processed as necessary between the source and destination of the information transmission, such as format changes, etc., but the destination can understand the valid information from the source. Similar expressions in the present application can be understood similarly and will not be repeated here.

[0148] The network equipment can be a base station (BS) or a sensing function (SF) or an access and mobility management function (AMF) network element. The network equipment can also be called access network equipment, access node (AN), or radio access node (RAN). The network equipment can be connected to the core network (such as the core network of LTE or the core network of 5G), and the network equipment can provide wireless access services for terminal devices. Examples of some network devices include, but are not limited to, at least one of the following: a next generation node B (gNB) in 5G, a network device in an open radio access network (O-RAN), an evolved node B (eNB), a radio network controller (RNC), a node B (NB), a base station controller (BSC), a base transceiver station (BTS), a home base station (e.g., home evolved node B, or home node B, HNB), a transmitting and receiving point (TRP), a transmitting point (TP), and / or a mobile switching center, etc.; or, the network device may be a relay station, an access point, an in-vehicle device, a wearable device, or a network device in a future evolved public land mobile network (PLMN), etc. The network device in the embodiment of the present application may be an integrated base station, or may be a base station including a centralized unit (CU) and / or a distributed unit (DU). A base station including a CU and a DU may also be referred to as a base station with CU and DU separated, such as the base station including a gNB-CU and a gNB-DU. The CU may also be separated into a CU control plane (CU control plane, CU-CP) and a CU user plane (CU user plane, CU-UP), such as the base station including a gNB-CU-CP, a gNB-CU-UP and a gNB-DU. Alternatively, the network device of the embodiment of the present application may also be an antenna unit (radio unit, RU).Alternatively, the network device in the embodiment of the present application may also be an open radio access network (O-RAN) architecture, etc. The embodiment of the present application does not limit the specific deployment method of the network device. Exemplarily, when the network device is an O-RAN architecture, the network device shown in the embodiment of the present application may be an access network device in O-RAN, such as a combination of one or more of CU, DU, or RU, or a module in the access network device. In an open RAN (Openradio access network, ORAN) system, CU may also be referred to as an open (open, O)-CU, CU-CP may also be referred to as an open (open, O)-CU-CP, CU-UP may also be referred to as an open (open, O)-CU-UP, and RU may also be referred to as an open (open, O)-RU.

[0149] In the embodiment of the present application, the communication device for realizing the function of the network device may be a network device, or a device having some functions of the network device, or a device capable of supporting the network device to realize the function. For example, a chip system, which may be installed in a network device. In the embodiment of the present application, the chip system may be composed of a chip, or may include a chip and other discrete devices. In the technical solution provided in the embodiment of the present application, the communication device for realizing the function of the network device is a network device as an example for description.

[0150] In the embodiments of the present application, "sending information to...(network device)" can be understood as the destination of the information being the network device, and can include directly or indirectly sending information to the network device. "Receiving information from...(network device)" can be understood as the source of the information being the network device, and can include directly or indirectly receiving information from the network device. The information may be processed as necessary between the source and destination of the information, such as format changes, but the destination can understand the valid information from the source. Similar expressions in the present application can be understood similarly and will not be repeated here.

[0151] It should be understood that Figure 1 The number and type of each device in the communication system shown are for illustration only, and the embodiments of the present application are not limited thereto. In actual applications, the communication system may also include more terminal devices, more network devices, and other network elements, for example, core network devices, and / or network management devices such as operation administration and maintenance (OAM) devices.

[0152] The communication system and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. A person of ordinary skill in the art can appreciate that with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0153] See also Figure 2 , Figure 2 : is a flow chart of a communication method provided in an embodiment of the present application. The communication method mainly includes the following steps. It can be understood that: Figure 2 The steps and execution order illustrated are only used as an example. In actual implementation, some of the steps may be executed or the remaining steps may also be executed. Similarly, the execution order of the steps may also be adjusted, and the embodiments of the present application are not limited to this.

[0154] In order to facilitate the understanding of the embodiments of the present application, the technical problems to be specifically solved by the present application are further analyzed and proposed below.

[0155] Future mobile communication systems are expected to have both communication and perception capabilities. With the continuous increase in frequency, the widening of the frequency band, and the use of Ultra-Massive Multiple Input Multiple Output (UM-MIMO) technology, communication signals have high resolution in the delay domain, Doppler domain, and angle domain, which makes it possible to use communication signals to achieve high-precision perception. New services such as digital twins and Internet of Vehicles also drive the integration of communication systems and radar systems in terms of spectrum, technology trends, and applications. Therefore, it is necessary to integrate the perception and communication systems to achieve mutual assistance in communication perception capabilities, network reciprocity, improve frequency efficiency, and reduce hardware costs. This has prompted the study of Integrated Sensing And Communication (ISAC).

[0156] In the ISAC system, the sensing device can sense by sending a sensing signal and receiving the echo reflected by the detection target, and obtain information such as the distance between the sensing device and the sensing target through the correlation operation of the sensing signal and the echo signal. In order to improve the sensing accuracy (for example, the accuracy of the distance between the sensing device and the sensing target), the sensing signal needs to have relatively good non-periodic autocorrelation characteristics and good cross-correlation characteristics. In order to ensure this, in practical applications, the sensing signal is generally generated based on a sensing sequence with good non-periodic autocorrelation properties. Commonly used sensing sequences include Golay complementary pair (GCP) sequence, ZC (Zadoff-Chu) sequence, etc. However, in high-speed moving scenarios, there is often a large Doppler frequency shift, which will cause the autocorrelation and cross-correlation characteristics of the sensing sequence to be destroyed, thereby causing a decrease in sensing accuracy. In addition, due to the fast moving speed of the sensing target, the sensing node may not be able to sense, thereby reducing the continuity of the sensing service. Therefore, how to improve the sensing accuracy and ensure the continuity of the sensing service is a problem that needs to be solved.

[0157] The present application provides a variety of communication methods, which will be described below through the following embodiments. Some of these communication methods are only for part of the process, and some can be applied to any one or more processes. It should be understood that these communication methods can be used in combination with each other.

[0158] It should be understood that the communication method may change with the evolution of the technical solution, and the technical solution provided by this application is not limited to the process described below. Furthermore, the description of the scene in the embodiment of this application is only an example, and does not limit the solution of the embodiment of this application to be used only in the description scene, and is also applicable to scenes with similar problems.

[0159] The first sensing node in the following embodiments may be Figure 1 The first sensing node 120 in the network architecture shown, the second sensing node can be Figure 1 The second sensing node 130 in the network architecture described in the embodiment of the present invention may be a network device Figure 1 The network device 110 in the network architecture shown. The function performed by the first perception node in this embodiment may also be performed by a device in the first perception node (e.g., a chip, or a chip system, or a circuit). The function performed by the second perception node in this embodiment may also be performed by a device in the second perception node (e.g., a chip, or a chip system, or a circuit). The function performed by the network device in this embodiment may also be performed by a device in the network device (e.g., a chip, or a chip system, or a circuit). The embodiments of this application are uniformly described here and will not be repeated later.

[0160] The following describes a communication method provided in an embodiment of the present application. Figure 2 , Figure 2 Schematic diagram of an interaction of a communication method provided in an embodiment of the present application. Figure 2 As shown, the communication method may include the following steps. Step S201 and step S203 are optional steps. Figure 2 Dotted lines are used to indicate this.

[0161] Step S201: The network device sends a first request message to the first sensing node. Correspondingly, the first sensing node receives the first request message from the network device.

[0162] The first request information is used to request first perception auxiliary information.

[0163] In a possible implementation, the first request information may include one or more of the speed request information of the first sensing node, the location request information of the first sensing node, and the sensing capability request information of the first sensing node. Thus, the first sensing node may determine the specific content of the first sensing auxiliary information sent to the network device based on the request information included in the first request information.

[0164] In a possible implementation, the first request information may also include a first sending condition of the information of the first perception node.

[0165] The first sending condition of the information of the first sensing node may satisfy one or more of the following:

[0166] The speed of the first sensing node is greater than or equal to the first preset speed;

[0167] The change value of the speed of the first sensing node is greater than or equal to the first preset speed change value;

[0168] The strength of the sensing signal of the first sensing node is greater than or equal to the first preset signal strength;

[0169] The reception time of the sensing signal of the first sensing node is less than or equal to the first preset reception time;

[0170] The distance between the first sensing node and the sensing target is less than or equal to a first preset distance.

[0171] The speed change value may refer to the difference between the current speed and the speed last sent (reported) or the difference between the current speed and the speed measured in the last sensing cycle. In a possible implementation, if this is the first report or the first measurement of speed information in the sensing cycle, the speed last sent is assumed to be 0, or the measurement value of the last cycle is 0. That is, if the speed has not been reported, the speed change value is the current speed.

