Communication sensing method and device and vehicle

Abstract

The embodiment of the invention provides a communication sensing method, a communication sensing device and a vehicle, which can be applied to scenes such as D2D, V2X, MTC, M2M, relay and the like. The method comprises the following steps: acquiring a first signaling, wherein the first signaling is used for indicating at least one antenna panel to receive a signal; transmitting, by the first antenna panel, a first signal at a first time unit, the first signal for SL communication with at least one device; echo signals corresponding to the first signals are received at a second time unit through the at least one antenna panel, the second time unit comprises the first time unit, and the echo signals are used for lateral sensing measurement. When the first antenna panel transmits the first signal, the at least one antenna panel receives the echo signal corresponding to the first signal, so that the problem of a blind area caused by the fact that the antenna panel cannot receive the signal when transmitting the signal in the prior art can be solved, and the sensing measurement precision of a target is improved.

Description

Technical Field

[0001] The present application relates to the field of communication and perception technology, and in particular to a communication perception method, device and vehicle. Background Art

[0002] At present, vehicle-side perception mainly relies on external perception devices such as cameras and vehicle-mounted radars. Considering the high-level autonomous driving business in the future, the vehicle side is required to have higher perception capabilities. If the vehicle-side perception capability is improved by equipping more and more high-precision external perception devices, the perception cost of each vehicle needs to be increased. Communication and perception integration technology uses wireless communication signals to realize the detection, positioning, recognition, imaging and other perception functions of the target. Through communication and perception integration technology, based on the vehicle-side communication perception capability to replace some external perception devices, the vehicle-side perception capability can be improved while taking into account the perception cost of each vehicle, which has great market potential.

[0003] However, in the prior art, the antenna panel on the vehicle side responsible for sending and receiving signals does not receive signals during the transmission and reception conversion period. Therefore, the echo signal reflected back during this period cannot be received, resulting in blind spots in perception and poor target perception accuracy. Summary of the invention

[0004] The embodiments of the present application provide a communication perception method, device and vehicle, which are used to solve the blind spot problem of antenna panel receiving and transmitting signals in the prior art, and can improve the perception and measurement accuracy of the vehicle end to the target.

[0005] In a first aspect, a communication perception method is provided, which can be applied to a first terminal device, or to a chip in the first terminal device, and the method includes: obtaining a first signaling, the first signaling is used to indicate at least one antenna panel to receive a signal; sending a first signal in a first time unit through the first antenna panel, the first signal is used to perform side link (SL) communication with at least one device; receiving an echo signal corresponding to the first signal in a second time unit through at least one antenna panel, the second time unit includes the first time unit, and the echo signal is used for side perception measurement.

[0006] In an embodiment of the present application, when the first antenna panel transmits the first signal, at least one antenna panel receives an echo signal corresponding to the first signal, which can solve the blind spot problem caused by the inability of the antenna panel to receive signals during signal transmission in the prior art, and can improve the perception and measurement accuracy of the target.

[0007] In one possible design, the first antenna panel and at least one antenna panel belong to the first terminal device. The first terminal device can be any device that can be used for communication (such as sidewalk communication), such as a vehicle-mounted terminal, a motor vehicle, a non-motor vehicle, a roadside pedestrian device (including a mobile phone, a tablet computer, etc.), a roadside device, a roadside terminal, etc.; it can also be an embedded communication device in the above-mentioned devices, such as a communication box (telematics box, T-Box) or an on-board navigation unit (on board unit, OBU) in the car. The embodiment of the present application does not limit the specific implementation form of the first terminal device.

[0008] In one possible design, the first signaling is specifically used to instruct at least one antenna panel to turn on the function of receiving signals; receiving the echo signal corresponding to the first signal in the second time unit through at least one antenna panel, including: turning on the function of receiving signals of at least one antenna panel, and receiving the echo signal corresponding to the first signal in the second time unit through at least one antenna panel.

[0009] It can be understood that at least one antenna panel receives the echo signal within the second time unit, which may mean that at least one antenna panel keeps the signal receiving function turned on in the second time unit. The specific time when at least one antenna panel can receive the echo signal depends on the time when the first antenna panel transmits the first signal and the reflection of the first signal by the environment.

[0010] In one possible design, the first signaling includes: an identifier of at least one antenna panel, and / or the number of at least one antenna panel.

[0011] This design method indicates through the first signaling which antenna panels need to receive echo signals during the period when the first antenna panel sends signals, thereby improving the reliability of the solution.

[0012] In a possible design, receiving an echo signal corresponding to a first signal in a second time unit by at least one antenna panel includes: at least one antenna panel receives an echo signal corresponding to the first signal in a first time unit. Accordingly, a first perception measurement result can also be determined based on the echo signal received by at least one antenna panel in the first time unit. The first perception measurement result includes one or more of the following: whether there is a target; the number of targets; the classification of targets; the recognition result of targets; the distance of targets; the angle of targets; and the motion characteristics of targets.

[0013] In this way, the perception measurement result in the blind area can be obtained, and the perception measurement accuracy of the blind area can be improved.

[0014] In a possible design, the second time unit may also include a third time unit, and the third time unit is used for the first antenna panel to receive an echo signal corresponding to the first signal. In other words, the first antenna panel sends a signal first and then receives a signal (or turns on the function of receiving a signal), and at least one antenna panel keeps receiving a signal (or turns on the function of receiving a signal) during the period when the first antenna panel sends and receives a signal.

[0015] Accordingly, the method may further include: receiving an echo signal corresponding to the first signal within a third time unit through the first antenna panel.

[0016] Furthermore, the method may also include: determining the perception measurement result corresponding to each antenna panel based on the echo signal received by each antenna panel in the antenna panel set, the antenna panel set including a first antenna panel and at least one antenna panel; determining the second perception measurement result based on the perception measurement results corresponding to all antenna panels in the antenna panel set.

[0017] In this way, in addition to avoiding the blind spot problem caused by the inability to receive signals during signal transmission by the antenna panel, the perception measurement accuracy of areas outside the blind spot can also be improved.

[0018] In one possible design, determining the second perception measurement result based on the perception measurement results corresponding to all antenna panels in the antenna panel set may include: obtaining an adjustment parameter corresponding to each antenna panel in the antenna panel set; and determining the second perception measurement result based on the perception measurement results and adjustment parameters corresponding to each antenna panel in the antenna panel set. The adjustment parameters include, for example, but are not limited to, at least one of a weight parameter, an angle compensation parameter, and a distance compensation parameter.

[0019] This design method takes into account the different postures of different antenna panels. By adjusting the parameters to adjust the perception measurement results corresponding to each antenna panel, the accuracy of the perception measurement can be further improved.

[0020] In one possible design, the adjustment parameters corresponding to each antenna panel in the antenna panel set are carried in any one of the sidelink control information (SCI), the sidelink-synchronization signal block (SSB), the sidelink-channel state information reference signal CSI-RS, the medium access control layer (MAC) control element (CE), the radio resource control (RRC), the physical sidelink shared channel (PSSCH), and the physical sidelink feedback channel (PSFCH); or, the adjustment parameters corresponding to each antenna panel in the antenna panel set are pre-configured.

[0021] In a possible design, the second time unit may also include a fourth time unit, and the fourth time unit is used for the first antenna panel to switch from a sending mode to a receiving mode. In other words, the first antenna panel needs to last for a fourth time unit from sending a signal to receiving a signal, during which at least one antenna panel can receive an echo signal. Accordingly, receiving an echo signal corresponding to the first signal in the second time unit through at least one antenna panel includes: at least one antenna panel receives an echo signal corresponding to the first signal within the fourth time unit. Furthermore, the method may also include: determining a third perception measurement result based on the echo signal received by at least one antenna panel within the fourth time unit.

