Perception method, communication device and communication system

Abstract

The embodiment of the invention provides a sensing method, a communication device and a communication system. The method comprises: a first device receiving a sensing signal sent by a second device, and reporting a sensing result generated according to the sensing signal to the second device, the sensing result comprising one or more pieces of sensing beam information, the sensing beam information being used for indicating a target sending beam and / or a target receiving beam corresponding to the sensing signal, the target transmitting beam is one of the one or more transmitting beams, the target receiving beam is one of the one or more receiving beams, and the second device can determine a sensing target according to a sensing result. The first device reports the sensing result of the beam granularity, so that the second device can accurately determine the sensing target, and the sensing accuracy can be improved.

Description

A perception method, communication device and communication system Technical Field

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

[0002] In the past few decades, wireless communication systems have undergone evolution and research from the first generation of analog communications to the fifth generation (5G) communications.

[0003] With the development of communication technology, the application scope of perception networks is becoming increasingly broad. The integration of communication networks and perception networks has become a leading trend in the technology and services evolving beyond 5G. Perception networks are networks that have the capabilities of target positioning (ranging, speed, angle measurement, etc.), target imaging, target detection, and target recognition.

[0004] A perception network generally includes one or more devices. Taking two devices as an example, one device sends a perception signal, and the other device receives the perception signal. The other device determines the relevant information of the perception target in the environment based on the reception of the perception signal. The perception target can be one of the two devices or another device outside the two devices.

[0005] In communication systems, how to improve the accuracy of perception requires continuous attention.

[0006] Summary of the Invention

[0007] The present application provides a perception method, a communication device, and a communication system to improve the accuracy of perception.

[0008] In a first aspect, embodiments of the present application provide a perception method, which is performed by a first device, which may be a terminal device, a network device, or other device. The method includes: the first device receiving a perception signal from a second device via one or more receive beams, where the perception signal is transmitted by one or more transmit beams of the second device; and the first device transmitting a perception result to the second device, where the perception result includes one or more perception beam information, where the perception beam information is used to indicate a target transmit beam and / or target receive beam corresponding to the perception signal, where the target transmit beam is one of the one or more transmit beams, and the target receive beam is one of the one or more receive beams.

[0009] In this solution, the first device receives the sensing signal sent by the second device and reports the sensing result generated based on the sensing signal to the second device. The second device can then determine the sensing target based on the sensing result. Because the first device reports the sensing result at the beam granularity, it helps the second device accurately determine the sensing target, thereby improving the accuracy of sensing.

[0010] In one possible implementation method, the first device receives transmit beam information and / or receive beam information, where the transmit beam information corresponds to one or more transmit beams, and the receive beam information corresponds to one or more receive beams.

[0011] The above solution configures the first device with receiving beam information, so that the first device can receive the perception signal more quickly and accurately, which helps to accurately determine the perception result and thus improve the accuracy of perception.

[0012] In a possible implementation method, the transmission beam information includes one or more of directions of multiple transmission beams and time intervals between beams, and the directions of the multiple transmission beams are the same.

[0013] In the above solution, the second device sends a perception signal to the first device through multiple transmission beams in the same direction, which helps the first device to accurately perceive the perception target in the environment and improves the accuracy of perception.

[0014] In a possible implementation, the transmission beam information includes index information, where the index information corresponds to one or more of the directions of the multiple transmission beams and the time intervals between the beams.

[0015] In the above solution, the second device sends a perception signal to the first device through multiple transmission beams in the same direction, which helps the first device to accurately perceive the perception target in the environment and improves the accuracy of perception.

[0016] In one possible implementation method, the transmission beam information includes one or more of information of multiple transmission beam groups and time intervals between the transmission beam groups; or, the transmission beam information includes index information, and the index information corresponds to the information of the multiple transmission beam groups and one or more of the time intervals between the transmission beam groups; wherein the information of the transmission beam group includes one or more of the beam direction of the transmission beam group and the time intervals between the beams within the transmission beam group, wherein the directions of the beams within the same transmission beam group are the same.

[0017] In the above scheme, the second device sends a perception signal to the first device through multiple transmission beams, and the multiple transmission beams include transmission beams in the same direction, which helps the first device to accurately perceive the perception targets in the environment and improve the accuracy of perception. The multiple transmission beams also include transmission beams in different directions, which helps to improve the range of perception and quickly perceive the perception targets in the environment.

[0018] In one possible implementation method, the transmission beam information includes information of multiple transmission beam groups and one or more of the time intervals between the transmission beam groups; or, the transmission beam information includes index information, and the index information corresponds to information of the multiple transmission beam groups and one or more of the time intervals between the transmission beam groups; wherein the information of the transmission beam group includes information of multiple transmission beam subgroups and one or more of the time intervals between the transmission beam subgroups, and the information of the transmission beam subgroup includes beam directions of the transmission beam subgroup and one or more of the time intervals between beams within the transmission beam subgroup, wherein the directions of the beams within the same transmission beam subgroup are the same.

[0019] In the above scheme, the second device sends a perception signal to the first device through multiple transmission beams. A transmission beam group is divided into one or more transmission beam subgroups. The multiple transmission beams in each transmission beam subgroup include transmission beams in the same direction, which helps the first device to accurately perceive a perception target in the environment by adjusting the beam direction, and can improve the accuracy of perception. The multiple transmission beams also include transmission beams in different directions, which helps to improve the range of perception and quickly perceive the perception target in the environment.

[0020] In one possible implementation method, the perception beam information includes information about the target transmitting beam and / or information about the target receiving beam; wherein, the information about the target transmitting beam includes one or more of the index, direction, width or angle of the target transmitting beam, and the information about the target receiving beam includes one or more of the index, direction, width or angle of the target receiving beam.

[0021] In the above solution, the sensing beam information reported by the first device to the second device includes information about the target transmitting beam and / or information about the target receiving beam, which helps the second device to accurately determine the sensing target.

[0022] In a possible implementation method, the perception result also includes one or more of a perception distance index and a speed index; wherein the perception distance index is used to indicate the distance between the perception target and the first device, and the speed index is used to indicate the speed of the perception target.

[0023] In the above solution, the sensing result also includes a sensing distance index and / or a speed index, which helps the second device accurately determine the sensing target and improves the effectiveness of sensing. In addition, the sensing distance index and speed index are reported, which can reduce signaling overhead.

[0024] In a possible implementation method, the distance indicated by the perception distance index is determined according to a range resolution, and the range resolution is determined according to one or more of a subcarrier spacing and a pulse duration of the perception signal.

[0025] The above solution determines the distance through range resolution, which can accurately determine the distance and help improve the perception accuracy.

[0026] In a possible implementation method, the speed indicated by the speed index is determined according to a speed resolution, and the speed resolution is determined according to one or more of a coherent processing interval CPI and a pulse repetition interval PRI of the perception signal.

[0027] The above solution determines the speed through speed resolution, which can accurately determine the speed and help improve perception accuracy.

[0028] In a possible implementation method, the first device receives the perception signal from the second device through one or more receiving beams, including: the first device receives the perception signal from the second device through the one or more receiving beams within a receiving time range.

[0029] In the above solution, the first device receives the perception signal within a receiving time range, which can realize perception of the perception target according to the needs of the second device, and helps to achieve flexibility in perception.

[0030] In a possible implementation method, the first device receives time information, and the time information is used to indicate the receiving time range.

[0031] In the above solution, the first device receives the perception signal within the receiving time range according to the needs of the second device, which can improve the matching degree between the perception result and the perception needs, avoid unnecessary information transmission, reduce interference, and improve perception efficiency.

[0032] In a second aspect, an embodiment of the present application provides a perception method, which is performed by a second device, which may be a terminal device, a network device, or other device. The method includes: the second device transmits a perception signal to a first device via one or more transmit beams corresponding to transmit beam information, where the perception signal is received via one or more receive beams; the second device receives a perception result from the first device, where the perception result includes one or more perception beam information, where the perception beam information is used to indicate a target transmit beam and / or target receive beam corresponding to the perception signal, where the target transmit beam is one of the one or more transmit beams, and the target receive beam is one of the one or more receive beams.

[0033] In this solution, the first device receives the sensing signal sent by the second device and reports the sensing result generated based on the sensing signal to the second device. The second device can then determine the sensing target based on the sensing result. Because the first device reports the sensing result at the beam granularity, it helps the second device accurately determine the sensing target, thereby improving the accuracy of sensing.

[0034] In one possible implementation method, the second device sends the transmission beam information to the first device.

[0035] The above solution configures the first device to send beam information, so that the first device can receive the perception signal more quickly and accurately, which helps to accurately determine the perception result and thus improve the accuracy of perception.

[0036] In a possible implementation method, the second device sends receiving beam information to the first device, where the receiving beam information corresponds to the one or more receiving beams.

[0037] The above solution configures the first device with receiving beam information, so that the first device can receive the perception signal more quickly and accurately, which helps to accurately determine the perception result and thus improve the accuracy of perception.

[0038] In a possible implementation method, the transmission beam information includes one or more of directions of multiple transmission beams and time intervals between beams, and the directions of the multiple transmission beams are the same.

