Perception measurement result processing method, sending method, device and equipment

Abstract

The invention discloses a sensing measurement result processing method and device, a sensing measurement result sending method and device and equipment, and belongs to the technical field of communication, and the sensing measurement result processing method comprises the steps that first equipment obtains a first sensing measurement result for a sensing target; the first device obtains motion information of a target device, and the target device comprises a sending device or a receiving device of a sensing signal corresponding to the first sensing measurement result; the first device determines a second perceptual measurement for the perceptual target based on the first perceptual measurement and the motion information.

Description

Technical Field

[0001] The present application belongs to the field of communication technology, and specifically relates to a perception measurement result processing method, sending method, device and equipment. Background Art

[0002] Some communication systems support perception measurement. In the related prior art, the perception measurement result is obtained by measuring the perception signal. The perception measurement result is obtained by assuming that the sending device and the receiving device of the perception signal are both stationary, which leads to poor reliability of the perception measurement result. Summary of the invention

[0003] The embodiments of the present application provide a method for processing, a method for sending, an apparatus and a device for processing perception measurement results, which can solve the problem of poor reliability of perception measurement results.

[0004] In a first aspect, a method for processing a perception measurement result is provided, comprising:

[0005] The first device obtains a first perception measurement result for a perception target;

[0006] The first device acquires motion information of a target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0007] The first device determines a second perception measurement result for the perception target based on the first perception measurement result and the motion information.

[0008] In a second aspect, a method for sending a perception measurement result is provided, including:

[0009] The second device sends target information to the first device, where the target information includes at least one of the following:

[0010] a first perception measurement result for a perception target and motion information of a target device;

[0011] The first perception measurement result is a perception measurement result obtained by the second device performing perception measurement on the perception signal;

[0012] The target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0013] The target information is used to determine a second perception measurement result for the perception target.

[0014] In a third aspect, a perception measurement result processing device is provided, comprising:

[0015] A first acquisition module, used to acquire a first perception measurement result for a perception target;

[0016] A second acquisition module, configured to acquire motion information of a target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0017] A determination module is used to determine a second perception measurement result for the perception target based on the first perception measurement result and the motion information.

[0018] In a fourth aspect, a device for sending a perception measurement result is provided, including:

[0019] The first sending module is configured to send target information to the first device, where the target information includes at least one of the following:

[0020] a first perception measurement result for a perception target and motion information of a target device;

[0021] The first perception measurement result is a perception measurement result obtained by the second device performing perception measurement on the perception signal;

[0022] The target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0023] The target information is used to determine a second perception measurement result for the perception target.

[0024] In a fifth aspect, a device is provided, the terminal including a processor and a memory, the memory storing a program or instruction that can be run on the processor, wherein the program or instruction is executed by the processor to implement the steps of the perception measurement result processing method provided in the embodiment of the present application, or the program or instruction is executed by the processor to implement the steps of the perception measurement result sending method provided in the embodiment of the present application.

[0025] In a sixth aspect, a device is provided, comprising a processor and a communication interface, wherein the processor or the communication interface is used to obtain a first perception measurement result for a perception target; obtain motion information of the target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result; and the processor is used to determine a second perception measurement result for the perception target based on the first perception measurement result and the motion information.

[0026] In a seventh aspect, a device is provided, comprising a processor and a communication interface, wherein the communication interface is used to send target information to a first device, and the target information includes at least one of the following: a first perception measurement result for a perception target and motion information of the target device; wherein the first perception measurement result is a perception measurement result obtained by the second device performing a perception measurement on a perception signal; the target device includes a sending device or a receiving device of the perception signal corresponding to the first perception measurement result; and the target information is used to determine a second perception measurement result for the perception target.

[0027] In an eighth aspect, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method for processing the perception measurement results provided in the embodiment of the present application are implemented, or the steps of the method for sending the perception measurement results provided in the embodiment of the present application are implemented.

[0028] In a ninth aspect, a wireless communication system is provided, including: a first device and a second device, wherein the first device can be used to execute the steps of the perception measurement result processing method provided in the embodiment of the present application, and the second device can be used to execute the steps of the perception measurement result sending method provided in the embodiment of the present application.

[0029] In a tenth aspect, a chip is provided, comprising a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run a program or instruction to implement a method for processing a perception measurement result as provided in an embodiment of the present application, or to implement a method for sending a perception measurement result as provided in an embodiment of the present application.