[0022] In this design, during the signal transmission and reception switching of the first antenna panel, at least one antenna panel receives the echo signal corresponding to the first signal, which can solve the blind spot problem caused by the inability to receive signals during the signal transmission and reception conversion of the antenna panel in the prior art, and further improve the target perception measurement accuracy.

[0023] In one possible design, the method may further include: obtaining a second signaling, the second signaling being used to instruct the first antenna panel to switch from a transmitting mode to a receiving mode; and switching the first antenna panel from a transmitting mode to a receiving mode within a fourth time unit.

[0024] In this design, the reliability of the solution can be improved by instructing the first antenna panel to switch from the transmission mode to the reception mode through the second signaling.

[0025] In one possible design, the first signaling is carried on any one of SCI, SSB, CSI-RS, MAC CE, RRC, PSSCH, and PSFCH; or, the first signaling is preconfigured.

[0026] In one possible design, the first terminal device is a vehicle, and the deployment position of the antenna panel includes at least one of the front, rear, and roof of the vehicle. For example, the first antenna panel is a front panel antenna, and the at least one antenna panel includes a roof antenna panel and a rear antenna panel. Of course, this is only an example, and the actual first terminal device is not limited to a vehicle, and the deployment position of the antenna panel is not limited to the above three positions.

[0027] In a second aspect, a communication perception method is provided, including: a first antenna panel sends a first signal in a first time unit, the first signal is used to perform SL with at least one device; at least one antenna panel receives an echo signal corresponding to the first signal in a second time unit, the second time unit includes the first time unit, and the echo signal is used for side-by-side perception measurement.

[0028] In one possible design, the first antenna panel and at least one antenna panel belong to the first terminal device.

[0029] In one possible design, the second time unit also includes a third time unit, and the method also includes: the first antenna panel receives an echo signal corresponding to the first signal in the third time unit.

[0030] In one possible design, the second time unit also includes a fourth time unit, and the method also includes: the first antenna panel switches from a transmitting mode to a receiving mode in the fourth time unit.

[0031] In one possible design, the first terminal device is a vehicle, and the deployment position of the antenna panel includes at least one of the front, rear, and roof of the vehicle. For example, the first antenna panel is a front panel antenna, and the at least one antenna panel includes a roof antenna panel and a rear antenna panel.

[0032] According to a third aspect, a communication sensing device is provided, comprising a processor; the processor is used to: obtain a first signaling, the first signaling is used to instruct at least one antenna panel to receive a signal; send a first signal in a first time unit through the first antenna panel, the first signal is used to perform SL communication with at least one device; receive an echo signal corresponding to the first signal in a second time unit through at least one antenna panel, the second time unit includes the first time unit, and the echo signal is used for side-sensing measurement.

[0033] In one possible design, the first antenna panel and at least one antenna panel belong to the first terminal device.

[0034] In one possible design, the first signaling is specifically used to instruct at least one antenna panel to turn on the function of receiving signals; when the processor controls at least one antenna panel to receive the echo signal corresponding to the first signal in the second time unit, it is specifically used to: turn on the function of receiving signals of at least one antenna panel, and receive the echo signal corresponding to the first signal in the second time unit through at least one antenna panel.

[0035] In one possible design, the first signaling includes: an identifier of at least one antenna panel, and / or the number of at least one antenna panel.

[0036] In one possible design, when the processor receives an echo signal corresponding to the first signal in the second time unit through at least one antenna panel, the processor is specifically configured to: at least one antenna panel receives an echo signal corresponding to the first signal in the first time unit. The processor is also configured to: determine a first perception measurement result according to the at least one antenna panel echo signal.

[0037] In a possible design, the first perception measurement result includes one or more of the following: whether there is a target; the number of targets; the classification of the target; the recognition result of the target; the distance of the target; the angle of the target; and the motion characteristics of the target.

[0038] In one possible design, the second time unit also includes a third time unit, and the third time unit is used for the first antenna panel to receive an echo signal corresponding to the first signal; the processor is also used to: receive the echo signal corresponding to the first signal within the third time unit through the first antenna panel.

[0039] In one possible design, the processor is also used to: determine the perception measurement result corresponding to each antenna panel based on the echo signal received by each antenna panel in the antenna panel set, the antenna panel set including a first antenna panel and at least one antenna panel; determine the second perception measurement result based on the perception measurement results corresponding to all antenna panels in the antenna panel set.

[0040] In one possible design, the second time unit also includes a fourth time unit, and the fourth time unit is used to switch the first antenna panel from a transmitting mode to a receiving mode.

[0041] In one possible design, when the processor receives an echo signal corresponding to the first signal through at least one antenna panel in a second time unit, the processor is also used to: at least one antenna panel receives an echo signal corresponding to the first signal in a fourth time unit; the processor is also used to: determine a third perception measurement result based on the echo signal received by at least one antenna panel in the fourth time unit.

[0042] In one possible design, the processor is also used to: obtain a second signaling, the second signaling being used to instruct the first antenna panel to switch from a transmitting mode to a receiving mode; and switch the first antenna panel from a transmitting mode to a receiving mode within the fourth time unit.

[0043] In one possible design, the first signaling is carried on any one of SCI, SSB, CSI-RS, MAC CE, RRC, PSSCH, and PSFCH; or, the first signaling is preconfigured.

[0044] In one possible design, the first terminal device is a vehicle, and the deployment position of the antenna panel includes at least one of the front, rear, and roof of the vehicle. For example, the first antenna panel is a front panel antenna, and the at least one antenna panel includes a roof antenna panel and a rear antenna panel.

[0045] In a fourth aspect, a communication perception device is provided, comprising a module or unit or technical means for executing the method described in the first aspect or any possible design of the first aspect.

[0046] Exemplarily, the device may include: a transceiver unit, used to obtain a first signal, the first signal is used to instruct at least one antenna panel to receive a signal; a transceiver unit, used to send a first signal in a first time unit through a first antenna panel, the first signal is used to perform SL communication with at least one device; and receiving an echo signal corresponding to the first signal in a second time unit through at least one antenna panel, the second time unit includes the first time unit, and the echo signal is used for side sensing measurement.

[0047] In a fifth aspect, a vehicle is provided, comprising a communication sensing device as described in the second aspect or any possible design of the second aspect, or comprising a communication sensing device as described in the third aspect or any possible design of the third aspect.

[0048] In a sixth aspect, a communication perception device is provided, which includes at least one processor and an interface circuit; the interface circuit is used to receive signals from other devices outside the device and transmit them to the processor or send signals from the processor to other devices outside the device, and the processor is used to implement the method described in the first aspect or any possible design of the first aspect through logic circuits or execution code instructions.

[0049] In a seventh aspect, a computer-readable storage medium is provided, wherein a computer program or instructions are stored in the storage medium. When the computer program or instructions are executed by a communication device, the method described in the first aspect or any possible design of the first aspect is implemented.

[0050] According to an eighth aspect, a computer program product is provided, wherein instructions are stored in the computer program product, and when the computer program product is run on a computer, the method described in the first aspect or any possible design of the first aspect is executed.