[0039] In the above solution, the second device sends a perception signal to the first device through multiple transmission beams in the same direction, which helps the first device to accurately perceive the perception target in the environment and improves the accuracy of perception.

[0040] In a possible implementation method, the transmission beam information includes index information, and the index information corresponds to one or more of the directions of the multiple transmission beams and the time intervals between the beams.

[0041] In the above solution, the second device sends a perception signal to the first device through multiple transmission beams in the same direction, which helps the first device to accurately perceive the perception target in the environment and improves the accuracy of perception.

[0042] In one possible implementation method, the transmission beam information includes one or more of information of multiple transmission beam groups and time intervals between the transmission beam groups; or, the transmission beam information includes index information, and the index information corresponds to the information of the multiple transmission beam groups and one or more of the time intervals between the transmission beam groups; wherein the information of the transmission beam group includes one or more of the beam direction of the transmission beam group and the time intervals between the beams within the transmission beam group, wherein the directions of the beams within the same transmission beam group are the same.

[0043] In the above scheme, the second device sends a perception signal to the first device through multiple transmission beams, and the multiple transmission beams include transmission beams in the same direction, which helps the first device to accurately perceive the perception targets in the environment and improve the accuracy of perception. The multiple transmission beams also include transmission beams in different directions, which helps to improve the range of perception and quickly perceive the perception targets in the environment.

[0044] In one possible implementation method, the transmission beam information includes information of multiple transmission beam groups and one or more of the time intervals between the transmission beam groups; or, the transmission beam information includes index information, and the index information corresponds to information of the multiple transmission beam groups and one or more of the time intervals between the transmission beam groups; wherein the information of the transmission beam group includes information of multiple transmission beam subgroups and one or more of the time intervals between the transmission beam subgroups, and the information of the transmission beam subgroup includes beam directions of the transmission beam subgroup and one or more of the time intervals between beams within the transmission beam subgroup, wherein the directions of the beams within the same transmission beam subgroup are the same.

[0045] In the above scheme, the second device sends a perception signal to the first device through multiple transmission beams, and the multiple transmission beams include transmission beams in the same direction, which helps the first device to accurately perceive the perception targets in the environment and improve the accuracy of perception. The multiple transmission beams also include transmission beams in different directions, which helps to improve the range of perception and quickly perceive the perception targets in the environment.

[0046] In one possible implementation method, the perception beam information includes information about the target transmitting beam and / or information about the target receiving beam; wherein, the information about the target transmitting beam includes one or more of the index, direction, width or angle of the target transmitting beam, and the information about the target receiving beam includes one or more of the index, direction, width or angle of the target receiving beam.

[0047] In the above solution, the sensing beam information reported by the first device to the second device includes information about the target transmitting beam and / or information about the target receiving beam, which helps the second device to accurately determine the sensing target.

[0048] In a possible implementation method, the perception result also includes one or more of a perception distance index and a speed index; wherein the perception distance index is used to indicate the distance between the perception target and the first device, and the speed index is used to indicate the speed of the perception target.

[0049] In the above solution, the sensing result also includes a sensing distance index and / or a speed index, which helps the second device accurately determine the sensing target and improves the effectiveness of sensing. In addition, the sensing distance index and speed index are reported instead of the sensing distance and speed, which can reduce signaling overhead.

[0050] In a possible implementation method, the distance indicated by the perception distance index is determined according to a range resolution, and the range resolution is determined according to one or more of a subcarrier spacing and a pulse duration of the perception signal.

[0051] The above solution determines the distance through range resolution, which can accurately determine the distance and effectively improve the perception accuracy.

[0052] In a possible implementation method, the speed indicated by the speed index is determined according to a speed resolution, and the speed resolution is determined according to one or more of a coherent processing interval CPI and a pulse repetition interval PRI of the perception signal.

[0053] The above solution determines the speed through speed resolution, which can accurately determine the speed and effectively improve the perception accuracy.

[0054] In a possible implementation method, the perception signal is received through one or more receiving beams, including: the perception signal is received through one or more receiving beams within a receiving time range.

[0055] In the above solution, the first device receives the perception signal within a receiving time range, which can realize perception of the perception target according to the needs of the second device, and helps to achieve flexibility in perception.

[0056] In a possible implementation method, the second device sends time information to the first device, where the time information is used to indicate the receiving time range.

[0057] In the above solution, the first device receives the perception signal within the receiving time range according to the needs of the second device, which can improve the matching degree between the perception result and the perception needs, avoid unnecessary information transmission, reduce interference, and improve perception efficiency.

[0058] In a third aspect, an embodiment of the present application provides a sensing method, which is performed by a first device, which may be a terminal device, a network device, or other device. The method includes: the first device receiving a sensing signal from a second device within a receiving time range.

[0059] In the above solution, the first device receives the perception signal within a receiving time range, which can realize perception of the perception target according to the needs of the second device, and helps to achieve flexibility in perception.

[0060] In a possible implementation method, the first device receives time information, where the time information is used to indicate the receiving time range.

[0061] The above solution indicates the receiving time range through time information, which helps to accurately configure the receiving time range.

[0062] In one possible implementation method, the first device sends a perception result corresponding to the perception signal to the second device, where the perception result includes at least one of delay information, path length information, or Doppler shift information. The delay information indicates the length of time it takes for the perception signal to be sent from the second device, pass through a perception target, and reach the first device. The path length information indicates the length of the path it takes for the perception signal to be sent from the second device, pass through the perception target, and reach the first device. The Doppler shift information indicates the offset between the original frequency of the perception signal when it is sent from the second device and the actual frequency of the perception signal when it passes through the perception target and reaches the first device.

[0063] The above solution includes at least one of delay information, path length information or Doppler shift information in the perception result, which helps the second device determine the perception target based on the perception result.

[0064] In a fourth aspect, embodiments of the present application provide a perception method, performed by a first device, which may be a terminal device, a network device, or other device. The method includes: the first device receiving a perception signal from a second device; and the first device sending a perception result to the second device, the perception result including a perception distance index indicating the distance between the first device and a perception target corresponding to the perception signal.

[0065] In the above solution, the sensing result also includes a sensing distance index, which helps the second device accurately determine the sensing target and improves the effectiveness of sensing. In addition, the sensing distance index is reported instead of the sensing distance, which can reduce signaling overhead.

[0066] In a possible implementation method, the distance indicated by the perception distance index is determined according to a range resolution, and the range resolution is determined according to one or more of a subcarrier spacing and a pulse duration of the perception signal.

[0067] The above solution determines the distance through range resolution, which can accurately determine the distance and effectively improve the perception accuracy.

[0068] In a fifth aspect, embodiments of the present application provide a perception method, performed by a first device, which may be a terminal device, a network device, or other device. The method includes: the first device receiving a perception signal from a second device; and the first device transmitting a perception result to the second device, the perception result including a speed index indicating the speed of the perceived target.

[0069] In the above solution, the sensing result also includes a sensing speed index, which helps the second device accurately determine the sensing target and improves the effectiveness of sensing. In addition, the sensing speed index is reported instead of the sensing speed, which can reduce signaling overhead.

[0070] In a possible implementation method, the speed indicated by the speed index is determined according to a speed resolution, and the speed resolution is determined according to one or more of a coherent processing interval CPI and a pulse repetition interval PRI of the perception signal.

[0071] The above solution determines the speed through speed resolution, which can accurately determine the speed and effectively improve the perception accuracy.

[0072] In a sixth aspect, embodiments of the present application provide a perception method, performed by a second device, which may be a terminal device, a network device, or other device. The method includes: the second device sending a perception signal to a first device; and the second device receiving a perception result from the first device, the perception result including a perception distance index indicating the distance between the first device and a perception target corresponding to the perception signal.

[0073] In the above solution, the sensing result also includes a sensing distance index, which helps the second device accurately determine the sensing target and improves the effectiveness of sensing. In addition, the sensing distance index is reported instead of the sensing distance, which can reduce signaling overhead.

[0074] In a possible implementation method, the distance indicated by the perception distance index is determined according to a range resolution, and the range resolution is determined according to one or more of a subcarrier spacing and a pulse duration of the perception signal.

[0075] The above solution determines the distance through range resolution, which can accurately determine the distance and effectively improve the perception accuracy.

[0076] In a seventh aspect, embodiments of the present application provide a perception method, performed by a second device, which may be a terminal device, a network device, or other device. The method includes: the second device sending a perception signal to a first device; and the second device receiving a perception result from the first device, the perception result including a speed index indicating the speed of the perceived target.

[0077] In the above solution, the sensing result also includes a sensing speed index, which helps the second device accurately determine the sensing target and improves the effectiveness of sensing. In addition, the sensing speed index is reported instead of the sensing speed, which can reduce signaling overhead.

[0078] In a possible implementation method, the speed indicated by the speed index is determined according to a speed resolution, and the speed resolution is determined according to one or more of a coherent processing interval CPI and a pulse repetition interval PRI of the perception signal.

[0079] The above solution determines the speed through speed resolution, which can accurately determine the speed and effectively improve the perception accuracy.

[0080] In an eighth aspect, an embodiment of the present application provides a communication device. The device has the function of implementing any of the implementation methods of aspects 1 to 7 above. The function can be implemented by hardware or by hardware executing corresponding software implementations. The hardware or software includes one or more modules corresponding to the above functions.