[0172] In a possible implementation, the conditions in the first sending condition can be divided into two categories, namely, the first sending condition of the first category and the second sending condition of the first category. The first sending condition of the first category includes one or more of the following: the speed of the first sensing node is greater than or equal to the first preset speed and the change value of the speed of the first sensing node is greater than or equal to the first preset speed change value, which is used for the first sensing node to determine whether the speed information of the first sensing node needs to be included in the first sensing auxiliary information sent. The second first sending condition includes one or more of the following: the strength of the sensing signal of the first sensing node is greater than or equal to the first preset signal strength, the reception time of the sensing signal of the first sensing node is less than or equal to the first preset reception time, and the distance between the first sensing node and the sensing target is less than or equal to the first preset distance, which is used for the first sensing node to determine whether the first sensing node meets the sensing requirement. That is, if the first condition of the second category is met, it can be determined that the first sensing node meets the sensing requirement and can be used as a candidate sensing node for sensing the sensing target, and the sensing service can be switched from the second sensing node to the first sensing node to sense the sensing target. If the first condition of the second category is not met, the first sensing node cannot sense the sensing target.

[0173] In a possible implementation, when at least one of the second-category first sending conditions is met, the first perception auxiliary information may include one or more of the location information of the first perception node and the perception capability information of the first perception node. When at least one of the second-category first sending conditions is met and at least one of the first-category first sending conditions is met, the first perception auxiliary information may include the speed information of the first perception node, and further, may also include one or more of the location information of the first perception node and the perception capability information of the first perception node.

[0174] Among them, the first sending condition of the information of the perception target may be included in the first request information sent to the first perception node, or may be predefined in the protocol, or may be carried in downlink control information (DownlinkControl Information, DCI), radio resource control (Radio Resource Control, RRC) or medium access control-control element (Medium Access Control - Control Element, MAC CE) and sent to the first perception node. The embodiments of the present application do not limit this.

[0175] It can be understood that, when the first request information includes the first sending condition of the information of the first sensing node, the first request information can also correspondingly include one or more of the first preset speed (value), the first preset speed change value, the first preset signal strength (value), the first preset receiving time (value) and the first preset distance (value).

[0176] In a possible implementation manner, the first request information may further include the type of the perception assistance information.

[0177] Among them, the types of perception assistance information include a first type and a second type. The first type of perception assistance information is the information of the perception node, and the second type of perception assistance information is the information of the perception target. That is to say, the first perception node can determine the information to be sent to the network device by the type of perception assistance included in the first request information. For example, in an embodiment of the present application, the information that the first perception node needs to send to the network device is the first perception assistance information, that is, the information of the first perception node, then the type of perception assistance included in the first request information sent by the network device to the first perception node is the first type. That is to say, in the first request information sent by the network device to the first perception node, if the type of perception assistance included is the first type, then after the first perception node receives the first request information, based on the fact that the type of perception assistance included in the first request information is the first type, it can be known that the information that needs to be sent to the network device is the information of the first perception node.

[0178] In a possible implementation, when the type of the perception auxiliary information included in the first request information is the second type, the first request information may also include an identifier of the perception task and / or an identifier of the perception target. The identifier of the perception task is associated with the perception target. That is, through the identifier of the perception task and / or the identifier of the perception target included in the first request information, the first perception node can determine the information of the perception target specified by the network device among multiple perception targets through the identifier of the perception task and / or the identifier of the perception target.

[0179] Step S202: The first sensing node sends first sensing auxiliary information to the network device. Correspondingly, the network device receives the first sensing auxiliary information from the first sensing node.

[0180] The first perception auxiliary information is used to indicate information of the first perception node.

[0181] In a possible implementation manner, the first perception assistance information may include at least one of the following:

[0182] Speed ​​information of the first sensing node;

[0183] location information of the first sensing node;

[0184] The perception capability information of the first perception node.

[0185] Among them, the speed information and position information of the first perception node can be obtained by the first perception node itself, or can be obtained according to the Global Positioning System (GPS) (non-3GPP positioning method) or the Third Generation Partnership Project (3GPP) positioning method, and the embodiments of the present application are not limited to this.

[0186] The speed information of the first sensing node may be a speed vector, including speed magnitude and speed direction, or a speed scalar, including speed magnitude in the x direction, speed magnitude in the y direction, and speed magnitude in the z direction.

[0187] Furthermore, the velocity information of the first sensing node may also include acceleration information. The acceleration information may be an acceleration vector, including acceleration magnitude and acceleration direction. Alternatively, the acceleration information may be an acceleration scalar, including acceleration magnitude in the x direction, acceleration magnitude in the y direction, and acceleration magnitude in the z direction.

[0188] Step S203: The network device sends a second request message to the second sensing node. Correspondingly, the second sensing node receives the second request message from the network device.

[0189] The second request information is used to request second perception auxiliary information.

[0190] In a possible implementation, the second request information may include: one or more of: speed request information of the second sensing node, location request information of the second sensing node, and sensing capability request information of the second sensing node.

[0191] Thus, the second perception node can determine the specific content of the second perception auxiliary information sent to the network device based on the request information included in the second request information.

[0192] In a possible implementation manner, the second request information may further include a second sending condition of the information of the perception target.

[0193] The second sending condition of the information of the sensing target may include one or more of the following:

[0194] The speed of the perceived target is greater than or equal to a second preset speed;

[0195] The change value of the speed of the perceived target is greater than or equal to a second preset speed change value;

[0196] The strength of the sensing signal of the second sensing node is less than or equal to the second preset signal strength;

[0197] The reception time of the sensing signal of the second sensing node is greater than or equal to the second preset reception time;

[0198] The distance between the second sensing node and the sensing target is greater than or equal to a second preset distance.

[0199] In a possible implementation, the conditions in the second sending condition can be divided into two categories, namely, the first type of second sending condition and the second type of second sending condition. Among them, the first type of second sending condition includes one or more of the speed of the second sensing node being greater than or equal to the second preset speed and the change value of the speed of the second sensing node being greater than or equal to the second preset speed change value, which is used for the second sensing node to determine whether the speed information of the second sensing node needs to be included in the second sensing auxiliary information sent. The second type of second sending condition includes one or more of the strength of the sensing signal of the second sensing node being less than or equal to the second preset signal strength, the reception time of the sensing signal of the second sensing node being greater than or equal to the second preset reception time, and the distance between the second sensing node and the sensing target being less than or equal to the second preset distance, which is used for the second sensing node to determine whether the second sensing node meets the requirements for sensing the sensing target. If the second type of second sending condition is met, it means that the second sensing node does not meet the sensing requirements, so that sensing switching can be performed.

[0200] In a possible implementation, when at least one of the second sending conditions of the second category is met, the second perception auxiliary information may include one or more of the location information of the second perception node and the perception capability information of the second perception node. When at least one of the second sending conditions of the second category is met and at least one of the first sending conditions of the second category is met, the second perception auxiliary information may include the speed information of the second perception node, and further, may also include one or more of the location information of the second perception node and the perception capability information of the second perception node.

[0201] It can be understood that, when the second request information includes the second sending condition of the perceived target, the second request information may also correspondingly include one or more of a second preset speed (value), a second preset speed change value, a second preset signal strength (value), a second preset receiving time (value) and a second preset distance (value).

[0202] After the second perception node receives the second request information, if one or more of the second sending conditions of the above perception targets are met, the second perception node sends the second perception auxiliary information to the network device.

[0203] In a possible implementation manner, the second request information may further include the type of the perception assistance information.

[0204] Among them, the types of perception assistance information include a first type and a second type. The first type of perception assistance information is the information of the perception node, and the second type of perception assistance information is the information of the perception target. That is to say, the second perception node can determine the information to be sent to the network device by the type of perception assistance included in the second request information. For example, in an embodiment of the present application, the information that the second perception node needs to send to the network device is the second perception assistance information, that is, the information of the perception target, then the type of perception assistance included in the second request information sent by the network device to the second perception node is the second type. That is to say, in the second request information sent by the network device to the second perception node, if the type of perception assistance included is the second type, then after the second perception node receives the second request information, based on the fact that the type of perception assistance included in the second request information is the second type, it can be known that the information that needs to be sent to the network device is the information of the perception target.

[0205] In a possible implementation, when the type of the perception auxiliary information included in the second request information is the second type, the second request information may also include an identifier of the perception task and / or an identifier of the perception target. The identifier of the perception task is associated with the perception target. That is, through the identifier of the perception task and / or the identifier of the perception target included in the second request information, the second perception node may determine the information of the perception target specified by the network device from among multiple perception targets through the identifier of the perception task and / or the identifier of the perception target.