[0030] In the eleventh aspect, a computer program / program product is provided, wherein the computer program / program product is stored in a storage medium, and the program / program product is executed by at least one processor to implement the steps of the method for processing perceptual measurement results as provided in the embodiment of the present application, or the program / program product is executed by at least one processor to implement the steps of the method for processing perceptual measurement results as provided in the embodiment of the present application.

[0031] In an embodiment of the present application, a first device obtains a first perception measurement result for a perception target; the first device obtains motion information of a target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result; the first device determines a second perception measurement result for the perception target based on the first perception measurement result and the motion information. In this way, since the second perception measurement result is determined based on the first perception measurement result and the motion information of the device, the second perception measurement result is a perception measurement result associated with the motion information of the device, so that for a scene where the device is moving, the reliability of the second perception measurement result can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a block diagram of a wireless communication system to which the embodiments of the present application can be applied;

[0033] Figure 2 is a schematic diagram of a perception measurement scenario provided by an embodiment of the present application;

[0034] Figure 3 is a flow chart of a method for processing perception measurement results provided by an embodiment of the present application;

[0035] Figure 4 It is a schematic diagram of a scenario provided by an embodiment of the present application;

[0036] Figure 5 is a flowchart of a method for sending a perception measurement result provided by an embodiment of the present application;

[0037] Figure 6 is a schematic diagram of a perception measurement result processing provided by an embodiment of the present application;

[0038] Figure 7 is a schematic diagram of another perception measurement result processing provided by an embodiment of the present application;

[0039] Figure 8 is a schematic diagram of another perception measurement result processing provided by an embodiment of the present application;

[0040] Fig. 9 is a structural diagram of a perception measurement result processing device provided in an embodiment of the present application;

[0041] Fig.10 is a structural diagram of a perception measurement result sending device provided in an embodiment of the present application;

[0042] Fig.11 is a structural diagram of a communication device provided in an embodiment of the present application;

[0043] Fig.12 is a structural diagram of a device provided in an embodiment of the present application;

[0044] Fig.13 It is a structural diagram of another device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of this application.

[0046] The terms "first", "second", etc. of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of one type, and the number of objects is not limited, for example, the first object can be one or more. In addition, "or" in the present application represents at least one of the connected objects. For example, "A or B" covers three schemes, namely, Scheme 1: including A but not including B; Scheme 2: including B but not including A; Scheme 3: including both A and B. The character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0047] The term "indication" in this application can be a direct indication (or explicit indication) or an indirect indication (or implicit indication). A direct indication can be understood as the sender explicitly informing the receiver of specific information, operations to be performed, or request results in the sent indication; an indirect indication can be understood as the receiver determining the corresponding information according to the indication sent by the sender, or making a judgment and determining the operation to be performed or the request result according to the judgment result.

[0048] It is worth noting that the technology described in the embodiments of the present application is not limited to the Long Term Evolution (LTE) / LTE-Advanced (LTE-A) system, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA) or other systems. The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the described technology can be used for the systems and radio technologies mentioned above as well as for other systems and radio technologies. The following description describes a New Radio (NR) system for illustrative purposes, and NR terminology is used in most of the following descriptions, but these technologies can also be applied to systems other than NR systems, such as the 6th generation (6 thGeneration, 6G) communication system.

[0049] Figure 1 A block diagram of a wireless communication system applicable to an embodiment of the present application is shown. The wireless communication system includes a terminal 11 and a network side device 12. Among them, the terminal 11 can be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer), a notebook computer, a personal digital assistant (Personal Digital Assistant, PDA), a handheld computer, a netbook, an ultra-mobile personal computer (Ultra-mobile Personal Computer, UMPC), a mobile Internet device (Mobile Internet Device, MID), an augmented reality (Augmented Reality, AR), a virtual reality (Virtual Reality, VR) device, a robot, a wearable device (Wearable Device), an aircraft (flight vehicle), a vehicle-mounted device (Vehicle User Equipment, VUE), a ship-mounted device, a pedestrian terminal (Pedestrian User Equipment, PUE), a smart home (home appliances with wireless communication functions, such as refrigerators, televisions, washing machines or furniture, etc.), a game console, a personal computer (Personal Computer, PC), a teller machine or a self-service machine and other terminal side devices. Wearable devices include: smart watches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart bracelets, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, smart clothing, etc. Among them, the vehicle-mounted device can also be called a vehicle-mounted terminal, a vehicle-mounted controller, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip or a vehicle-mounted unit, etc. It should be noted that the specific type of the terminal 11 is not limited in the embodiment of the present application.

