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

Abstract

The invention discloses a sensing sequence sending method, a sensing sequence receiving method, a communication node and a sensing system. The sensing sequence sending method is applied to a first communication node, and comprises the following steps: acquiring a first sensing sequence and a first resource position; a first sensing sequence is sent to the second communication node at the first resource position, the first sensing sequence is the same as the second sensing sequence, or the first sensing sequence and the second sensing sequence are a pair of complementary sequences; the second sensing sequence is a sensing sequence sent by the other first communication node to the second communication node at the second resource position.

Description

Technical Field

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

[0002] Integrated Sensing And Communications (ISAC) is considered to be one of the important candidate technologies for the sixth generation of mobile communications (6G). It can fully share the spatial, temporal and frequency resources of wireless communications and radar sensing, and achieve coexistence, mutual assistance and mutual benefit between the two. Currently, the sequence transmission of ISAC has been the research focus in recent years, but there is no complete solution for how to achieve the sequence transmission of ISAC. Summary of the invention

[0003] An embodiment of the present application provides a method for sending a perception sequence, which is applied to a first communication node, including:

[0004] Obtaining a first perception sequence and a first resource location;

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

[0006] The embodiment of the present application provides a method for receiving a perception sequence, which is applied to a second communication node, including:

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

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

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

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

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

[0012] With regard to the above embodiments and other aspects of the present application and their implementation, further description is provided in the accompanying drawings, detailed description and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a network diagram of a perception system provided by an embodiment;

[0014] Figure 2 This is a flowchart of a method for sending a perception sequence provided by an embodiment;

[0015] Figure 3 is a flow chart of generating a completely complementary sequence by a recursive construction method provided by an embodiment;

[0016] Figure 4 It is a flowchart of a method for receiving a perception sequence provided by an embodiment;

[0017] Figure 5 This is an interactive schematic diagram of a method for transmitting a perception sequence provided by an embodiment;

[0018] Figure 6 This is a schematic diagram of an embodiment in which a first resource position and a second resource position have the same frequency domain resources and different time domain resources;

[0019] Figure 7 This is a schematic diagram of a first resource position and a second resource position provided by an embodiment, in which frequency domain resources are different and time domain resources are the same;

[0020] Figure 8 It is a structural schematic diagram of a sending device of a perception sequence provided by an embodiment;

[0021] Fig. 9 It is a structural schematic diagram of a receiving device for sensing a sequence provided by an embodiment;

[0022] Fig.10 This is a schematic diagram of the structure of a base station provided by an embodiment;

[0023] Fig.11 This is a structural diagram of a UE provided by an embodiment. DETAILED DESCRIPTION

[0024] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. The embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

[0025] The cellular mobile system has a powerful networking capability. Through the large-scale deployment of cellular networks and the interaction between base stations and terminals, base stations and base stations, and base stations and core network equipment, a mobile network system with inter-sensory integration is constructed. Network collaborative perception based on the cellular mobile system can make full use of the base station resources of the cellular mobile system, which not only reduces the cost of communication perception integration, but also realizes the networking capability of perception. By reasonably selecting the perception base stations in the cellular mobile system and sharing, supplementing or merging the perception information, the problem of signal interference caused by too many nodes can be reduced while retaining the advantages of the cellular network. At the same time, the perception network can avoid occlusion through collaboration between base stations without upgrading the hardware, thereby further improving the perception performance.

[0026] In a narrow sense, a perception network refers to a system that has the capabilities of target positioning (such as distance measurement, speed measurement, angle measurement, etc.), target imaging, target detection, target tracking, and target identification; in a broad sense, a perception network refers to a system that has the ability to perceive all services, networks, users and terminals, as well as the properties and states of environmental objects. In a mobile network with synaesthesia fusion, perception methods can be divided into active and passive: passive perception refers to the perception of the perceiver (such as a network-side device or a terminal device) by acquiring electromagnetic waves (such as terahertz waves) emitted by the target object or reflecting electromagnetic waves from outside the perceiver and the target object, while active perception refers to the perception of the perceiver (such as a network-side device or a terminal device) by sending electromagnetic waves, which are reflected by the target object and then receiving the echo for perception. Among them, the node that receives the reflected wave is not necessarily the node that sends the detection signal, that is, multiple nodes of the perception party can achieve active perception through some form of joint processing.

[0027] Wireless sensing signal links can generally be divided into the following categories:

[0028] (1) Base station echo sensing link: The base station sends a sensing signal and receives an echo signal;

[0029] (2) Inter-base station sensing link: Base station 2 receives the sensing signal sent by base station 1;

[0030] (3) Uplink sensing link: The base station receives the sensing signal sent by the UE;

[0031] (4) Downlink perception link: UE receives the perception signal sent by the base station;

[0032] (5) Terminal echo sensing link: UE sends sensing signals and receives echo signals;

[0033] (6) Inter-terminal perception link: UE2 receives the perception signal sent by UE1.

[0034] In an actual system, different perception links may be selected according to different perception requirements. Each perception link may have one or more sending nodes and receiving nodes, and an actual perception system may include multiple different perception links.

