Wireless sensing method and device

Abstract

A wireless sensing method and device, the method comprising: a sensing device determining a sensing result according to a plurality of sensing signals; wherein the plurality of sensing signals are received by the sensing device by adopting a first receiving mode, or the sensing result is determined by the sensing device based on a first processing mode, and the first receiving mode comprises not performing waveform adjustment on the sensing signals, or the first receiving mode comprises performing waveform adjustment on the sensing signals by adopting a first waveform adjustment parameter; the first processing mode is used for the sensing device to perform waveform correction processing on the plurality of sensing signals (S210).

Description

Wireless sensing method and device Technical Field

[0001] The embodiments of the present application relate to the field of communications, and specifically to a method and device for wireless sensing. Background Art

[0002] Wireless communication and wireless sensing are two key applications of modern radio frequency technology. Wireless sensing uses backscattered radio waves to detect parameters of the physical environment, enabling environmental perception such as target location, motion recognition, and imaging. In some scenarios, sensing devices detect objects by measuring received signals. For example, sensing devices can reuse communication hardware modules to implement sensing functions. In this case, ensuring the accuracy of sensing results is a pressing issue.

[0003] Summary of the Invention

[0004] The present application provides a wireless sensing method and device, which are conducive to improving the accuracy of sensing results.

[0005] In a first aspect, a wireless sensing method is provided, comprising: a sensing device determining a sensing result based on a plurality of sensing signals;

[0006] In which, the multiple perception signals are received by the perception device using a first receiving method, or the perception results are determined by the perception device based on a first processing method, the first receiving method includes not performing waveform adjustment on the perception signal, or the first receiving method includes performing waveform adjustment on the perception signal using a first waveform adjustment parameter, and the first processing method is used by the perception device to perform waveform correction processing on the multiple perception signals.

[0007] In a second aspect, a wireless perception method is provided, including: a control device sends first configuration information to a perception device, the first configuration information being used to configure a receiving method adopted by the perception device to receive a perception signal, wherein the receiving method includes not performing waveform adjustment on the perception signal, or performing waveform adjustment on the perception signal using a waveform adjustment parameter.

[0008] In a third aspect, a perception device is provided for executing the method in the first aspect or its various implementations.

[0009] Specifically, the perception device includes a functional module for executing the method in the above-mentioned first aspect or its various implementation modes.

[0010] In a fourth aspect, a control device is provided for executing the method in the second aspect or its various implementations.

[0011] Specifically, the control device includes a functional module for executing the method in the above-mentioned second aspect or its various implementation modes.

[0012] In a fifth aspect, a perception device is provided, comprising a processor and a memory. The memory is configured to store a computer program, and the processor is configured to call and execute the computer program stored in the memory, so that the perception device executes the method of the first aspect or its respective implementations.

[0013] In a sixth aspect, a control device is provided, comprising a processor and a memory. The memory is configured to store a computer program, and the processor is configured to call and execute the computer program stored in the memory, so that the control device executes the method of the second aspect or its respective implementations.

[0014] In a seventh aspect, a chip is provided for implementing the method in any one of the first to second aspects or their respective implementations.

[0015] Specifically, the chip includes: a processor for calling and running a computer program from a memory, so that a device equipped with the device executes the method in any one of the first to second aspects or their respective implementations.

[0016] In an eighth aspect, a computer-readable storage medium is provided for storing a computer program, which enables a computer to execute the method of any one of the first to second aspects or their respective implementations.

[0017] In a ninth aspect, a computer program product is provided, comprising computer program instructions, wherein the computer program instructions enable a computer to execute the method of any one of the first to second aspects or their respective implementations.

[0018] In a tenth aspect, a computer program is provided, which, when executed on a computer, enables the computer to execute the method of any one of the first to second aspects or their respective implementations.

[0019] Through the above technical solution, the sensing device can determine a sensing result based on multiple sensing signals received using the same reception method. Because these multiple sensing signals have not undergone waveform adjustment, or use the same waveform adjustment parameters (i.e., the waveform adjustment parameters have the same impact on these multiple sensing signals), determining the sensing result based on these multiple sensing signals is conducive to improving the accuracy of the sensing result. Alternatively, when determining the sensing result based on the multiple sensing signals, the sensing device can perform waveform correction processing on the multiple sensing signals to eliminate or reduce the impact of the sensing signals received using the waveform adjustment parameters on the waveform of the sensing signals, and further determine the sensing result based on the waveform-corrected sensing signals, which is conducive to improving the accuracy of the sensing result. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a schematic diagram of a communication system architecture provided in an embodiment of the present application.

[0021] FIG2 is a schematic diagram of a wireless sensing method provided according to an embodiment of the present application.

[0022] 3 to 6 are exemplary diagrams of wireless sensing methods according to embodiments of the present application.

[0023] FIG7 is a schematic diagram of another wireless sensing method provided according to an embodiment of the present application.

[0024] FIG8 is a schematic block diagram of a sensing device provided according to an embodiment of the present application.

[0025] FIG9 is a schematic block diagram of a control device provided according to an embodiment of the present application.

[0026] FIG10 is a schematic block diagram of a communication device provided according to an embodiment of the present application.

[0027] FIG11 is a schematic block diagram of a chip provided according to an embodiment of the present application.

[0028] FIG12 is a schematic block diagram of a communication system provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0029] The following will describe the technical solutions in the embodiments of this application in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of the embodiments. With respect to the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0030] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as: Global System of Mobile communication (GSM) system, Code Division Multiple Access (CDMA) system, Wideband Code Division Multiple Access (WCDMA) system, General Packet Radio Service (GPRS), Long Term Evolution (LTE) system, Advanced Long Term Evolution (LTE-A) system, New Radio (NR) system, NR system evolution system, LTE on unlicensed spectrum (LTE-U) system, NR on unlicensed spectrum (NR-U) system, Non-Terrestrial Networks (NTN) system, Universal Mobile Telecommunication System (UMTS), Wireless Local Area Networks (WLAN) system, Wireless Fidelity (Wireless Fidelity) system. Fidelity, WiFi) system, fifth-generation communication (5th-Generation, 5G) system or other communication systems, etc.

[0031] Generally speaking, traditional communication systems support a limited number of connections and are easy to implement. However, with the development of communication technology, mobile communication systems will not only support traditional communications, but will also support, for example, device-to-device (D2D) communication, machine-to-machine (M2M) communication, machine-type communication (MTC), vehicle-to-vehicle (V2V) communication, or vehicle-to-everything (V2X) communication, etc. The embodiments of the present application can also be applied to these communication systems.

[0032] Optionally, the communication system in the embodiment of the present application can be applied to a carrier aggregation (CA) scenario, a dual connectivity (DC) scenario, or a standalone (SA) networking scenario.

[0033] Optionally, the communication system in the embodiment of the present application can be applied to an unlicensed spectrum, where the unlicensed spectrum can also be considered as a shared spectrum; or, the communication system in the embodiment of the present application can also be applied to an authorized spectrum, where the authorized spectrum can also be considered as an unshared spectrum.

[0034] The embodiments of the present application describe various embodiments in conjunction with network devices and terminal devices, wherein the terminal device may also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device, etc.

[0035] The terminal device can be a station (STA) in a WLAN, a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA) device, a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a wearable device, a terminal device in a next-generation communication system such as an NR network, or a terminal device in a future evolved Public Land Mobile Network (PLMN) network, etc.

[0036] In an embodiment of the present application, the terminal device can be deployed on land, including indoors or outdoors, handheld, wearable or vehicle-mounted; it can also be deployed on the water surface (such as a ship, etc.); it can also be deployed in the air (for example, on an airplane, balloon, and satellite, etc.).

[0037] In an embodiment of the present application, the terminal device may be a mobile phone, a tablet computer, a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, or a wireless terminal device in a smart home, etc.

[0038] As an example and not a limitation, in the embodiment of the present application, the terminal device may also be a wearable device. Wearable devices may also be called wearable smart devices, which are a general term for wearable devices that are intelligently designed and developed using wearable technology for daily wear, such as glasses, gloves, watches, clothing, and shoes. A wearable device is a portable device that is worn directly on the body or integrated into the user's clothes or accessories. Wearable devices are not only hardware devices, but also achieve powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include those that are fully functional, large in size, and can achieve complete or partial functions without relying on smartphones, such as smart watches or smart glasses, as well as those that only focus on a certain type of application function and need to be used in conjunction with other devices such as smartphones, such as various smart bracelets and smart jewelry for vital sign monitoring.

[0039] In an embodiment of the present application, the network device may be a device for communicating with a mobile device. The network device may be an access point (AP) in WLAN, a base station (BTS) in GSM or CDMA, a base station (NodeB, NB) in WCDMA, an evolved base station (eNB or eNodeB) in LTE, or a relay station or access point, or a vehicle-mounted device, a wearable device, and a network device (gNB) in an NR network, or a network device in a future evolved PLMN network or a network device in an NTN network, etc.

[0040] As an example and not a limitation, in an embodiment of the present application, the network device may have a mobile feature, for example, the network device may be a mobile device. Alternatively, the network device may be a satellite or a balloon station. For example, the satellite may be a low earth orbit (LEO) satellite, a medium earth orbit (MEO) satellite, a geostationary earth orbit (GEO) satellite, a high elliptical orbit (HEO) satellite, etc. Optionally, the network device may also be a base station set up in a location such as land or water.

[0041] In an embodiment of the present application, the network device can provide services for a cell, and the terminal device communicates with the network device through the transmission resources used by the cell (for example, frequency domain resources, or spectrum resources). The cell can be a cell corresponding to the network device (for example, a base station). The cell can belong to a macro base station or a base station corresponding to a small cell. The small cells here may include: metro cells, micro cells, pico cells, femto cells, etc. These small cells have the characteristics of small coverage and low transmission power, and are suitable for providing high-speed data transmission services.