[0050] The network side device 12 may include an access network device or a core network device, wherein the access network device may also be referred to as a radio access network (RAN) device, a radio access network function or a radio access network unit. The access network device may include a base station, a wireless local area network (WLAN) access point (AP) or a wireless fidelity (WiFi) node, etc. Among them, the base station may be referred to as a Node B (NodeB, NB), an evolved Node B (Evolved Node B, eNB), a next generation Node B (the next generation Node B, gNB), a New Radio Node B (New Radio Node B, NR Node B), an access point, a Relay Base Station (RBS), a Serving Base Station (SBS), a Base Transceiver Station (Base Transceiver Station, BTS), a radio base station, a radio transceiver, a Basic Service Set (Basic Service Set, BSS), an Extended Service Set (Extended Service Set, ESS), a home Node B (home evolved Node B, HNB), a home evolved Node B (home evolved Node B), a Transmission Reception Point (Transmission Reception Point, TRP) or other appropriate terms in the relevant field. As long as the same technical effect is achieved, the base station is not limited to specific technical vocabulary. It should be noted that in the embodiments of the present application, only the base station in the NR system is used as an example for introduction, and the specific type of the base station is not limited.

[0051] The core network equipment may include but is not limited to at least one of the following: core network node, core network function, mobility management entity (Mobility Management Entity, MME), access mobility management function (Access and Mobility Management Function, AMF), session management function (Session Management Function, SMF), user plane function (User Plane Function, UPF), policy control function (Policy Control Function, PCF), policy and charging rules function unit (Policy and Charging Rules Function, PCRF), edge application service discovery function (Edge Application Server Discovery Function, EASDF), unified data management (Unified Data Management, UDM), unified data storage (Unified Data Repository, UDR), home user server (Home Subscriber Server, HSS), centralized network configuration (CNC), network storage function (Network Repository Function, NRF), network exposure function (Network Exposure Function, NEF), local NEF (Local NEF, or L-NEF), binding support function (Binding Support Function, BSF), application function (Application Function, AF), etc. It should be noted that in the embodiments of the present application, only the core network device in the NR system is introduced as an example, and the specific type of the core network device is not limited.

[0052] In some embodiments, the network side devices and terminals may have perception capabilities in addition to communication capabilities. Perception capabilities refer to one or more devices with perception capabilities that can sense the direction, distance, speed and other information of target objects through the transmission and reception of wireless signals, or detect, track, identify, image and the like the target objects, events or environments. Some perception functions and application scenarios are shown in Table 1:

[0053] Table 1

[0054]

[0055] It should be noted that the perception category shown in Table 1 above is only an example, and the category of perception measurement is not limited in the embodiments of the present application.

[0056] In addition, the embodiments of the present application can be applied to the communication and perception integration scenario, where communication and perception integration refers to the integrated design of communication and perception functions through spectrum sharing and hardware sharing in the same system. While transmitting information, the system can perceive information such as direction, distance, speed, and detect, track, and identify target devices or events. The communication system and the perception system complement each other to achieve overall performance improvement and bring a better service experience.

[0057] For example: the integration of communication and radar is a typical communication-perception integration (communication-perception fusion) application, and the integration of communication and radar systems can bring many advantages, such as cost savings, size reduction, power consumption reduction, improved spectrum efficiency, reduced mutual interference, etc., thereby improving the overall performance of the system.

[0058] In the embodiment of the present application, according to the difference between the sensing signal sending node and the receiving node, it may include but is not limited to Figure 2 The six sensing links shown in FIG. Figure 2 Each perception link is illustrated by a sending node and a receiving node. In the actual system, different perception links can be selected according to different perception requirements. Each perception link can have one or more sending nodes and receiving nodes, and the actual perception system can include multiple different perception links. Figure 2 The perception targets in the example are people and cars, and it is assumed that people and cars do not carry or install signal receiving / transmitting equipment. The perception targets in actual scenes will be richer.

[0059] Sensing link 1: The base station sends and receives sensing signals on its own. In this mode, the base station sends sensing signals and obtains sensing results by receiving the echo of the sensing signals.

[0060] Sensing link 2: air interface sensing between base stations. In this mode, base station 2 receives the sensing signal sent by base station 1 and obtains the sensing result.