[0051] For the technical effects of the second to eighth aspects mentioned above, please refer to the technical effects that can be achieved by the corresponding design in the first aspect mentioned above, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a schematic diagram of C-V2X;

[0053] Figure 2 is a schematic diagram of a vehicle-mounted antenna panel;

[0054] Figure 3 is a schematic diagram of the blind area;

[0055] Figure 4 Schematic diagrams of several possible network coverages applicable to the embodiments of the present application;

[0056] Figure 5 A schematic diagram of a communication sensing device provided in an embodiment of the present application;

[0057] Figure 6 A flow chart of a communication perception method provided in an embodiment of the present application;

[0058] Figure 7 is a schematic diagram of a first signal and an echo signal;

[0059] Figure 8 is a schematic diagram of a first signal;

[0060] Fig.9A A possible timing diagram of antenna panel sending and receiving signals;

[0061] Fig. 9B is a schematic diagram of an area corresponding to an echo signal of a first time unit;

[0062] Fig. 10A is another possible timing diagram of antenna panel sending and receiving signals;

[0063] Fig. 10B is a schematic diagram of the area corresponding to the echo signals of the first time unit and the third time unit;

[0064] Fig.11A Schematic diagram of distance measurement;

[0065] Fig. 11B Schematic diagram of angle measurement;

[0066] Fig. 12Ais another possible timing diagram of antenna panel sending and receiving signals;

[0067] Fig. 12B is a schematic diagram of the areas corresponding to the echo signals of the first time unit, the fourth time unit and the third time unit;

[0068] Fig.13 A schematic diagram of another communication sensing device provided in an embodiment of the present application;

[0069] Fig.14 A schematic diagram of another communication sensing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0070] Cellular vehicle-to-everything (C-V2X) is a V2X communication technology developed based on cellular systems. It utilizes and enhances cellular network functions and elements to achieve low-latency and high-reliability communication between various nodes in the vehicle network.

[0071] like Figure 1 As shown in Figure 1, C-V2X includes vehicle to vehicle (V2V), vehicle to pedestrian (V2P), vehicle to infrastructure (V2I), vehicle to network (V2N), etc. As the cellular system evolves from 4G long-term evolution (LTE) to 5G, C-V2X evolves from LTE-V2X to NR-V2X (new radio V2X, NR-V2X).

[0072] Among them, V2V focuses on the sidelink (SL) communication between vehicles. Through V2V communication, vehicles on the road can obtain the driving information and sensor information of other vehicles in real time, which plays an important role in enabling autonomous driving. For extended sensors, after a vehicle senses other vehicles, it informs the other vehicles of this sensor information through V2V, solving the problem of inaccurate environmental perception caused by the limited sensor capabilities of the vehicle itself.

[0073] The perception information on the vehicle side mainly comes from external vehicle-mounted radar, and its frequency is mainly divided into 24GHz band and 77GHz band. The 77GHz band is the frequency band specially allocated to vehicle radar by the International Telecommunication Union. Strictly speaking, 77GHz radar belongs to millimeter wave radar, but in fact 24GHz radar is also called millimeter wave radar. Long-range and medium-range millimeter wave radars are both 77GHz, and short-range is 24GHz. Among them, 77GHz millimeter wave radar is mainly used in front of the car for the detection of medium and long-distance objects, and 24GHz millimeter wave radar is generally installed on the side and rear of the car for blind spot detection, assisted parking system, etc.

[0074] According to the different ways of radiating electromagnetic waves, millimeter wave radar mainly has two working systems: pulse system and continuous wave system. Among them, continuous wave can be divided into frequency shift keying (FSK), phase shift keying (PSK), constant frequency continuous wave (CW), frequency modulated continuous wave (FMCW) and other methods.

[0075] With the configuration of advanced driver assistance in vehicles, more and more features that serve drivers and improve driving safety are being used, and more and more drivers rely on the assistance of advanced driver assistance. As the advanced driver assistance system continues to improve, the vehicle's autonomous driving performance will become more and more advanced. Due to the limitations of the development of intelligent networking (needing cooperation from government departments, improvement of road facilities, etc.), many companies are currently studying autonomous driving based on the reference single-vehicle intelligent model, that is, piling up more and more hardware equipment on the vehicle, writing increasingly intelligent software systems, and realizing increasingly independent advanced driver assistance systems. Considering the future high-level autonomous driving business, the vehicle side is required to have higher perception capabilities, and the vehicle body needs to be equipped with more and more high-precision exogenous perception devices.

[0076] However, in order to meet the needs of higher-level autonomous driving services in the future, the cost of single-vehicle perception will increase significantly, which is unacceptable to both car companies and consumers, and will bring great resistance to the commercialization and industrialization of the Internet of Vehicles. Therefore, the integration of communication and perception and the replacement of some vehicle-side radar equipment based on vehicle-side communication perception capabilities have great market potential.

[0077] The 3rd Generation Partnership Project (3GPP) protocol 37.885 defines the antenna types of vehicle-user equipment (V-UE). According to the protocol, the vehicle-mounted terminal can deploy a variety of antenna panels, such as the roof antenna panel (referred to as the roof panel), the front antenna panel (referred to as the front panel), and the rear antenna panel (referred to as the rear panel). Figure 2 Although there can be multiple antenna panels on the vehicle side at the same time, there is only one antenna panel on the vehicle side that receives or sends signals at the same time and the transmitting and receiving antennas of the signals are the same antenna panel.

[0078] However, based on the single antenna panel receiving and transmitting signals, there will be a problem of perception blind area. This is because the antenna panel does not receive signals during the operation of the transmitter and the transmission and reception conversion period. Therefore, the echo signals reflected back during this period cannot be received by the antenna panel. The area where these echo signals are generated is the "blind area", such as Figure 3 As shown in the figure, within the scope of the blind area, the sensing initiator (such as the device that initiates the sensing service) cannot identify the target in the blind area. In addition, the confidence level of the sensing measurement results based on the single antenna panel reception solution is low.

[0079] In view of this, a technical solution according to an embodiment of the present application is provided, which can solve the blind spot problem of SL perception and can also improve the confidence of the perception measurement results.

[0080] The embodiments of the present application can be applied to scenarios of direct communication between terminals, such as, but not limited to, device-to-device (D2D) scenarios, vehicle-to-everything (V2X) communications, machine type communications (MTC) / machine-to-machine (M2M) scenarios, relay scenarios, etc.

[0081] The embodiments of the present application are applicable to communication scenarios with and without network coverage (the terminal in the embodiments of the present application can be within the coverage of the network device or outside the coverage of the network device), such as Figure 4 As shown, several possible network coverage situations are illustrated, where terminal 1 and terminal 2 communicate directly, wherein both terminal 1 and terminal 2 may be within the network coverage (e.g. Figure 4 (A) in the figure), or both terminal 1 and terminal 2 are out of network coverage (such as Figure 4 (C) in the figure), or one of terminal 1 and terminal 2 is within the network coverage and the other is outside the network coverage (such as Figure 4 (B)), this application embodiment does not limit it.

[0082] It can be understood that in the scenario of direct communication between terminals, the initiator of perception can be a terminal that transmits signals, a terminal that receives signals, or other devices, such as a network device, and the embodiments of the present application do not limit this.

[0083] The embodiments of the present application can also be applied to scenarios where a terminal and a network device communicate, for example Figure 4 In (A), both terminal 1 and terminal 2 can communicate with the network device, for example Figure 4 In (B), terminal 1 can communicate with the network device.

[0084] It can be understood that in the scenario where the terminal and the network device communicate directly, the initiator of perception can be the terminal, the network device, or other devices, and the embodiments of the present application do not limit this.

[0085] The network device in the embodiments of the present application may include an access network device.

[0086] The main function of the access network device is to control the terminal to access the mobile communication network through wireless. The access network device is part of the mobile communication system, which implements a wireless access technology. Exemplarily, the access network device can be, for example, a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next generation NodeB (gNB) in a 5G mobile communication system, a next generation base station in a sixth generation (6th generation, 6G) mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system, etc.; it can also be a module or unit that completes part of the functions of a base station, for example, a centralized unit (CU) or a distributed unit (DU). The wireless access network device can be a macro base station, a micro base station or an indoor station, a relay node or a donor node, etc. It can be understood that all or part of the functions of the wireless access network device in this application can also be implemented by software functions running on hardware, or by virtualization functions instantiated on a platform (such as a cloud platform). The embodiments of the present application do not limit the specific technology and specific device form adopted by the wireless access network device.