[0081] In a ninth aspect, an embodiment of the present application provides a communication device, comprising a unit or means for executing each step of any implementation method in the first to seventh aspects above.

[0082] In the tenth aspect, an embodiment of the present application provides a communication device, comprising at least one processor, wherein the processor is configured to execute any implementation method in the above-mentioned first to seventh aspects by at least one of the following: running computer instructions or programs, or logic circuits.

[0083] In one possible implementation, the processor is coupled to a memory that stores the aforementioned computer instructions or programs; alternatively, the memory stores a configuration file for a logic circuit. Alternatively, the memory may be located within the device, i.e., the device includes the memory; alternatively, the processor and memory are integrated together; alternatively, the memory may be located external to the device.

[0084] In a possible implementation, the communication device further includes: an interface circuit, the interface circuit being used to input and / or output signals. The processor is used to communicate with other devices through the interface circuit.

[0085] In a possible implementation, the communication device is a chip.

[0086] In the eleventh aspect, an embodiment of the present application also provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are run by a communication device, any implementation method in the above-mentioned first to seventh aspects is executed.

[0087] In the twelfth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium, which, when run on a communication device, enables any implementation method in the above-mentioned first to seventh aspects to be executed.

[0088] In the thirteenth aspect, an embodiment of the present application further provides a chip system, comprising: a processor for executing any implementation method of the above-mentioned first to seventh aspects.

[0089] In a fourteenth aspect, an embodiment of the present application further provides a communication system, comprising a first device for executing any implementation method of the first aspect, and a second device for executing any implementation method of the second aspect.

[0090] In a fifteenth aspect, an embodiment of the present application further provides a communication system, comprising a first device for executing any implementation method of the fourth aspect, and a second device for executing any implementation method of the sixth aspect.

[0091] In the sixteenth aspect, an embodiment of the present application also provides a communication system, comprising a first device for executing any implementation method of the fifth aspect, and a second device for executing any implementation method of the seventh aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] FIG1 is a schematic diagram of the architecture of a communication system used in an embodiment of the present application;

[0093] FIG2 is another schematic diagram of a communication system used in an embodiment of the present application;

[0094] FIG3 is a schematic diagram of an interaction process of a perception method provided in an embodiment of the present application;

[0095] FIG4( a ) is an example diagram of a transmission beam indicated by transmission beam information;

[0096] FIG4( b ) is another example diagram of a transmission beam indicated by transmission beam information;

[0097] FIG4( c ) is another example diagram of a transmission beam indicated by transmission beam information;

[0098] Figure 5(a) is an example diagram of sending a sensing signal;

[0099] FIG5( b ) is another example diagram of sending a sensing signal;

[0100] FIG6 is an example diagram of a receiving time range;

[0101] FIG7( a ) is a schematic diagram of a configuration method for a receiving time range;

[0102] FIG7( b ) is a schematic diagram of another configuration method for receiving the time range;

[0103] FIG8 is a schematic structural diagram of a possible communication device provided in an embodiment of the present application;

[0104] FIG9 is a schematic structural diagram of a possible communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0105] Figure 1 is a schematic diagram of the architecture of a communication system used in an embodiment of the present application. The communication system includes a first device and a second device.

[0106] In one implementation method, the first device is a network device or a module for a network device, and the second device is a terminal device or a module for a terminal device. The first device and the second device communicate with each other via an air interface.

[0107] In another implementation method, the first device is a terminal device or a module for a terminal device, and the second device is a network device or a module for a network device. The first device and the second device communicate with each other via an air interface.

[0108] In another implementation method, the first device is a terminal device or a module for a terminal device, and the second device is a terminal device or a module for a terminal device. The first device and the second device can perform side link (SL) communication via a PC5 interface.

[0109] Of course, the first device and the second device in the embodiment of the present application can also be other types of devices, and the present application does not limit this.

[0110] In the implementation of this application, a terminal device is a device with wireless transceiver capabilities, and may specifically refer to user equipment (UE), access terminal, subscriber unit, user station, mobile station, remote station, remote terminal, mobile device, user terminal, wireless communication device, user agent, or user device. The terminal device can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; can also be deployed on water (such as ships); and can also be deployed in the air (such as aircraft, balloons, and satellites). The terminal device can be a cellular phone, a mobile phone, a tablet computer (pad), a wireless data card, a wireless modem, a satellite terminal, a vehicle-mounted device, a wearable device, a drone, a robot, a smart point of sale (POS) machine, a customer-premises equipment (CPE), a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a terminal device in industrial control, a terminal device in self-driving, a terminal device in remote medical, a terminal device in a smart grid, a terminal in transportation safety, a terminal device in a smart city, and a terminal in a smart home.

[0111] In the implementation of this application, the network device is a device with wireless transceiver functions, which is used to communicate with the terminal device; it can also be a device that can access the terminal device to a wireless network, such as a radio access network (RAN) device or node. The network devices in the embodiments of the present application may include various forms of base stations, such as: macro base stations, micro base stations (also known as small stations), relay stations, access points, devices that implement base station functions in communication systems evolved after 5G, access points (APs) in WiFi systems, integrated access and backhaul (IAB) nodes, transmission points (TRPs), transmitting points (TPs), mobile switching centers, and devices that perform base station functions in device-to-device (D2D), vehicle-to-everything (V2X), and machine-to-machine (M2M) communications, etc., and may also include centralized units (CUs) and distributed units (DUs) in cloud radio access networks (C-RAN) systems, and network devices in non-terrestrial network (NTN) communication systems, that is, they can be deployed on high-altitude platforms or satellites; they may also be various devices that constitute access nodes, such as active antenna processing units (AAPs). unit (AAU), baseband unit (BBU), etc. This embodiment of the present application does not make any specific limitation on this.

[0112] For ease of explanation, the embodiments of the present application are described by taking an example in which the first device is a terminal device and the second device is a network device.

[0113] Figure 2 is another schematic diagram of a communication system used in an embodiment of the present application. The communication system includes a network device and a terminal device. The terminal device is an example of a first device, and the network device is an example of a second device.

[0114] FIG3 is a schematic diagram of an interactive process of a perception method provided in an embodiment of the present application. The method includes the following steps:

[0115] Step 301: The terminal device receives transmit beam information and / or receive beam information.

[0116] The transmission beam information is used by the network device to send a perception signal to the terminal device. The terminal device may receive the transmission beam information from the network device or from other devices, or the terminal device may determine the transmission beam information on its own, which is not limited in this application.

[0117] The receiving beam information is used by the terminal device to receive the sensing signal from the network device. The terminal device can receive the receiving beam information from the network device, or can receive the transmitting beam information from other devices, or the terminal device can determine the receiving beam information on its own, which is not limited in this application.

[0118] Step 301 is optional. In one implementation, step 301 is not performed, and the terminal device independently determines the transmit beam information and the receive beam information. In another implementation, the terminal device receives the transmit beam information and independently determines the receive beam information. In another implementation, the terminal device receives the receive beam information and independently determines the transmit beam information. In another implementation, the terminal device receives the transmit beam information and the receive beam information.

[0119] By way of example, different implementation methods of sending beam information are introduced below.

[0120] Method 1: The transmission beam information includes one or more of the directions of multiple transmission beams and the time intervals between beams, and the directions of the multiple transmission beams are the same; or the transmission beam information includes index information corresponding to one or more of the directions of the multiple transmission beams and the time intervals between beams. The transmission beam information indicates that the directions of the multiple transmission beams are the same.

[0121] In this method, the second device sends a perception signal to the first device through multiple transmission beams in the same direction, which helps the first device to accurately perceive the perception target in the environment and can improve the accuracy of perception.

[0122] The following example illustrates how to implement index information.

[0123] In one implementation, the index information corresponds to the directions of multiple transmission beams. In this implementation, the time interval between beams can be protocol-defined or default. Table 1-1 shows an example of the relationship between index information and the directions of transmission beams.

[0124] Table 1-1

[0125] Index information Transmit beam direction 0 direction 11 direction 22 direction 33 direction 4…………

[0126] For example, when the index information included in the transmission beam information is 0, it indicates that the direction of the multiple transmission beams is direction 1; when the index information included in the transmission beam information is 1, it indicates that the direction of the multiple transmission beams is direction 2, and so on.

[0127] In another implementation method, the index information corresponds to the time interval between beams. In this implementation method, the directions of the multiple transmission beams can be protocol-defined or default. Table 1-2 shows an example of the relationship between the index information and the time interval between beams.

[0128] Table 1-2

[0129] The time interval between index information beams is 0a11a22a33a4…………

[0130] For example, when the index information included in the transmitted beam information is 0, it indicates that the time interval between beams is a1; when the index information included in the transmitted beam information is 1, it indicates that the time interval between beams is a2, and so on.

[0131] In another implementation method, the index information corresponds to the directions of the multiple transmission beams and the time intervals between the beams. Table 1-3 shows an example of the relationship between the index information and the directions of the multiple transmission beams and the time intervals between the beams.

