Configuration method and device for sensing frame structure, storage medium and program product

Abstract

The invention provides a configuration method and device of a sensing frame structure, a storage medium and a program product, and relates to the technical field of wireless communication. The configuration method comprises the following steps: determining the type and the sensing mode of a sensing frame; according to the type of the sensing frame and the sensing mode, a sensing frame structure is determined so that the sensing device can execute a sensing task based on the sensing frame structure, and the sensing frame structure comprises time parameters used for receiving and sending sensing signals and time parameters used for switching.

Description

Technical Field

[0001] The present disclosure relates to the field of wireless communication technology, and in particular to a configuration method, device, storage medium and program product for perceiving a frame structure. Background Art

[0002] In the face of emerging business scenarios such as low-altitude economy, 6G wireless communication systems need to provide both high-capacity mobile communication capabilities and high-precision perception and positioning capabilities. Therefore, synaesthesia integration technology came into being and was recognized by ITU-R (Radio Communication Department) as one of the three new scenarios of 6G. Synaesthesia integration technology aims to reuse the same set of hardware equipment to complete communication and perception functions. The air interface design of the synaesthesia integration system includes synaesthesia symbol design, synaesthesia frame structure design, synaesthesia waveform design, synaesthesia beam design, etc.

[0003] For traditional mobile communication systems, the design of communication frame structure is mainly to complete communication tasks. Due to the different implementation mechanisms of perception and communication, the traditional communication frame structure design may not meet the needs of perception tasks. Summary of the invention

[0004] A technical problem to be solved by the present disclosure is to provide a configuration method, device, storage medium and program product of a perception frame structure, which can meet the requirements of perception tasks.

[0005] According to one aspect of the present disclosure, a method for configuring a perception frame structure is proposed, including: determining a type of perception frame and a perception mode; determining a perception frame structure according to the type of perception frame and the perception mode, so that a perception device performs a perception task based on the perception frame structure, wherein the perception frame structure includes a time parameter for sending and receiving a perception signal and a time parameter for switching.

[0006] In some embodiments, the types of perception frames include: a communication frame preceded by a perception frame received and sent simultaneously, a communication frame preceded by a perception frame sent first and received later, a communication frame preceded by a communication frame, a perception frame sent first and received later and a perception frame sent first and received later, a perception frame sent first and received later and a perception frame received and sent simultaneously, a perception frame sent first and received later and a communication frame, a perception frame received and sent simultaneously and a perception frame sent first and received later, a perception frame received and sent simultaneously and a perception frame received and sent simultaneously, or a perception frame received and sent simultaneously and a communication frame.

[0007] In some embodiments, the sensing mode of the sensing frame includes: a send-first-receive-later mode or a send-receive simultaneous mode.

[0008] In some embodiments, determining the perception frame structure according to the type of perception frame and the perception mode includes: when the perception mode is a send-before-receive mode, the perception frame structure includes a first-type perception switching time parameter for switching with the frame structure of the previous moment, a sending time parameter for sending a perception signal, a second-type perception switching time parameter for switching between sending and receiving perception signals, a receiving time parameter for receiving perception signals, and a third-type perception switching time parameter for switching with the frame structure of the next moment; determining the duration of the first-type perception switching time parameter and the duration of the third-type perception switching time parameter according to the type of the perception frame, wherein the duration of the first-type perception switching time parameter, the duration of the second-type perception switching time parameter, the duration of the third-type perception switching time parameter, the sum of the duration of the first time parameter and the duration of the second time parameter is the total duration of the perception frame.

[0009] In some embodiments, determining the duration of the first type of perception switching time parameter based on the type of perception frame includes: when the type of the perception frame is a communication frame preceded by a perception frame received and sent simultaneously, a communication frame preceded by a perception frame sent first and received later, or a communication frame preceded by a communication frame, the duration of the first type of perception switching time parameter is a first duration; when the type of the perception frame is a perception frame sent first and received later and a perception frame sent first and received later, a perception frame sent first and received later and a perception frame received and sent simultaneously, or a perception frame sent first and received later and a communication frame later, the duration of the first type of perception switching time parameter is a second duration; when the type of the perception frame is a perception frame received and sent simultaneously and a perception frame sent first and received later, a perception frame received and sent simultaneously and a perception frame received and sent simultaneously, or a perception frame received and sent simultaneously and a communication frame later, the duration of the first type of perception switching time parameter is a third duration.

[0010] In some embodiments, determining the duration of the third type of perception switching time parameter based on the type of perception frame includes: when the type of the perception frame is a preceding communication frame and a succeeding communication frame, a preceding perception frame that is sent first and received later and a succeeding communication frame, or a preceding perception frame that is received and sent simultaneously and a succeeding communication frame, the duration of the third type of perception switching time parameter is a fourth duration; when the type of the perception frame is a preceding communication frame and a succeeding perception frame that is received and sent simultaneously, a preceding perception frame that is sent first and received later and a succeeding perception frame that is received and sent simultaneously, or a preceding perception frame that is received and sent simultaneously and a succeeding perception frame that is received and sent simultaneously, the duration of the third type of perception switching time parameter is a fifth duration; when the type of the perception frame is a preceding communication frame and a succeeding perception frame that is sent first and received later, a preceding perception frame that is sent first and received later and a succeeding perception frame that is sent first and received later, or a preceding perception frame that is received and sent simultaneously and a succeeding perception frame that is sent first and received later, the duration of the third type of perception switching time parameter is a sixth duration.

[0011] In some embodiments, determining the perception frame structure according to the type of perception frame and the perception mode includes: when the perception mode is a simultaneous transmission and reception mode, the perception frame structure includes a first type of perception switching time parameter for switching with the frame structure of the previous moment, a transceiver time parameter for transmitting and receiving a perception signal, and a third type of perception switching time parameter for switching with the frame structure of the next moment; determining the duration of the first type of perception switching time parameter and the duration of the third type of perception switching time parameter according to the type of perception frame, wherein the sum of the duration of the first type of perception switching time parameter, the duration of the transceiver time parameter, and the duration of the third time parameter is the total duration of the perception frame.