[0087] It can be understood that in different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in an open access network (open RAN, O-RAN or ORAN) system, CU may also be called O-CU (open CU), DU may also be called O-DU, CU-CP may also be called O-CU-CP, CU-UP may also be called O-CU-UP, and RU may also be called O-RU. For the convenience of description, CU, CU-CP, CU-UP, DU and RU are described as examples in this application. Any unit of CU (or CU-CP, CU-UP), DU and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0088] The terminal in the embodiment of the present application may be any device that can be used for communication (including sidewalk communication), such as a vehicle-mounted terminal, a motor vehicle, a non-motor vehicle, a roadside pedestrian device (including a mobile phone, a tablet computer, etc.), a roadside device, a roadside terminal, etc. The terminal in the embodiment of the present application may also be an embedded communication device in the above-mentioned devices, and the embodiment of the present application does not limit the specific implementation form of the terminal.

[0089] See also Figure 5 , is a schematic diagram of a communication sensing device provided in an embodiment of the present application, including a baseband processor and multiple antenna panels, Figure 5 The example above takes three antenna panels, but is not limited to this.

[0090] When the communication sensing device transmits a signal, the baseband processor is used to generate a baseband signal, which is modulated by the radio frequency link and transmitted to the physical antenna for transmission. When the communication sensing device receives a signal, the physical antenna receives the electromagnetic wave signal, which is modulated by the radio frequency link and transmitted to the baseband processor. The radio frequency link includes a digital radio frequency link and an analog radio frequency link, which may specifically include an analog-to-digital converter, a frequency converter, a phase shifter, a power amplifier, etc.

[0091] In some embodiments, the RF link can be divided into a transmission link and a receiving link according to the transmission direction of the signal in the RF link, the transmission link is used to send signals, and the receiving link is used to receive signals. In a specific implementation, the transmission link and the receiving link can share the same physical antenna through an antenna duplexer. The antenna duplexer has a switch function (for example, an SPDT switch), and the signal transmission and reception switching is controlled by controlling the switch, such as during signal transmission, turning on the transmission link and turning off the receiving link, and during signal reception, turning on the receiving link and turning off the transmission link.

[0092] It can be understood that the antenna panel involved in the embodiment of the present application includes a physical antenna. Optionally, the antenna panel may also include a radio frequency link. The embodiment of the present application does not limit the specific structure of the antenna panel.

[0093] In some embodiments, different antenna panels may share the same radio frequency link; in other embodiments, different antenna panels correspond to different radio frequency links. Figure 5 The example in which different antenna panels correspond to different RF links is taken.

[0094] Optionally, the processing device in the communication sensing device may include a controller (such as a micro controller unit (MCU) or a central processing unit (CPU), etc.) in addition to the baseband processor.

[0095] It can be understood that the communication perception device in the embodiment of the present application can be a device dedicated to communication perception, or it can be a communication device with perception function, and the present application does not impose any restrictions.

[0096] As an example, the communication sensing device can be a vehicle-mounted terminal or located in a vehicle-mounted terminal. The vehicle-mounted terminal is specifically a communication box (telematics box, T-Box) or an on-board navigation unit (on board unit, OBU). Among them, T-box originates from the "end-pipe-cloud" architecture model of the Internet of Vehicles, and serves as a network cloud and vehicle information interaction node in the system. OBU is responsible for communicating with the road side communication unit (road side unit, RSU). The main responsibilities of OBU are: completing the reporting of vehicle status messages (basic safety message, BSM) messages, receiving and parsing V2X messages, reading and parsing controller area network (controller area network, CAN) data, displaying and reminding messages, ensuring information security, etc. T-Box or OBU can control the antenna panel to send and receive signals by obtaining instructions.

[0097] See also Figure 6 , is a flow chart of a communication perception method provided in an embodiment of the present application. The method can be applied to a terminal device having multiple antenna panels, such as a first terminal device, which can be Figure 5 The communication sensing device shown, or the first terminal device may include Figure 5 The communication sensing device shown. The execution subject of this method is the first terminal device or the communication module in the first terminal device, such as a chip in the first terminal device. For the convenience of description, the following is introduced by taking the execution subject as the first terminal device as an example.

[0098] S601. A first terminal device obtains a first signaling, where the first signaling is used to instruct at least one antenna panel to receive a signal.

[0099] As an example, a baseband processor of the first terminal device obtains the first signaling.

[0100] As an example, the name of the first signaling is enabling the distributed transceiver antenna feature (VehicleMultiPanelEnable), which is of course only an example and is not limited to this.

[0101] In some embodiments, the first signaling may be preconfigured.

[0102] Among them, the pre-configuration may be configured according to the protocol or in other ways, and the specific pre-configuration method is not limited in the embodiments of the present application. The "pre-definition" or "pre-configuration" described in the embodiments of the present application can be implemented by pre-saving the corresponding code, table or other methods that can be used to indicate relevant information in the device (for example, including terminal equipment and network equipment), and the present application does not limit its specific implementation method. Among them, "save" may refer to being stored in one or more memories. The one or more memories may be set separately or integrated in an encoder or decoder, a processor, or a communication device. The one or more memories may also be set separately in part and integrated in a decoder, a processor, or a communication device. The type of memory may be any form of storage medium, which is not limited in the present application. The "protocol" involved in the embodiments of the present application may refer to a standard protocol in the field of communication, such as an LTE protocol, an NR protocol, and related protocols used in future communication systems, which are not limited in the present application.

[0103] Exemplarily, the first terminal device may read the first signaling locally, wherein the first signaling may be stored in a baseband processor or a storage medium, or stored in other controllers (such as an MCU or a CPU, etc.) of the first terminal device, which is not limited in the embodiment of the present application.

[0104] In some other embodiments, the first signaling may be sent by other devices (such as the second terminal device or network device). In this case, the sender of the first signaling may be a peer device (such as the second terminal device or network device) communicating with the first terminal device.

[0105] When the first terminal device receives the first signaling from other devices (such as the second terminal device or the network device, etc.), the first signaling can be carried by sidelink control information (SCI), sidelink-synchronization signal block (synchronization signal and PBCH block, SSB), sidelink-channel state information reference signal CSI-RS, medium access control layer (MAC) control element (CE), radio resource control (RRC), physical sidelink shared channel (PSSCH), physical sidelink feedback channel (PSFCH), etc.

[0106] Optionally, the sender of the first signaling may be an initiator of the sidewalk awareness measurement service.

[0107] The at least one antenna panel is part or all of the antenna panels in the first terminal device except the antenna panel that transmits signals (such as the first antenna panel in step S602). In other words, the at least one antenna panel is an antenna panel that does not transmit signals. Figure 2 Taking the shown car as an example, the first terminal device includes a front antenna panel, a roof antenna panel, and a rear antenna panel, wherein the first antenna panel is the front antenna panel, and at least one antenna panel is the roof antenna panel and / or the rear antenna panel.

[0108] S602. A first terminal device sends a first signal in a first time unit through a first antenna panel, where the first signal is used to perform SL communication with at least one device.

[0109] Exemplarily, the baseband processor of the first terminal device controls the first antenna panel to send a first signal in a first time unit, at least one device receives the first signal in the first time unit, and at least one device parses the first signal to obtain information.

[0110] The first terminal device may send the first signal in the first time unit through the first antenna panel, which means that the first signal is continuously sent from the beginning of the first time unit to the end of the first time unit. Figure 8As shown, the first signal is an OFDM signal. The first terminal device sends a series of high-density OFDM pulse signals in the first time unit through the first antenna panel. Since the time interval between adjacent pulses is extremely short, it can be considered that the first signal exists continuously in the first time unit.