[0132] Table 1-3

[0133] Index information Transmit beam direction Time interval between beams 0 Direction 1b1 1 Direction 1b2 2 Direction 2b3 3 Direction 2b4 4 Direction 3b5 ………………

[0134] For example, when the index information included in the transmitted beam information is 0, it means that the direction of multiple transmitted beams is direction 1 and the time interval between beams is b1; when the index information included in the transmitted beam information is 1, it means that the direction of multiple transmitted beams is direction 1 and the time interval between beams is b2, and so on.

[0135] Figure 4(a) illustrates an example of transmit beams indicated by transmit beam information. In this example, the transmit beam information indicates one or more of the directions of three beams and the time intervals between beams. The three beams have the same direction. In this example, the transmit beam information includes the directions of the three transmit beams and the time intervals between beams, or the transmit beam information includes index information indicating the directions of the three transmit beams and the time intervals between beams.

[0136] Method 2: The transmission beam information includes one or more of the information of multiple transmission beam groups and the time intervals between the transmission beam groups; or, the transmission beam information includes index information, and the index information corresponds to the information of multiple transmission beam groups and one or more of the time intervals between the transmission beam groups; wherein the information of the transmission beam group includes one or more of the beam direction of the transmission beam group and the time intervals between the beams within the transmission beam group, wherein the directions of the beams within the same transmission beam group are the same.

[0137] Regarding the implementation method of the index information, please refer to the examples in Tables 1-1, 1-2 and 1-3 in the above method 1, and no further details will be given.

[0138] In this method, the second device sends a perception signal to the first device through multiple transmission beams, and the multiple transmission beams include transmission beams in the same direction, which helps the first device to accurately perceive the perception target in the environment and improve the accuracy of perception. The multiple transmission beams also include transmission beams in different directions, which helps to increase the range of perception and quickly perceive the perception target in the environment.

[0139] Figure 4(b) is another example diagram of the transmission beam indicated by the transmission beam information. In this example, the transmission beam information indicates one or more of the information of two transmission beam groups and the time interval between the transmission beam groups. The information of each transmission beam group indicates one or more of the beam direction and the time interval between the beams. Among them, the directions of different beams in transmission beam group 1 are the same, and the directions of different beams in transmission beam group 2 are the same. In this example, the transmission beam information includes the beam direction of transmission beam group 1, the time interval between the beams of transmission beam group 1, the beam direction of transmission beam group 2, the time interval between the beams of transmission beam group 2, and the time interval between transmission beam groups, or the transmission beam information includes index information, which indicates the beam direction of transmission beam group 1, the time interval between the beams of transmission beam group 1, the beam direction of transmission beam group 2, the time interval between the beams of transmission beam group 2, and the time interval between transmission beam groups.

[0140] Method 3: The transmit beam information includes one or more of information about multiple transmit beam groups and time intervals between transmit beam groups, or the transmit beam information includes index information, where the index information corresponds to one or more of information about multiple transmit beam groups and time intervals between transmit beam groups. The transmit beam group information includes one or more of information about multiple transmit beam subgroups and time intervals between transmit beam subgroups, and the transmit beam subgroup information includes one or more of beam directions of the transmit beam subgroup and time intervals between beams within the transmit beam subgroup. Beams within the same transmit beam subgroup have the same direction.

[0141] Regarding the implementation method of the index information, please refer to the examples in Tables 1-1, 1-2 and 1-3 in the above method 1, and no further details will be given.

[0142] In the above method, the second device sends a perception signal to the first device through multiple transmission beams. A transmission beam group is divided into one or more transmission beam subgroups. The multiple transmission beams in each transmission beam subgroup include transmission beams in the same direction, which helps the first device to accurately perceive a certain perception target in the environment by adjusting the beam direction, and can improve the accuracy of perception. The multiple transmission beams also include transmission beams in different directions, which helps to improve the range of perception and quickly perceive the perception target in the environment.

[0143] FIG4( c ) is another example diagram of a transmission beam indicated by transmission beam information. In this example, the transmission beam information indicates one or more of the information of two transmission beam groups and the time interval between the transmission beam groups. The information of each transmission beam group indicates one or more of the information of two transmission beam subgroups and the time interval between the transmission beam subgroups. The information of each transmission beam subgroup indicates one or more of the beam direction and the time interval between the beams. Specifically, the directions of the different beams of transmission beam subgroup 1 in transmission beam group 1 are the same, the directions of the different beams of transmission beam subgroup 2 in transmission beam group 1 are the same, the directions of the different beams of transmission beam subgroup 1 in transmission beam group 2 are the same, and the directions of the different beams of transmission beam subgroup 2 in transmission beam group 2 are the same. In this example, the transmission beam information includes information of transmission beam group 1, information of transmission beam group 2, and the time interval between transmission beam groups, wherein the information of transmission beam group 1 includes the direction of transmission beam subgroup 1, the time interval between beams within transmission beam subgroup 1, the direction of transmission beam subgroup 2, the time interval between beams within transmission beam subgroup 2, and the time interval between two transmission beam subgroups; the information of transmission beam group 2 includes the direction of transmission beam subgroup 3, the time interval between beams within transmission beam subgroup 3, the direction of transmission beam subgroup 4, the time interval between beams within transmission beam subgroup 4, and the time interval between two transmission beam subgroups, or the transmission beam information includes index information, which indicates the information of transmission beam group 1, the information of transmission beam group 2, and the time interval between transmission beam groups.

[0144] The implementation method of receiving beam information is similar to the implementation method of sending beam information mentioned above. For details, please refer to the above-mentioned methods one to three, and no further details will be given.

[0145] In step 302, the network device transmits a sensing signal to the terminal device via one or more transmit beams corresponding to the transmit beam information. Correspondingly, the terminal device receives the sensing signal via one or more receive beams.

[0146] In one implementation method, the sensing signal may be a synchronization signal / physical layer broadcast signal block (SS / PBCH resource block, SSB), where SS is the abbreviation for synchronization signal block and PBCH is the abbreviation for physical broadcast channel.

[0147] The embodiments of the present application do not limit the number of sensing signals sent by the network device. To obtain more accurate sensing results, the sensing signals may be sent continuously over a period of time. For example, the network device may send multiple beams in different directions at the same time, or send multiple beams in the same direction at different times.

[0148] After the network device transmits the perception signal, the terminal device receives the perception information via one or more receive beams. The receive beams used by the terminal device to receive the perception signal can be determined by the terminal device itself or configured by the network device. For example, the terminal device receives receive beam information corresponding to one or more receive beams from the network device or another device. The following describes different ways to transmit perception signals.

[0149] Figure 5(a) shows an example of transmitting a sensing signal. At the same time, the network device has two transmit beams, each capable of sending a sensing signal, and the terminal device has three receive beams. When there are multiple sensing targets in the environment, the multi-directional transmit and receive beams can simultaneously detect multiple sensing targets, thereby obtaining multiple sensing results, each corresponding to a sensing target. For example, in Figure 5(a), transmit beam 0 and receive beam 0 can sense sensing target 1 in the environment, and transmit beam 1 and receive beam 1 can sense sensing target 2 in the environment.

[0150] Figure 5(b) shows another example of transmitting a sensing signal. At the same time, the network device has two transmit beams, each capable of sending a sensing signal, and the terminal device has three receive beams. When there are multiple sensing targets in the environment, the multi-directional transmit and receive beams can simultaneously detect multiple sensing targets, thereby obtaining multiple sensing results, each corresponding to a sensing target. For example, in Figure 5(b), transmit beam 0 and receive beam 0 can sense sensing target 1 in the environment, and transmit beam 0 and receive beam 0 can also sense sensing target 2 in the environment.

[0151] Step 303: The terminal device sends the sensing result to the network device. Correspondingly, the network device receives the sensing result.

[0152] The perception result includes one or more perception beam information, each perception beam information is used to indicate a target transmitting beam and / or a target receiving beam corresponding to a perception signal, the target transmitting beam is one of the one or more transmitting beams corresponding to the transmitting beam information, and the target receiving beam is one of the one or more receiving beams corresponding to the receiving beam information.

[0153] In one implementation method, each sensing beam information includes information about a target transmit beam and / or information about a target receive beam. The target transmit beam information includes one or more of the target transmit beam's index, direction, width, or angle, and the target receive beam information includes one or more of the target receive beam's index, direction, width, or angle. For example, the direction of the target transmit beam is horizontal or vertical. The width of the target transmit beam is, for example, 3 decibels (dB) or 5dB. The angle of the target transmit beam is, for example, 30 degrees or 40 degrees.

[0154] Taking Figure 5(a) as an example, the network device sends perception signal 1 to the terminal device via transmit beam 0, and also sends perception signal 2 to the terminal device via transmit beam 1. The terminal device receives perception signal 1 via receive beam 0, and also receives perception signal 2 via receive beam 1. Therefore, the perception result generated by the terminal device includes perception beam information 1 and perception beam information 2. Perception beam information 1 includes information about transmit beam 0 and receive beam 0, and perception beam information 2 includes information about transmit beam 1 and receive beam 1. In this example, the terminal device reports perception results at beam granularity, meaning that the perception result includes perception beam information for two beams, one for each transmit beam and one for each receive beam.