[0035] Figure 1 FIG. 1 shows a schematic diagram of a network of a perception system provided by an embodiment. Figure 1 As shown, the sensing system includes at least two first communication nodes 110, a second communication node 120 and a scatterer, wherein: Figure 1 In the figure, the number of the first communication nodes 110 is 2, and they are marked as the first communication node A and the first communication node B respectively. A communication link is established between the first communication node 110 and the second communication node 120, and a sensing channel exists between the first communication node 110, the second communication node 120 and the scatterer. The scatterer can also be called a sensing target, that is, a target to be sensed (such as a building, a tree, and a mobile target, etc.), which has the function of scattering and refracting sensing signals.

[0036] The first communication node 110 and the second communication node 120 can be terminal devices or access network devices in a wireless communication system, or other devices (such as drones, aircraft, radar devices, etc.). The wireless communication system can be a long term evolution (LTE) system, a fourth generation mobile communication technology (4th-generation, 4G) system, a fifth generation mobile communication technology (5th-generation, 5G) system, a post-5G (5G-and-Beyond, B5G) system, a LTE and 5G hybrid architecture system, a 5G new radio (New Radio, NR) system, and new communication systems that will emerge in future communication developments, such as 6G systems. The wireless communication system includes terminal devices, access network devices, and core network devices.

[0037] The terminal device can be a device with wireless transceiver functions, which can be deployed on land (such as indoors or outdoors, handheld, wearable or vehicle-mounted, etc.); it can also be deployed on the water (such as ships, etc.); it can also be deployed in the air (such as airplanes, balloons and satellites, etc.). Examples of some terminal devices include: user equipment (UE), mobile phones, mobile stations, tablet computers, laptops, ultra-mobile personal computers (UMPC), handheld computers, netbooks, personal digital assistants (PDA), etc., which can be connected to the Internet, or virtual reality (VR) terminals, augmented reality (AR) terminals, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, etc., or Internet of Things nodes in the Internet of Things, or vehicle-mounted communication devices in the Internet of Vehicles, or entertainment, game equipment or systems, or global positioning system equipment, etc. The embodiments of the present application do not limit the specific technology and specific equipment form adopted by the terminal device. In addition, the terminal device can be referred to as a terminal.

[0038] The access network device is an access device that the terminal device accesses to the wireless communication system by wireless means, which may be a base station, an evolved NodeB (eNB or eNodeB) in Long Term Evolution Advanced (LTEA), a transmission reception point (TRP), a base station in a 5G mobile communication system or a next generation NodeB (gNB), a base station in a future mobile communication system or an access node in a Wireless Fidelity (WiFi) system, etc. The base station may include various macro base stations, micro base stations, home base stations, wireless remote stations, routers, WIFI devices, or various network-side devices such as primary cells and secondary cells, and location management functions (LMF) devices. It may also be a module or unit that completes some functions of a base station, for example, it may be a centralized unit (CU) or a distributed unit (DU). The embodiments of the present application do not limit the specific technology and specific device form adopted by the access network device. In addition, the access network device may be referred to as a base station.

[0039] The core network device may include an access and mobility management network element and a session management network element. Exemplarily, the terminal device may access the core network through the access network device to achieve data transmission.

[0040] In an embodiment of the present application, a method for sending and receiving a perception sequence that can be run on the above-mentioned perception system is provided, which can realize the transmission of the perception sequence and thus provide support for integrated waveform design.

[0041] Figure 2 A schematic diagram of a flow chart of a method for sending a perception sequence provided by an embodiment is shown, such as Figure 2 As shown, the method provided in this embodiment is applicable to a first communication node. In this example, the first communication node (also referred to as a first communication node device or a first node) may be an access network device, and the second communication node (also referred to as a second communication node device or a second node) may be an access network device or a terminal device. The method includes the following steps.

[0042] S110. Acquire a first perception sequence and a first resource position.

[0043] In one embodiment, the method of "obtaining a first perception sequence" in step S110 may be: obtaining an orthogonal frequency division multiplexing (OFDM) signal; performing an inverse fast Fourier transform (IFFT) or an inverse discrete Fourier transform (IDFT) on the OFDM signal to obtain a first perception sequence.

[0044] S120. Send a first perception sequence to a second communication node at a first resource position, wherein the first perception sequence is the same as the second perception sequence, or the first perception sequence and the second perception sequence are a pair of complementary sequences, and the second perception sequence is a perception sequence sent by another first communication node to the second communication node at a second resource position.

[0045] In one embodiment, the first perception sequence and the second perception sequence may also be sequences generated by scrambling the same sequence using different sequence IDs or frame / subframe / time slot / symbol indexes; or, the first perception sequence and the second perception sequence may also be sequences generated by scrambling a pair of complementary sequences using different sequence IDs or frame / subframe / time slot / symbol indexes.

[0046] In one embodiment, before sending the first sensing sequence to the second communication node at the first resource location, the first communication node first needs to establish a communication link with the second communication node. The first communication node and the second communication node establish a communication link mainly in any one of the following two ways:

[0047] Method 1: When the first communication node is an access network device and the second communication node is an access network device, the first communication node sends a perception establishment request message to the second communication node, wherein the perception establishment request message includes at least one of indication information and index information of the resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier; the second communication node determines whether to respond to the perception establishment request message based on its own processing capability and processing resource status, and sends a perception establishment feedback message to the first communication node, and the perception establishment feedback message is used to indicate whether the perception establishment is successful.