[0042] For example, a communication system 100 used in an embodiment of the present application is shown in FIG1 . The communication system 100 may include a network device 110, which may be a device that communicates with a terminal device 120 (or a communication terminal or terminal). The network device 110 may provide communication coverage for a specific geographic area and may communicate with terminal devices within the coverage area.

[0043] FIG1 exemplarily shows a network device and two terminal devices. Optionally, the communication system 100 may include multiple network devices and each network device may include other numbers of terminal devices within its coverage area, which is not limited in this embodiment of the present application.

[0044] Optionally, the communication system 100 may further include other network entities such as a network controller and a mobility management entity, which is not limited in the embodiment of the present application.

[0045] It should be understood that in the embodiments of the present application, a device having a communication function in a network / system may be referred to as a communication device. Taking the communication system 100 shown in FIG1 as an example, the communication device may include a network device 110 and a terminal device 120 having a communication function. The network device 110 and the terminal device 120 may be the specific devices described above and will not be described in detail here. The communication device may also include other devices in the communication system 100, such as a network controller, a mobility management entity, and other network entities, which are not limited in the embodiments of the present application.

[0046] It should be understood that the terms "system" and "network" are often used interchangeably herein. The term "and / or" is simply a description of an association between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " generally indicates that the related objects are in an "or" relationship.

[0047] It should be understood that the "indication" mentioned in the embodiments of this application can be a direct indication, an indirect indication, or an indication of an association. For example, "A indicates B" can mean that A directly indicates B, for example, B can be obtained through A; it can also mean that A indirectly indicates B, for example, A indicates C, and B can be obtained through C; it can also mean that there is an association between A and B.

[0048] In the description of the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between the two, or an association relationship between the two, or a relationship between indication and being indicated, configuration and being configured, etc.

[0049] In the embodiments of the present application, "pre-defined" may be implemented by pre-storing corresponding codes, tables, or other methods that can be used to indicate relevant information in a device (e.g., a terminal device or a network device). The present application does not limit the specific implementation method. For example, pre-defined may refer to information defined in a protocol.

[0050] Wireless communication and wireless sensing are two key applications of modern radio frequency technology. Wireless sensing uses backscattered radio waves to detect parameters of the physical environment, enabling environmental perception such as target location, motion recognition, and imaging. Traditionally, wireless sensing and communication exist independently, and this separate design wastes wireless spectrum and hardware resources. Entering the era of post-5G (5G and Beyond, B5G) mobile communication systems and sixth-generation (6G) mobile communication systems, the communication spectrum is moving towards millimeter-wave, terahertz, and visible light communications. The spectrum for future wireless communications will overlap with the spectrum for traditional sensing. Communication sensing technology integrates communication and sensing functions. It can address interference issues inherent in traditional wireless sensing through wireless resource management, leverage widely deployed cellular networks to enable sensing services over a wider range, utilize base stations and multiple terminals for joint sensing to achieve higher sensing accuracy, and reuse communication hardware modules for sensing functions, reducing costs. In short, wireless sensing technology empowers future wireless communication systems with sensing capabilities, laying the foundation for the development of smart transportation, smart cities, smart factories, drones, and other services.

[0051] In some scenarios, sensing devices detect objects by measuring received signals and estimating changes in channel states. For example, sensing devices can reuse communication hardware modules to implement sensing functions.

[0052] To facilitate understanding of the embodiments of the present application, the technical issues of the embodiments of the present application are described in detail.

[0053] In the communication system, the hardware modules of the sensing device include the RF module and the baseband processing module. The RF module is mostly used for carrier signal reception and waveform adjustment. The baseband processing module demodulates the carrier signal into a baseband signal and then performs channel estimation, decoding and other processing on the received signal.

[0054] For example, the RF module can adjust the waveform of the received signal so that the signal analyzed by the baseband processing module is within a certain amplitude range.

[0055] During signal reception, if the RF module of the sensing device can perform waveform adjustment on the received sensing signal, the waveform adjustment parameters directly affect the amplitude range of the output signal. These waveform adjustment parameters can be adjusted adaptively based on the signal. Using different waveform adjustment parameters for the same sensing signal will result in different channel state information when estimating channel state information based on that sensing signal. Furthermore, using channel state information estimated from sensing signals with different waveform adjustment parameters to determine the sensing result can affect the accuracy of the sensing result.

[0056] To facilitate understanding of the technical solutions of the embodiments of the present application, the technical solutions of the present application are described in detail below through specific embodiments. The following related technologies can be combined with the technical solutions of the embodiments of the present application as optional solutions, and they all fall within the scope of protection of the embodiments of the present application. The embodiments of the present application include at least part of the following contents.

[0057] FIG2 is a schematic flow chart of a wireless sensing method 200 according to an embodiment of the present application. As shown in FIG2 , the method 200 includes the following contents:

[0058] S210: The sensing device determines a sensing result based on the multiple sensing signals.

[0059] In some scenarios, the communication system used in the embodiments of the present application may include a control device and a sensing device, wherein the control device is configured to configure physical resources and / or sequence information of the sensing signal for the sensing device, or schedule the transmission of the sensing signal. The sensing device is configured to receive the sensing signal and perform sensing based on the received sensing signal.

[0060] In some embodiments, the sensing device may be a terminal device in the cellular system of FIG1 , or a terminal device in a WLAN system or a WiFi system, such as a STA, or other terminals with sensing requirements in future communication systems, which is not limited in this application.

[0061] In some embodiments, the control device can be a network device in the cellular system of Figure 1, or it can be a network device in a WLAN system or a WiFi system, such as an AP, or it can be a network device in a future communication system, or it can be other nodes or devices with management and control functions, which is not limited in this application.

[0062] It should be understood that the present application is not limited to specific perception scenarios, for example, sensing whether an approaching person is alive, sensing and identifying a person's identity or existence among multiple people, sensing a person's fall or gesture, sensing a person's activity trajectory, sensing a person's vital signs (such as breathing or heartbeat), etc.

[0063] In some embodiments, the multiple perception signals may be signals reflected from signals sent by the perception device. In other words, the multiple perception signals may be reflected wave signals or echo signals of signals sent by the perception device, or they may be sent by other devices, such as a control device.

[0064] In some embodiments, the sensing device may acquire second configuration information, where the second configuration information is used to determine physical resources and / or sequence information for receiving the sensing signal.

[0065] In some cases, when the sensing signal is a reflected wave signal or an echo signal of a signal sent by the sensing device itself, the sensing device itself can obtain physical resource and sequence information of the sensing signal.

[0066] In other cases, when the sensing signal is sent by other devices, the sensing device may obtain physical resource and sequence information of the sensing signal from the other devices.

[0067] Optionally, the second configuration information may be used to semi-statically configure physical resources and / or sequence information of the perception signal.

[0068] Optionally, the second configuration information may be used to dynamically configure physical resources and / or sequence information of the perception signal.

[0069] Optionally, the second configuration information may be used to schedule the sensing device to receive the sensing signal, and when scheduling the reception of the sensing signal, indicate physical resources and / or sequence information of the sensing signal.

[0070] It should be understood that the embodiment of the present application does not limit the sending device of the second configuration information, for example, it can be sent by a control device.

[0071] In some embodiments, the physical resource of the perception signal may include a time domain resource and / or a frequency domain resource for receiving the perception signal.

[0072] In some embodiments, the sequence information of the sensing signal may be used by the sensing device to perform channel estimation.

[0073] In some embodiments, the sensing device determines a sensing result based on multiple sensing signals, which may include:

[0074] determining a perception result based on all perception signals in the plurality of perception signals; or

[0075] A perception result is determined according to some perception signals among the multiple perception signals.

[0076] In some embodiments, the partial perception signals may be determined according to preset rules, such as selecting N perception signals with the latest reception time, M perception signals with the highest signal strength, etc., where N is a positive integer and M is a positive integer.

[0077] It should be understood that in the embodiments of the present application, the multiple perception signals may refer to actually received perception signals, which may be received once or multiple times. The present application does not limit the number of times the perception signals are received and the number of perception signals received each time. For example, ultimately, three perception signals are received: the first reception method is used to receive perception signal 1; the second reception method is used to receive perception signal 2; and the third reception method is used to receive perception signal 3. For another example, ultimately, three perception signals are received: the first reception method is used to receive perception signal 1 and perception signal 2; and the second reception method is used to receive perception signal 3. For another example, ultimately, three perception signals are received: the first reception method is used to receive perception signal 1 and perception signal 2; and the second reception method is used to receive perception signal 3. For another example, ultimately, three perception signals are received: the first reception method is used to receive perception signal 1, perception signal 2, and perception signal 3.

[0078] In some embodiments, the sensing device includes a radio frequency module and a baseband processing module. The radio frequency module is used to receive carrier signals and adjust waveforms. The baseband processing module demodulates the carrier signals into baseband signals and then performs channel estimation, decoding, and other processing on the received signals.

[0079] For example, the RF module can adjust the waveform of the received signal so that the signal analyzed by the baseband processing module is within a certain amplitude range.

[0080] In some embodiments, the RF module may include a waveform adjustment module, which may include at least one of the following modules: an automatic gain control (AGC) adjustment module, a carrier frequency offset (CFO) adjustment module, and a sampling frequency offset (SFO) adjustment module.

[0081] In some embodiments, AGC adjustment is used to adjust the amplitude of a signal so that the signal amplitude is within a certain range, thereby improving signal reception or decoding performance.

[0082] In some embodiments, CFO adjustment is used to correct the carrier frequency offset of a signal to improve signal reception or decoding performance.

[0083] In some embodiments, SFO adjustment is used to correct the sampling frequency offset of the signal to improve signal reception or decoding performance.