[0155] Taking Figure 5(b) as an example, the network device sends a sensing signal to the terminal device via transmit beam 0. This sensing signal, after being reflected by sensing targets 1 and 2, is received by the terminal device's receive beam 0. This means that the sensing signal sent by the network device via transmit beam 0 reaches the terminal device via two paths and is received by the same receive beam 0 of the terminal device. In this case, the sensing result determined by the terminal device includes sensing beam information 1 and sensing beam information 2. Sensing beam information 1 includes information about transmit beam 0, receive beam 0, and path 0 under transmit beam 0 and receive beam 0. Sensing beam information 2 includes information about transmit beam 0 and receive beam 0, as well as path 1 under transmit beam 0 and receive beam 0. The information about path 0 and path 1 can be represented by at least one of delay information, path length information, and Doppler shift information. For example, the sensing beam information 1 corresponds to at least one of delay information 1, path length information 1, and Doppler shift information 1, and the sensing beam information 2 corresponds to at least one of delay information 2, path length information 2, and Doppler shift information 2. Delay information 1 indicates the time delay it takes for a sensing signal to be sent from a network device, pass through sensing target 1, and then reach a terminal device; delay information 2 indicates the time delay it takes for a sensing signal to be sent from a network device, pass through sensing target 2, and then reach a terminal device. Path length information 1 indicates the path length it takes for a sensing signal to be sent from a network device, pass through sensing target 1, and then reach a terminal device; path length information 2 indicates the path length it takes for a sensing signal to be sent from a network device, pass through sensing target 2, and then reach a terminal device. The path length here can be a physical distance, such as 5 meters, 10 meters, etc., or a delay, such as 2 nanoseconds, 3 nanoseconds, etc. Doppler shift information 1 indicates the offset between the original frequency of the perception signal when it is emitted from the network device and the actual frequency when the perception signal reaches the terminal device after passing through perception target 1. Doppler shift information 2 indicates the offset between the original frequency of the perception signal when it is emitted from the network device and the actual frequency when the perception signal reaches the terminal device after passing through perception target 2. In this example, the terminal device reports the perception results at a path granularity. That is, the perception results include perception beam information for two paths, each corresponding to a transmit beam and a receive beam, as well as path-related information. This solution, which reports perception results at a path granularity, helps improve perception accuracy.

[0156] In one implementation method, in certain scenarios, a network device wishes to obtain information about targets within a specific location or range in an environment. Since targets at different locations or ranges will cause sensing signals to arrive at a terminal device at different times, the network device may configure reception time information for the terminal device. This time information indicates the reception time range. Therefore, if the terminal device receives the sensing signal within the configured reception time range, the terminal device generates and reports a sensing result. If the terminal device does not receive the sensing signal within the configured reception time range, the terminal device does not report the sensing result. Therefore, if the reception time range is configured for the terminal device, step 302 described above can be understood as: the terminal device receives the sensing signal from the network device within the reception time range via one or more receiving beams. It should be noted that the reception time range can be a reception time range determined by the terminal device's timing or a reception time range determined by the terminal device's timing. If the network device sends a reception time range determined by the network device's timing to the terminal device, the terminal device also needs to convert the reception time range determined by the network device's timing to a reception time range determined by the terminal device's timing.

[0157] Figure 6 shows an example of a reception time range. In this example, the network device focuses on perceived targets within reception time range 1 and perceived targets within reception time range 2. Reception time range 1 corresponds to physical distance range 1, and reception time range 2 corresponds to physical distance range 2. Physical distance range 1 is a distance range centered on the network device with distance 1 as a radius, while physical distance range 2 is a distance range centered on the network device with distance 2 as a radius. It can also be understood that the network device only focuses on environmental targets within physical distance range 1 and / or environmental targets within physical distance range 2.

[0158] The following describes two methods for configuring the receiving time range.

[0159] Figure 7(a) is a schematic diagram of a configuration method for receiving time ranges. In this example, T1 is the start time of receiving time range 1, T2 is the end time of receiving time range 1 and the start time of receiving time range 2, and T3 is the end time of receiving time range 2. In this example, the start time of receiving time range 2 coincides with the end time of receiving time range 1. This method configures T2 as the end time of receiving time range 1 and the start time of receiving time range 2, eliminating the need to separately configure an end time for receiving time range 1 and a start time for receiving time range 2, thereby reducing signaling overhead during configuration.

[0160] Figure 7(b) is a schematic diagram of another method for configuring a receiving time range. In this example, T1 is the start time of receiving time range 1, T2 is the end time of receiving time range 1, T3 is the start time of receiving time range 2, and T4 is the end time of receiving time range 2. In this example, the start time of receiving time range 2 does not overlap with the end time of receiving time range 1. This method configures a start time and an end time separately for receiving time range 1, and a start time and an end time separately for receiving time range 2. This decouples receiving time range 1 from receiving time range 2, allowing for more flexible configuration of receiving time ranges.

[0161] In one implementation method, in an embodiment of the present application, the sensing result reported by the terminal device also includes a sensing distance index corresponding to each sensing beam information. The sensing distance index is used to indicate the distance between the sensing target and the terminal device. The distance is determined based on the range resolution (RR), which is used to represent the minimum distance between two different targets in the environment.

[0162] Generally, to distinguish between two targets at different distances, the pulse duration of the sensing signal must be less than or equal to twice the time it takes for light to pass through the two targets. This ensures the formation of two non-overlapping reflected waves. This means that T <= 2*RR / c, and therefore RR >= c*T / 2, where c represents the speed of light, RR represents the range resolution, and T represents the pulse duration of the sensing signal. Therefore, in the present embodiment, the range resolution can be determined based on the pulse duration of the sensing signal.

[0163] In addition, since the pulse duration of the perception signal can be expressed in time slots, the duration of a time slot is related to the subcarrier spacing. For example, when the subcarrier spacing is 15 kHz and a time slot is 1 ms, if the pulse duration of the perception signal lasts for the duration of one time slot, then the pulse duration of the perception signal is 1 ms. When the subcarrier spacing is 60 kHz and a time slot is 0.25 ms, if the pulse duration of the perception signal lasts for the duration of one time slot, then the pulse duration of the perception signal is 0.25 ms. Therefore, the range resolution in the embodiments of the present application can also be related to the subcarrier spacing.

[0164] In the embodiment of the present application, the correspondence between the range resolution and the perception distance index can be pre-configured in the terminal device and the network device.

[0165] Table 2-1 is an example of the correspondence between the pulse duration of the perception signal in absolute time units, the perception distance information and the perception distance index.

[0166] Table 2-1

[0167] Perception distance index Perception distance information 0 RR0~2*RR01 2*RR0~3*RR02 3*RR0~4*RR03 4*RR0~5*RR0…………

[0168] It should be noted that the perception distance index corresponding to 2*RR0 in the above Table 2-1 can be either 0 or 1. Similarly, the perception distance index corresponding to 3*RR0 can be either 1 or 2, and so on. For example, RR0~2*RR0 in the above Table 2-1 represents (RR0, 2*RR0], 2*RR0~3*RR0 represents (2*RR0, 3*RR0], 3*RR0~4*RR0 represents (3*RR0, 4*RR0], and 4*RR0~5*RR0 represents (4*RR0, 5*RR0]. Wherein (] indicates that the left side is an open interval and the right side is a closed interval, for example, (a, b] represents a value greater than a and less than or equal to b.

[0169] The meanings of the expressions in subsequent Tables 2-2, 2-3, 3-1, and 3-2 can be found in the description here and will not be repeated here.

[0170] Based on the example in Table 2-1 and the definition of range resolution, the corresponding range resolution is determined to be RR0. The terminal device determines the distance between a perceived target and the terminal device to be X. If X is between RR0 and 2*RR0, the perceived distance index reported by the terminal device is 0. The network device determines, based on Table 2-1 and perceived distance index 0, that the distance between the perceived target and the terminal device is between RR0 and 2*RR0. If X is between 2*RR0 and 3*RR0, the perceived distance index reported by the terminal device is 1. The network device determines, based on Table 2-1 and perceived distance index 1, that the distance between the perceived target and the terminal device is between 2*RR0 and 3*RR0. This is analogous and not further explained.

[0171] Table 2-2 is an example of the correspondence between the perception distance information and the perception distance index when the subcarrier spacing is 120kHz.

[0172] Table 2-2

[0173] Perception distance index Perception distance information 0 RR1~2*RR11 2*RR1~3*RR12 3*RR1~4*RR13 4*RR1~5*RR1…………

[0174] Based on the example in Table 2-2, when the subcarrier spacing is 120 kHz, the absolute duration of the pulse duration of the sensing signal is determined based on the number of time slots it lasts. Based on the definition of range resolution, the corresponding range resolution is determined to be RR1. The terminal device determines the distance between a sensing target and the terminal device as X. If X is between RR1 and 2*RR1, the sensing distance index reported by the terminal device is 0. Based on Table 2-2 and sensing distance index 0, the network device determines that the distance between the sensing target and the terminal device is between RR1 and 2*RR1. If X is between 2*RR1 and 3*RR1, the sensing distance index reported by the terminal device is 1. Based on Table 2-2 and sensing distance index 1, the network device determines that the distance between the sensing target and the terminal device is between 2*RR1 and 3*RR1. This analogy is repeated and will not be further explained.