[0048] Method 2: When the first communication node is an access network device and the second communication node is a terminal device, the first communication node sends a perception reception instruction to the second communication node, wherein the perception reception instruction includes at least one of indication information and index information of the resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier.

[0049] Through any of the above methods, the first communication node establishes a communication link with the second communication node, so that the first communication node can receive the sensing result information sent by the second communication node after sending the first sensing sequence to the second communication node at the first resource position, wherein the sensing result information includes at least one of the position information, distance information, speed information, angle information, Doppler frequency shift information, type information of the sensing target, and classification information of the sensing target, thereby realizing the sensing of the sensing target.

[0050] The type information of the perceived target is used to indicate the type of the perceived target, such as whether the perceived target is a building, a tree, a vehicle, a human being, etc.; the classification information of the perceived target is used to indicate the classification to which the perceived target belongs, such as whether the perceived target is a living organism or a non-living organism.

[0051] In one embodiment, the frequency domain resources of the first resource location and the second resource location are the same, and the time domain resources are different; or, the frequency domain resources of the first resource location and the second resource location are different, and the time domain resources are the same; or, the time domain resources and frequency domain resources of the first resource location and the second resource location are the same, and at least one of the following resources is different: spatial domain resources, code domain resources, beam domain resources.

[0052] In one embodiment, the complementary sequence is a Golay complementary sequence or a fully complementary sequence.

[0053] When the complementary sequence is a Golay complementary sequence, the length of the Golay complementary sequence is 32, 64, 128 or 256. Optionally, the Golay complementary sequence may also be scrambled using a sequence identity (ID), and the sequence ID is a physical cell ID or a virtual cell ID.

[0054] When the complementary sequence is a completely complementary sequence, the autocorrelation function value of the completely complementary sequence is zero at all non-zero shifts or the difference with the value at zero shift is less than -20dB, such as the autocorrelation function value of the completely complementary sequence is -30dB or -40dB, and the mutual correlation function value of the completely complementary sequence is zero or the difference with the value at autocorrelation zero shift is less than -20dB, such as the mutual correlation function value of the completely complementary sequence is -30dB or -40dB.

[0055] Under ideal conditions, the definition of a completely complementary sequence is: Assuming {A1, B1} is a pair of complementary sequences, {A'1, B'1} is another pair of complementary sequences, and the length of each sequence A1, B1, A1', B1' is N, if the following function is satisfied:

[0056]

[0057]

[0058]

[0059] Then {A1, B1} and {A'1, B'1} are said to form a pair of completely complementary sequences. is the autocorrelation function of sequence A1, is the cross-correlation function of sequences A1 and A'1, equations (1) and (2) represent the autocorrelation functions of completely complementary sequences, equation (3) represents the cross-correlation function of completely complementary sequences, and τ represents the discrete time offset.

[0060] Figure 3 FIG. 1 shows a flow chart of generating a completely complementary sequence by a recursive construction method provided by an embodiment. Figure 3 As shown, in the present application, a set of completely complementary sequences with a certain number and a certain length can be constructed by recursive construction method through the initial complementary sequence. is the reverse sequence of A, assuming A=(a0,a1,a2,...,a n-1 ),but A * is the conjugate of A.

[0061] Therefore, the first perception sequence sent by the first communication node is a completely complementary sequence constructed using the above method, or a sequence after the completely complementary sequence is scrambled using a sequence ID, where the sequence ID is a physical cell ID or a virtual cell ID.

[0062] In one embodiment, the initialization sequence for constructing a completely complementary sequence may be the following complementary sequence:

[0063] Length 4:

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

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

[0066] Length is 5:

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

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

[0069] Length 10:

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

[0071] Gb=[-1,-1,1,1,-1,-1,-1,1,-1,1].

[0072] Length 26:

[0073] Ga=[1,1,1,1,-1,1,1,-1,-1,1,-1,1,-1,1,-1,-1,1,-1,1,1,1,-1,-1,1,1,1];

[0074] Gb=[1,1,1,1,-1,1,1,-1,-1,1,-1,1,1,1,1,1,-1,1,-1,-1,-1,1,1,-1,-1,-1].

[0075] Length is 64:

[0076] Ga=[-1,-1,1,-1,1,-1,-1,-1,1,1,-1,1,1,-1,-1,-1,-1,-1,1,-1,1,-1,-1,-1,-1,-1,1,-1,-1,1, 1,1,-1,-1,1,-1,1,-1,-1,-1,1,1,-1,1,1,-1,-1,-1,1,1,-1,1,-1,1,1,1,1,1,-1,1,1,-1,-1,-1];

[0077] Gb=[1,1,-1,1,-1,1,1,1,-1,-1,1,-1,-1,1,1,1,1,1,-1,1,-1,1,1,1,1,1,-1,1,1,-1,-1,-1, -1,-1,1,-1,1,-1,-1,-1,1,1,-1,1,1,-1,-1,-1,1,1,-1,1,-1,1,1,1,1,1,-1,1,1,-1,-1,-1].