[0206] Step S204: the second sensing node sends the second sensing auxiliary information to the network device. Correspondingly, the network device receives the second sensing auxiliary information from the second sensing node.

[0207] The second perception auxiliary information is used to indicate information of a perception target perceived by the second perception node, wherein the perception target may be a device that the second perception device can currently perceive.

[0208] In a possible implementation manner, the second perception assistance information may include at least one of the following:

[0209] Perceive the speed information of the target;

[0210] Sense the location information of the target;

[0211] Sense the radar cross-section of the target;

[0212] Transmit or receive beam direction;

[0213] The time difference between sending and receiving the sensing signal.

[0214] The speed information and position information of the perceived target may be perceived by the second perception node, or may be obtained according to the Global Positioning System (GPS) (a non-3GPP positioning method) or the 3rd Generation Partnership Project (3GPP) positioning method, which is not limited in the embodiments of the present application. The transmitting or receiving beam direction may specifically include one or more of the pitch angle, the horizontal angle, and the port ID.

[0215] The speed information of the sensed target may be a speed vector, including speed magnitude and speed direction, or a speed scalar, including speed magnitude in the x direction, speed magnitude in the y direction, and speed magnitude in the z direction.

[0216] Furthermore, the speed information of the sensed target may also include acceleration information. The acceleration information may be an acceleration vector, including acceleration magnitude and acceleration direction. Alternatively, the acceleration information may be an acceleration scalar, including acceleration magnitude in the x direction, acceleration magnitude in the y direction, and acceleration magnitude in the z direction.

[0217] In a possible implementation, if the number of perception targets perceived by the second perception node is multiple, the value of each information in the second perception auxiliary information may be an average value of the information of the multiple perception targets, a maximum value of the information of the multiple perception targets, a minimum value of the information of the multiple perception targets, or a value of the information of the multiple perception targets. Exemplarily, if there are two perception targets perceived by the second perception node, namely, perception target A and perception target B. Among them, the speed of perception target A is greater than the speed of perception target B, and the position of perception target A is less than the position of perception target B. Taking the second perceptual auxiliary information including speed information and position information as an example, if the value of each information in the second perceptual auxiliary information is the average value of information of multiple perceptual targets, then the speed information in the second perceptual auxiliary information is the speed information obtained by averaging the speed of perceptual target A and the speed of perceptual target B, and the position information is the position information obtained by averaging the position of perceptual target A and the position of perceptual target B; if the value of each information in the second perceptual auxiliary information is the maximum value among the information of multiple perceptual targets, then the speed information in the second perceptual auxiliary information is the speed information of perceptual target A, and the position information is the position information of perceptual target B; if the value of each information in the second perceptual auxiliary information is the minimum value among the information of multiple perceptual targets, then the speed information in the second perceptual auxiliary information is the speed information of perceptual target B, and the position information is the position information of perceptual target A.

[0218] In a possible implementation, the method in which the second sensing node sends the second sensing auxiliary information to the network device may include one or more of the following:

[0219] Method 1: The second sensing node actively sends the second sensing auxiliary information to the network device.

[0220] Method 2: The second sensing node may send the second sensing assistance information to the network device based on receiving second request information for requesting the second sensing assistance information from the network device.

[0221] For method 1, in one example, the second sensing node may determine whether to send the second sensing auxiliary information to the network device based on the second sensing node's own willingness (e.g., whether it is willing to continue sensing the sensing target). For example, after the second sensing node senses the sensing target N times, it is unwilling to continue to perform the sensing task. At this time, the second sensing node may send the second sensing auxiliary information sensed for the Nth time to the network device.

[0222] For method one, in another example, the second sensing node may determine whether to send the second auxiliary information to the network device based on the second sending condition of the information of the sensing target.

[0223] The second sending condition of the information of the sensing target may include one or more of the following:

[0224] The speed of the perceived target is greater than or equal to a second preset speed;

[0225] The change value of the speed of the perceived target is greater than or equal to a second preset speed change value;

[0226] The strength of the sensing signal of the second sensing node is less than or equal to the second preset signal strength;

[0227] The reception time of the sensing signal of the second sensing node is greater than or equal to the second preset reception time;

[0228] The distance between the second sensing node and the sensing target is greater than or equal to a second preset distance.

[0229] The second sending condition of the information of the perception target can be sent by the network device to the second perception node when the second perception node establishes a perception service about the perception target. Alternatively, the second sending condition of the information of the perception target can be carried on DCI, MAC CE or RRC and sent to the second perception node. Alternatively, the second sending condition of the information of the perception target can be predefined in the protocol. The embodiments of the present application do not limit this.

[0230] It can be understood that when the second sending conditions of one or more of the above perception targets are met, the second perception node can send second perception auxiliary information to the network device.

[0231] For method 2, that is, before step S204, step S203 may be included.

[0232] Step S205: The network device determines a Doppler pre-compensation value based on the second perception assistance information and / or the first perception assistance information.

[0233] The Doppler pre-compensation value may be determined based on the Doppler frequency shift value. Exemplarily, the Doppler pre-compensation value may be the Doppler frequency shift value. Exemplarily, the Doppler pre-compensation value at the next moment may be a predicted value based on the current Doppler frequency shift value and its rate of change. The present application embodiment does not limit this.

[0234] In the scenario of self-transmission and self-reception, the Doppler frequency shift value It can be expressed as:

[0235]

[0236] In the spontaneous reception scenario, the Doppler frequency shift value It can be expressed as:

[0237]

[0238] in, represents the relative speed between the first sensing node and the sensing target, λ represents the wavelength, Indicates the carrier frequency, Represents the speed of light.

[0239] In a possible implementation, the network device may also determine the resource requirement of the first sensing node when sensing the sensing target based on the equivalent relative speed and the maximum unambiguous speed measurement range, wherein the equivalent relative speed is the speed obtained by sensing measurement after Doppler pre-compensation.

[0240] When the network device allocates resources for the first sensing node, it is necessary to consider the maximum unambiguous speed measurement range and the speed resolution. That is, when the network device allocates resources for the first sensing node, it is necessary to balance the maximum unambiguous speed measurement range and the speed resolution. The maximum unambiguous speed measurement range and / or the speed resolution can be determined based on the equivalent relative speed.

[0241] In a possible implementation, the maximum unambiguous speed measurement range and speed resolution may be calculated as follows:

[0242] In the scenario of self-transmission and self-reception, the maximum unambiguous speed measurement range It can be expressed as:

[0243]

[0244] In the scenario of spontaneous transmission and reception, the maximum unambiguous speed measurement range It can be expressed as:

[0245]

[0246] Among them, among them, represents the wavelength, represents the pulse repetition period, Denotes the bistatic angle.

[0247] In the scenario of self-transmission and self-reception, the speed resolution It can be expressed as:

[0248]

[0249] In the spontaneous transmission and reception scenario, the speed resolution It can be expressed as:

[0250]

[0251] Where λ is the wavelength, M is the number of pulses, represents the pulse repetition period, and β represents the bistatic angle.

[0252] For example, the equivalent relative speed after compensation is lower than the original relative speed, which can be increased The maximum unambiguous speed measurement range is reduced, the speed resolution is improved, and thus the perception accuracy is improved. On the other hand, since the received echo signal has a smaller Doppler frequency shift, the autocorrelation and cross-correlation operations with the local perception sequence have better performance.

[0253] The network device may determine resource requirements according to the actual scenario and the requirements of the sensing task, for example, the number of time domain symbols of the sensing signal, the period of the sensing signal or other parameters may be determined.

[0254] Step S206: the network device sends the Doppler pre-compensation value to the first sensing node. Correspondingly, the first sensing node receives the Doppler pre-compensation value from the network device.

[0255] In a possible implementation, the network device may send a Doppler pre-compensation value to the first sensing node when the fourth sending condition is met, so that the first sensing node performs pre-compensation based on the Doppler pre-compensation value. The fourth sending condition may include one or more of the following: the relative speed between the first sensing node and the sensing target is greater than or equal to the preset relative speed; the Doppler frequency shift value corresponding to the first sensing node and the sensing target is greater than or equal to the preset Doppler frequency shift value. The fourth sending condition may be predefined by the protocol or sent by the sensing network element to the network device, and the embodiment of the present application does not limit this.

[0256] After the network device determines the Doppler pre-compensation value based on the first perception auxiliary information and / or the second perception auxiliary information, the network device can send the Doppler pre-compensation value to the first perception node.

[0257] The network device can send the Doppler pre-compensation value to the first sensing node in different ways. Take this as an example to illustrate.

[0258] Method 1: Send Doppler pre-compensation value .