[0061] Perception link 3: Uplink air interface perception. In this mode, the base station receives the perception signal sent by the terminal and obtains the perception result.

[0062] Perception link 4: Downlink air interface perception. In this mode, the terminal receives the perception signal sent by the base station and obtains the perception result.

[0063] Perception link 5: Terminal self-transmitting and self-receiving perception. In this mode, the terminal sends a perception signal and obtains the perception result by receiving the echo of the perception signal.

[0064] Perception link 6: Sidelink perception between terminals. For example, terminal 2 receives a perception signal sent by terminal 1 to obtain a perception result, or terminal 1 receives a perception signal sent by terminal 2 to obtain a perception result.

[0065] In some embodiments, the signaling transmission between the wireless access network device and the terminal, or between different terminals may be through Radio Resource Control (RRC) signaling or Media Access Control Element (MAC CE) or Layer 1 signaling or other newly defined perception signaling; the signaling transmission between the perception network function and the terminal may be through Non-Access-Stratum (NAS) signaling (forwarded via AMF) or through RRC signaling or MAC CE or Layer 1 signaling or other newly defined perception signaling; the interaction between the perception network function and the base station may be forwarded to the wireless access network through the N2 interface by AMF; or the core network perception network function sends it to UPF, and UPF sends it to the wireless access network through the N3 interface; or it is sent to the wireless access network (such as a base station) through a newly defined interface; the signaling transmission between wireless access network devices may be through the Xn interface.

[0066] In the embodiment of the present application, the sensing network function may also be called a sensing network element or a sensing management function (Sensing Management Function, Sensing MF), which may be located on the RAN side or the core network side, and refers to a network node in the core network or RAN responsible for at least one function of sensing request processing, sensing resource scheduling, sensing information interaction, and sensing data processing. It may be based on the AMF or LMF upgrade in the mobile communication network, or it may be other network nodes or newly defined network nodes. Specifically, the functional characteristics of the sensing network function / sensing network element may include at least one of the following:

[0067] Target information is interacted with a wireless signal sending device or a wireless signal measuring device (including a target terminal or a serving base station of the target terminal or a base station associated with a target area), wherein the target information includes a perception processing request, a perception capability, perception auxiliary data, a perception measurement quantity type, a perception resource configuration information, etc., so as to obtain the value of the target perception result or the perception measurement quantity (uplink measurement quantity or downlink measurement quantity) sent by the wireless signal measuring device; wherein the wireless signal may also be referred to as a perception signal.

[0068] The perception method to be used is determined based on factors such as the type of perception service, perception service consumer information, required perception service quality (QoS) requirement information, the perception capability of the wireless signal sending device, the perception capability of the wireless signal measuring device, and the like. The perception method may include: wireless access network device A sends and wireless access network device B receives, or the wireless access network device sends and the terminal receives, or the wireless access network device A sends and receives by itself, or the terminal sends and the wireless access network device receives, or the terminal sends and the wireless access network device receives by itself, or terminal A sends and terminal B receives, etc.

[0069] The perception device serving the perception service is determined based on factors such as the type of perception service, information about the perception service consumer, required perception QoS requirement information, the perception capability of the wireless signal sending device, and the perception capability of the wireless signal measuring device, wherein the perception device includes a wireless signal sending device or a wireless signal measuring device.

[0070] Manage the overall coordination and scheduling of resources required for sensing services, such as configuring sensing resources of wireless access network equipment or terminals accordingly;

[0071] The values ​​of the perceived measurement quantities are processed or calculated to obtain the perceived results. The perceived results can also be verified and the perceived accuracy can be estimated.

[0072] In the following, in combination with the accompanying drawings, a method for processing, a sending method, an apparatus and a device for processing a perception measurement result provided by an embodiment of the present application are described in detail through some embodiments and their application scenarios.

[0073] See also Figure 3 , Figure 3 is a flow chart of a method for processing a perception measurement result provided by an embodiment of the present application, such as Figure 3 As shown, the following steps are included:

[0074] Step 301: A first device obtains a first perception measurement result for a perception target.

[0075] Among them, the above-mentioned first device can be a terminal, a network side device or a core network element, or a perception network function.

[0076] The above steps may be that the first device receives the first perception measurement result sent by other devices, or the first device measures the perception signal to obtain the perception measurement result.

[0077] The first perception measurement result is a perception measurement result obtained by measuring the perception signal.