[0012] In some embodiments, determining the duration of the first type of perception switching time parameter based on the type of perception frame includes: when the type of the perception frame is a communication frame preceded by a perception frame received and sent simultaneously, a communication frame preceded by a perception frame sent first and received later, or a communication frame preceded by a communication frame, the duration of the first type of perception switching time parameter is the seventh duration; when the type of the perception frame is a perception frame sent first and received later and a perception frame sent first and received later, a perception frame sent first and received later and a perception frame received and sent simultaneously, or a perception frame sent first and received later and a communication frame later, the duration of the first type of perception switching time parameter is the eighth duration; when the type of the perception frame is a perception frame received and sent simultaneously and a perception frame sent first and received later, a perception frame received and sent simultaneously and a perception frame received and sent simultaneously, or a perception frame received and sent simultaneously and a communication frame later, the duration of the first type of perception switching time parameter is the ninth duration.

[0013] In some embodiments, determining the duration of the third type of perception switching time parameter based on the type of perception frame includes: when the type of the perception frame is a preceding communication frame and a succeeding communication frame, a preceding perception frame that is sent first and received later and a succeeding communication frame, or a preceding perception frame that is received and sent simultaneously and a succeeding communication frame, the duration of the third type of perception switching time parameter is the tenth duration; when the type of the perception frame is a preceding communication frame and a succeeding perception frame that is received and sent simultaneously, a preceding perception frame that is sent first and received later and a succeeding perception frame that is received and sent simultaneously, or a preceding perception frame that is received and sent simultaneously and a succeeding perception frame that is received and sent simultaneously, the duration of the third type of perception switching time parameter is the eleventh duration; when the type of the perception frame is a preceding communication frame and a succeeding perception frame that is sent first and received later, a preceding perception frame that is sent first and received later and a succeeding perception frame that is sent first and received later, or a preceding perception frame that is received and sent simultaneously and a succeeding perception frame that is sent first and received later, the duration of the third type of perception switching time parameter is the twelfth duration.

[0014] In some embodiments, determining the duration of the first type of perception switching time parameter based on the type of perception frame also includes: when the type of the perception frame is a perception frame that is sent first and received later and then received later, a perception frame that is sent first and received later and then received, a perception frame that is sent first and received later and then received, a perception frame that is sent first and received later and then received, a perception frame that is received and sent simultaneously and then received, a perception frame that is received and sent simultaneously and then received, a perception frame that is received and sent simultaneously and then received, or a perception frame that is received and sent simultaneously and then received, if the perception switching is completed at the previous moment of the perception frame, the duration of the first type of perception switching time parameter is 0.

[0015] In some embodiments, determining the duration of the third type of perception switching time parameter based on the type of perception frame also includes: when the type of the perception frame is a perception frame that is sent first and received later and then received later, a perception frame that is sent first and received later and then received, a perception frame that is sent first and received later and then received, a perception frame that is sent first and received later and then received, a perception frame that is received and sent simultaneously and then received, a perception frame that is received and sent simultaneously and then received, a perception frame that is received and sent simultaneously and then received, or a perception frame that is received and sent simultaneously and then received, if the perception switching is completed at a later moment of the perception frame, the duration of the third type of perception switching time parameter is 0.

[0016] In some embodiments, the determination of the sensing mode is based on a location trigger or a periodic trigger of the sensing target.

[0017] In some embodiments, the determination of the type of the sensing frame is triggered by an event or periodically.

[0018] In some embodiments, the perception device performs a perception task based on the perception frame structure, including: performing a perception signal receiving and sending function during a duration corresponding to a time parameter for receiving and sending the perception signal; and performing a switching function during a duration corresponding to a time parameter for switching.

[0019] According to another aspect of the present disclosure, a configuration device for a perception frame structure is also proposed, including: a type determination module, configured to determine the type of the perception frame; a mode determination module, configured to determine the perception mode of the perception frame; a structure determination module, configured to determine the perception frame structure according to the type and perception mode of the perception frame, so that the perception device performs a perception task based on the perception frame structure, wherein the perception frame structure includes time parameters for sending and receiving perception signals and time parameters for switching.

[0020] According to another aspect of the present disclosure, a device for configuring a perception frame structure is also proposed, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the above-mentioned method for configuring the perception frame structure based on instructions stored in the memory.

[0021] According to another aspect of the present disclosure, a computer-readable storage medium is further proposed, on which computer program instructions are stored, and when the instructions are executed by a processor, the configuration method of the perception frame structure as described above is implemented.

[0022] According to another aspect of the present disclosure, a computer program product is also proposed, including a computer program or instructions, and when the computer program or instructions are executed by a processor, the above-mentioned configuration method of the perception frame structure is implemented.

[0023] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0025] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0026] Figure 1 A flowchart of some embodiments of the method for configuring the perception frame structure disclosed in the present invention;

[0027] Figure 2 Schematic diagram of some embodiments of the perception frame type disclosed in the present invention;

[0028] Figure 3 Schematic diagrams of other embodiments of the perception frame type disclosed in the present invention;

[0029] Figure 4 Schematic diagrams of other embodiments of the perception frame type disclosed in the present invention;

[0030] Figure 5 Schematic diagrams of other embodiments of the perception frame type disclosed in the present invention;

[0031] Figure 6 Schematic diagram of some embodiments of the perception frame structure of the present disclosure;

[0032] Figure 7 Schematic diagrams of other embodiments of the perception frame structure disclosed in the present invention;

[0033] Figure 8 Schematic diagram of the flow chart of other embodiments of the method for configuring the perception frame structure of the present disclosure;

[0034] Fig. 9 Schematic diagram of the flow chart of other embodiments of the method for configuring the perception frame structure of the present disclosure;

[0035] Fig.10A schematic diagram of the structure of some embodiments of the configuration device for perceiving the frame structure of the present disclosure;

[0036] Fig.11 Schematic diagram of the structure of other embodiments of the configuration device of the perception frame structure disclosed in the present invention. DETAILED DESCRIPTION

[0037] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0038] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0039] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0040] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0041] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0042] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0043] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0044] Figure 1 This is a flowchart of some embodiments of the method for configuring the perception frame structure of the present disclosure. The embodiment can be executed by a base station or a core network or a decision center, and includes steps S11-S12.

[0045] In step S11, the type and the perception mode of the perception frame are determined.

[0046] The perception frame is a time window used for perception.