[0259] That is, the value sent by the network device to the first sensor node This is the Doppler pre-compensation value.

[0260] Method 2: Send the first value, Doppler pre-compensation value It can be based on the first value and the Doppler frequency shift granularity K to.

[0261] Among them, the Doppler frequency shift granularity K is determined according to the subcarrier spacing of the perception signal, and different field numbers can be set for different subcarriers. For example, for a subcarrier spacing of 15KHz, the Doppler frequency shift granularity can be 100Hz; for a subcarrier spacing of 30KHz, the Doppler frequency shift granularity can be 200Hz; for a subcarrier spacing of 60KHz, the Doppler frequency shift granularity can be 400Hz. It can be understood that the Doppler frequency shift granularity corresponding to the above subcarrier spacing is an example and should not constitute any limitation to the embodiments of the present application.

[0262] For example, the first value may be , The function is used to round a given value to the nearest integer. That is, the value sent by the network device to the first sensing node is the first value The first sensing node receives the first value Then, based on the first value The Doppler pre-compensation value can be obtained .

[0263] In a possible implementation, the network device may send a Doppler pre-compensation indication to the first sensing node. Correspondingly, the first sensing node receives the Doppler pre-compensation indication from the network device.

[0264] The Doppler pre-compensation indication is used to indicate to pre-compensate the sensed echo signal or the original sensed signal. The original sensed signal may refer to the sensed signal before the sensed signal transmitter performs pre-compensation.

[0265] That is to say, after receiving the Doppler pre-compensation indication sent by the network device, the first sensing node can determine whether to pre-compensate the perceived echo signal or the original perceived signal according to the received Doppler pre-compensation indication. For example, if the Doppler pre-compensation indication received by the first sensing node is used to indicate pre-compensation of the original perceived signal, the first sensing node pre-compensates the original perceived signal before sending the original perceived signal, and then sends the pre-compensated original perceived signal. For example, if the Doppler pre-compensation indication received by the first sensing node is used to indicate pre-compensation of the perceived echo signal, the first sensing node pre-compensates the perceived echo signal after receiving the perceived echo signal to obtain the pre-compensated perceived echo signal.

[0266] The Doppler precompensation value and the Doppler precompensation indication may be sent together or separately, which is not limited in the embodiment of the present application. For example, the Doppler precompensation information may include the Doppler precompensation value and the Doppler precompensation indication.

[0267] In one possible implementation, the network device may send a scheduling message to the first sensing node.

[0268] Among them, the perception scheduling resources can be determined according to the resource requirements determined in step S205.

[0269] Step S207: pre-compensate the first sensing signal according to the Doppler pre-compensation value.

[0270] The first sensing signal is a sensing signal between the first sensing node and the sensing target. The first sensing signal may be a sensing echo signal and / or an original sensing signal between the first sensing node and the sensing target.

[0271] After receiving the Doppler pre-compensation value sent by the network device, the first sensing node can pre-compensate the sensing signal according to the received Doppler pre-compensation value.

[0272] Exemplarily, pre-compensating the perception signal may include the following three methods:

[0273] Method 1: Pre-compensation in the time domain (time domain compensation).

[0274] Time domain compensation can adjust the time of the perceived signal to compensate for the Doppler frequency shift caused by the high-speed movement of the perceived target. Time domain compensation can be achieved by adjusting the phase.

[0275] Exemplarily, if the perception signal before pre-compensation is x(nTst), the perception signal after pre-compensation in the time domain of the perception signal can be expressed as . Where n represents the sampling point index, Ts represents the sampling rate, and exp() represents the natural exponential function. represents the Doppler pre-compensation value, and j is an imaginary unit.

[0276] Method 2: Pre-compensation in the frequency domain (frequency domain compensation).

[0277] Frequency domain compensation can process the signal in the frequency domain to eliminate or reduce the impact of Doppler shift.

[0278] For example, the Doppler frequency shift value of the integer multiple subcarrier interval can be compensated by cyclic shift, or the Doppler frequency shift value can be compensated by a frequency offset matrix. Exemplarily, the number of cyclic shifts can be ,in, The function is used to round the given value to the nearest integer. Indicates the Doppler pre-compensation value, and M indicates the subcarrier spacing. If the Doppler pre-compensation value is 16KHZ and the subcarrier spacing is 15KHZ, then the number of cyclic shifts is is 1. If the perceived sequence before cyclic shift is [a, b, c, d, e], then the perceived sequence after cyclic shift of 1 is [b, c, d, e, a].

[0279] Method 3: Pre-compensation in the frequency domain and time domain.

[0280] For example, Doppler frequency shift compensation of an integer multiple of the subcarrier interval may be performed in the frequency domain first, and then Doppler frequency shift compensation of a decimal multiple may be performed in the time domain.

[0281] In a possible implementation, after step S207, step S208 and step S209 may be further included.

[0282] Step S208: The first sensing node performs sensing measurement to obtain a new Doppler pre-compensation value.

[0283] Exemplarily, the first sensing node is a sensing signal receiving node, and the first sensing node can obtain information of the sensing target, such as the speed of the sensing target, by receiving the sensing signal. The first sensing node can periodically obtain the sensing target information, that is, the first sensing node can continuously update the obtained sensing target information, and thus can also update the Doppler pre-compensation value according to the continuously updated sensing target information.

[0284] Step S209: the first sensing node sends the third sensing auxiliary information to the network device. Correspondingly, the network device receives the third sensing auxiliary information from the first sensing node.

[0285] The third perception assistance information is used to indicate the perception measurement information after Doppler pre-compensation. For example, the third perception assistance information may include information such as Doppler measurement value and / or first equivalent relative speed. The network device may adjust resource allocation and / or Doppler pre-compensation value based on the third perception assistance information. The first equivalent relative speed is the equivalent relative speed between the first perception node and the perception target.

[0286] In a possible implementation, the first sensing node may send the third sensing auxiliary information to the network device when the third sending condition is met. The third sending condition satisfies at least one of the following: the Doppler measurement value is greater than or equal to the preset Doppler measurement value; the first equivalent relative speed is greater than or equal to the preset first equivalent relative speed; the residual Doppler value is greater than or equal to the preset residual Doppler value; the time from the last sending of the third sensing auxiliary information reaches the preset period length. The third sending condition may be predefined by the protocol or sent by the network device to the first sensing node, and the embodiment of the present application does not limit this. The preset Doppler measurement value and / or the preset first equivalent relative speed may be determined based on the maximum unambiguous speed corresponding to the sensing resource. Since pre-compensation may not be able to completely eliminate the Doppler shift, that is, the perception result may still have a Doppler shift, and the Doppler shift that still exists after pre-compensation is the residual Doppler value.

[0287] The third sending condition is that the time length from the last sending of the third perception auxiliary information reaches a preset period length, that is, the first perception node can periodically send the third perception auxiliary information to the network device.

[0288] In one possible implementation, the Doppler measurement value sent by the first sensing node is an actual Doppler measurement value, and the first equivalent relative speed is an actual first equivalent relative speed. In another possible implementation, the Doppler measurement value sent by the first sensing node is an offset value from the Doppler measurement value in the third sensing auxiliary information last sent by the first sensing node, and the first equivalent relative speed sent is an offset value from the first equivalent relative speed in the third sensing auxiliary information last sent by the first sensing node.

[0289] Those skilled in the art can understand that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. For example, step S201 and step S203 can be executed at the same time, or step S201 can be executed before step S203, and the embodiments of the present application do not limit this.

[0290] In the solution provided in the present application, when the perception node that perceives the perception target needs to be switched from the second perception node to the first perception node, the network device can calculate the Doppler pre-compensation value based on the information of the perception target obtained by the second perception node and the information of the first perception node, thereby ensuring the continuity and stability of the perception service, and pre-compensating the perception signal by using the obtained Doppler pre-compensation value can improve the accuracy of the perception signal.

[0291] Another communication method provided by the embodiment of the present application is described below. Figure 3 , Figure 3 FIG. 1 is an interactive diagram of another communication method provided in an embodiment of the present application. Figure 3 As shown, the communication method may include the following steps. Step S301 is an optional step. Figure 3 Dotted lines are used to indicate this.

[0292] Step S301: The network device sends a second request message to the second sensing node. Correspondingly, the second sensing node receives the second request message from the network device.

[0293] Step S302: The second sensing node sends second sensing auxiliary information to the network device. Correspondingly, the network device receives the second sensing auxiliary information from the second sensing node.

[0294] It is understandable that the implementation of step S301 and step S302 can refer to Figure 2 The specific implementation method of step S203 and step S204 will not be repeated here.