[0111] In some embodiments, the first signal may be a signal used for communication, such as an orthogonal frequency division multiplexing (OFDM) signal, including but not limited to a physical sidelink shared channel (PSSCH) signal, a physical sidelink control channel (PSCCH) signal, etc. In other embodiments, the first signal may be a signal used for communication and perception. The embodiments of the present application do not limit the specific type of the first signal.

[0112] In some embodiments, the first antenna panel may be associated with a perception measurement scenario or a communication scenario. Figure 2 For example, when the vehicle needs to sense and measure the environment in front of the vehicle or the vehicle needs to communicate with the vehicle in front of the vehicle, the first antenna panel can be the front antenna panel; when the vehicle needs to sense and measure the environment behind the vehicle (such as a reversing scene) or the vehicle needs to communicate with the vehicle behind the vehicle, the first antenna panel can be the rear antenna panel. Of course, the above is only an example and is not limited to this.

[0113] In the embodiment of the present application, the first time unit may be one or more time slots, or one or more symbols, or one or more subframes, or one or more frames, etc. The embodiment of the present application does not specifically limit the length and measurement unit of the first time unit.

[0114] S603. The first terminal device receives an echo signal corresponding to the first signal in a second time unit through at least one antenna panel, where the second time unit includes the first time unit, and the echo signal is used for side-sensing measurement.

[0115] Exemplarily, the baseband processor of the first terminal device controls at least one antenna panel to receive an echo signal corresponding to the first signal in the second time unit.

[0116] The second time unit includes the first time unit, which means that the start time of the second time unit is earlier than or equal to the start time of the first time unit, and the end time of the second time unit is later than or equal to the end time of the first time unit. Fig.9Ais a possible timing diagram of the antenna panel sending and receiving signals, the second time unit and the first time unit start at the same time and the second time unit ends later than the first time unit. Fig. 9B , which is a schematic diagram of the area corresponding to the echo signal of the first time unit, that is, a schematic diagram of the area corresponding to the echo signal received by at least one antenna panel in the first time unit, that is, the first signal is reflected by these areas to form an echo signal in the first time unit.

[0117] The echo signal of the first signal refers to a signal that, after the first signal is sent out, is reflected by an object in the environment, and then returns to the first terminal device and is received by the first terminal device. Figure 7 As shown. It can be understood that, since the echo signal is transmitted through space and reflected by objects, there will be a certain degree of deformation, so the waveform of the echo signal may be different from the first signal. In addition, the echo signal may be formed by only part of the first signal sent by the first terminal device, and other signals sent by the first terminal device may be received by at least one device, or diffused into the ambient space without returning to the first terminal device.

[0118] At least one antenna panel receives an echo signal within the second time unit, including: at least one antenna panel keeps turning on the signal receiving function (or keeps the receiving function turned on) within the second time unit. The specific moments at which the at least one antenna panel can receive the echo signal depend on the time when the first antenna panel transmits the first signal and the reflection of the first signal by the environment. In some embodiments, the first terminal device receives the echo signal corresponding to the first signal in the second time unit through at least one antenna panel, and also includes: the first terminal device receives the echo signal corresponding to the first signal within the second time unit through at least one antenna panel. Among them, receiving the echo signal corresponding to the first signal within the second time unit includes receiving the echo signal corresponding to the first signal at any one or more moments within the second time unit.

[0119] In one possible design, the first signaling is specifically used to instruct at least one antenna panel to enable a function of receiving signals. Accordingly, the first terminal device enables the function of receiving signals of at least one antenna panel. For example, the baseband processor controls the transceiver switch corresponding to the at least one antenna panel to be in a receiving state according to the first signal.

[0120] In one possible design, the first signaling is 1 bit, and the bit is used to indicate whether to enable the function of receiving signals, which is equivalent to the first signaling having only "yes" or "no" functions. For example, when the value of the bit is 1 (such as VehicleMultiPanelEnable=1), the bit is used to indicate whether to enable the function of receiving signals; when the value of the bit is 0 (such as VehicleMultiPanelEnable=0), the bit is used to indicate whether to disable the function of receiving signals.

[0121] In this case, it can be considered that the first signaling is for all antenna panels, and at least one antenna panel is all antenna panels other than the first antenna panel. It can be understood that since the first antenna panel sends the first signal in the first time unit, the first antenna panel will not respond to the first signaling (optionally, the first antenna panel will not respond to the first signaling in the first time unit).

[0122] Alternatively, the first terminal device may determine at least one antenna panel according to a preset strategy, such as randomly determining an antenna panel, or determining an antenna panel according to a requirement of a perceived service, etc.

[0123] In a possible design, the first signaling includes at least one bit, and the at least one bit is used to indicate the identification of at least one antenna panel. The identification of the at least one antenna panel may include the identification of each antenna panel in the at least one antenna panel, or the at least one antenna panel constitutes an antenna panel set, and the identification of the at least one antenna panel may be the identification of the antenna panel set.

[0124] Still Figure 2 Taking the car shown in the figure as an example, the first antenna panel is the front antenna panel of the car, and the first signaling may include the identification of the roof antenna panel and / or the identification of the rear antenna panel of the car. In this case, the identification of at least one antenna panel in the first signaling is used to indicate that at least one antenna panel has enabled the function of receiving signals. It can be understood that Figure 2 This is only an example of the deployment location of the antenna panel and is not limited thereto.

[0125] Optionally, the identification of at least one antenna panel may be a bitmap. Figure 2 Taking the car shown in the figure as an example, the first signaling includes three bits, which correspond to the front antenna panel, the roof antenna panel, and the rear antenna panel of the car respectively. When the value of the first signaling is 010, the first signaling is used to indicate that the signal receiving function of the roof antenna panel is turned on; when the value of the first signaling is 001, the first signaling is used to indicate that the signal receiving function of the rear antenna panel is turned on; when the value of the first signaling is 011, the first signaling is used to indicate that the signal receiving functions of the roof antenna panel and the rear antenna panel are turned on.

[0126] In one possible design, the first signaling includes at least one bit for indicating the number N (N is a positive integer) of antenna panels for which a signal receiving function is enabled. In this case, the number N in the first signaling is used to indicate the function of enabling the signal receiving function. The first terminal device may determine at least one antenna panel based on the number N. For example, each antenna panel of the first terminal device has a priority, and the first terminal device determines the first N antenna panels in descending order of priority. Or, for example, the first terminal device randomly determines N antenna panels.

[0127] In one possible design, the first signaling may also include the identifier of the at least one antenna panel and the quantity N mentioned above.

[0128] In one possible design, the first signaling includes multiple bits, one bit is used to indicate that a signal receiving function is enabled, and the other bits are used to indicate the identification and / or number of antenna panels for which the signal receiving function is enabled (i.e., the identification and / or number of at least one antenna panel).

[0129] In one possible design, the first signaling is specifically used to instruct at least one antenna panel to receive a signal in a second time unit or is specifically used to instruct at least one antenna panel to turn on the function of receiving a signal in a second time unit. That is, in addition to instructing at least one antenna panel to turn on the function of receiving a signal, the first signaling also indicates the second time unit.

[0130] It can be understood that the above are only some examples of the first signaling and are not limited thereto.

[0131] In some embodiments, the first terminal device also determines the first perception measurement result based on the echo signal received by at least one antenna panel within the first time unit. Exemplarily, the baseband processor of the first terminal device determines the first perception measurement result based on the baseband signal corresponding to the echo signal received by at least one antenna panel within the first time unit; or, the controller (such as a CPU) of the first terminal device determines the first perception measurement result based on the data corresponding to the echo signal received by at least one antenna panel within the first time unit.