[0078] Length is 128:

[0079] Ga=[1,1,-1,-1,-1,-1,-1,-1,-1,1,-1,1,1,-1,-1,1,1,1,-1,-1,1,1,1,1,-1,1,-1,1,-1,1,1, -1,-1,-1,1,1,1,1,1,1,1,-1,1,-1,-1,1,1,-1,1,1,-1,-1,1,1,1,1,-1,1,-1,1,-1,1,1,-1,1, 1,-1,-1,-1,-1,-1,-1,-1,-1,1,-1,-1,-1,1,1,-1,-1,-1,-1,1,1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,1,-1,-1,1,-1,-1,1,-1,1,-1,1,-1,1;

[0080] Gb=[-1,-1,1,1,1,1,1,1,1,-1,1,-1,-1,1,1,-1,-1,-1,1,1,-1,-1,-1,-1,1,-1,1,-1,1,-1,-1,1 ,1,1,-1,-1,-1,-1,-1,-1,-1,1,-1,1,1,-1,-1,1,-1,-1,1,1,-1,-1,-1,-1,1,-1,1,-1,1,-1,-1, 1,1,1,-1,-1,-1,-1,-1,-1,-1,-1,1,-1,-1,-1,1,-1,-1,-1,1,1,-1,-1,-1,-1,1,1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,1,-1,-1,1,-1,-1,1].

[0081] Taking the 64-length fully complementary sequence generated by the recursive construction method as an example, two pairs of complementary sequences {A, B} and {A', B'} with zero autocorrelation and zero cross-correlation are:

[0082] A=[1,1,1,1,1,-1,1,-1,-1,-1,1,1,1,-1,-1,1,1,1,-1,-1,1,-1,-1,1,-1,-1,-1,-1,1,-1,1,-1,- 1,-1,-1,-1,-1,1,-1,1,1,1,-1,-1,-1,1,1,-1,1,1,-1,-1,1,-1,-1,1,-1,-1,-1,-1,1,-1,1,-1];

[0083] B=[1,1,1,1,1,-1,1,-1,-1,-1,1,1,1,-1,-1,1,1,1,-1,-1,1,-1,-1,1,-1,-1,-1,-1,1,-1,1, -1,1,1,1,1,1,-1,1,-1,-1,-1,1,1,1,-1,-1,1,-1,-1,1,1,-1,1,1,-1,1,1,1,1,-1,1,-1,1];

[0084] A'=[1,-1,1,-1,1,1,1,1,-1,1,1,-1,1,1,-1,-1,1,-1,-1,1,1,1,-1,-1,-1,1,-1,1,1,1,1,1, -1,1,-1,1,-1,-1,-1,-1,1,-1,-1,1,-1,-1,1,1,1,-1,-1,1,1,1,-1,-1,-1,1,-1,1,1,1,1,1];

[0085] B'=[1,-1,1,-1,1,1,1,1,-1,1,1,-1,1,1,-1,-1,1,-1,-1,1,1,1,-1,-1,-1,1,-1,1,1,1,1,1, 1,-1,1,-1,1,1,1,1,-1,1,1,-1,1,1,-1,-1,-1,1,1,-1,-1,-1,1,1,1,-1,1,-1,-1,-1,-1,-1].

[0086] In one embodiment, the first sensing sequence is a cyclic algorithm (CAN) sequence, that is, a sequence generated by CAN, which can also be called a sequence generated by MM (Majorization-Minimization) algorithm. The main advantage of using the CAN sequence as the first sensing sequence is that a considerable number of sequences with excellent autocorrelation and good cross-correlation can be generated.

[0087] The CAN sequence can be initialized in one of the following ways:

[0088] N rand is a random vector of N, where N is the sequence length of the CAN sequence;

[0089] N is the sequence length of the CAN sequence;

[0090] M r is an even number, N is the sequence length of the CAN sequence;

[0091] Mr is an even or odd number, N is the sequence length of the CAN sequence;

[0092] N is the sequence length of the CAN sequence;

[0093] N is the sequence length of the CAN sequence;

[0094] Initialize according to the Zadoff-Chu sequence.

[0095] In one embodiment, the sequence generated by the above initialization method can be used as the initialization sequence of the CAN sequence, or the sequence obtained by scrambling the above initialization sequence with a sequence ID can be used as the final initialization sequence.

[0096] Among them, the CAN sequence generation method mainly includes the following two steps:

[0097] Step 1: Given calculate

[0098] It is a sequence composed of a cascade of an N-length initialization sequence generated by the above initialization method and an N-length zero vector.

[0099] Step 2: Based on the calculated V, calculate

[0100] Repeat steps 1 and 2 until the preset stop condition ||X is met. (i) -X (i+1) ||<η, η is a predefined value, such as η=10 -5 , P is the Fourier transform matrix.

[0101] Figure 4 A schematic diagram of a flow chart of a method for receiving a sensing sequence provided by an embodiment is shown. Figure 4 As shown, the method provided in this embodiment is applicable to the second communication node. In this example, the first communication node (also referred to as the first communication node device or the first node) can be an access network device, and the second communication node (also referred to as the second communication node device or the second node) can be an access network device or a terminal device. The method includes the following steps.

[0102] S210. Receive a first perception sequence sent by a first communication node at a first resource position, and receive a second perception sequence sent by another first communication node at a second resource position, wherein the first perception sequence is the same as the second perception sequence, or the first perception sequence and the second perception sequence are a pair of complementary sequences.