[0295] Step S303: The network device determines the resource requirement when the first sensing node senses the sensing target.

[0296] For example, the network device may determine the resource requirement when the first sensing node senses the sensing target based on the sensing service requirement and / or the sensing target information.

[0297] Step S304: the network device sends a scheduling message to the first sensing node. Correspondingly, the first sensing node receives the scheduling message from the network device.

[0298] The scheduling message is used to indicate the perception resource. The perception scheduling resource is determined according to the resource requirement of the first sensing node when the network device perceives the perception target. In the subsequent process, the first sensing node can perceive the perception target based on the perception resource indicated in the received scheduling message.

[0299] Step S305: the network device sends the second perception auxiliary information to the first perception node. Correspondingly, the first perception node receives the second perception auxiliary information from the network device.

[0300] The network device (eg, a sensing network element) sends the second sensing auxiliary information to the first sensing node, which can be used by the first sensing node to calculate a Doppler pre-compensation value.

[0301] Alternatively, in a possible implementation, the second sensing node may send the second sensing auxiliary information to the first sensing node. Correspondingly, the first sensing node receives the second sensing auxiliary information from the second sensing node.

[0302] Step S306: the network device sends the third sending condition to the first sensing node. Correspondingly, the first sensing node receives the third sending condition from the network device.

[0303] Wherein, the third sending condition satisfies at least one of the following: the Doppler measurement value is greater than or equal to the preset Doppler measurement value; the first equivalent relative speed is greater than or equal to the preset first equivalent relative speed; the residual Doppler value is greater than or equal to the preset residual Doppler value; the time length from the last sending of the third perception auxiliary information reaches the preset period length. Wherein, the third sending condition may be predefined by the protocol, or may be sent by the network device to the first perception node, and the embodiments of the present application do not limit this. Wherein, the preset Doppler measurement value and / or the preset first equivalent relative speed can be determined based on the maximum unambiguous speed corresponding to the perception resource. Since pre-compensation may not be able to completely eliminate the Doppler frequency shift, that is, the perception result may still have a Doppler frequency shift, the Doppler frequency shift that still exists after pre-compensation is the residual Doppler value.

[0304] The third sending condition is that the time length from the last sending of the third perception auxiliary information reaches a preset period length, that is, the first perception node can periodically send the third perception auxiliary information to the network device.

[0305] It should be noted that the order of step S304-step S306 is not limited. Exemplarily, the first sending condition of the sensing scheduling resource, the second sensing auxiliary information and the sensing target information can be sent to the first sensing node together or separately, and the embodiment of the present application does not limit this.

[0306] Step S307: The first sensing node determines a Doppler pre-compensation value based on the second sensing auxiliary information and / or the first sensing auxiliary information.

[0307] The first perception auxiliary information is used to indicate information of the first perception node.

[0308] In a possible implementation manner, the first perception assistance information may include at least one of the following:

[0309] Speed ​​information of the first sensing node;

[0310] location information of the first sensing node;

[0311] The perception capability information of the first perception node.

[0312] Among them, the speed information and position information of the first perception node can be obtained by the first perception node itself, or can be obtained according to the Global Positioning System (GPS) (non-3GPP positioning method) or the Third Generation Partnership Project (3GPP) positioning method, and the embodiments of the present application are not limited to this.

[0313] The speed information of the first sensing node may be a speed vector, including speed magnitude and speed direction, or a speed scalar, including speed magnitude in the x direction, speed magnitude in the y direction, and speed magnitude in the z direction.

[0314] Furthermore, the velocity information of the first sensing node may also include acceleration information. The acceleration information may be an acceleration vector, including acceleration magnitude and acceleration direction. Alternatively, the acceleration information may be an acceleration scalar, including acceleration magnitude in the x direction, acceleration magnitude in the y direction, and acceleration magnitude in the z direction.

[0315] The implementation method of the Doppler pre-compensation value determined by the first sensing node based on the second sensing auxiliary information and the first sensing auxiliary information can refer to Figure 2The specific implementation manner in which the network device determines the Doppler pre-compensation value based on the second perception auxiliary information and / or the first perception auxiliary information in step S205 is not repeated here.

[0316] In a possible implementation, the first sensing node may determine the Doppler pre-compensation value when one or more of the following conditions are met. The conditions include: the relative speed between the first sensing node and the sensing target is greater than or equal to a preset relative speed; the Doppler frequency shift value corresponding to the first sensing node and the sensing target is greater than or equal to a preset Doppler frequency shift value. In other words, if the above conditions are not met, the first sensing node may not calculate the Doppler pre-compensation value, that is, it is not necessary to perform Doppler pre-compensation.

[0317] Step S308: The first sensing node pre-compensates the first sensing signal according to the Doppler pre-compensation value.

[0318] Step S309: The first sensing node performs sensing measurement to obtain a new Doppler pre-compensation value.

[0319] Step S310: The first sensing node sends the third sensing auxiliary information to the network device. Correspondingly, the network device receives the third sensing auxiliary information from the first sensing node.

[0320] The implementation of steps S308 to S310 can refer to Figure 2 The specific implementation method of steps S207 to S209 will not be repeated here.

[0321] In the solution provided by the present application, the Doppler pre-compensation value is determined by the first sensing node. That is, the first sensing node does not need to send the first sensing auxiliary information to the network device. Thus, while ensuring the continuity and stability of the sensing service, and pre-compensating the sensing signal by the obtained Doppler pre-compensation value can improve the accuracy of the sensing signal, data security can also be improved.

[0322] The above content describes the method embodiments provided by the present application. In order to facilitate better implementation of the above schemes of the embodiments of the present application, the embodiments of the present application also provide corresponding devices.

[0323] The embodiment of the present application can divide the functional modules of the communication device according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0324] See also Figure 4 , Figure 4 is a schematic diagram of the structure of a communication device provided in an embodiment of the present application. The communication device may be a first sensing node, or a device in the first sensing node (eg, a chip, or a chip system, or a circuit). Figure 4 As shown, the communication device 400 at least includes: a processing unit 401; wherein:

[0325] The processing unit 401 is configured to determine a Doppler pre-compensation value, where the Doppler pre-compensation value is obtained based on first perception auxiliary information and / or second perception auxiliary information, where the first perception auxiliary information is used to indicate information of the first perception node, and the second perception auxiliary information is used to indicate information of a perception target, where the information of the perception target is obtained by perception of the second perception node;

[0326] The processing unit 401 is further configured to pre-compensate the first sensing signal according to the Doppler pre-compensation value, where the first sensing signal is a sensing signal between the first sensing node and the sensing target.

[0327] In a possible implementation, the communication device 400 further includes a sending unit 402 and a receiving unit 403, wherein:

[0328] A sending unit 402 is configured to send first perception assistance information to a network device;

[0329] The receiving unit 403 is used to receive a Doppler pre-compensation value from a network device, where the Doppler pre-compensation value is calculated by the network device.

[0330] In a possible implementation, the receiving unit 403 is further used to receive first request information from the network device, where the first request information is used to request first perception auxiliary information.

[0331] In a possible implementation manner, the receiving unit 403 is further configured to receive second perception auxiliary information;

[0332] The processing unit 401 is specifically configured to determine a Doppler pre-compensation value based on the second perceptual auxiliary information and the first perceptual auxiliary information.

[0333] In a possible implementation manner, the second perception auxiliary information includes at least one of the following:

[0334] Perceive the speed information of the target;

[0335] Sense the location information of the target;

[0336] Sense the radar cross-section of the target;

[0337] Transmit or receive beam direction;

[0338] The time difference between sending and receiving the sensing signal.

[0339] In a possible implementation manner, the first perception auxiliary information includes at least one of the following:

[0340] Speed ​​information of the first sensing node;

[0341] location information of the first sensing node;

[0342] The perception capability information of the first perception node.

[0343] In a possible implementation manner, the first request information includes a first sending condition of information of the first sensing node, and the first sending condition satisfies one or more of the following:

[0344] The speed of the first sensing node is greater than or equal to the first preset speed;

[0345] The change value of the speed of the first sensing node is greater than or equal to the first preset speed change value;

[0346] The strength of the sensing signal of the first sensing node is greater than or equal to the first preset signal strength;

[0347] The reception time of the sensing signal of the first sensing node is less than or equal to the first preset reception time;

[0348] The distance between the first sensing node and the sensing target is less than or equal to a first preset distance.

[0349] In a possible implementation manner, the first request information further includes one or more of the following:

[0350] a first preset speed;

[0351] A first preset speed change value;

[0352] a first preset signal strength;

[0353] A first preset receiving time;

[0354] A first preset distance.