[0078] In the embodiments of the present application, there is no limitation on the sensing target, for example, it can be a passive sensing target or an active sensing target.

[0079] Step 302: The first device obtains motion information of a target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result.

[0080] The target device is a mobile device during the perception measurement process, such as a terminal or a mobile network-side device.

[0081] In some embodiments, the first device may be the target device, or the first device may be the opposite device of the target device, such as the first device may be a receiving device of the perception signal and the target device may be a sending device of the perception signal, or the first device may be a sending device of the perception signal and the target device may be a receiving device of the perception signal.

[0082] In some embodiments, the above-mentioned motion information includes but is not limited to at least one of the following:

[0083] Movement direction and speed.

[0084] The above steps may be that the first device receives motion information sent by other devices, or the first device measures or detects motion information through a sensor, etc.

[0085] In the embodiment of the present application, the type of the perception signal is not limited. For example, the perception signal may be a perception-specific signal, a communication signal, or a reference signal.

[0086] It should be noted that the embodiment of the present application does not limit the execution order of step 301 and step 302. They can be executed simultaneously, or step 301 can be executed first and then step 302, or step 302 can be executed first and then step 301.

[0087] Step 303: The first device determines a second perception measurement result for the perception target based on the first perception measurement result and the motion information.

[0088] The second perception measurement result for the perception target determined based on the first perception measurement result and the motion information may be obtained by correcting the first perception measurement result based on the motion information; or, the second perception measurement result for the perception target determined based on the first perception measurement result and the motion information may be a perception measurement result of a different type from the first perception measurement result determined based on the first perception measurement result and the motion information, such as the first perception measurement result is Doppler information, and the second perception measurement result is perception information calculated based on the Doppler information and the motion information, such as perception information such as target motion speed, motion recognition, breathing or heart rate.

[0089] In an embodiment of the present application, the above steps can be used to determine the second perception measurement result based on the first perception measurement result and the motion information of the device, so that the second perception measurement result is a perception measurement result associated with the motion information of the device. In this way, for scenarios where the device is moving, the reliability of the second perception measurement result can be improved.

[0090] As an optional implementation manner, the first device obtains a first perception measurement result for a perception target, including:

[0091] The first device performs perception measurement on the perception signal to obtain a first perception measurement result for a perception target; or

[0092] The first device receives a first perception measurement result for a perception target sent by a second device.

[0093] In one of the above optional implementations, the above first device is a receiving device of the perception signal, such as the above first device is the above target device, or the target device is a sending device of the perception signal, and the above first device is a receiving device of the perception signal.

[0094] In one of the above optional implementations, the above second device may be the above target device, or may be the opposite device of the target device, such as the above target device is a sending device of the perception signal, and the above second device is a receiving device of the perception signal.

[0095] The first perception measurement result for the perception target sent by the second device may be a first perception measurement result obtained by the second device measuring the perception signal.

[0096] In this implementation, it is possible to support multiple ways of obtaining the first perception measurement result to adapt to more scenarios or services and improve the compatibility of perception measurement.

[0097] As an optional implementation manner, the first perception measurement result includes at least one of the following:

[0098] A Doppler measurement value of the perception signal and an angle measurement value of the perception signal.

[0099] The Doppler measurement value of the sensing signal may be the Doppler measurement value of one or more paths of the sensing signal. For example, the Doppler measurement value of the sensing signal includes at least one of the following:

[0100] a Doppler measurement value of a first path of the sensed signal, a Doppler measurement value of a second path of the sensed signal, and a Doppler measurement value of a third path of the sensed signal;

[0101] The arrival time of the first path is earlier than the arrival time of the second path and the third path, for example, the first path is the first path to be reached, such as the line of sight (LOS) path.

[0102] The second path is a signal path reflected by the sensing target, and the signal path may also be referred to as a target path;

[0103] The third path is a signal path reflected by a target object, and the target object may be a specific target, such as a Reconfigurable Intelligent Surface (RIS) or a backscatter device, or a known object.

[0104] In the embodiment of the present application, there is no limitation on the identification method of the first path, the second path and the third path. For example, the first path can be determined by the arrival time, the second path can be determined by the modulation information or characteristic information carried by the signal path, and the third path can be determined by Doppler or time delay.

[0105] The angle measurement value of the above-mentioned perception signal may be the angle measurement value of one or more paths of the perception signal, for example: the angle measurement value of the perception signal includes at least one of the following items:

[0106] an angle measurement value of a first path of the perceived signal, an angle measurement value of a second path of the perceived signal, and an angle measurement value of a third path of the perceived signal;

[0107] Among them, the first path, the second path and the third path mentioned above refer to the above description.