[0103] In one embodiment, the first perception sequence and the second perception sequence may also be sequences generated by scrambling the same sequence using different sequence IDs or frame / subframe / time slot / symbol indexes; or, the first perception sequence and the second perception sequence may also be sequences generated by scrambling a pair of complementary sequences using different sequence IDs or frame / subframe / time slot / symbol indexes.

[0104] In one embodiment, before receiving the first perception sequence sent by the first communication node at the first resource location, the first communication node first needs to establish a communication link with the second communication node. The first communication node and the second communication node establish a communication link mainly in any one of the following two ways:

[0105] Method 1: When the first communication node is an access network device and the second communication node is an access network device, the second communication node receives a perception establishment request message sent by the first communication node, wherein the perception establishment request message includes at least one of indication information and index information of the resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier; the second communication node determines whether to respond to the perception establishment request message based on its own processing capability and processing resource status, and sends a perception establishment feedback message to the first communication node, and the perception establishment feedback message is used to indicate whether the perception establishment is successful.

[0106] Method 2: When the first communication node is an access network device and the second communication node is a terminal device, the second communication node receives a perception reception instruction sent by the first communication node, wherein the perception reception instruction includes at least one of indication information and index information of a resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier.

[0107] Through any of the above methods, the first communication node establishes a communication link with the second communication node, so that the second communication node receives the first sensing sequence sent by the first communication node at the first resource position, and after receiving the second sensing sequence sent by another first communication node at the second resource position, sends the sensing result information to the first communication node, wherein the sensing result information includes at least one of the position information, distance information, speed information, angle information, Doppler frequency shift information, type information of the sensing target, and classification information of the sensing target, thereby realizing the sensing of the sensing target.

[0108] In one embodiment, the frequency domain resources of the first resource location and the second resource location are the same, and the time domain resources are different; or, the frequency domain resources of the first resource location and the second resource location are different, and the time domain resources are the same; or, the time domain resources and frequency domain resources of the first resource location and the second resource location are the same, and at least one of the following resources is different: spatial domain resources, code domain resources, beam domain resources.

[0109] In one embodiment, the complementary sequence is a Golay complementary sequence or a fully complementary sequence.

[0110] When the complementary sequence is a Golay complementary sequence, the length of the Golay complementary sequence is 32, 64, 128 or 256. Optionally, the Golay complementary sequence may also be scrambled using a sequence identity (ID), and the sequence ID is a physical cell ID or a virtual cell ID.

[0111] When the complementary sequence is a completely complementary sequence, the autocorrelation function value of the completely complementary sequence is zero at non-zero shift or the difference with the value at zero shift is less than -20dB, and the cross-correlation function value of the completely complementary sequence is zero or the difference with the value at autocorrelation zero shift is less than -20dB.

[0112] In one embodiment, the first sensing sequence is a cyclic algorithm CAN sequence.

[0113] The CAN sequence can be initialized in one of the following ways:

[0114] N rand is a random vector of N, where N is the sequence length of the CAN sequence;

[0115] N is the sequence length of the CAN sequence;

[0116] M r is an even number, N is the sequence length of the CAN sequence;

[0117] M r is an even or odd number, N is the sequence length of the CAN sequence;

[0118] N is the sequence length of the CAN sequence;

[0119] N is the sequence length of the CAN sequence;

[0120] Initialize according to the Zadoff-Chu sequence.

[0121] Figure 5 FIG. 4 shows an interactive schematic diagram of a method for transmitting a perception sequence provided by an embodiment. Figure 5 As shown, the perception system includes a first communication node A, a first communication node B, and a second communication node. The first communication node A, the first communication node B, and the second communication node are all access network devices. Assuming that the first communication node A and the first communication node B have established communication links with the second communication node respectively, the specific method of establishing the communication link can refer to the description of the above embodiment, and the transmission method of the perception sequence includes the following steps:

[0122] S301. The first communication node A obtains a first perception sequence and a first resource location.

[0123] S302. The first communication node A sends a first perception sequence to the second communication node at a first resource location.

[0124] S303. The first communication node B obtains a second perception sequence and a second resource position.

[0125] S304. The first communication node B sends a second perception sequence to the second communication node at a second resource location.

[0126] S305. Receive a first perception sequence sent by a first communication node at a first resource position, and receive a second perception sequence sent by another first communication node at a second resource position, wherein the first perception sequence is the same as the second perception sequence, or the first perception sequence and the second perception sequence are a pair of complementary sequences.

[0127] In one embodiment, the first perception sequence and the second perception sequence may also be sequences generated by scrambling the same sequence using different sequence IDs or frame / subframe / time slot / symbol indexes; or, the first perception sequence and the second perception sequence may also be sequences generated by scrambling a pair of complementary sequences using different sequence IDs or frame / subframe / time slot / symbol indexes.

[0128] In one embodiment, the frequency domain resources of the first resource location and the second resource location are the same, and the time domain resources are different; or, the frequency domain resources of the first resource location and the second resource location are different, and the time domain resources are the same; or, the time domain resources and frequency domain resources of the first resource location and the second resource location are the same, and at least one of the following resources is different: spatial domain resources, code domain resources, beam domain resources.