[0084] The following describes, in combination with Example 1 and Example 2, a specific implementation of a sensing device determining a sensing result based on multiple sensing signals.

[0085] Embodiment 1: The multiple perception signals are received by the perception device using a first receiving method.

[0086] In some embodiments, the first receiving mode includes not performing waveform adjustment on the perception signal, or the first receiving mode includes performing waveform adjustment on the perception signal using a first waveform adjustment parameter.

[0087] In the embodiment of the present application, the waveform adjustment parameter may include at least one of the following parameters:

[0088] AGC adjustment parameters, CFO adjustment parameters, SFO adjustment parameters.

[0089] In some embodiments, not performing waveform adjustment on the sensing signal may refer to:

[0090] The sensing signal does not pass the waveform adjustment module in the sensing device, or

[0091] The perception signal passes through the waveform adjustment module, but the waveform adjustment parameters set in the waveform adjustment module make the waveform of the perception signal output from the waveform adjustment module unchanged, for example, setting AGC to 1, CFO to 0, SFO to 0, etc.

[0092] Therefore, in an embodiment of the present application, the perception device can determine the perception result based on multiple perception signals received using the same receiving method. Since the multiple perception signals have not undergone waveform adjustment (that is, the multiple perception signals are not affected by the waveform adjustment), or use the same waveform adjustment parameters (that is, the waveform adjustment has the same impact on the multiple perception signals), determining the perception result based on the multiple perception signals is conducive to improving the accuracy of the perception result.

[0093] In some embodiments, the receiving manner adopted by the sensing device to receive the sensing signal may be predefined, or may be configured through signaling, such as by a control device.

[0094] For example, it is predefined that the sensing device does not perform waveform adjustment on the sensing signal, or the sensing device is configured through signaling not to perform waveform adjustment on the sensing signal.

[0095] For another example, it is predefined that the sensing device uses a first waveform adjustment parameter to perform waveform adjustment on the sensing signal, or the sensing device is configured through signaling to use the first waveform adjustment parameter to perform waveform adjustment on the sensing signal.

[0096] In some embodiments, a sensing device may receive first configuration information from a control device, where the first configuration information is used to configure a reception method used by the sensing device to receive a sensing signal. In a specific embodiment, the first configuration information may be used to configure the sensing device to not perform waveform adjustment on the sensing signal, or to configure the sensing device to perform waveform adjustment on the sensing signal using a waveform adjustment parameter. For example, the first configuration information may be used to configure the first waveform adjustment parameter.

[0097] In some embodiments, the first waveform adjustment parameter is carried in the first information.

[0098] It should be understood that the first information may be existing information, or may be newly added information, for example, the first waveform adjustment parameter may be carried in existing configuration information, or newly added configuration information may be used to carry the first waveform adjustment parameter.

[0099] In some embodiments, the first information may be further used to determine a physical resource of a perception signal and / or sequence information of the perception signal.

[0100] That is, the first waveform adjustment parameter and the physical resource for receiving the perception signal and / or the sequence information of the perception signal can be carried in the same information. For example, if the physical resource and / or sequence information of the received perception signal is carried in a first information element (IE), the first waveform adjustment parameter can be added to the first IE.

[0101] In other embodiments, the first information is information specifically used to configure waveform adjustment parameters.

[0102] That is, the first waveform adjustment parameter can be carried by a single piece of information.

[0103] For example, the first waveform adjustment parameter is carried by the second IE, wherein the second IE does not carry other information.

[0104] In some embodiments of the present application, the sensing device determines a sensing result based on multiple sensing signals, including:

[0105] determining a plurality of auxiliary perception information according to the plurality of perception signals;

[0106] The perception result is determined according to the multiple auxiliary perception information.

[0107] In some embodiments, determining a plurality of auxiliary perception information according to the plurality of perception signals may include:

[0108] The multiple perception signals are processed to obtain the multiple auxiliary perception information, where the processing may include but is not limited to channel estimation, delay estimation, frequency offset estimation, and the like. For example, channel estimation may be performed on the multiple perception signals to obtain multiple channel state information, and / or delay estimation may be performed on the multiple perception signals to obtain multiple delay estimation information, and / or frequency offset estimation may be performed on the multiple perception signals to obtain multiple frequency offset estimation information.

[0109] That is, the auxiliary sensing information may include but is not limited to at least one of channel state information, delay estimation information, and frequency offset estimation information.

[0110] In the following, the case where the multiple auxiliary perception information include multiple channel state information is used as an example for description, but the present application is not limited thereto.

[0111] In some embodiments, the perception device can perform channel estimation on the multiple perception signals to obtain the multiple channel state information. Since the multiple perception signals are received using the same receiving method, the waveform adjustment has no effect on the multiple channel state information, or the waveform adjustment has the same effect on the multiple channel state information. Therefore, determining the perception result based on the multiple channel state information is conducive to ensuring the accuracy of the perception result.

[0112] The following describes the specific implementation of the method for receiving the perception signal in combination with Example 1-1 and Example 1-2.

[0113] Example 1-1: All perception signals are received using the first receiving mode.

[0114] In other words, the first receiving mode does not correspond to a specific time period.

[0115] For example, the sensing device does not perform waveform adjustment on all sensing signals, or performs waveform adjustment on all sensing signals using the first waveform adjustment parameter. In this way, the sensing device can determine the sensing result based on any number of received sensing signals, and the influence of the waveform adjustment on the sensing result can be avoided.

[0116] In some embodiments, the first receiving mode is predefined or configured through signaling.

[0117] In some embodiments, the first waveform adjustment parameter may be predefined, or may be configured through signaling.

[0118] In some embodiments, the first waveform adjustment parameter may be semi-statically configured or dynamically configured.

[0119] In some embodiments, after the first waveform adjustment parameter is configured, the sensing device may continue to use the first waveform adjustment parameter to perform waveform adjustment on the sensing signal until a new waveform adjustment parameter is configured.

[0120] In some embodiments, the first waveform adjustment parameter may be applied only to the perception signal, i.e., the first waveform adjustment parameter is used for waveform adjustment of all perception signals, while the first waveform adjustment parameter may be used or not used for waveform adjustment of other signals. This helps ensure the accuracy of the perception result without affecting communication performance.

[0121] In other embodiments, the first waveform adjustment parameter can be applied to all signals, not just sensing signals. That is, the first waveform adjustment parameter is used to adjust the waveform of all signals. This approach helps ensure the accuracy of sensing results and reduces the implementation complexity of sensing devices.

[0122] As illustrated in FIG3 , at time t1, the sensing device receives the second configuration information and learns the physical resource and / or sequence information for receiving the sensing signal. If the sensing signal is a reflected wave signal or an echo signal of a signal sent by the sensing device itself, this step may not be included.

[0123] Optionally, when receiving the perception signal at t2, t3, t4, and t5, the RF module of the perception device may not perform AGC adjustment on the received signal, or when receiving the signal at t2, t3, t4, and t5, the RF module of the perception device uses the same AGC adjustment parameters to perform AGC adjustment on the received signal.

[0124] Optionally, when receiving perception signals at t2, t3, t4, and t5, the RF module of the perception device may not perform CFO adjustment on the received signal, or when receiving signals at t2, t3, t4, and t5, the RF module of the perception device may use the same CFO adjustment parameters to perform CFO adjustment on the received signal.

[0125] Optionally, when receiving the perception signal at t2, t3, t4, and t5, the RF module of the perception device may not perform SFO adjustment on the received signal, or when receiving the signal at t2, t3, t4, and t5, the RF module of the perception device uses the same SFO adjustment parameters to perform SFO adjustment on the received signal.

[0126] Furthermore, the baseband processing module of the sensing device uses the received sensing signal to determine the sensing result, for example, estimates the channel state information based on the received sensing signal, and then determines the sensing result using the channel state information of the sensing signal received at different times.

[0127] Embodiment 1-2: The reception time of the multiple perception signals is within a first time window, wherein the reception mode of the perception signals whose reception time is within the first time window is all the first reception mode.

[0128] In other words, the first receiving mode corresponds to a specific time period, and the first receiving mode is the receiving mode adopted in the specific time period.

[0129] Specifically, within a time window, the sensing device does not perform waveform adjustment on the sensing signals received within the time window, or uses the same waveform adjustment parameters to perform waveform adjustment, that is, the sensing signals received within the time window adopt the same receiving method.

[0130] Compared with the aforementioned embodiment 1-1, embodiment 1-2 can achieve finer-grained control of the receiving mode (or waveform adjustment parameters), which is beneficial to improving the reception performance of the perception signal.

[0131] In some embodiments, if the perception signal is an echo signal or a reflected wave signal of a signal sent by a perception device, the perception device may not perform waveform adjustment on all received signals or maintain the same waveform adjustment parameters within a period of time (e.g., a first time window) after sending the signal. Furthermore, the perception device receives multiple echo signals or reflected wave signals of the signal it sent within this time window and performs perception based on these multiple echo signals or reflected wave signals. Because these multiple echo signals or reflected wave signals are received using the same reception method, this helps reduce the impact of waveform adjustment on the perception result.

[0132] In some embodiments, the first receiving mode (e.g., the first waveform adjustment parameter) may only apply to the perception signals within the first time window. That is, the first receiving mode (e.g., the first waveform adjustment parameter) is used to receive all perception signals within the first time window, while the first receiving mode may or may not be used to receive other signals. This helps ensure the accuracy of the perception results without affecting communication performance.

[0133] In some embodiments, the first reception mode (e.g., the first waveform adjustment parameter) can be applied to all signals within the first time window, not just the sensing signal. That is, all signals are received using the first reception mode (e.g., the first waveform adjustment parameter), which helps ensure the accuracy of sensing results and reduces the implementation complexity of the sensing device.