[0108] In some embodiments, the above-mentioned angle measurement value may be an angle of arrival (AoA) measurement value, for example, including at least one of a horizontal angle of arrival and a vertical angle of arrival, or may include at least one of an azimuth angle of arrival and an elevation angle of arrival; the embodiment of the present application does not limit the angle measurement value to the angle of arrival, for example, in some embodiments, it may also be a departure angle, such as when the target device is a signal sending device, in this way, the angle between the two can be calculated according to the departure angle of the LOS path and the direction of movement of the target device, and then the Doppler projection value on the LOS path and the frequency deviation value of the transceiver device caused by the movement of the target device are calculated, or the maximum Doppler value caused by the movement of the target device are calculated; or, the angle between the two is calculated according to the departure angle of the target reflection path and the direction of movement of the target device, and then the Doppler projection value on the target reflection path caused by the movement of the target device is calculated, and then the perception measurement result that eliminates the influence of device motion (and the frequency deviation of the transceiver device) is calculated.

[0109] In one of the above optional implementations, a Doppler measurement value of the perception signal or an angle measurement value of the perception signal may be acquired to improve the perception performance.

[0110] In some embodiments, the above-mentioned angle measurement value is the angle information relative to the global coordinate system. If the angle information measured by the device is the angle information relative to the local coordinate system of the device, the angle information in the global coordinate system can be calculated through the conversion parameters between the local coordinate system and the global coordinate system, such as the rotation angle of the local coordinate system relative to the global coordinate system: α (bearing angle), β (downtilt angle) and γ (tilt angle).

[0111] As an optional implementation, step 302 includes at least one of the following:

[0112] The first device measures the signal sent by the target device to obtain motion information of the target device;

[0113] The first device receives the motion information of the target device reported by the target device;

[0114] The first device receives the motion information of the target device sent by the second device;

[0115] The first device obtains the motion information of the target device through a sensor;

[0116] The first device measures a signal sent by a peer device of the target device to obtain motion information of the target device;

[0117] The first device calculates motion information of the target device based on the first perception measurement result;

[0118] The first device calculates motion information of the target device based on the location information of the target device.

[0119] The signal sent by the target device may be the perception signal or a signal other than the perception signal.

[0120] The motion information reported by the target device may be the motion information of the target device itself obtained by a sensor and reported to the first device.

[0121] The motion information of the target device sent by the second device may be obtained by measuring the signal sent by the target device and reporting it to the first device. Alternatively, the second device may be a third-party device, that is, based on the perception of the target device by the third-party device, one way may be to obtain the motion information of the target device through other passive perception methods, such as the network side device sending and receiving the motion information of the target device by itself, the network side device sending and receiving the motion information of the target device by other terminals, or another way is to perceive the motion state of the target device through other sensor devices, such as cameras.

[0122] The first device obtains the motion information of the target device through a sensor, which means that the first device is the target device, and the target device obtains its own motion information through a sensor. For example, based on a motion sensor equipped by the first device itself, such as an accelerometer, gyroscope, electronic compass, magnetometer, inertial measurement unit (IMU), etc.

[0123] The above-mentioned first device measures the signal sent by the opposite device of the target device to obtain the motion information of the target device. The first device can be the target device, and the target device measures the signal (such as a perception signal) sent by the opposite device to obtain its own motion information.

[0124] The first device calculating the motion information of the target device based on the first perception measurement result may be that the first device calculates the position information of the target device at multiple time points based on the first perception measurement result, and determines the motion information of the target device based on the position information.

[0125] The first device calculating the motion information of the target device based on the position information of the target device may be that the first device determines the position information of the target device at multiple time points by signal measurement or reporting, and calculates the motion information of the target device based on the position information. For example: obtaining motion information based on active positioning of the target device, such as measuring based on a sensing signal or measuring the positioning signal of the target device, obtaining the position of the target device at different times during the sensing measurement process, and calculating the speed or direction of the target device according to the position change of the target device at different times.

[0126] The above step 302 includes at least one of the above items, which means that the motion information acquired in step 302 may include at least one of the above items of motion information acquired.

[0127] The above implementations can support different methods for acquiring the motion information of the target device, thereby adapting to perception measurements of more scenarios or services to improve the compatibility of perception measurements.