[0047] In some embodiments, the sensing mode includes two sensing modes: sending first and receiving later and sending and receiving simultaneously. The sending first and receiving later mode is a mode in which a sensing signal is sent first and then received. The sending and receiving simultaneously mode is a mode in which a sensing signal can be received while a sensing signal is sent.

[0048] In some embodiments, the types of perception frames can be divided into four types, for example, as shown in 2, the frame before the communication frame and the frame after the perception frame, that is, the frame before the perception frame is a communication frame, and the frame after the perception frame is also a perception frame, that is, the perception frame sent between the communication frame and the perception frame; Figure 3 As shown, both the previous and the next perception frames are connected, that is, the perception frame is a perception frame at the moment before and the moment after the perception frame, that is, the perception frame sent between the perception frame and the perception frame; Figure 4 As shown, the perception frame is preceded by the perception frame and followed by the communication frame, that is, the perception frame is a perception frame at a moment before and a communication frame at a moment after, that is, the perception frame is sent between the perception frame and the communication frame; or Figure 5 As shown, there are communication frames before and after, that is, the moment before and after the perception frame are both communication frames, that is, the perception frame is sent between two communication frames.

[0049] Since the perception modes include two perception modes: send first and receive later and send and receive simultaneously, the type of the perception frame can also be specifically connected to a communication frame in front and a perception frame that receives send and receive simultaneously, a communication frame in front and a perception frame that sends first and receives later, a communication frame in front and a communication frame in back, a perception frame that sends first and receives later and a perception frame that sends first and receives later, a perception frame that sends first and receives later and a perception frame that receives send and receives simultaneously, a perception frame that sends first and receives later and a communication frame in back, a perception frame that receives and sends simultaneously and a perception frame that sends first and receives later, a perception frame that receives and sends simultaneously and a perception frame that receives and sends simultaneously, or a perception frame that receives and sends simultaneously and a communication frame in back.

[0050] In step S12, a perception frame structure is determined according to the type of the perception frame and the perception mode, so that the perception device performs a perception task based on the perception frame structure, wherein the perception frame structure includes a time parameter for sending and receiving a perception signal and a time parameter for switching.

[0051] The perception frame structure is a frame composition structure used for perception. To determine the perception frame structure is to determine the state of the perception frame in each time slice.

[0052] For example, the perception signal is sent and received during the duration corresponding to the time parameter used for sending and receiving the perception signal, and the perception frame is switched with other frames or the sending and receiving signal is switched during the duration corresponding to the time parameter used for switching, thereby achieving the perception task.

[0053] In some embodiments, Figure 6As shown, when the perception mode is the send-before-receive mode, the perception frame structure includes a first type of perception switching time parameter t1 for switching with the frame structure at the previous moment, a sending time parameter t2 for sending the perception signal, and a second type of perception switching time parameter t3 for switching with the frame structure at the previous moment. s , the second type of perception switching time parameter t2 for switching between sending and receiving perception signals, and the receiving time parameter t r and a third type of perception switching time parameter t3 for switching with the frame structure at the next moment. Then, according to the type of the perception frame, the duration of the first type of perception switching time parameter and the duration of the third type of perception switching time parameter are determined, wherein the duration of the first type of perception switching time parameter, the duration of the second type of perception switching time parameter, the duration of the third type of perception switching time parameter, the sum of the duration of the first time parameter and the duration of the second time parameter is the total duration of the perception frame. If the total duration of the perception frame is t0, then t1+t2+t3+t s +t r =t0.

[0054] For example, when the type of the perception frame is a communication frame followed by a simultaneously transmitted and received perception frame, a communication frame followed by a sent first and received later perception frame, or a communication frame followed by a communication frame, the duration of the first type of perception switching time parameter is the first duration. That is, for the send first and receive later mode, if the perception frame is a communication frame at the previous moment, the first type of perception switching time parameter t1 takes a value of τ1.

[0055] In the case where the type of the perception frame is a send-first-receive-later perception frame and a send-first-receive-later perception frame, a send-first-receive-later perception frame and a receive-and-send simultaneous perception frame, or a send-first-receive-later perception frame and a communication frame, the duration of the first type of perception switching time parameter is the second duration. That is, for the send-first-receive-later mode, if the perception frame is a send-first-receive-later perception frame at the previous moment, the first type of perception switching time parameter t1 takes a value of τ2.

[0056] When the type of the perception frame is a perception frame that is sent and received before and then received, a perception frame that is sent and received before and then received, or a perception frame that is sent and received before and then received, the duration of the first type of perception switching time parameter is the third duration. That is, for the send-first-receive-later mode, if the perception frame is a perception frame that is sent and received before the previous moment, the first type of perception switching time parameter t1 takes a value of τ3.

[0057] For another example, when the type of the perception frame is a communication frame followed by a communication frame, a perception frame sent first and received later and a communication frame followed, or a perception frame sent and received simultaneously and a communication frame followed, the duration of the third type of perception switching time parameter is the fourth duration. That is, for the send-first-receive-later mode, if the perception frame is a communication frame at the next moment, the third type of perception switching time parameter t3 takes a value of τ4.

[0058] When the type of the perception frame is a communication frame connected first and a perception frame received and sent simultaneously, a perception frame sent first and received later and a perception frame received and sent simultaneously, or a perception frame received and sent simultaneously and a perception frame received later, the duration of the third type of perception switching time parameter is the fifth duration. That is, for the send-first-receive-later mode, if the perception frame is a perception frame sent and received simultaneously at the next moment, the third type of perception switching time parameter t3 takes a value of τ5.

[0059] When the type of the perception frame is a communication frame followed by a send-before-receive perception frame, a send-before-receive perception frame followed by a send-before-receive perception frame, or a send-and-receive simultaneous perception frame followed by a send-before-receive perception frame, the duration of the third type of perception switching time parameter is the sixth duration. That is, for the send-before-receive mode, if the perception frame is a send-before-receive perception frame at the next moment, the third type of perception switching time parameter t3 takes a value of τ6.