[0134] In some embodiments, the position of the first time window is predefined, or configured through signaling.

[0135] In some embodiments, the starting position and / or length of the first time window is predefined.

[0136] In some embodiments, the starting position and / or length of the first time window is configured through signaling.

[0137] In some embodiments, the position of the first time window is determined according to a time domain position of at least one perception signal among the multiple perception signals.

[0138] In some embodiments, the starting position of the first time window is determined according to a time domain position of a first perception signal among the multiple perception signals, where the first perception signal is a perception signal having the earliest reception time among the multiple perception signals.

[0139] In some embodiments, the end position of the first time window is determined according to a time domain position of a second perception signal among the multiple perception signals, where the second perception signal is a perception signal having the latest reception time among the multiple perception signals.

[0140] In some embodiments, the position of the first time window is determined using the time domain position of the perception signal as a reference point.

[0141] For example, the starting position of the first time window may be a moment of the first time interval before the first perception signal is sent.

[0142] For example, the end position of the first time window may be a moment of the second time interval after the second perception signal is sent.

[0143] Optionally, the first time interval may be predefined or configured through signaling.

[0144] Optionally, the second time interval may be predefined or configured through signaling.

[0145] In other embodiments, the position of the first time window is determined based on the time when the second configuration information is received. For example, the position of the first time window is based on the time when the second configuration information is received as a reference point, and the length of the first time window is the first duration at a third time interval after the second configuration information is received.

[0146] Optionally, the third time interval and the first duration may be predefined or configured through signaling.

[0147] In some further embodiments, the second configuration information carries location information of the first time window.

[0148] In some embodiments, the first time window is periodic or single-use.

[0149] Optionally, the number of cycles of the first time window may be finite or infinite.

[0150] That is, the perception signal is received in the first receiving mode in a finite number of first time windows or an infinite number of first time windows.

[0151] In some embodiments, the period of the first time window is predefined or configured through signaling.

[0152] In some embodiments, the number of periods of the first time window is predefined or configured through signaling.

[0153] In some embodiments, the receiving mode (ie, the first receiving mode) used to receive the perception signal within the first time window is predefined.

[0154] In some other embodiments, the receiving mode (ie, the first receiving mode) used for receiving the perception signal in the first time window is configured through signaling.

[0155] In some further embodiments, the receiving mode (ie, the first receiving mode) used for receiving the perception signal within the first time window is determined according to the position of the first time window.

[0156] Optionally, the position of the first time window may be represented by the time domain position of the first time window (eg, the time slot in which it is located), or by the sequence number of the first time window.

[0157] Optionally, the sequence numbers of the time windows may be numbered sequentially according to the time domain positions of the time windows.

[0158] Optionally, the sequence numbers of the time windows may be numbered sequentially starting from the first time window after the second configuration information is received.

[0159] In some embodiments, the time window and the receiving mode for receiving the perception signal have a mapping relationship. Therefore, the perception device can determine the receiving mode used to receive the perception signal in the first time window based on the position of the first time window and the mapping relationship.

[0160] In some embodiments, the mapping relationship is predefined or configured through signaling.

[0161] Optionally, in the mapping relationship, the receiving modes (or waveform adjustment parameters) corresponding to different time windows may be the same or different.

[0162] In some embodiments, the target waveform adjustment parameter may be determined from a plurality of candidate waveform adjustment parameters based on the position of the first time window. For example, the target waveform adjustment parameter may be determined by taking a modulo of the number of the plurality of candidate waveform adjustment parameters based on the time domain position or sequence number of the first time window.

[0163] As an example, the multiple candidate waveform adjustment parameters include K waveform adjustment parameters, and the waveform adjustment parameter corresponding to the Mth time window may be the M mod Kth waveform adjustment parameter.

[0164] In some embodiments, the receiving mode (ie, the first receiving mode) used to receive the perception signal within the first time window is the receiving mode used by the perception device at the start time of the first time window or before the start time.

[0165] In some embodiments, the waveform adjustment parameters adopted by the sensing device at the start time or before the start time of the first time window can be determined based on the situation and configuration of the signal received by the sensing device at the start time or before the start time. For example, the waveform adjustment parameters can be adaptively adjusted based on information such as the bandwidth, amplitude, and expected amplitude of the received signal.

[0166] Therefore, in this embodiment, the waveform adjustment parameters are adaptively adjusted based on the time window granularity, which is beneficial to improving the signal reception or decoding performance.

[0167] In some embodiments, the receiving methods (eg, waveform adjustment parameters) used to receive the sensing signals in different time windows are the same.

[0168] In the case of receiving sensing signals in different time windows using the same receiving method, even if the sensing device determines the sensing result based on the sensing signals received in different time windows, the accuracy of the sensing result can be guaranteed.

[0169] In some embodiments, different receiving methods (eg, waveform adjustment parameters) are used to receive sensing signals in different time windows.

[0170] When using different receiving methods to receive perception signals in different time windows, the perception device can determine the perception results based on the perception signals received in the same time window. In addition, the waveform adjustment parameters used to receive perception signals in different time windows are adaptively adjusted based on the signal reception situation, which is conducive to ensuring the reception performance of the signal within a time window.

[0171] In some embodiments of the present application, the method 200 further includes:

[0172] The sensing device receives a plurality of sensing signals in a second receiving manner within a second time window.

[0173] In some embodiments, the first receiving mode and the second receiving mode may be the same or different.

[0174] In some embodiments, the second receiving mode includes not performing waveform adjustment on the perception signal, or the second receiving mode includes performing waveform adjustment on the perception signal using a second waveform adjustment parameter.

[0175] In some embodiments, the first waveform adjustment parameter and the second waveform adjustment parameter are the same or different.

[0176] The following uses an example with reference to Figures 4 and 5 . As shown in Figures 4 and 5 , at time t1, the sensing device receives the second configuration information and obtains the physical resource and / or sequence information for receiving the sensing signal. If the sensing signal is a reflected wave signal or an echo signal of a signal sent by the sensing device itself, this step may not be included.

[0177] In some cases, as shown in FIG4 , the sensing device determines time windows W1, W2, W3, and W4. For example, time windows W1, W2, W3, and W4 can be determined based on the time domain location of the sensing signal in the second configuration information. As an example, the time window begins x1 time before the arrival time of the sensing signal and ends x2 time after the arrival time of the sensing signal, where x1 and x2 are numbers greater than or equal to 0. Alternatively, the second configuration information can directly carry information about the time window, such as the starting location, length, and period. The sensing signal arrival time can be the time at which the physical resource of the sensing signal configured in the second configuration information is located, or it can be the actual arrival time of the sensing signal. The actual arrival time of the sensing signal can be the same as the time at which the physical resource of the sensing signal is located, or there can be a certain deviation.

[0178] In this example, the sensing device may receive sensing signals within time windows W1, W2, W3, and W4 in the same receiving manner.

[0179] For example, within the time windows W1, W2, W3, and W4, the RF module of the sensing device does not perform AGC adjustment on the sensing signal, or, when receiving signals within the time windows W1, W2, W3, and W4, the same AGC adjustment parameters are used to perform AGC modulation on the sensing signal.

[0180] Optionally, within the time windows W1, W2, W3, and W4, the radio frequency module of the perception device does not perform CFO adjustment on the perception signal, or, when receiving signals within the time windows W1, W2, W3, and W4, the same CFO adjustment parameters are used to perform CFO adjustment on the perception signal.

[0181] Optionally, within the time windows W1, W2, W3, and W4, the radio frequency module of the perception device does not perform SFO adjustment on the perception signal, or, when receiving the signal within the time windows W1, W2, W3, and W4, the same SFO adjustment parameters are used to perform SFO modulation on the perception signal.

[0182] Furthermore, the baseband processing module of the sensing device uses the received sensing signal to estimate the channel state information, and then uses the channel state information of the sensing signal received at different times to determine the sensing result.

[0183] In some cases, as shown in FIG5 , the sensing device determines time windows W1 and W2. The time windows W1 and W2 may be determined based on the second configuration information, or the second configuration information may directly carry information about the time windows, such as a starting position, length, period, and number of duration periods.

[0184] In this example, the sensing device receives the sensing signals within the time windows W1 and W2 in the same receiving manner, or in independent receiving manners, which may be the same or different.

[0185] For example, within the time windows W1 and W2, the RF module of the sensing device does not perform AGC adjustment on the sensing signal, or, when receiving signals within the time windows W1 and W2, the same AGC adjustment parameters are used, or, when receiving signals within the time windows W1 and W2, independent AGC adjustment parameters are used, wherein the AGC adjustment parameters used in the time windows W1 and W2 may be the same or different.

[0186] Optionally, within the time windows W1 and W2, the RF module of the sensing device does not perform CFO adjustment on the sensing signal, or, when receiving signals within the time windows W1 and W2, the same CFO adjustment parameters are used, or, when receiving signals within the time windows W1 and W2, independent AGC adjustment parameters are used, wherein the CFO adjustment parameters used in the time windows W1 and W2 may be the same or different.

[0187] Optionally, within the time windows W1 and W2, the RF module of the perception device does not perform SFO adjustment on the perception signal, or, when receiving signals within the time windows W1 and W2, the same SFO adjustment parameters are used, or, when receiving signals within the time windows W1 and W2, independent AGC adjustment parameters are used, wherein the SFO adjustment parameters used in the time windows W1 and W2 may be the same or different.

[0188] Furthermore, the baseband processing module of the sensing device uses the received sensing signal to estimate the channel state information, and then uses the channel state information of the sensing signal received at different times to perform sensing.

[0189] Embodiment 2: The perception result is determined by the perception device based on a first processing method.

[0190] The first processing method is used to perform waveform correction processing on the multiple sensing signals of the sensing device.