[0128] In some implementations, the above-mentioned motion information may also be pre-acquired, that is, known, such as in a specific perception scenario such as a highway, where a vehicle is used as a target device and its motion direction is known.

[0129] As an optional implementation manner, the first device determines, based on the first perception measurement result and the motion information, a second perception measurement result for the perception target, including:

[0130] The first device determines a second perception measurement result for the perception target based on the first perception measurement result, the motion information, and the device information of the target device.

[0131] The device information of the target device is device-related information used to assist in determining the calculation of the second perception measurement result. For example, the device information includes at least one of the following:

[0132] The location information of the target device, the orientation information of the target device, the coordinate information of the target device, the timestamp information of the target device, and the clock frequency deviation information;

[0133] Among them, the clock frequency deviation information includes: when the target device includes the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device includes the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

[0134] The location information of the target device may be the location information of the target device before or after it moves. The location information may be used as a benchmark or reference when determining the second perception measurement result, thereby making the second perception measurement result more reliable.

[0135] The orientation information of the target device may be the orientation information of a reference device of the device in the perception measurement process, and the reference device may be a device such as an antenna, a screen, or a sensor. The orientation information may be used as a benchmark or reference when determining the second perception measurement result, thereby making the second perception measurement result more reliable.

[0136] The coordinate information of the above-mentioned target device may be the local coordinate system information of the target device, such as the rotation angle of the local coordinate system relative to the global coordinate system. This coordinate information may be used as a benchmark or reference when determining the second perception measurement result, thereby making the second perception measurement result more reliable.

[0137] The above-mentioned timestamp information is used to match the above-mentioned first perception measurement result. For example, the motion information or position of the target device measured by a sensor or a third-party device corresponds to the time of sending or receiving the perception signal. In this way, the motion information or device information of the target device can be matched with the first perception measurement result, thereby making the second perception measurement result more reliable.

[0138] The clock frequency deviation information can be used to align the clock frequencies of the sending device and the receiving device of the perception signal, so that the second perception measurement result is determined when the clock frequencies of the sending and receiving ends are aligned, making the second perception measurement result more reliable.

[0139] It should be noted that, in some implementations, the device information may not be used when determining the second perception measurement result.

[0140] As an optional implementation manner, the first device includes a core network element, and the target device includes a terminal or a network side device; or,

[0141] The first device includes a terminal, and the target device includes a network-side device, the first device, or another terminal; or,

[0142] The first device includes a network side device, and the target device includes a terminal, the first device or another network side device.

[0143] In the case where the above-mentioned first device is a core network element, the opposite device of the above-mentioned target device may be a terminal or a network side device, for example: the network side device sends a perception signal, and the terminal receives the perception signal; or, the terminal sends a perception signal, and the network side device receives the perception signal; or, terminal A sends a perception signal, and terminal B receives the perception signal.

[0144] In the case where the first device is a terminal, the target device may include the first device, or include an opposite device of the first device, such as a network side device or another terminal.

[0145] In the case where the first device is a network-side device, the target device may include the first device, or include an opposite-end device of the first device, such as a terminal or another network-side device.

[0146] In one of the above optional implementations, the second perception measurement result can be determined by a core network element, a terminal or a network side device to improve the compatibility of the perception measurement. For example, the second perception measurement result can be calculated by a core network perception network function / perception network element, or by a base station or a terminal.

[0147] Optionally, when the first device includes a core network element, the method further includes at least one of the following:

[0148] The first device obtains capability information sent by the target device or a peer device of the target device;

[0149] The first device sends signal configuration information to the target device or a peer device of the target device;

[0150] The first device sends measurement configuration information to the target device or an opposite end device of the target device.

[0151] When the first device is a perception signal sending device, the opposite device of the target device is a perception signal receiving device; when the first device is a perception signal receiving device, the opposite device of the target device is a perception signal sending device.

[0152] The capability information is used to represent the relevant capabilities of the device for sensing measurement. For example, the capability information includes at least one of the following:

[0153] Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, supported perception resource configurations.