[0060] In some embodiments of the present disclosure, Figure 7 As shown, when the sensing mode is the simultaneous transmission and reception mode, the sensing frame structure includes a first type of sensing switching time parameter t1 for switching with the frame structure at the previous moment, a transceiver time parameter t2 for transmitting and receiving the sensing signal, and a second type of sensing switching time parameter t3 for transmitting and receiving the sensing signal. st and a third type of perception switching time parameter t3 for switching with the frame structure at the next moment. Then, according to the type of the perception frame, the duration of the first type of perception switching time parameter and the duration of the third type of perception switching time parameter are determined, wherein the sum of the duration of the first type of perception switching time parameter, the duration of the transceiver time parameter and the duration of the third time parameter is the total duration of the perception frame. If the total duration of the perception frame is t0, then t1+t3+t sr =t0.

[0061] For example, when the type of the perception frame is a communication frame followed by a simultaneous transmission and reception perception frame, a communication frame followed by a transmission-first-reception-later perception frame, or a communication frame followed by a communication frame, the duration of the first type of perception switching time parameter is the seventh duration. That is, for the simultaneous transmission and reception mode, if the perception frame is a communication frame at the previous moment, the first type of perception switching time parameter t1 takes a value of τ7.

[0062] When the type of the perception frame is a perception frame that is sent first and received later and a perception frame that is sent first and received later, a perception frame that is sent first and received later and a simultaneous sending and receiving perception frame, or a perception frame that is sent first and received later and a communication frame, the duration of the first type of perception switching time parameter is the eighth duration. That is, for the simultaneous sending and receiving mode, if the perception frame is a perception frame that is sent first and received later at the previous moment, the first type of perception switching time parameter t1 takes a value of τ8.

[0063] When the type of the perception frame is a simultaneous perception frame of receiving and transmitting followed by a perception frame of transmitting first and receiving later, a simultaneous perception frame of receiving and transmitting followed by a simultaneous perception frame of receiving and transmitting, or a simultaneous perception frame of receiving and transmitting followed by a communication frame, the duration of the first type of perception switching time parameter is the ninth duration. That is, for the simultaneous transmission and reception mode, if the perception frame is a simultaneous transmission and reception perception frame at the previous moment, the first type of perception switching time parameter t1 takes a value of τ9.

[0064] For another example, when the type of the perception frame is a communication frame followed by a communication frame, a perception frame sent first and received later and a communication frame followed, or a perception frame sent and received simultaneously and a communication frame followed, the duration of the third type of perception switching time parameter is the tenth duration. That is, for the simultaneous sending and receiving mode, if the perception frame is a communication frame at the next moment, the third type of perception switching time parameter t3 is τ 10 .

[0065] When the type of the perception frame is a communication frame connected to the front and a perception frame received and sent simultaneously, a perception frame connected to the front and sent first and received later and a perception frame received and sent simultaneously, or a perception frame received and sent simultaneously and received later and a perception frame received and sent simultaneously, the duration of the third type of perception switching time parameter is the eleventh duration. That is, for the simultaneous transmission and reception mode, if the perception frame is a simultaneous transmission and reception perception frame at the next moment, the third type of perception switching time parameter t3 is τ 11 .

[0066] In the case where the type of the perception frame is a communication frame followed by a send-before-receive perception frame, a send-before-receive perception frame followed by a send-before-receive perception frame, or a send-and-receive simultaneous perception frame followed by a send-before-receive perception frame, the duration of the third type of perception switching time parameter is the twelfth duration. That is, for the send-before-receive mode, if the perception frame is a send-before-receive perception frame at the next moment, the third type of perception switching time parameter τ3 is τ 12 .

[0067] In the above embodiment, a perception frame structure including a time parameter for sending and receiving a perception signal and a time parameter for switching is determined according to the type of the perception frame and the perception mode, so that the perception task can be performed using the perception frame structure.

[0068] Figure 8 1 is a flow chart of another embodiment of the method for configuring the perception frame structure of the present disclosure, and the embodiment includes steps S21-S24. The embodiment is executed by a perception device, and the perception device is introduced by taking a base station as an example. The embodiment is applicable to the configuration of a synaesthesia integrated universal perception frame structure in a self-transmitting and self-receiving scenario.

[0069] In step S21, the base station determines the type of the sensing frame.

[0070] The type of the sensing frame is determined by event triggering or periodic triggering.

[0071] For example, determining the perception frame type is triggered by an event, that is, when a new perception task is generated, the function is triggered.

[0072] For another example, determining the perception frame type may also be triggered periodically, that is, triggering the function at fixed intervals.

[0073] In step S22, the base station determines a sensing mode of the sensing frame.

[0074] The sensing mode is determined based on the location trigger or periodic trigger of the sensing target.

[0075] For example, it is determined that the perception mode is triggered by an event, that is, different perception modes are triggered according to the different positions of the perception target. In the perception mode of simultaneous transmission and reception, the RF antenna of the telepathic device needs to be divided into two parts, one for transmission and one for reception. At the same time, there will be a self-interference problem, so the transmission power of the transmitting antenna is relatively small, and the perception distance is relatively small. In the perception mode of first transmission and then reception, the RF antenna of the telepathic device is time-division multiplexed. In the transmission phase, all antennas can transmit, and in the reception phase, all antennas can receive. In addition, the self-interference is small, so the transmission power is relatively large, and the perception distance is relatively far. Therefore, when the perception target is far away from the perception device, the perception mode of first transmission and then reception is suitable. When the perception target is close to the perception device, the perception mode of simultaneous transmission and reception is suitable.

[0076] For another example, the sensing mode may be determined to be triggered periodically, that is, different sensing modes are triggered in sequence at fixed intervals.

[0077] In step S23, the base station determines a time parameter including a time parameter for sending and receiving a sensing signal and a time parameter for switching.

[0078] For example, the function is triggered by an event and can determine different perception frame structures according to different perception frame types and perception modes.

[0079] The first type of perception switching time parameter, the second type of perception switching time parameter, the third type of perception switching time parameter, as well as the sending time parameter and the receiving time parameter all have multiple parameter configuration methods, that is, different perception and switching durations can be configured according to different perception frame positions and perception modes, thereby evolving into multiple perception frame structures and corresponding to their respective signaling interaction processes.

[0080] In some embodiments, the duration of the first type of perception switching time parameter can take multiple values ​​depending on the perception frame type and the perception mode.

[0081] For example, when the perception mode is the send-before-receive mode, for the perception frame of the preceding communication frame: t1 = τ1; for the perception frame of the preceding send-before-receive perception frame: t1 = τ2; for the perception frame of the preceding receiving-sending-and-receiving perception frame: t1 = τ3. When the perception mode is the send-and-receive mode, for the perception frame of the preceding communication frame: t1 = τ7; for the perception frame of the preceding send-before-receive perception frame: t1 = τ8; for the perception frame of the preceding receiving-sending-and-receiving perception frame: t1 = τ9.