[0191] In some embodiments, the sensing device performs waveform correction processing (or inverse waveform adjustment processing) on ​​the multiple sensing signals based on the first processing method to eliminate or reduce the impact of receiving the sensing signals using waveform adjustment parameters on the waveforms of the sensing signals.

[0192] Therefore, in an embodiment of the present application, when determining a perception result based on multiple perception signals, the perception device performs waveform correction processing on the multiple perception signals to eliminate or reduce the impact of receiving the perception signal using the waveform adjustment parameter on the waveform of the perception signal, and further determines the perception result based on the waveform-corrected perception signal, which is beneficial to improving the accuracy of the perception result.

[0193] In some embodiments, the sensing device performs waveform correction processing on the plurality of sensing signals based on the first processing manner, which may include:

[0194] The sensing device performs waveform correction processing on multiple sensing signals received through different reception modes based on the first processing mode. It is understood that if the multiple sensing signals are received through different reception modes (e.g., different waveform adjustment parameters), the different reception modes have different effects on the multiple sensing signals. In this case, performing sensing directly based on the multiple sensing signals may affect the accuracy of the sensing result.

[0195] Therefore, in an embodiment of the present application, when the perception device receives the multiple perception signals through non-identical receiving methods, it can use the first processing method to correct the multiple perception signals, eliminate the impact of the non-identical receiving methods on the perception results, and further determine the perception results based on the waveform-corrected perception signals, which is conducive to improving the accuracy of the perception results.

[0196] In other embodiments, regardless of whether the receiving modes of the multiple sensing signals are the same, the sensing device performs correction processing on the multiple sensing signals based on the first processing mode.

[0197] In some embodiments, the sensing device may determine the sensing result by adopting the first processing manner on the received sensing signal in a predefined manner, or may be configured through signaling, such as by a control device.

[0198] In some embodiments, the perception device may receive third configuration information of the control device, where the third configuration information is used to configure the perception device to adopt the first processing method to determine the perception result.

[0199] In some embodiments, the perception device can obtain the receiving mode (such as waveform adjustment parameters) corresponding to each of the multiple perception signals, so that the perception device can perform waveform correction processing on the multiple perception signals according to the receiving modes corresponding to the multiple perception signals, or in other words, perform inverse waveform adjustment processing to eliminate the impact of different receiving modes on the waveform of the perception signal.

[0200] In some embodiments of the present application, the method 200 further includes:

[0201] The radio frequency module of the sensing device notifies the baseband processing module of the receiving mode used by the radio frequency module to receive the sensing signal.

[0202] For example, the baseband processing module is informed whether the radio frequency module performs waveform adjustment on the perception signal when receiving the perception signal, or the waveform adjustment parameters used for the waveform adjustment on the perception signal.

[0203] Optionally, the radio frequency module of the perception device can indicate the receiving method adopted for receiving the perception signal through signaling, for example, it can indicate that no waveform adjustment is performed on the perception signal, or indicate a specific waveform adjustment parameter, or indicate an index value of the waveform adjustment parameter, wherein the index value and the waveform adjustment parameter have a corresponding relationship.

[0204] Furthermore, the baseband processing module of the perception device may perform waveform correction processing on the multiple perception signals based on the reception modes of the multiple perception signals, thereby eliminating the influence of different reception modes on the waveforms of the perception signals.

[0205] In some embodiments, the sensing device determines a sensing result based on the plurality of sensing signals, including:

[0206] performing waveform correction processing on the plurality of perception signals according to waveform adjustment parameters used when receiving the plurality of perception signals;

[0207] determining a plurality of auxiliary sensing information according to the plurality of sensing signals after waveform correction processing;

[0208] A perception result is determined based on the multiple auxiliary perception information.

[0209] That is, in this implementation, the sensing device may first perform waveform correction based on the waveform adjustment parameters used to receive the sensing signal to eliminate the effects of the waveform adjustment, and then determine the sensing result based on the corrected sensing signal. For example, multiple auxiliary sensing information may be first determined based on multiple corrected sensing signals, and the sensing result may be further determined based on the multiple auxiliary sensing information.

[0210] In other embodiments, the sensing device determines a sensing result based on multiple sensing signals, including:

[0211] determining a plurality of auxiliary perception information according to the plurality of perception signals;

[0212] performing waveform correction processing on the plurality of auxiliary perception information according to waveform adjustment parameters used when receiving the plurality of perception signals;

[0213] The perception result is determined according to the plurality of auxiliary perception information after waveform correction processing.

[0214] That is, in this implementation, the perception device can first determine multiple auxiliary perception information based on the multiple perception signals received, and further correct the multiple auxiliary perception information based on the waveform adjustment parameters used to receive the multiple perception signals to eliminate the impact of the waveform adjustment, and further determine the perception result based on the corrected auxiliary perception information.

[0215] In some embodiments, the auxiliary sensing information may be obtained by processing the sensing signal, where the processing may include, but is not limited to, channel estimation, delay estimation, frequency offset estimation, and the like. Accordingly, the auxiliary sensing information may include, but is not limited to, at least one of channel state information, delay estimation information, and frequency offset estimation information. The following description uses channel state information as the auxiliary sensing information, but the present application is not limited thereto.

[0216] In some embodiments, the plurality of auxiliary sensing information includes a plurality of channel state information.

[0217] The following uses an example with reference to FIG6 . As shown in FIG6 , at time t1, the sensing device receives the second configuration information and obtains the physical resource and / or sequence information for receiving the sensing signal. If the sensing signal is a reflected wave signal or an echo signal of a signal sent by the sensing device itself, this step may not be included.

[0218] Optionally, at time t2 when the perception signal is received, the radio frequency module of the perception device informs the baseband processing module of the AGC adjustment parameters used to perform AGC adjustment on the perception signal, and performs similar operations at times t3, t4, and t5.

[0219] Optionally, at time t2 when the perception signal is received, the RF module of the perception device informs the baseband processing module of the CFO adjustment parameters used to perform CFO adjustment on the perception signal, and performs similar operations at times t3, t4, and t5.

[0220] Optionally, at time t2 when the perception signal is received, the radio frequency module of the perception device informs the baseband processing module of the SFO adjustment parameters used to perform SFO adjustment on the perception signal, and performs similar operations at times t3, t4, and t5.

[0221] In some cases, when the baseband processing module processes a received sensing signal, it may first eliminate the effects of the AGC adjustment parameter, the CFO adjustment parameter, and / or the SFO adjustment parameter before performing channel estimation. The sensing result is then determined based on the channel state information of the sensing signals received at different times. For example, if the RF module informs the baseband processing module that the AGC adjustment parameter used for the first sensing signal received is a1, and assuming the amplitude of the received sensing signal is y1, then the amplitude of the sensing signal reaching the baseband processing module is y = y1 * a1. When the baseband processing module performs channel estimation, it may first correct the amplitude y of the sensing signal to y1, then perform channel estimation, and obtain the channel state information h1 corresponding to the first sensing signal. Similarly, similar processing is performed on the second to fourth sensing signals, obtaining the channel state information h2, h3, and h4, respectively. Sensing is further performed by comparing h1, h2, h3, and h4.

[0222] In other cases, the baseband processing module first uses the received perception signal to perform channel estimation, then corrects the estimated channel state information to eliminate the influence of the AGC adjustment parameter and / or CFO adjustment parameter and / or SFO adjustment parameter, and further uses the corrected channel state information for perception. For example, the RF module informs the baseband processing module that the AGC adjustment parameter used for the first received perception signal is a1. Assuming that the amplitude of the received perception signal is y1, the amplitude of the perception signal reaching the baseband processing module is y=y1*a1. The baseband processing module uses y to perform channel estimation and obtain the corresponding channel state information h1'. Similarly, the second to fourth perception signals are processed similarly to obtain channel state information h2', h3', and h4' respectively. Among them, the AGC adjustment parameters corresponding to these three perception signals are a2, a3, and a4 respectively. When using channel state information for sensing, the sensing device can first correct the channel state information. For example, the channel state information corresponding to the four sensing signals can be corrected to h1' / a1, h2' / a2, h3' / a3, and h4' / a4, respectively. Furthermore, sensing is performed by comparing the corrected channel state information h1' / a1, h2' / a2, h3' / a3, and h4' / a4.

[0223] It should be understood that in the embodiments of the present application, configuration through signaling may refer to configuration through any signaling (for example, existing signaling, or newly added signaling) between the perception device and the configuration device (for example, the control device), and the present application does not limit this.

[0224] As an example, the perception device is a terminal device in a cellular communication system, and the control device is a network device in the cellular communication system. The above-mentioned configuration through signaling may refer to configuration through downlink signaling, and the downlink signaling may include radio resource control (RRC) signaling, downlink control information (DCI), media access control control element (MAC CE), etc.

[0225] As another example, the sensing device is an STA in a WIFI system or a WLAN system, and the control device is an AP in a WIFI system or a WLAN system. The above-mentioned configuration through signaling may refer to configuration through wireless frames (such as management frames) in 802.11 technology.

[0226] In summary, in the embodiment of the present application, the perception device can determine the perception result based on multiple perception signals received using the same receiving method. Since the multiple perception signals have not undergone waveform adjustment, or the same waveform adjustment parameters are used (that is, the waveform adjustment parameters have the same impact on the multiple perception signals), determining the perception result based on the multiple perception signals is conducive to improving the accuracy of the perception result.

[0227] Alternatively, when determining the perception result based on multiple perception signals, the perception device performs waveform correction processing on the multiple perception signals to eliminate or reduce the impact of receiving the perception signal using waveform adjustment parameters on the waveform of the perception signal, and further determines the perception result based on the waveform-corrected perception signal, which is beneficial to improving the accuracy of the perception result.