[0355] In a possible implementation manner, the first request information also includes a type of perception assistance information, and the type of perception assistance information includes a first type and a second type. The first type of perception assistance information is information of a perception node, and the second type of perception assistance information is information of a perception target.

[0356] In a possible implementation manner, when the type of the perception auxiliary information is the second type, the first request information further includes an identification ID of the perception task and / or an identification ID of the perception target, and the perception task is associated with the perception target.

[0357] In a possible implementation, the receiving unit 403 is further configured to receive a scheduling message, where the scheduling message is used to indicate the perceived scheduling resources.

[0358] In a possible implementation manner, the sending unit 402 is further configured to send third perception assistance information to the network device, where the third perception assistance information is used to indicate the perception measurement information after Doppler pre-compensation.

[0359] In a possible implementation manner, the third perception assistance information includes a Doppler measurement value and / or a first equivalent relative speed.

[0360] In a possible implementation manner, the receiving unit 403 is further configured to receive a Doppler pre-compensation indication from a network device, where the Doppler pre-compensation indication is used to instruct to pre-compensate the sensed echo signal or the original sensed signal;

[0361] The processing unit 401 is specifically configured to pre-compensate the sensed echo signal or the original sensed signal according to the Doppler pre-compensation indication and the Doppler pre-compensation value.

[0362] For a more detailed description of the sending unit 402, the receiving unit 403 and the processing unit 401, please refer to the above Figure 2 and Figure 3 The relevant description of the first perception node in the method embodiment shown is not repeated here.

[0363] Figure 4 The communication device shown may be a network device, or a device in a network device (eg, a chip, or a chip system, or a circuit). Figure 4 As shown, the communication device 400 at least includes: a sending unit 402; wherein:

[0364] The sending unit 402 is used to receive second perception auxiliary information from the second perception node when the perception node that perceives the perception target is switched from the second perception node to the first perception node, where the second perception auxiliary information is used to indicate information about the perception target perceived by the second perception node.

[0365] In a possible implementation, the communication device 400 further includes a receiving unit 403 and a processing unit 401:

[0366] A receiving unit 403 is configured to receive first perception auxiliary information from a first perception node;

[0367] The processing unit 401 is configured to determine a Doppler pre-compensation value based on the second sensing auxiliary information and the first sensing auxiliary information, where the first sensing auxiliary information is used to indicate information of the first sensing node;

[0368] The sending unit 402 is further configured to send the Doppler pre-compensation value to the first sensing node.

[0369] In a possible implementation manner, the sending unit 402 is further configured to send first request information to the first sensing node, where the first request information is used to request first sensing auxiliary information;

[0370] The sending unit 402 is further used to send second request information to the second perception node, where the second request information is used to request second perception auxiliary information.

[0371] In a possible implementation manner, the sending unit 402 is further configured to send second perception auxiliary information to the first perception node.

[0372] In a possible implementation, the sending unit 402 is further used to send second request information to the second perception node, where the second request information is used to request second perception auxiliary information.

[0373] In a possible implementation manner, the second perception auxiliary information includes at least one of the following:

[0374] Perceive the speed information of the target;

[0375] Sense the location information of the target;

[0376] Sense the radar cross-section of the target;

[0377] Transmit or receive beam direction;

[0378] The time difference between sending and receiving the sensing signal.

[0379] In a possible implementation manner, the first perception auxiliary information includes at least one of the following:

[0380] Speed ​​information of the first sensing node;

[0381] location information of the first sensing node;

[0382] The perception capability information of the first perception node.

[0383] In a possible implementation manner, the first request information includes a first sending condition of the information of the first sensing node, and the first sending condition satisfies any one or more of the following:

[0384] The speed of the first sensing node is greater than or equal to the first preset speed;

[0385] The change value of the speed of the first sensing node is greater than or equal to the first preset speed change value;

[0386] The strength of the sensing signal of the first sensing node is less than or equal to the first preset signal strength;

[0387] The reception time of the sensing signal of the first sensing node is greater than or equal to the first preset reception time;

[0388] The distance between the first sensing node and the sensing target is greater than or equal to a first preset distance.

[0389] In a possible implementation manner, the first request information further includes one or more of the following:

[0390] a first preset speed;

[0391] A first preset speed change value;

[0392] a first preset signal strength;

[0393] A first preset receiving time;

[0394] A first preset distance.

[0395] In a possible implementation manner, the second request information includes a second sending condition of the information of the sensing target, and the second sending condition satisfies any one or more of the following:

[0396] The speed of the perceived target is greater than or equal to a second preset speed;

[0397] The change value of the speed of the perceived target is greater than or equal to a second preset speed change value;

[0398] The strength of the sensing signal of the second sensing node is less than or equal to the second preset signal strength;

[0399] The reception time of the sensing signal of the second sensing node is greater than or equal to the second preset reception time;

[0400] The distance between the second sensing node and the sensing target is greater than or equal to a second preset distance.

[0401] In a possible implementation manner, the second request information further includes one or more of the following:

[0402] a second preset speed;

[0403] A second preset speed change value;

[0404] a second preset signal strength;

[0405] A second preset receiving time;

[0406] The second preset distance.

[0407] In a possible implementation, the first request information or the second request information also includes a type of perception auxiliary information, and the type of perception auxiliary information includes a first type and a second type. The first type of perception auxiliary information is information of the perception node, and the second type of perception auxiliary information is information of the perception target.

[0408] In a possible implementation, when the type of the perception auxiliary information is the second type, the first request information or the second request information further includes an identification ID of the perception task and / or an identification ID of the perception target, and the perception task is associated with the perception target.

[0409] In a possible implementation manner, the sending unit 402 is further used to send a scheduling message to the first sensing node, where the scheduling message is used to indicate the sensing resources.

[0410] In a possible implementation manner, the sending unit 402 is further configured to send a Doppler pre-compensation indication to the first sensing node, where the Doppler pre-compensation indication is used to instruct to pre-compensate the sensed echo signal or the original sensed signal.

[0411] In a possible implementation manner, the receiving unit 403 is further used to receive third perception auxiliary information from the first perception node, where the third perception auxiliary information is used to indicate the perception measurement information after Doppler pre-compensation.

[0412] In a possible implementation manner, the third perception assistance information includes a Doppler measurement value and / or a first equivalent relative speed.

[0413] For a more detailed description of the sending unit 402, the receiving unit 403 and the processing unit 401, please refer to the above Figure 2 and Figure 3 The relevant description of the network device in the method embodiment shown is not repeated here.

[0414] See also Figure 5 , Figure 5 is a schematic diagram of the structure of another communication device provided in an embodiment of the present application. The communication device may be a second sensing node, or a device in the second sensing node (eg, a chip, or a chip system, or a circuit). Figure 5 As shown, the communication device 500 at least includes: a sending unit 501; wherein:

[0415] The sending unit 501 is used to send second perception auxiliary information, where the second perception auxiliary information is used to indicate information about a perception target perceived by a second perception node.

[0416] In a possible implementation manner, the communication device 500 further includes a receiving unit 502, configured to receive second request information, where the second request information is used to request second perception assistance information.

[0417] In a possible implementation manner, the second perception auxiliary information includes at least one of the following:

[0418] Perceive the speed information of the target;

[0419] Sense the location information of the target;

[0420] Sense the radar cross-section of the target;

[0421] Transmit or receive beam direction;

[0422] The time difference between sending and receiving the sensing signal.

[0423] In a possible implementation manner, the second request information includes a second sending condition of the information of the sensing target, and the second sending condition satisfies any one or more of the following:

[0424] The speed of the perceived target is greater than or equal to a second preset speed;

[0425] During the sensing period of the second sensing node, the change value of the speed of the sensed target is greater than or equal to the second preset speed change value;

[0426] The strength of the sensing signal of the second sensing node is less than or equal to the second preset signal strength;

[0427] The reception time of the sensing signal of the second sensing node is greater than or equal to the second preset reception time;

[0428] The distance between the second sensing node and the sensing target is greater than or equal to a second preset distance.

[0429] In a possible implementation manner, the second request information further includes one or more of the following:

[0430] a second preset speed;

[0431] A second preset speed change value;

[0432] a second preset signal strength;

[0433] A second preset receiving time;

[0434] The second preset distance.

[0435] In a possible implementation, the second request information also includes a type of perception assistance information, and the type of perception assistance information includes a first type and a second type. The first type of perception assistance information is information about the perception node, and the second type of perception assistance information is information about the perception target.

[0436] In a possible implementation, when the type of the perception auxiliary information is the second type, the second request information further includes an identification ID of the perception task and / or an identification ID of the perception target, and the perception task is associated with the perception target.

[0437] For a more detailed description of the sending unit 501 and the receiving unit 502, please refer to the above Figure 2 and Figure 3 The relevant description of the second sensing node in the method embodiment shown is not repeated here.