[0082] Generally speaking, the time to switch from the communication function to the perception function may be longer, and the time to switch from the spontaneous transmission and self-reception perception mode to the spontaneous transmission and self-reception perception mode may be shorter.

[0083] The durations of the first type of perception switching time parameters in the send-before-receive mode and the send-receive-simultaneous mode may be the same or different.

[0084] In some embodiments, when the type of the perception frame is a perception frame that is sent first and received later and followed by a perception frame that is sent first and received later, a perception frame that is sent first and received later and followed by a perception frame that is sent and received simultaneously, a perception frame that is sent first and received later and followed by a communication frame, a perception frame that is received and sent simultaneously and followed by a perception frame that is sent first and received later, a perception frame that is received and sent simultaneously and followed by a perception frame that is received and sent simultaneously, or a perception frame that is received and sent simultaneously and followed by a communication frame, if the perception switching is completed at the previous moment of the perception frame, the duration of the first type of perception switching time parameter is 0.

[0085] That is to say, the perceptual switching of the perceptual frame to the perceptual frame can be completed at the first type of perceptual switching or at the third type of perceptual switching. If the perceptual frame to the perceptual frame switching is completed at the third type of perceptual switching, that is, the switching is completed at the third type of perceptual switching time parameter of the perceptual frame at the previous moment of the perceptual frame, then the first type of perceptual switching duration t1 of the perceptual frame connected to the previous perceptual frame is 0.

[0086] In some embodiments, the duration of the second type of perception switching time parameter may have multiple values ​​depending on the perception mode.

[0087] For example, for the perception frame in the send-before-receive perception mode: t2 = τ 13 For the perception frame in the simultaneous transmission and reception perception mode: t2 = 0. Since in the simultaneous transmission and reception perception mode, the synaesthesia device is receiving the perception signal while sending the perception signal, therefore, the second type of switching is not required.

[0088] In some embodiments, the duration of the third type of perception switching time parameter can take multiple values ​​depending on the perception frame type and the perception mode.

[0089] For example, when the perception mode is the send-first-receive mode, for the perception frame following the communication frame: t3 = τ4; for the perception frame following the simultaneous sending and receiving perception frame: t3 = τ5; for the perception frame following the send-first-receive-later perception frame: t3 = τ6. 10 ; For the perception frame of the subsequent receiving and sending of the perception frame: t3 = τ 11 ; For the perception frame followed by the perception frame sent first and received later: t3 = τ 12 .

[0090] In some embodiments, when the type of perception frame is a perception frame that is sent first and received later and followed by a perception frame that is sent first and received later, a perception frame that is sent first and received later and followed by a perception frame that is sent and received simultaneously, a perception frame that is sent first and received later and followed by a communication frame, a perception frame that is received and sent simultaneously and followed by a perception frame that is sent first and received later, a perception frame that is received and sent simultaneously and followed by a perception frame that is received and sent simultaneously, or a perception frame that is received and sent simultaneously and followed by a communication frame, if the perception switching is completed at a later moment of the perception frame, the duration of the third type of perception switching time parameter is 0.

[0091] For example, for a perception frame followed by a perception frame, if the switch is performed in the third type of perception switching time parameter, different values ​​are set according to different situations. If the switch is performed in the first type of perception switching time parameter, that is, the switch is performed at the next moment of the perception frame, then the duration t3 of the third type of perception switching time parameter of the perception frame is 0.

[0092] In some embodiments, the duration of the sending time parameter of the perception frame can take multiple values ​​depending on different perception modes.

[0093] For example, for the sensing frame in the send-before-receive sensing mode: t s =τ 14 For the sensing frame in the simultaneous sensing mode: t s =t0-t1-t3, where t0 represents the total duration of the sensing frame. For the sensing frame in the simultaneous sensing mode, the sending time parameter is the same as the receiving time parameter.

[0094] In some embodiments, the duration of the reception time parameter of the perception frame may have multiple values ​​depending on the perception mode.

[0095] For example, for the sensing frame in the send-before-receive sensing mode: t r =t0-(t1+t2+t3+t s ). For the sensing frame in the simultaneous sensing mode: t r =t0-t1-t3, which is the same as the duration of the perception signal sending time parameter.

[0096] In step S24, the base station adjusts the sensing frame structure and performs a sensing function. The sensing function refers to the function that needs to be implemented to enable the sensing capability of the wireless network.

[0097] For example, the base station performs the function of sending and receiving the perception signal during the duration corresponding to the time parameter for sending and receiving the perception signal; and performs the switching function during the duration corresponding to the time parameter for switching.

[0098] In the above embodiment, the frame structure used for the sensing function is adjusted by the base station to meet the requirements of the sensing task.

[0099] Fig. 9 It is a flowchart diagram of some other embodiments of the method for configuring the perception frame structure of the present disclosure, and the embodiment includes steps S31-S24.

[0100] In step S31, the core network device determines the type of the sensing frame.

[0101] In step S32, the core network device determines the sensing mode of the sensing frame.

[0102] In step S33, the core network device determines a time parameter including a time parameter for sending and receiving a perception signal and a time parameter for switching.

[0103] In step S34, the core network device adjusts the sensing frame structure and sends it to the base station.

[0104] In step S35, the base station performs a sensing function.

[0105] In the above embodiment, the perception frame structure is adjusted by the core network device and sent to the base station, and the base station performs the perception function to meet the needs of the perception task.

[0106] Fig.10 The schematic diagram of some embodiments of the configuration device for perceiving frame structure of the present disclosure includes a type determination module 1010, a mode determination module 1020, and a structure determination module 1030. The configuration device is located in a base station, a core network or a decision center.

[0107] The type determination module 1010 is configured to determine the type of the perception frame.

[0108] In some embodiments, the determination of the type of the sensing frame is triggered by an event or periodically.