[0132] In other embodiments, the first terminal device sends data corresponding to the echo signal to an initiator of the perception service (such as a network device or a peer device), and the initiator of the perception service determines the first perception measurement result based on the data corresponding to the echo signal.

[0133] In this embodiment of the present application, the first perception measurement result may include one or more of the following:

[0134] 1) Yes / No goals;

[0135] by Figure 2Taking the scenario shown in the figure as an example, the target can be any person or object that affects the driving of the vehicle, such as other vehicles, pedestrians, roadblocks, etc.

[0136] In a specific implementation, the target may be the transmitting end of the echo signal, that is, after the first signal is transmitted from the antenna panel, it reaches the surface of the target and is reflected by the target to form an echo signal. It can be understood that although the target sends an echo signal, not all transmitting ends corresponding to the echo signals are necessarily the target. In addition, the target may be a peer device that communicates with the first terminal device, or a person or object that does not communicate with the first terminal device, and the embodiments of the present application do not limit this.

[0137] 2) the number of targets;

[0138] by Figure 2 Taking the scenario shown as an example, the number of targets can be the number of other vehicles, the number of pedestrians, the number of roadblock facilities, etc.

[0139] 3) Classification of objectives;

[0140] by Figure 2 Taking the scene shown as an example, the classification of targets may include motor vehicles, non-motor vehicles, pedestrians, roadblock facilities, etc.

[0141] 4) Target recognition results;

[0142] by Figure 2 Taking the scene shown as an example, the recognition result of the target can be the license plate number of the vehicle, the gender or height or age of the pedestrian, the name of the roadblock facility, etc.

[0143] 5) The distance to the target;

[0144] by Figure 2 Taking the scenario shown as an example, the distance of the target can be the distance between the target and the vehicle.

[0145] 6) The angle of the target;

[0146] by Figure 2 Taking the illustrated scenario as an example, the distance of the target may be the angle of the target relative to the vehicle. Optionally, the angle may include one or more of a departure angle, an arrival angle, and a pitch angle.

[0147] 7) The motion characteristics of the target.

[0148] Optionally, the motion characteristics include but are not limited to one or more of velocity, acceleration, angular velocity, Doppler, micro-Doppler, etc.

[0149] In the above scheme, when the first antenna panel transmits the first signal, at least one antenna panel receives the echo signal corresponding to the first signal. This scheme can solve the blind spot problem caused by the inability of the antenna panel to receive signals during signal transmission in the prior art, and can improve the target perception accuracy.

[0150] In a possible design, the second time unit also includes a third time unit, and the third time unit is used for the first antenna panel to receive an echo signal corresponding to the first signal, wherein the third time unit is later than the first time unit.

[0151] The third time unit may be one or more time slots, or one or more symbols, or one or more subframes, or one or more frames, etc. The embodiment of the present application does not specifically limit the length and measurement unit of the third time unit.

[0152] like Fig. 10A As shown, it is another possible timing diagram of the antenna panel sending and receiving signals, where the first antenna panel first sends the first signal in the first time unit, and then receives the echo signal corresponding to the first signal in the third time unit, and at least one antenna panel receives the echo signal corresponding to the first signal in both the first time unit and the third time unit.

[0153] See also Fig. 10B , is a schematic diagram of the area corresponding to the echo signals of the first time unit and the third time unit.

[0154] For ease of description, the first antenna panel and at least one antenna panel are referred to as an antenna panel set hereinafter.

[0155] In this case, the first terminal device can determine the perception measurement result corresponding to each antenna panel according to the echo signal received by each antenna panel in the antenna panel set; and determine the second perception measurement result according to the perception measurement results corresponding to all antenna panels in the antenna panel set. The content included in the second perception measurement result can refer to the content included in the first perception measurement result, which will not be repeated here.

[0156] When there is a target in both the first perception measurement result and the second perception measurement result, the target in the first perception measurement result and the target in the second perception measurement result may be the same or different.

[0157] In some embodiments, since different antenna panels have different postures, it is necessary to adjust the perception measurement results corresponding to all antenna panels to the perception measurement results at the same reference position.

[0158] Exemplarily, each antenna panel has a corresponding adjustment parameter, and the adjustment parameter includes at least one of a weight parameter, an angle compensation parameter, and a distance compensation parameter. The first terminal device can determine the second perception measurement result based on the perception measurement results and adjustment parameters corresponding to each antenna panel in the antenna panel set.

[0159] For example, the first antenna panel is a front antenna panel, at least one antenna panel is a roof antenna panel, and the sensing measurement results corresponding to each antenna panel include distance and angle:

[0160] See also Fig.11A , the vehicle and the target are on the same horizontal plane, and the distance D to the target is:

[0161] D=x*D1+(1-x)*(D2*cosAoA2-ResultCorrection_Range);

[0162] Among them, D1 represents the distance corresponding to the front antenna panel of the vehicle, and x is the weight parameter corresponding to the front antenna panel of the vehicle; D2 represents the straight-line distance between the roof antenna panel and the target, and AoA2 is the angle of the roof antenna panel relative to the target (D2*cosAoA2 is the horizontal distance of the roof antenna panel relative to the target); (1-x) is the weight parameter corresponding to the roof antenna panel, and ResultCorrection_Range represents the distance compensation parameter corresponding to the roof antenna panel, specifically the horizontal distance between the roof antenna panel and the front antenna panel of the vehicle.

[0163] Understandably, Fig.11A Taking the reference position as the front antenna panel of the vehicle as an example, the front antenna panel of the vehicle has no distance compensation parameter or the distance compensation parameter is 0. In actual applications, the reference position may be other positions, so the distance compensation parameter of the front antenna panel of the vehicle may not be 0.

[0164] See also Fig. 11B , the terminal and the target are not in the same horizontal plane, the target angle AoA can be:

[0165] AoA=x*AoA1+(1-x)*(AoA2-ResultCorrection_Angle).

[0166] Among them, AoA1 represents the angle between the front antenna panel and the target, x is the weight parameter corresponding to the front antenna panel; AoA 2 represents the angle between the roof antenna panel and the target; (1-x) is the weight parameter corresponding to the roof antenna panel, and ResultCorrection_Angle represents the angle compensation parameter corresponding to the roof antenna panel. It can be understood that Fig. 11BTaking the reference position as the front antenna panel of the vehicle as an example, the front antenna panel of the vehicle has no angle compensation parameter or the angle compensation parameter is 0. In actual applications, the reference position may be other positions, so the angle compensation parameter of the front antenna panel of the vehicle may not be 0.

[0167] It can be understood that, when the first terminal device determines the first perception measurement result according to the echo signal received by at least one antenna panel within the first time unit (such as Fig.9A In the scenario shown in the figure, if the number of at least one antenna panel is multiple, the first terminal device may first determine the perception measurement result corresponding to each antenna panel according to the echo signal received by each antenna panel in the at least one antenna panel, and then determine the first perception measurement result according to the perception measurement results corresponding to all antenna panels in the at least one antenna panel. Among them, when the first terminal device is based on the perception measurement results corresponding to all antenna panels in the at least one antenna panel, it can adjust the perception measurement result corresponding to each antenna panel based on the adjustment parameter. The specific adjustment method can be referred to Fig.11A or Fig. 11B , I will not go into details here.

[0168] Through the above design, at least one antenna panel not only receives the echo signal when the first antenna panel transmits the signal, but also receives the echo signal when the first antenna panel receives the echo signal. In addition to avoiding the blind spot problem and improving the target perception accuracy in the blind spot, the target perception accuracy in the area outside the blind spot can also be improved.

[0169] In one possible design, the second time unit also includes a fourth time unit, and the fourth time unit is used to switch the first antenna panel from a transmitting mode to a receiving mode.