[0129] Figure 6 A schematic diagram showing a first resource location and a second resource location provided by an embodiment in which the frequency domain resources are the same but the time domain resources are different. Figure 6 As shown, Figure 6 (a) shows the case where the first perception sequence and the second perception sequence are a pair of complementary sequences; Figure 6(a) shows the case where the first perception sequence is the same as the second perception sequence. When the first perception sequence and the second perception sequence are a pair of complementary sequences, the autocorrelation performance of the second communication node is good, but the second communication node needs to wait for the other half of the complementary sequence to arrive before performing signal autocorrelation of the complementary sequence.

[0130] Figure 7 A schematic diagram showing a first resource location and a second resource location provided by an embodiment in which the frequency domain resources are different and the time domain resources are the same. Figure 7 As shown, Figure 7 (a) shows the case where the first perception sequence and the second perception sequence are a pair of complementary sequences; Figure 7 (a) shows the case where the first perception sequence is the same as the second perception sequence. Figure 6 Compared with the situation shown, the second communication node does not need to wait for a period of time to perform correlation detection of the complementary sequence, but since the OFDM system is extremely sensitive to frequency deviation, a small amount of frequency deviation will destroy the orthogonality of the frequency domain subcarriers.

[0131] Figure 8 A schematic diagram of the structure of a sending device for a sensing sequence provided by an embodiment is shown. The device can be configured in a first communication node, such as Figure 8 As shown, the device includes: an acquisition module 801 and a communication module 802.

[0132] An acquisition module 801 is configured to acquire a first perception sequence and a first resource location;

[0133] The communication module 802 is configured to send a first perception sequence to a second communication node at a first resource position, wherein the first perception sequence is the same as the second perception sequence, or the first perception sequence and the second perception sequence are a pair of complementary sequences, and the second perception sequence is a perception sequence sent by another first communication node to the second communication node at a second resource position.

[0134] The sensing sequence sending device provided in this embodiment is to realize Figure 2 The method for sending a perception sequence in the illustrated embodiment and the implementation principle and technical effect of the device for sending a perception sequence provided in this embodiment are similar to those in the above embodiment and will not be described in detail here.

[0135] In one embodiment, the frequency domain resources of the first resource location and the second resource location are the same, and the time domain resources are different; or, the frequency domain resources of the first resource location and the second resource location are different, and the time domain resources are the same; or, the time domain resources and frequency domain resources of the first resource location and the second resource location are the same, and at least one of the following resources is different: spatial domain resources, code domain resources, beam domain resources.

[0136] In one embodiment, the acquisition module 801 is configured to acquire an orthogonal frequency division multiplexing OFDM signal; perform an inverse fast Fourier transform IFFT or an inverse discrete Fourier transform IDFT on the OFDM signal to obtain a first perception sequence.

[0137] In one embodiment, the communication module 802 is further configured to send a perception establishment request message to the second communication node, wherein the perception establishment request message includes at least one of indication information and index information of the resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier; and receive a perception establishment feedback message sent by the second communication node, wherein the perception establishment feedback message is used to indicate whether the perception establishment is successful.

[0138] In one embodiment, the communication module 802 is further configured to send a perception reception instruction to the second communication node, wherein the perception reception instruction includes at least one of indication information and index information of the resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier.

[0139] In one embodiment, the communication module 802 is further configured to receive perception result information sent by the second communication node after sending a first perception sequence to the second communication node at a first resource location, wherein the perception result information includes at least one of location information, distance information, speed information, angle information, Doppler frequency shift information, type information of the perception target, and classification information of the perception target.

[0140] In one embodiment, the complementary sequence is a Golay complementary sequence or a fully complementary sequence.

[0141] In one embodiment, the length of the Golay complementary sequence is 32, 64, 128 or 256.

[0142] In one embodiment, the Golay complementary sequence is scrambled using a sequence identifier ID, where the sequence ID is a physical cell ID or a virtual cell ID.

[0143] In one embodiment, the autocorrelation function value of the perfect complementary sequence is zero at non-zero shift or the difference with the value at zero shift is less than -20dB, and the cross-correlation function value of the perfect complementary sequence is zero or the difference with the value at zero autocorrelation shift is less than -20dB.

[0144] In one embodiment, the first sensing sequence is a cyclic algorithm CAN sequence.

[0145] In one embodiment, the initialization method of the CAN sequence includes one of the following:

[0146] N rand is a random vector of N, where N is the sequence length of the CAN sequence;

[0147] N is the sequence length of the CAN sequence;

[0148] M r is an even number, N is the sequence length of the CAN sequence;

[0149] M r is an even or odd number, N is the sequence length of the CAN sequence;

[0150] N is the sequence length of the CAN sequence;

[0151] N is the sequence length of the CAN sequence;

[0152] Initialize according to the Zadoff-Chu sequence.

[0153] Fig. 9 A schematic diagram of the structure of a receiving device for sensing a sequence provided by an embodiment is shown. The device can be configured in a second communication node, such as Fig. 9 As shown, the device includes: a communication module 901.

[0154] The communication module 901 is configured to receive a first perception sequence sent by a first communication node at a first resource position, and to receive a second perception sequence sent by another first communication node at a second resource position, wherein the first perception sequence is the same as the second perception sequence, or the first perception sequence and the second perception sequence are a pair of complementary sequences.

[0155] The receiving device of the sensing sequence provided in this embodiment is to realize Figure 4 The method for receiving a perception sequence in the illustrated embodiment and the implementation principle and technical effect of the device for receiving a perception sequence provided in this embodiment are similar to those in the above embodiment and will not be described in detail herein.