[0109] In some embodiments, the types of perception frames include: a communication frame preceded by a perception frame received and sent simultaneously, a communication frame preceded by a perception frame sent first and received later, a communication frame preceded by a communication frame, a perception frame sent first and received later and a perception frame sent first and received later, a perception frame sent first and received later and a perception frame received and sent simultaneously, a perception frame sent first and received later and a communication frame, a perception frame received and sent simultaneously and a perception frame sent first and received later, a perception frame received and sent simultaneously and a perception frame received and sent simultaneously, or a perception frame received and sent simultaneously and a communication frame.

[0110] The mode determination module 1020 is configured to determine a perception mode of a perception frame.

[0111] In some embodiments, the determination of the sensing mode is based on a location trigger or a periodic trigger of the sensing target.

[0112] In some embodiments, the sensing mode of the sensing frame includes: a send-first-receive-later mode or a send-receive simultaneous mode.

[0113] The structure determination module 1030 is configured to determine the perception frame structure according to the type and perception mode of the perception frame, so that the perception device performs the perception task based on the perception frame structure, wherein the perception frame structure includes time parameters for sending and receiving perception signals and time parameters for switching.

[0114] In some embodiments, when the perception mode is a send-before-receive mode, the perception frame structure includes a first type of perception switching time parameter for switching with the frame structure of the previous moment, a sending time parameter for sending a perception signal, a second type of perception switching time parameter for switching between sending and receiving perception signals, a receiving time parameter for receiving perception signals, and a third type of perception switching time parameter for switching with the frame structure of the next moment; according to the type of perception frame, the duration of the first type of perception switching time parameter and the duration of the third type of perception switching time parameter are determined, wherein the duration of the first type of perception switching time parameter, the duration of the second type of perception switching time parameter, the duration of the third type of perception switching time parameter, the sum of the duration of the first time parameter and the duration of the second time parameter is the total duration of the perception frame.

[0115] According to the type of perception frame, determining the duration of the first type of perception switching time parameter includes: when the type of the perception frame is a communication frame preceded by a perception frame received and sent simultaneously, a communication frame preceded by a perception frame sent first and received later, or a communication frame preceded by a communication frame, the duration of the first type of perception switching time parameter is a first duration; when the type of the perception frame is a perception frame sent first and received later and a perception frame sent first and received later, a perception frame sent first and received later and a perception frame received and sent simultaneously, or a perception frame sent first and received later and a communication frame later, the duration of the first type of perception switching time parameter is a second duration; when the type of the perception frame is a perception frame received and sent simultaneously and a perception frame sent first and received later, a perception frame received and sent simultaneously and a perception frame received and sent simultaneously, or a perception frame received and sent simultaneously and a communication frame later, the duration of the first type of perception switching time parameter is a third duration.

[0116] In the case where the type of the perception frame is a preceding communication frame and a succeeding communication frame, a preceding perception frame that is sent first and received later and a succeeding communication frame, or a preceding perception frame that is received and sent simultaneously and a succeeding communication frame, the duration of the third type of perception switching time parameter is the fourth duration; in the case where the type of the perception frame is a preceding communication frame and a succeeding perception frame that is received and sent simultaneously, a preceding perception frame that is sent first and received later and a succeeding perception frame that is received and sent simultaneously, or a preceding perception frame that is received and sent simultaneously and a succeeding perception frame that is received and sent simultaneously, the duration of the third type of perception switching time parameter is the fifth duration; in the case where the type of the perception frame is a preceding communication frame and a succeeding perception frame that is sent first and received later, a preceding perception frame that is sent first and received later and a succeeding perception frame that is sent first and received later, or a preceding perception frame that is received and sent simultaneously and a succeeding perception frame that is sent first and received later, the duration of the third type of perception switching time parameter is the sixth duration.

[0117] In some embodiments, when the perception mode is a simultaneous transmission and reception mode, the perception frame structure includes a first type of perception switching time parameter for switching with the frame structure of the previous moment, a transmission and reception time parameter for transmitting and receiving a perception signal, and a third type of perception switching time parameter for switching with the frame structure of the next moment; according to the type of the perception frame, the duration of the first type of perception switching time parameter and the duration of the third type of perception switching time parameter are determined, wherein the sum of the duration of the first type of perception switching time parameter, the duration of the transmission and reception time parameter and the duration of the third time parameter is the total duration of the perception frame.

[0118] According to the type of perception frame, determining the duration of the first type of perception switching time parameter includes: when the type of the perception frame is a communication frame connected to a communication frame and a perception frame received and sent simultaneously, a communication frame connected to a communication frame and a perception frame sent first and received later, or a communication frame connected to a communication frame, the duration of the first type of perception switching time parameter is the seventh duration; when the type of the perception frame is a perception frame connected to a send-first-and-receive-later and a perception frame sent first and received later, a perception frame connected to a send-first-and-receive-later and a perception frame received and sent simultaneously, or a perception frame connected to a send-first-and-receive-later and a communication frame, the duration of the first type of perception switching time parameter is the eighth duration; when the type of the perception frame is a perception frame received and sent simultaneously and a perception frame sent first and received later, a perception frame received and sent simultaneously and a perception frame received and sent simultaneously, or a perception frame received and sent simultaneously and a communication frame, the duration of the first type of perception switching time parameter is the ninth duration.

[0119] According to the type of perception frame, determining the duration of the third type of perception switching time parameter includes: when the type of perception frame is a communication frame connected to a communication frame, a perception frame connected to a send-first-and-received-later and a communication frame connected to a communication frame, or a perception frame connected to a send-and-received and sent-at-the-same-time and a communication frame connected to a reception frame, the duration of the third type of perception switching time parameter is the tenth duration; when the type of perception frame is a communication frame connected to a send-first-and-received-later and a perception frame connected to a send-first-and-received-later, or a perception frame connected to a send-and-received-later and a perception frame connected to a reception frame, the duration of the third type of perception switching time parameter is the eleventh duration; when the type of perception frame is a communication frame connected to a send-first-and-received-later perception frame, a send-first-and-received-later perception frame and a send-first-and-received-later perception frame, or a send-and-received-at-the-same-time and a frame connected to a send-first-and-received-later perception frame, the duration of the third type of perception switching time parameter is the twelfth duration.