[0175] Table 2-3 is an example of the correspondence between the perception distance information and the perception distance index when the subcarrier spacing is 240kHz.

[0176] Table 2-3

[0177] Perception distance index Perception distance information 0 RR2~2*RR21 2*RR2~3*RR22 3*RR2~4*RR23 4*RR2~5*RR2…………

[0178] Based on the example in Table 2-3, when the subcarrier spacing is 240 kHz, the absolute duration of the pulse duration of the sensing signal is determined based on the number of time slots it lasts. Based on the definition of range resolution, the corresponding range resolution is determined to be RR2. The terminal device determines the distance between a sensing target and the terminal device as X. If X is between RR2 and 2*RR2, the sensing distance index reported by the terminal device is 0. The network device determines that the distance between the sensing target and the terminal device is between RR2 and 2*RR2 based on Table 2-3 and sensing distance index 0. If X is between 2*RR2 and 3*RR2, the sensing distance index reported by the terminal device is 1. The network device determines that the distance between the sensing target and the terminal device is between 2*RR2 and 3*RR2 based on Table 2-3 and sensing distance index 1. This analogy is repeated and will not be further explained.

[0179] In one implementation method, in an embodiment of the present application, the sensing result reported by the terminal device also includes a speed index corresponding to each sensing beam information, where the speed index is used to indicate the speed of the sensed target. The speed indicated by the speed index can be determined based on a speed resolution (SR).

[0180] Generally speaking, the velocity resolution (SR), the wavelength of the perception signal (λ t) and the coherent processing interval (CPI) have the following relationship:

[0181]

[0182] Furthermore, a CPI includes multiple pulse repetition intervals (PRIs). Therefore, the speed resolution in the embodiment of the present application can be determined based on one or more of the CPI and PRI of the sensed signal.

[0183] In the embodiment of the present application, the correspondence between the speed index and the speed information can be pre-configured in the terminal device and the network device.

[0184] Table 3-1 shows the CPI of 0.5ms and λ t An example of the correspondence between the speed index and speed information when the speed is 15 mm.

[0185] Table 3-1

[0186] Speed ​​index Speed ​​information 00~15m / s 115~30m / s 230~45m / s 345~60m / s…………

[0187] Based on the example in Table 3-1, when CPI is 0.5ms, λ t The speed resolution is 15 mm, corresponding to a speed resolution of SR1 = 15 m / s. The terminal device determines the speed of a perceived target as S. If the speed S of the perceived target measured by the terminal device is within the range of 0 to 15 m / s, the speed index reported by the terminal device is 0. The network device determines that the speed S of the perceived target is between 0 and 15 m / s based on Table 3-1 and speed index 0. If the speed S of the perceived target measured by the terminal device is within the range of 15 to 30 m / s, the speed index reported by the terminal device is 1. The network device determines that the speed S of the perceived target is between 15 and 30 m / s based on Table 3-1 and speed index 1. This process is repeated and will not be repeated here.

[0188] Table 3-2 shows the CPI of 5ms and λ t An example of the correspondence between the speed index and speed information when the speed is 15 mm.

[0189] Table 3-2

[0190] Speed ​​index Speed ​​information 00~1.5m / s 11.5~3m / s 23~4.5m / s 34.5~6m / s…………

[0191] Based on the example in Table 3-2, when CPI is 5ms, λ tThe speed resolution is 15 mm, and the corresponding speed resolution SR2 is 1.5 m / s. The terminal device determines the speed of a perceived target as S. If the speed S of the perceived target measured by the terminal device is within the range of 0 to 1.5 m / s, the speed index reported by the terminal device is 0. The network device determines that the speed S of the perceived target is between 0 and 1.5 m / s based on Table 3-2 and speed index 0. If the speed S of the perceived target measured by the terminal device is within the range of 1.5 to 3 m / s, the speed index reported by the terminal device is 1. The network device determines that the speed S of the perceived target is between 1.5 and 3 m / s based on Table 3-2 and speed index 1. This process is repeated and will not be repeated here.

[0192] It should be noted that the perception target in the embodiment of the present application can be other devices other than the network device and the terminal device, or it can be the terminal device.

[0193] In this embodiment of the present application, a terminal device receives a sensing signal sent by a network device and reports a sensing result generated based on the sensing signal to the network device, so that the network device can determine a sensing target based on the sensing result. Because the terminal device reports the sensing result at the beam granularity, it helps the network device accurately determine the sensing target, thereby improving the accuracy of sensing.

[0194] It is understandable that in order to implement the functions in the above embodiments, the first device or the second device includes hardware structures and / or software modules corresponding to the execution of each function. It should be readily apparent to those skilled in the art that, in combination with the units and method steps of each example described in the embodiments disclosed in this application, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0195] Figures 8 and 9 are schematic diagrams of the structures of possible communication devices provided in embodiments of the present application. These communication devices can be used to implement the functions of the first device or the second device in the above method embodiments, thereby also achieving the beneficial effects of the above method embodiments. In embodiments of the present application, the communication device can be the first device or the second device shown in Figure 1.

[0196] The communication device 800 shown in Figure 8 includes a sending unit 820 and a receiving unit 830, and optionally further includes a processing unit 810. The communication device 800 is used to implement the functions of the first device or the second device in the above method embodiment.

[0197] When the communication device 800 is used to implement the function of the first device in the above method embodiment, the receiving unit 830 is used to receive a perception signal from the second device through one or more receiving beams, and the perception signal is sent by one or more transmitting beams of the second device; the sending unit 820 is used to send a perception result to the second device, and the perception result includes one or more perception beam information, and the perception beam information is used to indicate the target transmitting beam and / or target receiving beam corresponding to the perception signal, and the target transmitting beam is one of the one or more transmitting beams, and the target receiving beam is one of the one or more receiving beams.

[0198] In a possible implementation method, the receiving unit 830 is further configured to receive transmit beam information and / or receive beam information, where the transmit beam information corresponds to one or more transmit beams, and the receive beam information corresponds to one or more receive beams.

[0199] A possible implementation method is that the transmission beam information includes one or more of the directions of multiple transmission beams and the time intervals between the beams, and the directions of the multiple transmission beams are the same; or, the transmission beam information includes index information, and the index information corresponds to one or more of the directions of the multiple transmission beams and the time intervals between the beams.

[0200] A possible implementation method is that the transmission beam information includes information of multiple transmission beam groups and one or more of the time intervals between the transmission beam groups; or, the transmission beam information includes index information, and the index information corresponds to information of the multiple transmission beam groups and one or more of the time intervals between the transmission beam groups; wherein the information of the transmission beam group includes one or more of the beam direction of the transmission beam group and the time intervals between the beams within the transmission beam group, wherein the directions of the beams within the same transmission beam group are the same.

[0201] A possible implementation method is that the transmission beam information includes information of multiple transmission beam groups and one or more of the time intervals between the transmission beam groups; or, the transmission beam information includes index information, and the index information corresponds to information of the multiple transmission beam groups and one or more of the time intervals between the transmission beam groups; wherein the information of the transmission beam group includes information of multiple transmission beam subgroups and one or more of the time intervals between the transmission beam subgroups, and the information of the transmission beam subgroup includes beam directions of the transmission beam subgroup and one or more of the time intervals between beams within the transmission beam subgroup, wherein the directions of the beams within the same transmission beam subgroup are the same.

[0202] A possible implementation method, the sensing beam information includes information of the target transmitting beam and / or information of the target receiving beam; wherein, the information of the target transmitting beam includes one or more of the index, direction, width or angle of the target transmitting beam, and the information of the target receiving beam includes one or more of the index, direction, width or angle of the target receiving beam.

[0203] In a possible implementation method, the perception result further includes one or more of a perception distance index and a speed index; wherein the perception distance index is used to indicate the distance between the perception target and the first device, and the speed index is used to indicate the speed of the perception target.

[0204] In a possible implementation method, the distance indicated by the perception distance index is determined according to a range resolution, and the range resolution is determined according to one or more of a subcarrier spacing and a pulse duration of the perception signal.

[0205] In a possible implementation method, the speed indicated by the speed index is determined according to a speed resolution, where the speed resolution is determined according to one or more of a coherent processing interval CPI and a pulse repetition interval PRI of the perception signal.

[0206] In a possible implementation method, the receiving unit 830 is specifically configured to receive the perception signal from the second device within a receiving time range through the one or more receiving beams.

[0207] In a possible implementation method, the receiving unit 830 is further configured to receive time information, where the time information is used to indicate the receiving time range.

[0208] When the communication device 800 is used to implement the function of the second device in the above method embodiment, the sending unit 820 is used to send a perception signal to the first device through one or more transmitting beams corresponding to the transmitting beam information, and the perception signal is received through one or more receiving beams; the receiving unit 830 is used to receive a perception result from the first device, and the perception result includes one or more perception beam information, and the perception beam information is used to indicate the target transmitting beam and / or target receiving beam corresponding to the perception signal, and the target transmitting beam is one of the one or more transmitting beams, and the target receiving beam is one of the one or more receiving beams.

[0209] In a possible implementation method, the sending unit 820 is further configured to send the transmission beam information to the first device.