[0228] The above description, in conjunction with Figures 2 to 6 , describes in detail a wireless sensing method according to an embodiment of the present application from the perspective of a sensing device. The following description, in conjunction with Figure 7 , describes in detail a wireless sensing method according to another embodiment of the present application from the perspective of a control device. It should be understood that the description on the control device side corresponds to the description on the sensing device side. Similar descriptions can be found above, and to avoid repetition, they are not repeated here.

[0229] FIG7 is a schematic flow chart of a wireless sensing method 300 according to another embodiment of the present application. As shown in FIG7 , the method 300 includes the following contents:

[0230] S310: The control device sends first configuration information to the perception device, where the first configuration information is used to configure a receiving mode adopted by the perception device to receive a perception signal, wherein the receiving mode includes not performing waveform adjustment on the perception signal, or performing waveform adjustment on the perception signal using waveform adjustment parameters.

[0231] In some embodiments, the first configuration information is used to configure a first waveform adjustment parameter, wherein the first waveform adjustment parameter is used to perform waveform adjustment on all perception signals.

[0232] In some embodiments, the first configuration information is used to configure at least one of the following:

[0233] The information of at least one time window is used to determine the receiving mode used for receiving the perception signal within the at least one time window.

[0234] In some embodiments, the information of the at least one time window includes at least one of the following:

[0235] The starting position of the at least one time window, the length of the at least one time window, and the period of the at least one time window.

[0236] In some embodiments, the at least one time window includes a first time window and a second time window, wherein a receiving mode adopted for receiving the perception signal in the first time window is a first receiving mode, and a receiving mode adopted for receiving the perception signal in the second time window is a second receiving mode;

[0237] The first receiving mode includes not performing waveform adjustment on the perception signal, or the first receiving mode includes performing waveform adjustment on the perception signal using a first waveform adjustment parameter; the second receiving mode includes not performing waveform adjustment on the perception signal, or the second receiving mode includes performing waveform adjustment on the perception signal using a second waveform adjustment parameter, and the first waveform adjustment parameter and the second waveform adjustment parameter are the same or different.

[0238] In some embodiments, the method 300 further includes:

[0239] The control device sends second configuration information, where the second configuration information is used to determine a physical resource for receiving a perception signal and / or sequence information of the perception signal.

[0240] In some embodiments, the first configuration information and the second configuration information are sent through the same signaling, or may be sent through different signaling.

[0241] In some embodiments, the waveform adjustment parameter includes at least one of the following parameters:

[0242] Automatic gain control AGC adjustment parameters, carrier frequency offset CFO adjustment parameters, sampling frequency offset SFO adjustment parameters.

[0243] The above text, in combination with Figures 2 to 7, describes in detail the method embodiment of the present application. The following text, in combination with Figures 8 to 12, describes in detail the device embodiment of the present application. It should be understood that the device embodiment and the method embodiment correspond to each other, and similar descriptions can refer to the method embodiment.

[0244] FIG8 shows a schematic block diagram of a sensing device 400 according to an embodiment of the present application. As shown in FIG8 , the sensing device 400 includes:

[0245] The processing unit 410 is configured to determine a perception result based on the plurality of perception signals;

[0246] In which, the multiple perception signals are received by the perception device using a first receiving method, or the perception results are determined by the perception device based on a first processing method, the first receiving method includes not performing waveform adjustment on the perception signal, or the first receiving method includes performing waveform adjustment on the perception signal using a first waveform adjustment parameter, and the first processing method is used by the perception device to perform waveform correction processing on the multiple perception signals.

[0247] In some embodiments, the first waveform adjustment parameter is carried in the first information.

[0248] In some embodiments, the first information is further used to determine a physical resource for receiving a perception signal and / or sequence information of the perception signal.

[0249] In some embodiments, the reception times of the plurality of perception signals are within a first time window, wherein the reception modes of the perception signals whose reception times are within the first time window are all the first reception mode.

[0250] In some embodiments, the position of the first time window is predefined; or,

[0251] The position of the first time window is configured through signaling.

[0252] In some embodiments, the starting position and / or length of the first time window is predefined; or

[0253] The starting position and / or length of the first time window is configured through signaling.

[0254] In some embodiments, the position of the first time window is determined according to a time domain position of at least one perception signal among the multiple perception signals.

[0255] In some embodiments, the position of the first time window is determined according to a time domain position of a first perception signal among the multiple perception signals, where the first perception signal is a perception signal having the earliest reception time among the multiple perception signals.

[0256] In some embodiments, the receiving mode used for receiving the perception signal in the first time window is predefined; or

[0257] The receiving mode used for receiving the perception signal in the first time window is configured through signaling; or

[0258] The receiving mode used for receiving the perception signal in the first time window is determined according to the position of the first time window; or,

[0259] The receiving mode used for receiving the perception signal within the first time window is the receiving mode used by the perception device at the start time of the first time window or before the start time.

[0260] In some embodiments, the receiving mode adopted for receiving the perception signal in the first time window is determined according to the position of the first time window, including:

[0261] The receiving mode used for receiving the perception signal in the first time window is determined according to the position of the first time window and a mapping relationship, where the mapping relationship includes a mapping relationship between the time window and the receiving mode for receiving the perception signal.

[0262] In some embodiments, the mapping relationship is predefined or configured through signaling.

[0263] In some embodiments, the sensing device 400 further includes:

[0264] a communication unit, configured to receive a plurality of perception signals in a second time window using a second receiving mode, wherein the second receiving mode includes not performing waveform adjustment on the perception signals, or the second receiving mode includes performing waveform adjustment on the perception signals using a second waveform adjustment parameter;

[0265] Wherein, the first waveform adjustment parameter and the second waveform adjustment parameter are the same; or,

[0266] The first waveform adjustment parameter and the second waveform adjustment parameter are different.

[0267] In some embodiments, when the plurality of perception signals are received by the perception terminal device using the first receiving mode, the processing unit 410 is further configured to:

[0268] determining a plurality of auxiliary perception information according to the plurality of perception signals;

[0269] The perception result is determined according to the multiple auxiliary perception information.

[0270] In some embodiments, the perception result is determined by the perception device based on the first processing manner, and the processing unit 410 is further configured to:

[0271] performing waveform correction processing on the plurality of perception signals according to waveform adjustment parameters used when receiving the plurality of perception signals;

[0272] determining a plurality of auxiliary sensing information according to the plurality of sensing signals after waveform correction processing;

[0273] A perception result is determined based on the multiple auxiliary perception information.

[0274] In some embodiments, the perception result is determined by the perception device based on the first processing mode, and the processing unit 410 is further configured to:

[0275] determining a plurality of auxiliary perception information according to the plurality of perception signals;

[0276] performing waveform correction processing on the plurality of auxiliary perception information according to waveform adjustment parameters used when receiving the plurality of perception signals;

[0277] The perception result is determined according to the plurality of auxiliary perception information after waveform correction processing.

[0278] In some embodiments, the auxiliary sensing information includes at least one of the following: channel state information, delay estimation information, and frequency offset estimation information.

[0279] In some embodiments, the perception signal is a reflected signal of a signal sent by the perception device, or the perception signal is sent by another device.

[0280] In some embodiments, the first waveform adjustment parameter includes at least one of the following parameters:

[0281] Automatic gain control AGC adjustment parameters, carrier frequency offset CFO adjustment parameters, sampling frequency offset SFO adjustment parameters.

[0282] Alternatively, in some embodiments, the communication unit may be a communication interface or a transceiver, or an input / output interface of a communication chip or a system on chip. The processing unit may be one or more processors.

[0283] It should be understood that the perception device 400 according to the embodiment of the present application may correspond to the terminal device in the method embodiment of the present application, and the above-mentioned and other operations and / or functions of each unit in the perception device 400 are respectively for realizing the corresponding processes of the terminal device in the method 200 shown in Figures 2 to 6. For the sake of brevity, they will not be repeated here.

[0284] FIG9 is a schematic block diagram of a control device according to an embodiment of the present application. The control device 500 of FIG9 includes:

[0285] The communication unit 510 is configured to send first configuration information to the perception device, where the first configuration information is used to configure a receiving mode adopted by the perception device to receive the perception signal, wherein the receiving mode includes not performing waveform adjustment on the perception signal, or performing waveform adjustment on the perception signal using a waveform adjustment parameter.

[0286] In some embodiments, the first configuration information is used to configure a first waveform adjustment parameter.

[0287] In some embodiments, the first configuration information is used to configure at least one of the following:

[0288] Information of at least one time window;

[0289] A receiving mode used for receiving the perception signal within the at least one time window.

[0290] In some embodiments, the information of the at least one time window includes at least one of the following:

[0291] The starting position of the at least one time window, the length of the at least one time window, and the period of the at least one time window.

[0292] In some embodiments, the at least one time window includes a first time window and a second time window, wherein a receiving mode for receiving the perception signal in the first time window is a first receiving mode, and a receiving mode for receiving the perception signal in the second time window is a second receiving mode;

[0293] The first receiving mode includes not performing waveform adjustment on the perception signal, or the first receiving mode includes performing waveform adjustment on the perception signal using a first waveform adjustment parameter; the second receiving mode includes not performing waveform adjustment on the perception signal, or the second receiving mode includes performing waveform adjustment on the perception signal using a second waveform adjustment parameter, and the first waveform adjustment parameter and the second waveform adjustment parameter are the same or different.

[0294] In some embodiments, the communication unit 510 is further configured to:

[0295] Second configuration information is sent, where the second configuration information is used to determine a physical resource for receiving the perception signal and / or sequence information of the perception signal.

[0296] In some embodiments, the waveform adjustment parameter includes at least one of the following parameters:

[0297] Automatic gain control AGC adjustment parameters, carrier frequency offset CFO adjustment parameters, sampling frequency offset SFO adjustment parameters.

[0298] Optionally, in some embodiments, the communication unit may be a communication interface or a transceiver, or an input / output interface of a communication chip or a system on chip.