[0120] In some embodiments, when the type of the perception frame is a perception frame that is sent first and received later and followed by a perception frame that is sent first and received later, a perception frame that is sent first and received later and followed by a perception frame that is sent and received simultaneously, a perception frame that is sent first and received later and followed by a communication frame, a perception frame that is received and sent simultaneously and followed by a perception frame that is sent first and received later, a perception frame that is received and sent simultaneously and followed by a perception frame that is received and sent simultaneously, or a perception frame that is received and sent simultaneously and followed by a communication frame, if the perception switching is completed at the previous moment of the perception frame, the duration of the first type of perception switching time parameter is 0.

[0121] In some embodiments, when the type of perception frame is a perception frame that is sent first and received later and followed by a perception frame that is sent first and received later, a perception frame that is sent first and received later and followed by a perception frame that is sent and received simultaneously, a perception frame that is sent first and received later and followed by a communication frame, a perception frame that is received and sent simultaneously and followed by a perception frame that is sent first and received later, a perception frame that is received and sent simultaneously and followed by a perception frame that is received and sent simultaneously, or a perception frame that is received and sent simultaneously and followed by a communication frame, if the perception switching is completed at a later moment of the perception frame, the duration of the third type of perception switching time parameter is 0.

[0122] In some embodiments, the perception device performs a perception task based on the perception frame structure, including: performing a perception signal receiving and sending function during a duration corresponding to a time parameter for receiving and sending the perception signal; and performing a switching function during a duration corresponding to a time parameter for switching.

[0123] In the above embodiment, a perception frame structure including a time parameter for sending and receiving a perception signal and a time parameter for switching is determined according to the type of the perception frame and the perception mode, so that the perception task can be performed using the perception frame structure.

[0124] Fig.11 Schematic diagram of the structure of other embodiments of the configuration device of the perception frame structure of the present disclosure. The configuration device 1100 includes a memory 1110 and a processor 1120. Among them: the memory 1110 can be a disk, a flash memory or any other non-volatile storage medium. The memory is used to store the instructions in the above embodiments. The processor 1120 is coupled to the memory 1110 and can be implemented as one or more integrated circuits, such as a microprocessor or a microcontroller. The processor 1120 is used to execute the instructions stored in the memory.

[0125] In some embodiments, the processor 1120 is coupled to the memory 1110 via a BUS 1130. The configuration device 1100 can also be connected to an external storage device 1150 via a storage interface 1140 to call external data, and can also be connected to a network or another computer system (not shown) via a network interface 1160. No further detailed description will be given here.

[0126] In other embodiments, a computer-readable storage medium stores computer program instructions, which implement the steps of the methods in the above-mentioned embodiments when executed by a processor. It should be understood by those skilled in the art that the embodiments of the present disclosure may be provided as methods, devices, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0127] In some embodiments, a computer program product is protected, including a computer program or an instruction, which implements the above method when the computer program or instruction is executed by a processor. The computer program product includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by the CPU, the above functions defined in the method of the embodiment of the present disclosure are executed.

[0128] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram and the combination of processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0129] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0130] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0131] So far, the present disclosure has been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

[0132] The method and apparatus of the present disclosure may be implemented in many ways. For example, the method and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present disclosure. Therefore, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

[0133] Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A method for configuring a perception frame structure, comprising: Determine the type of sensing frame and the sensing mode; According to the type and the perception mode of the perception frame, a perception frame structure is determined so that the perception device performs a perception task based on the perception frame structure, wherein the perception frame structure includes a time parameter for sending and receiving a perception signal and a time parameter for switching.

2. The configuration method according to claim 1, wherein: The types of perception frames include: a communication frame preceded by a perception frame received and sent simultaneously, a communication frame preceded by a perception frame sent first and received later, a communication frame preceded by a communication frame, a perception frame sent first and received later and a perception frame sent first and received later, a perception frame sent first and received later and a perception frame received and sent simultaneously, a perception frame sent first and received later and a communication frame, a perception frame received and sent simultaneously and a perception frame sent first and received later, a perception frame received and sent simultaneously and a perception frame received and sent simultaneously, or a perception frame received and sent simultaneously and a communication frame.

3. The configuration method according to claim 1 or 2, wherein: The sensing mode of the sensing frame includes: a send-first-receive-later mode or a send-receive simultaneous mode.

4. The configuration method according to claim 3, wherein: Determining the perception frame structure according to the type and the perception mode of the perception frame includes: In the case where the perception mode is a send-before-receive mode, the perception frame structure includes a first type of perception switching time parameter for switching with a frame structure at a previous moment, a sending time parameter for sending a perception signal, a second type of perception switching time parameter for switching between sending and receiving perception signals, a receiving time parameter for receiving perception signals, and a third type of perception switching time parameter for switching with a frame structure at a subsequent moment; According to the type of the perception frame, determine the duration of the first type of perception switching time parameter and the duration of the third type of perception switching time parameter, wherein the duration of the first type of perception switching time parameter, the duration of the second type of perception switching time parameter, the duration of the third type of perception switching time parameter, the sum of the duration of the first time parameter and the duration of the second time parameter is the total duration of the perception frame.

5. The configuration method according to claim 4, wherein: Determining, according to the type of the perception frame, the duration of the first-type perception switching time parameter includes: When the type of the perception frame is a communication frame preceded by a receiving and sending perception frame, a communication frame preceded by a sending-first-then-receiving perception frame, or a communication frame preceded by a communication frame, the duration of the first type of perception switching time parameter is a first duration; When the type of the perception frame is a perception frame that is connected first to send and then receive and then receive, a perception frame that is connected first to send and then receive and then receive a simultaneous perception frame, or a perception frame that is connected first to send and then receive and then receive and then communicate, the duration of the first type of perception switching time parameter is a second duration; When the type of the perception frame is a perception frame that is received and sent simultaneously and followed by a perception frame that is sent first and received later, a perception frame that is received and sent simultaneously and followed by a perception frame that is received and sent simultaneously, or a perception frame that is received and sent simultaneously and followed by a communication frame, the duration of the first type of perception switching time parameter is the third duration.