[0210] In a possible implementation method, the sending unit 820 is further configured to send receiving beam information to the first device, where the receiving beam information corresponds to the one or more receiving beams.

[0211] In a possible implementation method, the transmission beam information includes one or more of the directions of multiple transmission beams and the time intervals between beams, and the directions of the multiple transmission beams are the same.

[0212] In a possible implementation method, the transmission beam information includes index information, and the index information corresponds to one or more of the directions of the multiple transmission beams and the time intervals between the beams.

[0213] A possible implementation method is that the transmission beam information includes information of multiple transmission beam groups and one or more of the time intervals between the transmission beam groups; or, the transmission beam information includes index information, and the index information corresponds to information of the multiple transmission beam groups and one or more of the time intervals between the transmission beam groups; wherein the information of the transmission beam group includes one or more of the beam direction of the transmission beam group and the time intervals between the beams within the transmission beam group, wherein the directions of the beams within the same transmission beam group are the same.

[0214] A possible implementation method is that the transmission beam information includes information of multiple transmission beam groups and one or more of the time intervals between the transmission beam groups; or, the transmission beam information includes index information, and the index information corresponds to information of the multiple transmission beam groups and one or more of the time intervals between the transmission beam groups; wherein the information of the transmission beam group includes information of multiple transmission beam subgroups and one or more of the time intervals between the transmission beam subgroups, and the information of the transmission beam subgroup includes beam directions of the transmission beam subgroup and one or more of the time intervals between beams within the transmission beam subgroup, wherein the directions of the beams within the same transmission beam subgroup are the same.

[0215] A possible implementation method, the sensing beam information includes information of the target transmitting beam and / or information of the target receiving beam; wherein, the information of the target transmitting beam includes one or more of the index, direction, width or angle of the target transmitting beam, and the information of the target receiving beam includes one or more of the index, direction, width or angle of the target receiving beam.

[0216] In a possible implementation method, the perception result further includes one or more of a perception distance index and a speed index; wherein the perception distance index is used to indicate the distance between the perception target and the first device, and the speed index is used to indicate the speed of the perception target.

[0217] In a possible implementation method, the distance indicated by the perception distance index is determined according to a range resolution, and the range resolution is determined according to one or more of a subcarrier spacing and a pulse duration of the perception signal.

[0218] In a possible implementation method, the speed indicated by the speed index is determined according to a speed resolution, where the speed resolution is determined according to one or more of a coherent processing interval CPI and a pulse repetition interval PRI of the perception signal.

[0219] A possible implementation method, wherein the perception signal is received through one or more receiving beams, includes: the perception signal is received through one or more receiving beams within a receiving time range.

[0220] In a possible implementation method, the sending unit 820 is further configured to send time information to the first device, where the time information is used to indicate the receiving time range.

[0221] For a more detailed description of the processing unit 810 , the sending unit 820 and the receiving unit 830 , reference can be made to the relevant description in the above method embodiment, which will not be repeated here.

[0222] The communication device 900 shown in Figure 9 includes a processor 910 and an interface circuit 920. The processor 910 and the interface circuit 920 are coupled to each other. It is understood that the interface circuit 920 can be a transceiver or an input / output interface. Optionally, the communication device 900 may also include a memory 930 for storing instructions executed by the processor 910, or storing input data required by the processor 910 to execute instructions, or storing data generated after the processor 910 executes instructions; or when the processor is a logic circuit (device), storing a configuration file of the logic circuit (device).

[0223] When the communication device 900 is used to implement the above method embodiment, the processor 910 is used to implement the functions of the above processing unit 810 , and the interface circuit 920 is used to implement the functions of the above sending unit 820 and receiving unit 830 .

[0224] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0225] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a mobile hard disk, a compact disc read-only memory (CD-ROM) or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in the first device or the second device. Of course, the processor and the storage medium can also be present in the first device or the second device as discrete components.

[0226] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. A computer program refers to a set of instructions that instruct an electronic computer or other device with message processing capabilities to perform each step of the action, usually written in a certain programming language and running on a certain target architecture. When the computer program or instruction is loaded and executed on a computer, the process or function described in the embodiment of the present application is executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a terminal device or other programmable device. The computer program or instruction can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instruction can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both volatile and non-volatile types of storage media.

[0227] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0228] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of this application, the character " / " generally indicates that the previous and next related objects are in an "or" relationship; in the formulas of this application, the character " / " indicates that the previous and next related objects are in a "division" relationship.

[0229] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

Claims

1. A perception method, characterized in that: include: The first device receives a sensing signal from the second device via one or more receiving beams, wherein the sensing signal is transmitted by one or more transmitting beams of the second device; The first device sends a perception result to the second device, where the perception result includes one or more perception beam information, where the perception beam information is used to indicate a target transmit beam and / or target receive beam corresponding to the perception signal, where the target transmit beam is one of the one or more transmit beams, and the target receive beam is one of the one or more receive beams.

2. The method according to claim 1, wherein The method further comprises: The first device receives transmit beam information and / or receive beam information, where the transmit beam information corresponds to the one or more transmit beams, and the receive beam information corresponds to the one or more receive beams.

3. The method according to claim 2, wherein The transmission beam information includes one or more of the directions of multiple transmission beams and the time intervals between beams, and the directions of the multiple transmission beams are the same; or, The transmission beam information includes index information, where the index information corresponds to one or more of the directions of the multiple transmission beams and the time intervals between the beams.

4. The method according to claim 2, wherein The transmission beam information includes one or more of information of multiple transmission beam groups and time intervals between transmission beam groups; or, The transmission beam information includes index information, where the index information corresponds to one or more of information of the plurality of transmission beam groups and time intervals between the transmission beam groups; The information of the transmission beam group includes one or more of the beam direction of the transmission beam group and the time interval between beams in the transmission beam group, wherein the directions of beams in the same transmission beam group are the same.

5. The method according to claim 2, wherein The transmission beam information includes one or more of information of multiple transmission beam groups and time intervals between transmission beam groups; or, The transmission beam information includes index information, where the index information corresponds to one or more of information of the plurality of transmission beam groups and time intervals between the transmission beam groups; The information of the transmission beam group includes information of multiple transmission beam subgroups and one or more of the time intervals between the transmission beam subgroups; the information of the transmission beam subgroup includes the beam direction of the transmission beam subgroup and one or more of the time intervals between the beams within the transmission beam subgroup; and the directions of the beams within the same transmission beam subgroup are the same.

6. The method according to any one of claims 1 to 5, characterized in that The sensing beam information includes information of the target transmitting beam and / or information of the target receiving beam; The information of the target transmitting beam includes one or more of the index, direction, width or angle of the target transmitting beam, and the information of the target receiving beam includes one or more of the index, direction, width or angle of the target receiving beam.

7. The method according to any one of claims 1 to 6, characterized in that The perception result further includes one or more of a perception distance index and a speed index; The perception distance index is used to indicate the distance between the perception target and the first device, and the speed index is used to indicate the speed of the perception target.

8. The method according to claim 7, wherein The distance indicated by the perception distance index is determined according to a range resolution, and the range resolution is determined according to one or more of a subcarrier spacing and a pulse duration of the perception signal.

9. The method according to claim 7 or 8, wherein The speed indicated by the speed index is determined according to a speed resolution, and the speed resolution is determined according to one or more of a coherent processing interval CPI and a pulse repetition interval PRI of the perception signal.

10. The method according to any one of claims 1 to 9, characterized in that The first device receives a sensing signal from a second device through one or more receiving beams, including: The first device receives the perception signal from the second device within a receiving time range through the one or more receiving beams.

11. The method according to claim 10, wherein The method further comprises: The first device receives time information, where the time information is used to indicate the receiving time range.

12. A sensing method, characterized in that: include: The second device sends a perception signal to the first device through one or more transmit beams corresponding to the transmit beam information, where the perception signal is received through one or more receive beams; The second device receives the perception result from the first device, where the perception result includes one or more perception beam information, where the perception beam information is used to indicate the target transmitting beam and / or target receiving beam corresponding to the perception signal, where the target transmitting beam is one of the one or more transmitting beams, and the target receiving beam is one of the one or more receiving beams.

13. The method according to claim 12, wherein: The method further comprises: The second device sends the transmission beam information to the first device.

14. The method according to claim 12 or 13, wherein: The method further comprises: The second device sends reception beam information to the first device, where the reception beam information corresponds to the one or more reception beams.

15. The method according to any one of claims 12 to 14, characterized in that The transmission beam information includes one or more of the directions of multiple transmission beams and the time intervals between beams, and the directions of the multiple transmission beams are the same; or, The transmission beam information includes index information, where the index information corresponds to one or more of the directions of the multiple transmission beams and the time intervals between the beams.

16. The method according to any one of claims 12 to 14, characterized in that The transmission beam information includes one or more of information of multiple transmission beam groups and time intervals between transmission beam groups; or, The transmission beam information includes index information, where the index information corresponds to one or more of information of the plurality of transmission beam groups and time intervals between the transmission beam groups; The information of the transmission beam group includes one or more of the beam direction of the transmission beam group and the time interval between beams in the transmission beam group, wherein the directions of beams in the same transmission beam group are the same.