[0170] It can be understood that the first antenna panel performs RF switching in the fourth time unit, so during this period, the first antenna panel cannot be used to receive signals (or the signal received by the first antenna panel cannot enter the RF link for transmission, which is equivalent to the first antenna panel not receiving signals).

[0171] like Fig. 12A As shown, it is another possible timing diagram of the antenna panel sending and receiving signals. The first antenna panel first sends the first signal in the first time unit, then switches (from sending to receiving) in the fourth time unit, and then receives the echo signal corresponding to the first signal in the third time unit. At least one antenna panel receives the echo signal corresponding to the first signal in the first time unit, the fourth time unit and the third time unit.

[0172] See also Fig. 12B , is a schematic diagram of the regions corresponding to the echo signals of the first time unit, the fourth time unit, and the third time unit. and Fig. 12BIn comparison, due to the existence of the fourth time unit (ie, the time consumption of the first antenna panel to perform the transmission and reception switching), the time for at least one antenna panel to receive the echo signal alone will be relatively long, and the corresponding area will also be relatively larger.

[0173] In this case, the first terminal device may also determine a third perception measurement result based on an echo signal received by at least one antenna panel within a fourth time unit, wherein the third perception measurement result may include content that refers to the first perception measurement result.

[0174] When at least two of the first perception measurement result, the second perception measurement result, and the third perception measurement result all have targets, the targets in the at least two may be the same or different.

[0175] In some embodiments, the first terminal device may obtain a second signaling, the second signaling being used to instruct the first antenna panel to switch from the transmission mode to the reception mode. Accordingly, the first terminal device controls the first antenna panel to switch from the transmission mode to the reception mode within the fourth time unit according to the second signaling.

[0176] As an example, the name of the second signaling may be vehicle panel switching signaling (VehiclePanelSwitching).

[0177] As an example, the second signaling may be 1 bit. For example, if VehiclePanelSwitching=1, the first antenna panel switches from the transmission mode to the reception mode after sending the first signal; if VehiclePanelSwitching=0, the first antenna panel does not switch from the transmission mode to the reception mode after sending the first signal, that is, does not receive the echo signal. Of course, this is only an example and is not limited to this.

[0178] As an example, there is a separate second signaling for each antenna panel to indicate whether the antenna panel performs transmit-receive switching; or, a second signaling is for all antenna panels. Since there is no signal sending requirement for other antenna panels (such as at least one antenna panel) except the first antenna panel, there is naturally no need to switch from sending to receiving, and therefore there will be no response to the second signaling.

[0179] The fourth time unit may be one or more time slots, or one or more symbols, or one or more subframes, or one or more frames, etc. The embodiment of the present application does not specifically limit the length and measurement unit of the fourth time unit.

[0180] The way in which the first terminal device obtains the second signaling can refer to the way in which the first signaling is obtained. The specific implementation of the second signaling can refer to the first signaling, which will not be repeated here. For example, the second signaling can be carried on any one of SCI, SSB, CSI-RS, MACCE, RRC, PSSCH, and PSFCH; or, the second signaling is preconfigured.

[0181] Through the above design, during the signal transmission and reception switching of the first antenna panel, at least one antenna panel receives the echo signal corresponding to the first signal. This solution can solve the blind spot problem caused by the inability to receive signals during the signal transmission and reception conversion of the antenna panel in the prior art, and can improve the target perception accuracy.

[0182] It can be understood that the above implementation modes can be implemented separately or in combination with each other, and the embodiments of the present application are not limited thereto.

[0183] Based on the same technical concept, an embodiment of the present application also provides a communication perception device, which includes a unit or module or technical means for executing the method executed by the first terminal device in the above method embodiment.

[0184] For example, see Fig.13 , the device may include:

[0185] The transceiver unit 1301 is used to obtain a first signaling, where the first signaling is used to instruct at least one antenna panel to receive a signal; send a first signal in a first time unit through the first antenna panel, where the first signal is used to perform SL communication with at least one device; receive an echo signal corresponding to the first signal in a second time unit through at least one antenna panel, where the second time unit includes the first time unit, and the echo signal is used for side sensing measurement.

[0186] In one possible design, the first antenna panel and at least one antenna panel belong to the first terminal device.

[0187] In one possible design, the first signaling is specifically used to instruct at least one antenna panel to turn on the function of receiving signals; the transceiver unit 1301 is used to: turn on the function of receiving signals of at least one antenna panel.

[0188] In one possible design, the first signaling includes: an identifier of at least one antenna panel, and / or the number of at least one antenna panel.

[0189] In one possible design, the device also includes a processing unit 1302, which is used to determine a first perception measurement result based on an echo signal received by at least one antenna panel within a first time unit.

[0190] In a possible design, the first perception measurement result includes one or more of the following: whether there is a target; the number of targets; the classification of the target; the recognition result of the target; the distance of the target; the angle of the target; and the motion characteristics of the target.

[0191] In one possible design, the second time unit also includes a third time unit, and the transceiver unit 1301 is further used to receive an echo signal corresponding to the first signal in the third time unit.

[0192] In one possible design, the processing unit 1302 is also used to determine the perception measurement result corresponding to each antenna panel based on the echo signal received by each antenna panel in the antenna panel set, where the antenna panel set includes a first antenna panel and at least one antenna panel; and determine the second perception measurement result based on the perception measurement results corresponding to all antenna panels in the antenna panel set.

[0193] In one possible design, the second time unit also includes a fourth time unit, and the transceiver unit 1301 is further used to switch the first antenna panel from a transmitting mode to a receiving mode in the fourth time unit.

[0194] In one possible design, the processing unit 1302 is further used to determine a third perception measurement result based on an echo signal received by at least one antenna panel within a fourth time unit.

[0195] In one possible design, the transceiver unit 1301 is also used to obtain a second signaling, where the second signaling is used to instruct the first antenna panel to switch from a transmitting mode to a receiving mode; the transceiver unit 1301 is used to control the first antenna panel to switch from a transmitting mode to a receiving mode within a fourth time unit according to the second signaling.

[0196] In one possible design, the first signaling is carried on any one of SCI, SSB, CSI-RS, MAC CE, RRC, PSSCH, and PSFCH; or, the first signaling is preconfigured.

[0197] In one possible design, the first terminal device is a vehicle, and the deployment position of the antenna panel includes at least one of the front, rear, and roof of the vehicle.

[0198] It should be understood that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0199] Based on the same technical concept, see Fig.14, an embodiment of the present application also provides a communication perception device, which includes at least one processor 1401 and an interface circuit 1402; the interface circuit 1402 is used to receive signals from other devices outside the device and transmit them to the processor 1401 or send signals from the processor 1401 to other devices outside the device, and the processor 1401 is used to implement the method performed by the first terminal device in the above method embodiment through a logic circuit or executing code instructions.

[0200] It should be understood that the processor mentioned in the embodiments of the present application can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented by software, the processor can be a general-purpose processor implemented by reading software code stored in a memory.

[0201] Exemplarily, the processor 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.

[0202] 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 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 and 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 link dynamic random access memory (SLDRAM) and direct memory bus random access memory (DirectRambus RAM, DR RAM).

[0203] 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) can be integrated into the processor.

[0204] 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.

[0205] Based on the same technical concept, an embodiment of the present application also provides a computer-readable storage medium, which stores a computer program or instruction. When the computer program or instruction is executed by a communication device, the method executed by the first terminal device in the above method embodiment is implemented.

[0206] Based on the same technical concept, an embodiment of the present application further provides a computer program product comprising instructions. The computer program product stores instructions, and when the computer program product is run on a computer, the method executed by the first terminal device in the above method embodiment is executed.