6. The configuration method according to claim 4, wherein: Determining, according to the type of the perception frame, the duration of the third type of perception switching time parameter includes: When the type of the perception frame is a communication frame preceded by a communication frame, a perception frame preceded by a send-first-then-receive frame and followed by a communication frame, or a perception frame preceded by a send-and-receive simultaneous perception frame and followed by a communication frame, the duration of the third type of perception switching time parameter is a fourth duration; When the type of the perception frame is a communication frame connected to the front and a perception frame received and sent simultaneously, a perception frame connected to the front and received first and then, and a perception frame received and sent simultaneously, or a perception frame received and sent simultaneously and a perception frame received and sent simultaneously, the duration of the third type of perception switching time parameter is a fifth duration; When the type of the perception frame is a communication frame followed by a send-first-receive-later perception frame, a send-first-receive-later perception frame followed by a send-first-receive-later perception frame, or a send-and-receive-simultaneous perception frame followed by a send-first-receive-later perception frame, the duration of the third type of perception switching time parameter is the sixth duration.

7. The configuration method according to claim 3, wherein: Determining the perception frame structure according to the type and the perception mode of the perception frame includes: When the perception mode is a simultaneous transmission and reception mode, the perception frame structure includes a first type of perception switching time parameter for switching with a frame structure at a previous moment, a transceiver time parameter for transmitting and receiving a perception signal, and a third type of perception switching time parameter for switching with a frame structure at a subsequent moment; According to the type of the perception frame, determine the duration of the first type of perception switching time parameter and the duration of the third type of perception switching time parameter, wherein the sum of the duration of the first type of perception switching time parameter, the duration of the sending and receiving time parameter and the duration of the third time parameter is the total duration of the perception frame.

8. The configuration method according to claim 7, wherein: Determining, according to the type of the perception frame, the duration of the first-type perception switching time parameter includes: When the type of the perception frame is a preceding communication frame and a receiving and sending simultaneous perception frame, a preceding communication frame and a sending-first-then-receiving perception frame, or a preceding communication frame and a subsequent communication frame, the duration of the first type of perception switching time parameter is the seventh duration; When the type of the perception frame is a perception frame that is connected to a send-first-receive-later perception frame and then a send-first-receive-later perception frame, a perception frame that is connected to a send-first-receive-later perception frame and then a send-and-receive simultaneous perception frame, or a perception frame that is connected to a send-first-receive-later perception frame and then a communication frame, the duration of the first type of perception switching time parameter is an eighth duration; When the type of the perception frame is a perception frame that is received and sent simultaneously and followed by a perception frame that is sent first and received later, a perception frame that is received and sent simultaneously and followed by a perception frame that is received and sent simultaneously, or a perception frame that is received and sent simultaneously and followed by a communication frame, the duration of the first type of perception switching time parameter is the ninth duration.

9. The configuration method according to claim 7, wherein: Determining, according to the type of the perception frame, the duration of the third type of perception switching time parameter includes: When the type of the perception frame is a communication frame preceded by a communication frame, a perception frame preceded by a send-first-then-receive frame and followed by a communication frame, or a perception frame preceded by a send-and-receive simultaneous perception frame and followed by a communication frame, the duration of the third type of perception switching time parameter is the tenth duration; When the type of the perception frame is a communication frame connected to the front and a perception frame received and sent simultaneously, a perception frame connected to the front and received first and then, and a perception frame received and sent simultaneously, or a perception frame received and sent simultaneously and a perception frame received and sent simultaneously, the duration of the third type of perception switching time parameter is the eleventh duration; When the type of the perception frame is a communication frame followed by a send-first-receive-later perception frame, a send-first-receive-later perception frame followed by a send-first-receive-later perception frame, or a send-and-receive-simultaneous perception frame followed by a send-first-receive-later perception frame, the duration of the third type of perception switching time parameter is the twelfth duration.

10. The configuration method according to claim 5 or 7, wherein: Determining, according to the type of the perception frame, the duration of the first-type perception switching time parameter further includes: In the case where the type of the perception frame is a perception frame that is sent first and received later and then a perception frame that is sent first and received later, a perception frame that is sent first and received later and then a perception frame that is received and sent simultaneously, a perception frame that is sent first and received later and then a communication frame, a perception frame that is received and sent simultaneously and then a perception frame that is sent first and received later, a perception frame that is received and sent simultaneously and then a perception frame that is received and sent simultaneously, or a perception frame that is received and sent simultaneously and then a communication frame, if the perception switching is completed at the previous moment of the perception frame, the duration of the first type of perception switching time parameter is 0.

11. The configuration method according to claim 6 or 9, wherein: Determining, according to the type of the perception frame, the duration of the third type of perception switching time parameter further includes: In the case where the type of the perception frame is a perception frame that is sent first and received later and then a perception frame that is sent first and received later, a perception frame that is sent first and received later and then a perception frame that is received and sent simultaneously, a perception frame that is sent first and received later and then a communication frame, a perception frame that is received and sent simultaneously and then a perception frame that is sent first and received later, a perception frame that is received and sent simultaneously and then a perception frame that is received and sent simultaneously, or a perception frame that is received and sent simultaneously and then a communication frame, if the perception switching is completed at a later moment than the perception frame, the duration of the third type of perception switching time parameter is 0.

12. The configuration method according to any one of claims 1 to 9, wherein: The sensing mode is determined based on location triggering or periodic triggering of the sensing target.

13. The configuration method according to any one of claims 1 to 9, wherein: The type of the sensing frame is determined by event triggering or periodic triggering.

14. The configuration method according to any one of claims 1 to 9, wherein: The sensing device performs the sensing task based on the sensing frame structure, including: Performing a function of sending and receiving the perception signal during a duration corresponding to the time parameter for sending and receiving the perception signal; The switching function is performed during the duration corresponding to the time parameter for switching.

15. A configuration device for sensing a frame structure, comprising: A type determination module, configured to determine the type of the perception frame; A mode determination module, configured to determine a perception mode of the perception frame; The structure determination module is configured to determine the perception frame structure according to the type and perception mode of the perception frame, so that the perception device performs the perception task based on the perception frame structure, wherein the perception frame structure includes time parameters for sending and receiving perception signals and time parameters for switching.

16. A configuration device for sensing a frame structure, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the method for configuring the perception frame structure according to any one of claims 1 to 14 based on instructions stored in the memory.

17. A computer-readable storage medium having computer program instructions stored thereon, wherein the instructions, when executed by a processor, implement the method for configuring a perception frame structure as claimed in any one of claims 1 to 14.

18. A computer program product, comprising a computer program or instructions, wherein when the computer program or instructions are executed by a processor, the method for configuring the perception frame structure according to any one of claims 1 to 14 is implemented.

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