[0156] In one embodiment, the frequency domain resources of the first resource location and the second resource location are the same, and the time domain resources are different; or, the frequency domain resources of the first resource location and the second resource location are different, and the time domain resources are the same; or, the time domain resources and frequency domain resources of the first resource location and the second resource location are the same, and at least one of the following resources is different: spatial domain resources, code domain resources, beam domain resources.

[0157] In one embodiment, the communication module 901 is further configured to receive a perception establishment request message sent by the first communication node, wherein the perception establishment request message includes at least one of indication information and index information of the resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier; and send a perception establishment feedback message to the first communication node, wherein the perception establishment feedback message is used to indicate whether the perception establishment is successful.

[0158] In one embodiment, the communication module 901 is further configured to receive a perception reception instruction sent by the first communication node, wherein the perception reception instruction includes at least one of indication information and index information of the resource location, the indication information is used to indicate whether the perception sequence is a complementary sequence, and the resource location includes at least one of a frame, a subframe, a time slot, a symbol, a frequency domain bandwidth position, a frequency domain resource block, and a frequency domain subcarrier.

[0159] In one embodiment, the communication module 901 is further configured to receive a first perception sequence sent by a first communication node at a first resource location, and after receiving a second perception sequence sent by another first communication node at a second resource location, send perception result information to the first communication node, wherein the perception result information includes at least one of location information, distance information, speed information, angle information, Doppler frequency shift information, type information of the perception target, and classification information of the perception target.

[0160] In one embodiment, the complementary sequence is a Golay complementary sequence or a fully complementary sequence.

[0161] In one embodiment, the length of the Golay complementary sequence is 32, 64, 128 or 256.

[0162] In one embodiment, the Golay complementary sequence is scrambled using a sequence identifier ID, where the sequence ID is a physical cell ID or a virtual cell ID.

[0163] In one embodiment, the autocorrelation function value of the perfect complementary sequence is zero at non-zero shift or the difference with the value at zero shift is less than -20dB, and the cross-correlation function value of the perfect complementary sequence is zero or the difference with the value at zero autocorrelation shift is less than -20dB.

[0164] In one embodiment, the first sensing sequence is a cyclic algorithm CAN sequence.

[0165] In one embodiment, the initialization method of the CAN sequence includes one of the following:

[0166] N rand is a random vector of N, where N is the sequence length of the CAN sequence;

[0167] N is the sequence length of the CAN sequence;

[0168] M r is an even number, N is the sequence length of the CAN sequence;

[0169] M r is an even or odd number, N is the sequence length of the CAN sequence;

[0170] N is the sequence length of the CAN sequence;

[0171] N is the sequence length of the CAN sequence;

[0172] Initialize according to the Zadoff-Chu sequence.

[0173] An embodiment of the present application also provides a communication node, comprising: a processor, the processor is used to implement the method provided in any embodiment of the present application when executing a computer program. Specifically, the communication node may be a first communication node or a second communication node. The first communication node includes: a processor, the processor is used to implement the method for sending a perception sequence as provided in any embodiment of the present application when executing a computer program; the second communication node includes: a processor, the processor is used to implement the method for receiving a perception sequence as provided in any embodiment of the present application when executing a computer program. Exemplarily, the first communication node may be an access network device provided in any embodiment of the present application, such as a base station, and the present application does not impose specific restrictions on this. The second communication node may be a terminal device or an access network device provided in any embodiment of the present application, and the present application does not impose specific restrictions on this.

[0174] Illustratively, the following embodiments respectively provide structural diagrams in which a communication node is a base station and a UE.

[0175] Fig.10 A schematic diagram of the structure of a base station provided by an embodiment is shown. Fig.10 As shown, the base station includes a processor 60, a memory 61 and a communication interface 62; the number of processors 60 in the base station can be one or more. Fig.10 A processor 60 is taken as an example; the processor 60, the memory 61, and the communication interface 62 in the base station can be connected by a bus or other means. Fig.10 In the example of connecting via a bus, a bus refers to one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus structures.

[0176] The memory 61, as a computer-readable storage medium, can be configured to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the method in the embodiment of the present application. The processor 60 executes at least one functional application and data processing of the base station by running the software programs, instructions and modules stored in the memory 61, that is, implementing the above method.

[0177] The memory 61 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 61 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 61 may include a memory remotely arranged relative to the processor 60, and these remote memories may be connected to the base station via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a network, a mobile communication network, and combinations thereof.

[0178] The communication interface 62 may be configured to receive and send data.

[0179] Fig.11 A structural schematic diagram of a UE provided by an embodiment is shown. The UE can be implemented in various forms. The UE in the present application can include but is not limited to mobile terminal devices such as mobile phones, smart phones, laptops, digital broadcast receivers, personal digital assistants (PDA), tablet computers (Portable Device, PAD), portable multimedia players (Portable Media Player, PMP), navigation devices, vehicle-mounted terminal equipment, vehicle-mounted display terminals, vehicle-mounted electronic rearview mirrors, etc., and fixed terminal devices such as digital televisions (TV), desktop computers, etc.