[0438] See also Figure 6 , Figure 6 is a schematic diagram of the structure of another communication device provided in an embodiment of the present application. Figure 6 As shown, the device 700 may include one or more processors 710, which may also be referred to as processing units, and may implement certain control functions. The processor 710 may be a general-purpose processor or a dedicated processor, etc. For example, it may be a baseband processor or a central processing unit. The baseband processor may be used to process communication protocols and communication data, and the central processing unit may be used to control a communication device (such as a base station, a baseband chip, a terminal, a terminal chip, a DU or a CU, etc.), execute a software program, and process data of the software program.

[0439] In an optional design, the processor 710 may also store instructions 730 and / or data, and the instructions 730 and / or data can be executed by the processor so that the device 700 executes the method described in the above method embodiment.

[0440] In another optional design, the processor 710 may include a transceiver unit for implementing the receiving and sending functions. For example, the transceiver unit may be a transceiver circuit, or an interface, or an interface circuit, or a communication interface. The transceiver circuit, interface, or interface circuit for implementing the receiving and sending functions may be separate or integrated. The above-mentioned transceiver circuit, interface, or interface circuit may be used for reading and writing code / data, or the above-mentioned transceiver circuit, interface, or interface circuit may be used for transmitting or delivering signals.

[0441] In yet another possible design, the apparatus 700 may include a circuit, which may implement the functions of sending, receiving, or communicating in the aforementioned method embodiments.

[0442] Optionally, the device 700 may include one or more memories 720, on which instructions 740 and / or data may be stored, and the instructions 740 and / or data may be executed on the processor, so that the device 700 performs the method described in the above method embodiment. Optionally, data may also be stored in the memory. Optionally, instructions and / or data may also be stored in the processor. The processor and memory may be provided separately or integrated together. For example, the corresponding relationship described in the above method embodiment may be stored in a memory or in a processor.

[0443] Optionally, the device 700 may further include a transceiver 750 and / or an antenna 760. The processor 710 may be referred to as a processing unit, which controls the device 700. The transceiver 750 may be referred to as a transceiver unit, a transceiver, a transceiver circuit, a transceiver device or a transceiver module, etc., which is used to implement a transceiver function.

[0444] Optionally, the device 700 in the embodiment of the present application can be used to execute the embodiment of the present application Figure 2 and Figure 3 Describe the method.

[0445] In one embodiment, the communication device 700 may be a first sensing node, or may be a device in the first sensing node (e.g., a chip, or a chip system, or a circuit). When the computer program instructions stored in the memory 720 are executed, the processor 710 is used to execute the operations performed by the processing unit 401 in the above embodiment, and the transceiver 750 is used to execute the operations performed by the sending unit 402 and the receiving unit 403 in the above embodiment. The transceiver 750 is also used to send information to other communication devices outside the communication device. The above first sensing node or the device in the first sensing node may also be used to execute the above Figure 2 and Figure 3 The various methods performed by the first perception node in the method embodiment are not described in detail.

[0446] In one embodiment, the communication device 700 may be a second sensing node, or may be a device in the second sensing node (e.g., a chip, or a chip system, or a circuit). When the computer program instructions stored in the memory 720 are executed, the transceiver 750 is used to perform the operations performed by the sending unit 501 and the receiving unit 502 in the above embodiment, and the transceiver 750 is also used to receive information from other communication devices other than the communication device. The above second sensing node or the device in the second sensing node may also be used to perform the above Figure 2 and Figure 3 The various methods performed by the second sensing node in the method embodiment are not described in detail.

[0447] In one embodiment, the communication device 700 may be a network device or a device in the network device (e.g., a chip, or a chip system, or a circuit). When the computer program instructions stored in the memory 720 are executed, the processor 710 is used to execute the operations performed by the processing unit 401 in the above embodiment, and the transceiver 750 is used to execute the operations performed by the sending unit 402 and the receiving unit 403 in the above embodiment. The transceiver 750 is also used to receive information from other communication devices other than the communication device. The above network device or the device in the network device may also be used to execute the above Figure 2 and Figure 3The various methods executed by the network device in the method embodiment are not described in detail.

[0448] The processor and transceiver described in the present application can be implemented in an integrated circuit (IC), an analog IC, a radio frequency interface chip (RFIC), a mixed signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), an electronic device, etc. The processor and the transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (NMOS), P-type metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

[0449] The device described in the above embodiments may be a first sensing node, a second sensing node or a second network device, but the scope of the device described in the present application is not limited thereto, and the structure of the device may not be limited thereto. Figure 6 The device may be a stand-alone device or may be part of a larger device. For example, the device may be:

[0450] (1) Independent integrated circuit IC, or chip, or chip system or subsystem;

[0451] (2) having a set of one or more ICs, and optionally, the IC set may also include a storage component for storing data and / or instructions;

[0452] (3) ASIC, such as modem (MSM);

[0453] (4) Modules that can be embedded in other devices;

[0454] (5) Receivers, terminals, smart terminals, cellular phones, wireless devices, handheld devices, mobile units, vehicle-mounted devices, network devices, cloud devices, artificial intelligence devices, machine equipment, household equipment, medical equipment, industrial equipment, etc.;

[0455] (6) Others

[0456] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, it can implement the process related to the first perception node in the method provided in the above method embodiment.

[0457] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, it can implement the process related to the second perception node in the method provided in the above method embodiment.

[0458] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the process related to the network device in the method provided in the above method embodiment can be implemented.

[0459] The embodiment of the present application also provides a computer program product, which, when executed on a computer or processor, enables the computer or processor to perform one or more steps in any of the above methods. If the components of the above-mentioned devices are implemented in the form of software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium.

[0460] The embodiment of the present application also provides a chip system, including at least one processor and a communication interface, wherein the communication interface and the at least one processor are interconnected through a line, and the at least one processor is used to run a computer program or instruction to execute the above-mentioned Figure 2 and Figure 3 Any part or all of the steps recorded in the corresponding method embodiment. The chip system can be composed of a chip, or can include a chip and other discrete devices.

[0461] The embodiment of the present application also discloses a communication system, which includes a first sensing node, a second sensing node and a network device. For a specific description, please refer to Figure 2 and Figure 3 The method shown.

[0462] It should be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a hard disk drive (HDD), a solid-state drive (SSD), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous connection dynamic random access memory (SLDRAM) and direct rambus RAM (DRRAM). Memory is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory in the embodiment of the present application can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0463] It should also be understood that the processor mentioned in the embodiments of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0464] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) is integrated in the processor.

[0465] It should be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0466] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0467] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments provided herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0468] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0469] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0470] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0471] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0472] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0473] The steps in the method of the embodiment of the present application can be adjusted in order, combined and deleted according to actual needs.

[0474] The modules / units in the device of the embodiment of the present application can be combined, divided and deleted according to actual needs.

[0475] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A communication method, characterized in that: Applied to the first sensing node, the method includes: Determine a Doppler pre-compensation value, where the Doppler pre-compensation value is obtained based on first perception auxiliary information and second perception auxiliary information, where the first perception auxiliary information is used to indicate information of the first perception node, and the second perception auxiliary information is used to indicate information of a perception target, where the information of the perception target is obtained by perception of the second perception node; A first sensing signal is pre-compensated according to the Doppler pre-compensation value, where the first sensing signal is a sensing signal between the first sensing node and the sensing target.

2. The method according to claim 1, characterized in that Determining the Doppler pre-compensation value comprises: Sending the first perception auxiliary information to a network device; The Doppler pre-compensation value is received from the network device, where the Doppler pre-compensation value is calculated by the network device.

3. The method according to claim 1, characterized in that Determining the Doppler pre-compensation value comprises: receiving the second perception auxiliary information; A Doppler pre-compensation value is determined based on the second perceptual assistance information and the first perceptual assistance information.

4. The method according to claim 1, characterized in that: The second perceptual assistance information includes at least one of the following: Speed ​​information of the perceived target; The location information of the sensing target; The radar cross-sectional area of ​​the perceived target; Transmit or receive beam direction; The time difference between sending and receiving the sensing signal.

5. The method according to claim 1, characterized in that The first perceptual assistance information includes at least one of the following: speed information of the first sensing node; location information of the first sensing node; The perception capability information of the first perception node.

6. The method according to claim 2, characterized in that The method further comprises: Receive first request information from the network device, where the first request information is used to request the first perception auxiliary information, where the first request information includes a first sending condition of the information of the first perception node, where the first sending condition includes one or more of the following: The speed of the first sensing node is greater than or equal to a first preset speed; The change value of the speed of the first sensing node is greater than or equal to a first preset speed change value; The strength of the sensing signal of the first sensing node is greater than or equal to a first preset signal strength; The reception time of the perception signal of the first perception node is less than or equal to the first preset reception time; The distance between the first sensing node and the sensing target is less than or equal to a first preset distance.