[0299] It should be understood that the control device 500 according to the embodiment of the present application may correspond to the control device in the embodiment of the method of the present application, and the above-mentioned and other operations and / or functions of each unit in the control device 500 are respectively for realizing the corresponding processes of the control device in the method shown in Figures 2 to 7. For the sake of brevity, they will not be repeated here.

[0300] Figure 10 is a schematic structural diagram of a communication device 600 provided in an embodiment of the present application. The communication device 600 shown in Figure 10 includes a processor 610, which can call and run a computer program from a memory to implement the method in the embodiment of the present application.

[0301] Optionally, as shown in FIG10 , the communication device 600 may further include a memory 620. The processor 610 may call and execute a computer program from the memory 620 to implement the method in the embodiment of the present application.

[0302] The memory 620 may be a separate device independent of the processor 610 , or may be integrated into the processor 610 .

[0303] Optionally, as shown in FIG10 , the communication device 600 may further include a transceiver 630 , and the processor 610 may control the transceiver 630 to communicate with other devices, specifically, to send information or data to other devices, or to receive information or data sent by other devices.

[0304] The transceiver 630 may include a transmitter and a receiver. The transceiver 630 may further include an antenna, and the number of antennas may be one or more.

[0305] Optionally, the communication device 600 may specifically be a network device in an embodiment of the present application, and the communication device 600 may implement the corresponding processes implemented by the network device in each method in the embodiment of the present application. For the sake of brevity, they will not be repeated here.

[0306] Optionally, the communication device 600 may specifically be a mobile terminal / terminal device in an embodiment of the present application, and the communication device 600 may implement the corresponding processes implemented by the mobile terminal / terminal device in each method in the embodiment of the present application. For the sake of brevity, they will not be repeated here.

[0307] Figure 11 is a schematic structural diagram of a chip according to an embodiment of the present application. The chip 700 shown in Figure 11 includes a processor 710, which can call and run a computer program from a memory to implement the method according to the embodiment of the present application.

[0308] In some embodiments, the memory may be included in the chip, or may not be included in the chip.

[0309] Optionally, as shown in FIG11 , the chip 700 may further include a memory 720. The processor 710 may call and execute a computer program from the memory 720 to implement the method in the embodiment of the present application.

[0310] The memory 720 may be a separate device independent of the processor 710 , or may be integrated into the processor 710 .

[0311] Optionally, the chip 700 may further include an input interface 730. The processor 710 may control the input interface 730 to communicate with other devices or chips, and specifically, may obtain information or data sent by other devices or chips.

[0312] Optionally, the chip 700 may further include an output interface 740. The processor 710 may control the output interface 740 to communicate with other devices or chips, and specifically, may output information or data to other devices or chips.

[0313] Optionally, the chip can be applied to the network device in the embodiments of the present application, and the chip can implement the corresponding processes implemented by the network device in each method of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0314] Optionally, the chip can be applied to the mobile terminal / terminal device in the embodiments of the present application, and the chip can implement the corresponding processes implemented by the mobile terminal / terminal device in the various methods of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0315] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0316] FIG12 is a schematic block diagram of a communication system 900 provided in an embodiment of the present application. As shown in FIG12 , the communication system 900 includes a sensing device 910 and a control device 920 .

[0317] Among them, the perception device 910 can be used to implement the corresponding functions implemented by the perception device in the above method, and the control device 920 can be used to implement the corresponding functions implemented by the control device in the above method. For the sake of brevity, they will not be repeated here.

[0318] It should be understood that the processor of the embodiments of the present application may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method embodiment can be completed by hardware integrated logic circuits in the processor or software instructions. The above processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The various methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0319] It is understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0320] It should be understood that the above-mentioned memories are exemplary but not restrictive. For example, the memories in the embodiments of the present application may also be static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM RAM (DR RAM), etc. In other words, the memories in the embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

[0321] An embodiment of the present application also provides a computer-readable storage medium for storing a computer program.

[0322] Optionally, the computer-readable storage medium can be applied to the perception device in the embodiments of the present application, and the computer program enables the computer to execute the corresponding processes implemented by the perception device in the various methods of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0323] Optionally, the computer-readable storage medium can be applied to the control device in the embodiments of the present application, and the computer program enables the computer to execute the corresponding processes implemented by the control device in the various methods of the embodiments of the present application. For the sake of brevity, they are not repeated here.

[0324] An embodiment of the present application also provides a computer program product, including computer program instructions.

[0325] Optionally, the computer program product can be applied to the perception device in the embodiments of the present application, and the computer program instructions enable the computer to execute the corresponding processes implemented by the perception device in the various methods of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0326] Optionally, the computer program product can be applied to the control device in the embodiments of the present application, and the computer program instructions enable the computer to execute the corresponding processes implemented by the control device in the various methods of the embodiments of the present application. For the sake of brevity, they are not repeated here.

[0327] The embodiment of the present application also provides a computer program.

[0328] Optionally, the computer program can be applied to the perception device in the embodiments of the present application. When the computer program runs on a computer, the computer executes the corresponding processes implemented by the perception device in the various methods of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0329] Optionally, the computer program can be applied to the control device in the embodiments of the present application. When the computer program runs on a computer, the computer executes the corresponding processes implemented by the control device in the various methods of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0330] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0331] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0332] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0333] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0334] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0335] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0336] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A wireless sensing method, characterized in that: include: The sensing device determines the sensing result based on multiple sensing signals; In which, the multiple perception signals are received by the perception device using a first receiving method, or the perception results are determined by the perception device based on a first processing method, the first receiving method includes not performing waveform adjustment on the perception signal, or the first receiving method includes performing waveform adjustment on the perception signal using a first waveform adjustment parameter, and the first processing method is used by the perception device to perform waveform correction processing on the multiple perception signals.

2. The method according to claim 1, characterized in that The first waveform adjustment parameter is carried in the first information.

3. The method according to claim 2, characterized in that The first information is further used to determine a physical resource for receiving a perception signal and / or sequence information of the perception signal.

4. The method according to claim 1, wherein The reception times of the multiple perception signals are within a first time window, wherein the reception modes of the perception signals whose reception times are within the first time window are all the first reception mode.

5. The method according to claim 4, characterized in that The position of the first time window is predefined; or, The position of the first time window is configured through signaling.

6. The method according to claim 5, characterized in that The starting position and / or length of the first time window is predefined; or The starting position and / or length of the first time window is configured through signaling.

7. The method according to claim 4, characterized in that The position of the first time window is determined according to a time domain position of at least one perception signal among the multiple perception signals.

8. The method according to claim 7, characterized in that The position of the first time window is determined according to a time domain position of a first perception signal among the multiple perception signals, where the first perception signal is a perception signal having the earliest reception time among the multiple perception signals.

9. The method according to any one of claims 4 to 8, characterized in that The receiving mode used for receiving the perception signal in the first time window is predefined; or The receiving mode used for receiving the perception signal in the first time window is configured through signaling; or The receiving mode used for receiving the perception signal in the first time window is determined according to the position of the first time window; or, The receiving mode used for receiving the perception signal within the first time window is the receiving mode used by the perception device at the start time of the first time window or before the start time.

10. The method according to claim 9, characterized in that The receiving mode adopted for receiving the perception signal in the first time window is determined according to the position of the first time window, including: The receiving mode used for receiving the perception signal in the first time window is determined according to the position of the first time window and a mapping relationship, where the mapping relationship includes a mapping relationship between the time window and the receiving mode for receiving the perception signal.

11. The method according to claim 10, characterized in that The mapping relationship is predefined or configured through signaling.

12. The method according to any one of claims 4 to 11, characterized in that The method further comprises: The sensing device receives a plurality of sensing signals in a second time window using a second receiving mode, wherein the second receiving mode includes not performing waveform adjustment on the sensing signals, or the second receiving mode includes performing waveform adjustment on the sensing signals using a second waveform adjustment parameter; Wherein, the first waveform adjustment parameter and the second waveform adjustment parameter are the same; or, The first waveform adjustment parameter and the second waveform adjustment parameter are different.

13. The method according to any one of claims 1 to 12, characterized in that When the plurality of perception signals are received by the perception terminal device in the first receiving manner, the perception device determines a perception result according to the plurality of perception signals, including: determining a plurality of auxiliary perception information according to the plurality of perception signals; The perception result is determined according to the multiple auxiliary perception information.

14. The method according to claim 1, wherein The perception result is determined by the perception device based on the first processing method; The sensing device determines a sensing result based on the plurality of sensing signals, including: performing waveform correction processing on the plurality of perception signals according to waveform adjustment parameters used when receiving the plurality of perception signals; determining a plurality of auxiliary sensing information according to the plurality of sensing signals after waveform correction processing; A perception result is determined based on the multiple auxiliary perception information.

15. The method according to claim 1, wherein The perception result is determined by the perception device based on a first processing method, The sensing device determines a sensing result based on the plurality of sensing signals, including: determining a plurality of auxiliary perception information according to the plurality of perception signals; performing waveform correction processing on the plurality of auxiliary perception information according to waveform adjustment parameters used when receiving the plurality of perception signals; The perception result is determined according to the plurality of auxiliary perception information after waveform correction processing.

16. The method according to any one of claims 13 to 15, characterized in that The auxiliary perception information includes at least one of the following: channel state information, delay estimation information, and frequency offset estimation information.

17. The method according to any one of claims 1 to 16, characterized in that The perception signal is a signal obtained by reflecting a signal sent by the perception device, or the perception signal is sent by another device.

18. The method according to any one of claims 1 to 17, characterized in that The first waveform adjustment parameter includes at least one of the following parameters: Automatic gain control AGC adjustment parameters, carrier frequency offset CFO adjustment parameters, sampling frequency offset SFO adjustment parameters.