[0180] like Fig.11 As shown, UE 50 may include a wireless communication unit 51, an audio / video (A / V) input unit 52, a user input unit 53, a sensing unit 54, an output unit 55, a memory 56, an interface unit 57, a processor 58, a power supply unit 59, and the like. Fig.11 A UE is shown including various components, but it should be understood that implementing all of the components shown is not a requirement. More or fewer components may alternatively be implemented.

[0181] In this embodiment, the wireless communication unit 51 allows radio communication between the UE 50 and a base station or a network. The A / V input unit 52 is configured to receive audio or video signals. The user input unit 53 can generate key input data to control various operations of the UE 50 according to commands input by the user. The sensing unit 54 detects the current state of the UE 50, the position of the UE 50, the presence or absence of a user's touch input to the UE 50, the orientation of the UE 50, the acceleration or deceleration movement and direction of the UE 50, etc., and generates commands or signals for controlling the operation of the UE 50. The interface unit 57 serves as an interface through which at least one external device can be connected to the UE 50. The output unit 55 is configured to provide output signals in a visual, audio and / or tactile manner. The memory 56 can store software programs for processing and control operations performed by the processor 58, etc., or can temporarily store data that has been output or is to be output. The memory 56 can include at least one type of storage medium. Moreover, the UE 50 can cooperate with a network storage device that performs the storage function of the memory 56 through a network connection. The processor 58 generally controls the overall operation of the UE 50. The power supply unit 59 receives external power or internal power under the control of the processor 58 and provides appropriate power required to operate various elements and components.

[0182] The processor 58 executes at least one functional application and data processing by running the program stored in the memory 56, such as implementing the method provided in the embodiment of the present application.

[0183] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method provided in any embodiment of the present application is implemented.

[0184] The computer storage medium of the embodiment of the present application may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. The computer-readable storage medium includes (a non-exhaustive list): an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (Random Access Memory, RAM), a read-only memory (Read-Only Memory, ROM), an erasable programmable read-only memory (electrically erasable, programmable Read-Only Memory, EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it.

[0185] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, the data signal carrying a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0186] The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

[0187] Computer program code for performing the disclosed operations may be written in one or more programming languages ​​or a combination of multiple programming languages, including object-oriented programming languages ​​(such as Java, Smalltalk, C++, Ruby, Go), and conventional procedural programming languages ​​(such as "C" language or similar programming languages). The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network (including a network (Local Area Network, LAN) or a wide area network (Wide Area Network, WAN)), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet).

[0188] It will be appreciated by those skilled in the art that the term user terminal covers any suitable type of wireless user equipment, such as a mobile phone, a portable data processing device, a portable web browser or a vehicle-mounted mobile station.

[0189] In general, various embodiments of the present application can be implemented in hardware or dedicated circuits, software, logic or any combination thereof. For example, some aspects can be implemented in hardware, while other aspects can be implemented in firmware or software that can be executed by a controller, microprocessor or other computing device, although the present application is not limited thereto.

[0190] Embodiments of the present application may be implemented by executing computer program instructions by a data processor of a mobile device, for example in a processor entity, or by hardware, or by a combination of software and hardware. The computer program instructions may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages.

[0191] The block diagram of any logic flow in the drawings of the present application may represent program steps, or may represent interconnected logic circuits, modules and functions, or may represent a combination of program steps and logic circuits, modules and functions. The computer program may be stored in a memory. The memory may be of any type suitable for the local technical environment and may be implemented using any suitable data storage technology, such as but not limited to read-only memory (ROM), random access memory (RAM), optical memory devices and systems (digital versatile discs DVD or CD discs), etc. Computer-readable media may include non-transient storage media. The data processor may be of any type suitable for the local technical environment, such as but not limited to a general-purpose computer, a special-purpose computer, a microprocessor, a digital signal processor (Digital Signal Processing, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a programmable logic device (Field-Programmable Gate Array, FGPA) and a processor based on a multi-core processor architecture.

Claims

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

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

3. The method for sending a perception sequence according to claim 1, characterized in that: The obtaining of the first perception sequence comprises: Obtaining orthogonal frequency division multiplexing OFDM signal; Perform an inverse fast Fourier transform IFFT or an inverse discrete Fourier transform IDFT on the OFDM signal to obtain the first perception sequence.

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

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

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

7. The method for sending a perception sequence according to claim 1, characterized in that: The complementary sequence is a Golay complementary sequence or a completely complementary sequence.

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

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

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

11. The method for sending a perception sequence according to claim 1, characterized in that: The first sensing sequence is a cyclic algorithm CAN sequence.

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

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

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

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

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

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

18. The method for sending a perception sequence according to claim 13, characterized in that: The complementary sequence is a Golay complementary sequence or a completely complementary sequence.

19. The method for sending a perception sequence according to claim 18, characterized in that: The length of the Golay complementary sequence is 32, 64, 128 or 256.

20. The method for sending a perception sequence according to claim 19, characterized in that: The Golay complementary sequence is scrambled using a sequence identifier ID, and the sequence ID is a physical cell ID or a virtual cell ID.

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

22. The method for sending a perception sequence according to claim 13, characterized in that: The first sensing sequence is a cyclic algorithm CAN sequence.

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

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

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

26. A perception system, characterized in that: The method comprises the second communication node as claimed in claim 25, at least two first communication nodes as claimed in claim 24, and a scatterer.

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

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