17. The method according to any one of claims 12 to 14, characterized in that The transmission beam information includes one or more of information of multiple transmission beam groups and time intervals between transmission beam groups; or, The transmission beam information includes index information, where the index information corresponds to one or more of information of the plurality of transmission beam groups and time intervals between the transmission beam groups; The information of the transmission beam group includes information of multiple transmission beam subgroups and one or more of the time intervals between the transmission beam subgroups; the information of the transmission beam subgroup includes the beam direction of the transmission beam subgroup and one or more of the time intervals between the beams within the transmission beam subgroup; and the directions of the beams within the same transmission beam subgroup are the same.

18. The method according to any one of claims 12 to 17, characterized in that The sensing beam information includes information of the target transmitting beam and / or information of the target receiving beam; The information of the target transmitting beam includes one or more of the index, direction, width or angle of the target transmitting beam, and the information of the target receiving beam includes one or more of the index, direction, width or angle of the target receiving beam.

19. The method according to any one of claims 12 to 18, wherein The perception result further includes one or more of a perception distance index and a speed index; The perception distance index is used to indicate the distance between the perception target and the first device, and the speed index is used to indicate the speed of the perception target.

20. The method according to claim 19, wherein The distance indicated by the perception distance index is determined according to a range resolution, and the range resolution is determined according to one or more of a subcarrier spacing and a pulse duration of the perception signal.

21. The method according to claim 19 or 20, wherein: The speed indicated by the speed index is determined according to a speed resolution, and the speed resolution is determined according to one or more of a coherent processing interval CPI and a pulse repetition interval PRI of the perception signal.

22. The method according to any one of claims 12 to 21, characterized in that The sensing signal is received via one or more receiving beams, including: The sensing signal is received through one or more receiving beams within a receiving time range.

23. The method according to claim 22, wherein The method further comprises: The second device sends time information to the first device, where the time information is used to indicate the receiving time range.

24. A communication device, characterized in that: include: a receiving unit, configured to receive a perception signal from a second device through one or more receiving beams, where the perception signal is sent by one or more transmitting beams of the second device; A sending unit is used to send a perception result to the second device, where the perception result includes one or more perception beam information, and the perception beam information is used to indicate a target transmit beam and / or target receive beam corresponding to the perception signal, where the target transmit beam is one of the one or more transmit beams, and the target receive beam is one of the one or more receive beams.

25. The device according to claim 24, characterized in that The receiving unit is further used to receive transmission beam information and / or reception beam information, where the transmission beam information corresponds to the one or more transmission beams, and the reception beam information corresponds to the one or more reception beams.

26. The device according to claim 25, characterized in that The transmission beam information includes one or more of the directions of multiple transmission beams and the time intervals between beams, and the directions of the multiple transmission beams are the same; or, The transmission beam information includes index information, where the index information corresponds to one or more of the directions of the multiple transmission beams and the time intervals between the beams.

27. The device according to claim 25, wherein The transmission beam information includes one or more of information of multiple transmission beam groups and time intervals between transmission beam groups; or, The transmission beam information includes index information, where the index information corresponds to one or more of information of the plurality of transmission beam groups and time intervals between the transmission beam groups; The information of the transmission beam group includes one or more of the beam direction of the transmission beam group and the time interval between beams in the transmission beam group, wherein the directions of beams in the same transmission beam group are the same.

28. The device according to claim 25, wherein The transmission beam information includes one or more of information of multiple transmission beam groups and time intervals between transmission beam groups; or, The transmission beam information includes index information, where the index information corresponds to one or more of information of the plurality of transmission beam groups and time intervals between the transmission beam groups; The information of the transmission beam group includes information of multiple transmission beam subgroups and one or more of the time intervals between the transmission beam subgroups; the information of the transmission beam subgroup includes the beam direction of the transmission beam subgroup and one or more of the time intervals between the beams within the transmission beam subgroup; and the directions of the beams within the same transmission beam subgroup are the same.

29. The device according to any one of claims 24 to 28, characterized in that The sensing beam information includes information of the target transmitting beam and / or information of the target receiving beam; The information of the target transmitting beam includes one or more of the index, direction, width or angle of the target transmitting beam, and the information of the target receiving beam includes one or more of the index, direction, width or angle of the target receiving beam.

30. The device according to any one of claims 24 to 29, characterized in that The perception result further includes one or more of a perception distance index and a speed index; The perception distance index is used to indicate the distance between the perception target and the first device, and the speed index is used to indicate the speed of the perception target.

31. The device according to claim 30, wherein The distance indicated by the perception distance index is determined according to a range resolution, and the range resolution is determined according to one or more of a subcarrier spacing and a pulse duration of the perception signal.

32. The device according to claim 30 or 31, characterized in that The speed indicated by the speed index is determined according to a speed resolution, and the speed resolution is determined according to one or more of a coherent processing interval CPI and a pulse repetition interval PRI of the perception signal.

33. The device according to any one of claims 24 to 32, characterized in that The receiving unit is specifically configured to receive the perception signal from the second device within a receiving time range through the one or more receiving beams.

34. The device according to claim 33, wherein The receiving unit is further configured to receive time information, where the time information is used to indicate the receiving time range.

35. A communication device, characterized in that: include: a sending unit, configured to send a perception signal to the first device through one or more transmit beams corresponding to the transmit beam information, where the perception signal is received through one or more receive beams; A receiving unit is used to receive a perception result from the first device, where the perception result includes one or more perception beam information, and the perception beam information is used to indicate a target transmit beam and / or a target receive beam corresponding to the perception signal, where the target transmit beam is one of the one or more transmit beams, and the target receive beam is one of the one or more receive beams.

36. The device according to claim 35, wherein The sending unit is further used to send the transmission beam information to the first device.

37. The device according to claim 35 or 36, characterized in that The sending unit is further configured to send receiving beam information to the first device, where the receiving beam information corresponds to the one or more receiving beams.

38. The device according to any one of claims 35 to 37, characterized in that The transmission beam information includes one or more of the directions of multiple transmission beams and the time intervals between beams, and the directions of the multiple transmission beams are the same; or, The transmission beam information includes index information, where the index information corresponds to one or more of the directions of the multiple transmission beams and the time intervals between the beams.

39. The device according to any one of claims 35 to 37, characterized in that The transmission beam information includes one or more of information of multiple transmission beam groups and time intervals between transmission beam groups; or, The transmission beam information includes index information, where the index information corresponds to one or more of information of the plurality of transmission beam groups and time intervals between the transmission beam groups; The information of the transmission beam group includes one or more of the beam direction within the transmission beam group and the time interval between beams within the transmission beam group, wherein the directions of beams within the same transmission beam group are the same.

40. The device according to any one of claims 35 to 37, characterized in that The transmission beam information includes one or more of information of multiple transmission beam groups and time intervals between transmission beam groups; or, The transmission beam information includes index information, where the index information corresponds to one or more of information of the plurality of transmission beam groups and time intervals between the transmission beam groups; The information of the transmission beam group includes information of multiple transmission beam subgroups and one or more of the time intervals between the transmission beam subgroups; the information of the transmission beam subgroup includes the beam direction of the transmission beam subgroup and one or more of the time intervals between the beams within the transmission beam subgroup; and the directions of the beams within the same transmission beam subgroup are the same.

41. The device according to any one of claims 35 to 40, characterized in that The sensing beam information includes information of the target transmitting beam and / or information of the target receiving beam; The information of the target transmitting beam includes one or more of the index, direction, width or angle of the target transmitting beam, and the information of the target receiving beam includes one or more of the index, direction, width or angle of the target receiving beam.

42. The device according to any one of claims 35 to 41, characterized in that The perception result further includes one or more of a perception distance index and a speed index; The perception distance index is used to indicate the distance between the perception target and the first device, and the speed index is used to indicate the speed of the perception target.

43. The device according to claim 42, wherein The distance indicated by the perception distance index is determined according to a range resolution, and the range resolution is determined according to one or more of a subcarrier spacing and a pulse duration of the perception signal.

44. The device according to claim 42 or 43, characterized in that The speed indicated by the speed index is determined according to a speed resolution, and the speed resolution is determined according to one or more of a coherent processing interval CPI and a pulse repetition interval PRI of the perception signal.

45. The device according to any one of claims 35 to 44, characterized in that The sensing signal is received via one or more receiving beams, including: The sensing signal is received through one or more receiving beams within a receiving time range.

46. ​​The device according to claim 45, wherein The sending unit is further configured to send time information to the first device, where the time information is used to indicate the receiving time range.

47. A communication device, characterized in that include: At least one processor, configured to: execute computer instructions or programs, or logic circuits, so that the communication device performs the sensing method according to any one of claims 1 to 11, or performs the sensing method according to any one of claims 12 to 23.

48. A communication system, characterized in that The method comprises a first device for executing the method according to any one of claims 1 to 11, and a second device for executing the method according to any one of claims 12 to 23.

49. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a communication device, implements the method according to any one of claims 1 to 11, or implements the method according to any one of claims 12 to 23.

50. A computer-readable storage medium, characterized in that The storage medium stores a computer program or instruction. When the computer program or instruction is executed by the communication device, the method according to any one of claims 1 to 11 or the method according to any one of claims 12 to 23 is implemented.

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