[0207] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0208] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0209] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0210] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0211] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A communication perception method, characterized in that: The method comprises: Acquire a first signaling, where the first signaling is used to instruct at least one antenna panel to receive a signal; Sending a first signal in a first time unit via a first antenna panel, wherein the first signal is used for sidelink (SL) communication with at least one device; An echo signal corresponding to the first signal is received in a second time unit through the at least one antenna panel, the second time unit includes the first time unit, and the echo signal is used for sideways sensing measurement.

2. The method according to claim 1, characterized in that The first antenna panel and the at least one antenna panel belong to a first terminal device.

3. The method according to claim 1 or 2, characterized in that The first signaling is specifically used to instruct the at least one antenna panel to start a function of receiving signals; The receiving, in a second time unit, an echo signal corresponding to the first signal through the at least one antenna panel comprises: The signal receiving function of the at least one antenna panel is turned on, and an echo signal corresponding to the first signal is received through the at least one antenna panel in a second time unit.

4. The method according to any one of claims 1 to 3, characterized in that: The first signaling includes: an identifier of the at least one antenna panel, and / or the number of the at least one antenna panel.

5. The method according to any one of claims 1 to 4, characterized in that: Receiving, by the at least one antenna panel, an echo signal corresponding to the first signal in a second time unit, comprising: The at least one antenna panel receives an echo signal corresponding to the first signal within the first time unit; The method further comprises: A first perception measurement result is determined according to the echo signal.

6. The method according to claim 5, characterized in that The first sensory measurement result includes one or more of the following: Yes / No goals; The number of targets; Classification of objectives; Target identification results; distance to the target; The angle of the target; The motion characteristics of the target.

7. The method according to any one of claims 1 to 6, characterized in that: The second time unit also includes a third time unit, and the third time unit is used for the first antenna panel to receive an echo signal corresponding to the first signal; The method further comprises: An echo signal corresponding to the first signal is received through the first antenna panel within the third time unit.

8. The method according to claim 7, characterized in that The method further comprises: Determining a sensing measurement result corresponding to each antenna panel according to an echo signal received by each antenna panel in an antenna panel set, wherein the antenna panel set includes the first antenna panel and the at least one antenna panel; A second perception measurement result is determined according to the perception measurement results corresponding to all antenna panels in the antenna panel set.

9. The method according to any one of claims 1 to 8, characterized in that The second time unit also includes a fourth time unit, and the fourth time unit is used for the first antenna panel to switch from the transmission mode to the reception mode.

10. The method according to claim 9, characterized in that Receiving, by the at least one antenna panel, an echo signal corresponding to the first signal in a second time unit, comprising: The at least one antenna panel receives an echo signal corresponding to the first signal within the fourth time unit; The method further comprises: A third perception measurement result is determined based on the echo signal received by the at least one antenna panel within the fourth time unit.

11. The method according to claim 9 or 10, characterized in that The method further comprises: Acquire a second signaling, where the second signaling is used to instruct the first antenna panel to switch from the sending mode to the receiving mode; The first antenna panel is switched from a transmission mode to a reception mode within the fourth time unit.

12. The method according to any one of claims 1 to 11, characterized in that: The first signaling is carried in any one of the sidelink control information SCI, the sidelink-synchronization signal block SSB, the sidelink-channel state information reference signal CSI-RS, the media access control layer control element MAC CE, the radio resource control RRC, the physical layer sidelink shared channel PSSCH, and the physical layer sidelink feedback channel PSFCH; or, The first signaling is preconfigured.

13. The method according to claim 2, characterized in that The first terminal device is a vehicle, the first antenna panel is a front panel antenna of the vehicle, and the at least one antenna panel includes a roof antenna panel and a rear antenna panel of the vehicle.

14. A communication sensing device, characterized in that: Including processors; The processor is used to: obtain a first signaling, where the first signaling is used to instruct at least one antenna panel to receive a signal; Sending a first signal in a first time unit via a first antenna panel, wherein the first signal is used for sidelink (SL) communication with at least one device; An echo signal corresponding to the first signal is received through a second time unit of the at least one antenna panel, the second time unit includes the first time unit, and the echo signal is used for side-sensing measurement.

15. The communication sensing device according to claim 14, characterized in that: The first antenna panel and the at least one antenna panel belong to a first terminal device.

16. The communication sensing device according to claim 14 or 15, characterized in that: The first signaling is specifically used to instruct the at least one antenna panel to start a function of receiving signals; When the processor controls the second time unit of the at least one antenna panel to receive the echo signal corresponding to the first signal, the processor is specifically used to: The signal receiving function of the at least one antenna panel is turned on, and an echo signal corresponding to the first signal is received through the at least one antenna panel in a second time unit.

17. The communication sensing device according to any one of claims 14 to 16, characterized in that: The first signaling includes: an identifier of the at least one antenna panel, and / or the number of the at least one antenna panel.

18. The communication sensing device according to any one of claims 14 to 17, characterized in that: When the processor receives an echo signal corresponding to the first signal in a second time unit through the at least one antenna panel, it is configured to: The at least one antenna panel receives an echo signal corresponding to the first signal within the first time unit; The processor is further configured to: A first perception measurement result is determined according to the echo signal.

19. The communication sensing device according to claim 18, characterized in that: The first sensory measurement result includes one or more of the following: Yes / No goals; The number of targets; Classification of objectives; Target identification results; The distance to the target; The angle of the target; The motion characteristics of the target.

20. The communication sensing device according to any one of claims 14 to 19, characterized in that: The second time unit also includes a third time unit, and the third time unit is used for the first antenna panel to receive an echo signal corresponding to the first signal; The processor is further configured to: receive an echo signal corresponding to the first signal within the third time unit through the first antenna panel.

21. The communication sensing device according to claim 20, characterized in that: The processor is further configured to: Determining a sensing measurement result corresponding to each antenna panel according to an echo signal received by each antenna panel in an antenna panel set, wherein the antenna panel set includes the first antenna panel and the at least one antenna panel; A second perception measurement result is determined according to the perception measurement results corresponding to all antenna panels in the antenna panel set.

22. The communication sensing device according to any one of claims 14 to 21, characterized in that: The second time unit also includes a fourth time unit, and the fourth time unit is used for the first antenna panel to switch from the transmission mode to the reception mode.

23. The communication sensing device according to claim 22, characterized in that: When the processor receives the echo signal corresponding to the first signal in the second time unit through the at least one antenna panel, the processor is further configured to: the at least one antenna panel receives the echo signal corresponding to the first signal in the fourth time unit; The processor is further used to determine a third perception measurement result based on the echo signal received by the at least one antenna panel within the fourth time unit.

24. The communication sensing device according to claim 22 or 23, characterized in that: The processor is further configured to: Acquire a second signaling, where the second signaling is used to instruct the first antenna panel to switch from the sending mode to the receiving mode; The first antenna panel is switched from a transmission mode to a reception mode within the fourth time unit.

25. The communication sensing device according to any one of claims 14 to 24, characterized in that: The first signaling is carried on any one of SCI, SSB, CSI-RS, MAC CE, RRC, PSSCH, and PSFCH; or, The first signaling is preconfigured.

26. The communication sensing device according to claim 15, characterized in that: The first terminal device is a vehicle, the first antenna panel is a front panel antenna of the vehicle, and the at least one antenna panel includes a roof antenna panel and a rear antenna panel of the vehicle.

27. A communication sensing device, characterized in that: Comprising means for performing the method as claimed in any one of claims 1 to 13.

28. A vehicle, characterized in that: Includes the communication perception device as described in any one of claims 14-26, or includes the communication perception device as described in claim 27.

29. A computer-readable storage medium, characterized in that: The storage medium stores a computer program or an instruction. When the computer program or the instruction is executed by the communication device, the method according to any one of claims 1 to 13 is implemented.

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