7. The method according to claim 6, characterized in that The first request information also includes one or more of the following: the first preset speed; the first preset speed change value; the first preset signal strength; the first preset receiving time; The first preset distance.

8. The method according to claim 7, characterized in that The first request information also includes a type of perception assistance information, and the type of perception assistance information includes a first type and a second type. The first type of perception assistance information is information of a perception node, and the second type of perception assistance information is information of a perception target.

9. The method according to claim 8, characterized in that In the case where the type of the perception auxiliary information is the second type, the first request information further includes an identification ID of a perception task and / or an identification ID of a perception target, and the perception task is associated with the perception target.

10. The method according to claim 1, characterized in that The method further comprises: The third perception assistance information is sent to the network device, where the third perception assistance information is used to indicate the perception measurement information after Doppler pre-compensation.

11. The method according to claim 10, characterized in that The third perception assistance information includes a Doppler measurement value and / or a first equivalent relative speed.

12. The method according to any one of claims 1 to 11, characterized in that: The method further comprises: receiving a Doppler pre-compensation indication from a network device, wherein the Doppler pre-compensation indication is used to indicate pre-compensation of a sensed echo signal or an original sensed signal; The pre-compensating the first sensing signal according to the Doppler pre-compensation value comprises: The sensed echo signal or the original sensed signal is pre-compensated according to the Doppler pre-compensation indication and the Doppler pre-compensation value.

13. A communication method, characterized in that: Applied to the second sensing node, the method includes: Send second perception auxiliary information, where the second perception auxiliary information is used to indicate information of a perception target perceived by the second perception node, so as to determine a Doppler pre-compensation value, where the Doppler pre-compensation value is obtained based on the second perception auxiliary information and the first perception auxiliary information, where the first perception auxiliary information is used to indicate information of the first perception node, and the Doppler pre-compensation value is used by the first perception node to pre-compensate a first perception signal, where the first perception signal is a perception signal between the first perception node and the perception target.

14. The method according to claim 13, characterized in that The second perceptual assistance information includes at least one of the following: Speed ​​information of the perceived target; The location information of the sensing target; The radar cross-sectional area of ​​the perceived target; Transmit or receive beam direction; The time difference between sending and receiving the sensing signal.

15. The method according to claim 13, characterized in that The method further comprises: receiving second request information, where the second request information is used to request the second perception auxiliary information, where the second request information includes a second sending condition of the information of the perception target, where the second sending condition includes any one or more of the following: The speed of the perceived target is greater than or equal to a second preset speed; The change value of the speed of the perceived target is greater than or equal to a second preset speed change value; The strength of the sensing signal of the second sensing node is less than or equal to a second preset signal strength; The reception time of the perception signal of the second perception node is greater than or equal to the second preset reception time; The distance between the second sensing node and the sensing target is greater than or equal to a second preset distance.

16. The method according to claim 15, characterized in that The second request information further includes one or more of the following: the second preset speed; the second preset speed change value; the second preset signal strength; the second preset receiving time; The second preset distance.

17. The method according to claim 15, characterized in that The second request information also includes a type of perception assistance information, and the type of perception assistance information includes a first type and a second type. The first type of perception assistance information is information of a perception node, and the second type of perception assistance information is information of a perception target.

18. The method according to claim 17, characterized in that In the case that the type of the perception auxiliary information is the second type, the second request information further includes an identification ID of the perception task and / or an identification ID of the perception target, and the perception task is associated with the perception target.

19. A communication method, characterized in that: Applied to a network device, the method comprises: In a case where a sensing node that senses a sensing target is switched from a second sensing node to a first sensing node, second sensing auxiliary information is received from the second sensing node, where the second sensing auxiliary information is used to indicate information of the sensing target sensed by the second sensing node, so as to determine a Doppler pre-compensation value, where the Doppler pre-compensation value is obtained based on the second sensing auxiliary information and the first sensing auxiliary information, where the first sensing auxiliary information is used to indicate information of the first sensing node, and where the Doppler pre-compensation value is used by the first sensing node to pre-compensate a first sensing signal, where the first sensing signal is a sensing signal between the first sensing node and the sensing target.

20. The method according to claim 19, characterized in that The method further comprises: receiving the first perception auxiliary information from the first perception node; Determining the Doppler pre-compensation value based on the second perceptual assistance information and the first perceptual assistance information; Sending the Doppler pre-compensation value to the first sensing node.

21. The method according to claim 19, characterized in that The method further comprises: The second perception auxiliary information is sent to the first perception node.

22. The method according to claim 19, characterized in that The second perceptual assistance information includes at least one of the following: Speed ​​information of the perceived target; The location information of the sensing target; The radar cross-sectional area of ​​the perceived target; Transmit or receive beam direction; The time difference between sending and receiving the sensing signal.

23. The method according to claim 20 or 21, characterized in that The first perceptual assistance information includes at least one of the following: speed information of the first sensing node; location information of the first sensing node; The perception capability information of the first perception node.

24. The method according to claim 20, characterized in that The method further comprises: Sending first request information to the first sensing node, where the first request information is used to request the first sensing auxiliary information; Sending second request information to the second sensing node, where the second request information is used to request the second sensing auxiliary information; The first request information includes a first sending condition of the information of the first sensing node, where the first sending condition includes any one or more of the following: The speed of the first sensing node is greater than or equal to a first preset speed; The change value of the speed of the first sensing node is greater than or equal to a first preset speed change value; The strength of the sensing signal of the first sensing node is greater than or equal to a first preset signal strength; The reception time of the perception signal of the first perception node is less than or equal to the first preset reception time; The distance between the first sensing node and the sensing target is less than or equal to a first preset distance; The second request information includes a second sending condition of the information of the sensing target, and the second sending condition satisfies any one or more of the following: The speed of the perceived target is greater than or equal to a second preset speed; The change value of the speed of the perceived target is greater than or equal to a second preset speed change value; The strength of the sensing signal of the second sensing node is less than or equal to a second preset signal strength; The reception time of the perception signal of the second perception node is greater than or equal to the second preset reception time; The distance between the second sensing node and the sensing target is greater than or equal to a second preset distance.

25. The method according to claim 24, characterized in that The first request information also includes one or more of the following: the first preset speed; the first preset speed change value; the first preset signal strength; the first preset receiving time; The first preset distance.

26. The method according to claim 21, characterized in that The method further comprises: Sending a second request message to the second sensing node, where the second request message is used to request the second sensing auxiliary information, where the second request message includes a second sending condition of the information of the sensing target, where the second sending condition satisfies any one or more of the following: The speed of the perceived target is greater than or equal to a second preset speed; The change value of the speed of the perceived target is greater than or equal to a second preset speed change value; The strength of the sensing signal of the second sensing node is less than or equal to a second preset signal strength; The reception time of the perception signal of the second perception node is greater than or equal to the second preset reception time; The distance between the second sensing node and the sensing target is greater than or equal to a second preset distance.

27. The method according to claim 24 or 26, characterized in that The second request information further includes one or more of the following: the second preset speed; the second preset speed change value; the second preset signal strength; the second preset receiving time; The second preset distance.

28. The method according to claim 24 or 26, characterized in that The first request information or the second request information also includes a type of perception auxiliary information, and the type of perception auxiliary information includes a first type and a second type. The first type of perception auxiliary information is information of a perception node, and the second type of perception auxiliary information is information of a perception target.

29. The method according to claim 28, characterized in that In the case where the type of the perception auxiliary information is the second type, the first request information or the second request information further includes an identification ID of the perception task and / or an identification ID of the perception target, and the perception task is associated with the perception target.

30. The method according to claim 19, characterized in that The method further comprises: A Doppler pre-compensation indication is sent to the first sensing node, where the Doppler pre-compensation indication is used to indicate pre-compensation for sending a sensing signal or receiving a sensing signal.

31. The method according to claim 19, characterized in that The method further comprises: Receive third perception assistance information from the first perception node, where the third perception assistance information is used to indicate perception measurement information after Doppler pre-compensation.

32. The method according to claim 31, characterized in that The third perception assistance information includes a Doppler measurement value and / or a first equivalent relative speed.

33. A communication device, characterized in that: The communication device includes a processor and a storage medium, wherein the storage medium stores instructions, and when the instructions are executed by the processor, the method according to any one of claims 1 to 12 is implemented, or the method according to any one of claims 13 to 18 is implemented, or the method according to any one of claims 19 to 32 is implemented.

Images