19. A wireless sensing method, characterized in that: include: The control device sends first configuration information to the perception device, where the first configuration information is used to configure a receiving mode adopted by the perception device to receive the perception signal, wherein the receiving mode includes not performing waveform adjustment on the perception signal, or performing waveform adjustment on the perception signal using a waveform adjustment parameter.

20. The method according to claim 19, characterized in that The first configuration information is used to configure a first waveform adjustment parameter.

21. The method according to claim 19 or 20, characterized in that The first configuration information is used to configure at least one of the following: Information of at least one time window; A receiving mode used for receiving the perception signal within the at least one time window.

22. The method according to claim 21, characterized in that The information of the at least one time window includes at least one of the following: The starting position of the at least one time window, the length of the at least one time window, and the period of the at least one time window.

23. The method according to claim 21 or 22, characterized in that The at least one time window includes a first time window and a second time window, wherein a receiving mode for receiving the perception signal in the first time window is a first receiving mode, and a receiving mode for receiving the perception signal in the second time window is a second receiving mode; The first receiving mode includes not performing waveform adjustment on the perception signal, or the first receiving mode includes performing waveform adjustment on the perception signal using a first waveform adjustment parameter; the second receiving mode includes not performing waveform adjustment on the perception signal, or the second receiving mode includes performing waveform adjustment on the perception signal using a second waveform adjustment parameter, and the first waveform adjustment parameter and the second waveform adjustment parameter are the same or different.

24. The method according to any one of claims 19 to 23, wherein: The method further comprises: The control device sends second configuration information, where the second configuration information is used to determine a physical resource for receiving a perception signal and / or sequence information of the perception signal.

25. The method according to any one of claims 19 to 24, characterized in that The waveform adjustment parameters include at least one of the following parameters: Automatic gain control AGC adjustment parameters, carrier frequency offset CFO adjustment parameters, sampling frequency offset SFO adjustment parameters.

26. A sensing device, characterized in that: include: a processing unit, configured to determine a perception result based on the plurality of perception signals; In which, the multiple perception signals are received by the perception device using a first receiving method, or the perception results are determined by the perception device based on a first processing method, the first receiving method includes not performing waveform adjustment on the perception signal, or the first receiving method includes performing waveform adjustment on the perception signal using a first waveform adjustment parameter, and the first processing method is used by the perception device to perform waveform correction processing on the multiple perception signals.

27. The sensing device according to claim 26, wherein: The first waveform adjustment parameter is carried in the first information.

28. The sensing device according to claim 27, characterized in that The first information is further used to determine a physical resource for receiving a perception signal and / or sequence information of the perception signal.

29. The sensing device according to claim 26, wherein: The reception times of the multiple perception signals are within a first time window, wherein the reception modes of the perception signals whose reception times are within the first time window are all the first reception mode.

30. The sensing device according to claim 29, wherein: The position of the first time window is predefined; or, The position of the first time window is configured through signaling.

31. The sensing device according to claim 30, characterized in that The starting position and / or length of the first time window is predefined; or The starting position and / or length of the first time window is configured through signaling.

32. The sensing device according to claim 29, wherein: The position of the first time window is determined according to a time domain position of at least one perception signal among the multiple perception signals.

33. The sensing device according to claim 32, characterized in that The position of the first time window is determined according to a time domain position of a first perception signal among the multiple perception signals, where the first perception signal is a perception signal having the earliest reception time among the multiple perception signals.

34. The sensing device according to any one of claims 29 to 33, characterized in that The receiving mode used for receiving the perception signal in the first time window is predefined; or The receiving mode used for receiving the perception signal in the first time window is configured through signaling; or The receiving mode used for receiving the perception signal in the first time window is determined according to the position of the first time window; or, The receiving mode used for receiving the perception signal within the first time window is the receiving mode used by the perception device at the start time of the first time window or before the start time.

35. The sensing device according to claim 34, characterized in that The receiving mode adopted for receiving the perception signal in the first time window is determined according to the position of the first time window, including: The receiving mode used for receiving the perception signal in the first time window is determined according to the position of the first time window and a mapping relationship, where the mapping relationship includes a mapping relationship between the time window and the receiving mode for receiving the perception signal.

36. The sensing device according to claim 35, characterized in that The mapping relationship is predefined or configured through signaling.

37. The sensing device according to any one of claims 29 to 36, characterized in that: The sensing device further includes: a communication unit, configured to receive a plurality of perception signals in a second time window using a second receiving mode, wherein the second receiving mode includes not performing waveform adjustment on the perception signals, or the second receiving mode includes performing waveform adjustment on the perception signals using a second waveform adjustment parameter; Wherein, the first waveform adjustment parameter and the second waveform adjustment parameter are the same; or, The first waveform adjustment parameter and the second waveform adjustment parameter are different.

38. The sensing device according to any one of claims 26 to 37, characterized in that When the multiple perception signals are received by the perception terminal device using the first receiving mode, the processing unit is further configured to: determining a plurality of auxiliary perception information according to the plurality of perception signals; The perception result is determined according to the multiple auxiliary perception information.

39. The sensing device according to claim 26, wherein: The perception result is determined by the perception device based on the first processing mode, and the processing unit is further configured to: performing waveform correction processing on the plurality of perception signals according to waveform adjustment parameters used when receiving the plurality of perception signals; determining a plurality of auxiliary sensing information according to the plurality of sensing signals after waveform correction processing; A perception result is determined based on the multiple auxiliary perception information.

40. The sensing device according to claim 26, wherein: The perception result is determined by the perception device based on a first processing manner, and the processing unit is further configured to: determining a plurality of auxiliary perception information according to the plurality of perception signals; performing waveform correction processing on the plurality of auxiliary perception information according to waveform adjustment parameters used when receiving the plurality of perception signals; The perception result is determined according to the plurality of auxiliary perception information after waveform correction processing.

41. The sensing device according to any one of claims 38 to 40, characterized in that The auxiliary perception information includes at least one of the following: channel state information, delay estimation information, and frequency offset estimation information.

42. The sensing device according to any one of claims 26 to 41, characterized in that The perception signal is a signal obtained by reflecting a signal sent by the perception device, or the perception signal is sent by another device.

43. The sensing device according to any one of claims 26 to 42, characterized in that The first waveform adjustment parameter includes at least one of the following parameters: Automatic gain control AGC adjustment parameters, carrier frequency offset CFO adjustment parameters, sampling frequency offset SFO adjustment parameters.

44. A control device, characterized in that include: A communication unit is configured to send first configuration information to a perception device, where the first configuration information is used to configure a receiving mode adopted by the perception device to receive a perception signal, wherein the receiving mode includes not performing waveform adjustment on the perception signal, or performing waveform adjustment on the perception signal using a waveform adjustment parameter.

45. The control device according to claim 44, characterized in that The first configuration information is used to configure a first waveform adjustment parameter.

46. ​​The control device according to claim 44, characterized in that The first configuration information is used to configure at least one of the following: Information about at least one time window; A receiving mode used for receiving the perception signal within the at least one time window.

47. The control device according to claim 46, characterized in that The information of the at least one time window includes at least one of the following: The starting position of the at least one time window, the length of the at least one time window, and the period of the at least one time window.

48. The control device according to claim 46 or 47, characterized in that The at least one time window includes a first time window and a second time window, wherein a receiving mode for receiving the perception signal in the first time window is a first receiving mode, and a receiving mode for receiving the perception signal in the second time window is a second receiving mode; The first receiving mode includes not performing waveform adjustment on the perception signal, or the first receiving mode includes performing waveform adjustment on the perception signal using a first waveform adjustment parameter; the second receiving mode includes not performing waveform adjustment on the perception signal, or the second receiving mode includes performing waveform adjustment on the perception signal using a second waveform adjustment parameter, and the first waveform adjustment parameter and the second waveform adjustment parameter are the same or different.

49. The control device according to any one of claims 44 to 48, characterized in that The communication unit is further configured to: Second configuration information is sent, where the second configuration information is used to determine a physical resource for receiving the perception signal and / or sequence information of the perception signal.

50. The control device according to any one of claims 44 to 49, characterized in that The waveform adjustment parameters include at least one of the following parameters: Automatic gain control AGC adjustment parameters, carrier frequency offset CFO adjustment parameters, sampling frequency offset SFO adjustment parameters.

51. A sensing device, characterized in that include: A processor and a memory, the memory being used to store a computer program, the processor being used to call and run the computer program stored in the memory, so that the sensing device executes the method according to any one of claims 1 to 18.

52. A chip, characterized in that: include: A processor, configured to call and run a computer program from a memory, so that a device equipped with the chip executes the method according to any one of claims 1 to 18.

53. A computer-readable storage medium, characterized in that For storing a computer program, when the computer program is executed, the method according to any one of claims 1 to 18 is implemented.

54. A computer program product, characterized in that The method comprises computer program instructions, which, when executed, implement the method according to any one of claims 1 to 18.

55. A computer program, characterized in that When the computer program is executed, the method according to any one of claims 1 to 18 is implemented.

56. A control device, characterized in that include: A processor and a memory, the memory being used to store a computer program, the processor being used to call and run the computer program stored in the memory, so that the control device executes the method according to any one of claims 19 to 25.

57. A chip, characterized in that: The device comprises: a processor configured to call and run a computer program from a memory, so that a device equipped with the chip executes the method according to any one of claims 19 to 25.

58. A computer-readable storage medium, characterized in that For storing a computer program, when said computer program is executed, the method according to any one of claims 19 to 25 is implemented.

59. A computer program product, characterized in that The method comprises computer program instructions which, when executed, implement the method according to any one of claims 19 to 25.

60. A computer program, characterized in that When the computer program is executed, the method according to any one of claims 19 to 25 is implemented.

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