[0154] The above-mentioned supported sensing services may include at least one of the following:

[0155] Detect whether the target exists, positioning, speed detection, distance detection, angle detection, acceleration detection, material analysis, component analysis, shape detection, category classification, Radar Cross Section (RCS) detection, polarization scattering characteristic detection, fall detection, intrusion detection, quantity statistics, indoor positioning, gesture recognition, lip reading recognition, gait recognition, expression recognition, facial recognition, breathing monitoring, heart rate monitoring, pulse monitoring, humidity / brightness / temperature / atmospheric pressure monitoring, air quality monitoring, weather monitoring, environmental reconstruction, topography, building / vegetation distribution detection, pedestrian or vehicle flow detection, crowd density, vehicle density detection, etc.

[0156] The supported perception service types can be to classify multiple different perception services according to certain characteristics, for example: divided into detection-type perception services (such as intrusion detection, fall detection), parameter estimation-type perception services (distance, angle, speed calculation), recognition-type perception services (motion recognition, identity recognition), etc. according to function. It can also be divided according to the range of perception (close-range perception, medium-range perception, long-range perception), according to the degree of perception refinement (coarse-grained perception, fine force perception, etc.), according to power consumption / energy consumption, according to resource occupancy, etc.

[0157] The above-mentioned supported perception modes may include at least one of the following:

[0158] Spontaneous and self-receiving sensing or single-base sensing;

[0159] Device A sends and device B receives the perception;

[0160] Dual-base sensing;

[0161] Multi-base sensing;

[0162] Figure 2 At least one of the six wireless sensing modes shown;

[0163] Whether sensor perception is supported;

[0164] Supported sensor types include: at least one of an accelerometer, a gyroscope, a magnetometer, a rotation vector sensor, an IMU, a Global Navigation Satellite System (GNSS), a pressure sensor, a light sensor, a temperature sensor, a humidity sensor, and a camera.

[0165] The above-mentioned supported perceptual measurement quantity may include at least one of the following:

[0166] The first-level measurement quantity (also called the received signal / original channel information) includes at least one of the following: the complex result of the received signal / channel response, the amplitude / phase, the I-channel / Q-channel and related operation results (the operations include addition, subtraction, multiplication and division, matrix addition, subtraction and multiplication, matrix transposition, trigonometric relationship operations, square root operations and power operations, as well as the threshold detection results, maximum / minimum value extraction results, etc. of the above operation results; wherein the operations also include Fast Fourier Transform (Fast Fourier Transform, FFT) / Inverse Fast Fourier Transform (Inverse Fast Fourier Transform, IFFT), Discrete Fourier Transform (Discrete Fourier Transform, DFT) / Inverse Discrete Fourier Transform (Inverse DiscreteFourier Transform, IDFT), 2D-FFT, 3D-FFT, matched filtering, autocorrelation operation, wavelet transform and digital filtering, as well as the threshold detection results, maximum / minimum value extraction results, etc. of the above operation results;

[0167] The second-level measurement quantity (also called basic measurement quantity) includes at least one of the following: delay, Doppler, angle, intensity, and their multi-dimensional combination representation;

[0168] The third level of measurement (also called basic attributes / states) includes at least one of the following: distance, speed, direction, spatial position, acceleration;

[0169] The fourth level of measurement (also known as advanced attributes / states) includes at least one of the following: target presence, trajectory, movement, expression, vital signs, quantity, imaging results, weather, air quality, shape, material, and composition.

[0170] The above-mentioned perception accuracy may be an achievable perception accuracy, for example, a positioning error is less than 10m, a Doppler measurement error is less than 100Hz, etc.

[0171] The above-mentioned supported sensing resource configurations may include waveform, frequency band, bandwidth, power, antenna configuration, etc.

[0172] In this implementation, since the capability information is reported, the first device can schedule the terminal or the network-side device to perform the perception measurement supported by it based on the capability information, thereby improving the perception measurement performance.

[0173] In some implementations, the method further includes: the first device sends a capability query request to the target device or a peer device of the target device. This is not limited to this, for example: the target device or the peer device may actively report capability information.

[0174] The above measurement configuration information is configuration information of perception measurement, for example: the above measurement configuration information includes:

[0175] The measured signal resource indication, the sensing measurement quantity, the indication information used to indicate whether to report the sensor measurement result, the expected sensor type to be used, the expected sensor data type, and the measurement result reporting configuration.

[0176] The above-mentioned measured signal resource indication is used to indicate the resource of the perception signal, such as the signal resource identifier, so that the indication of the resource of the perception signal can be achieved through the identifier to save configuration overhead.

[0177] The above-mentioned perception measurement amount refers to the perception measurement amount in the above-mentioned capability information, which will not be described in detail here. Since the perception measurement amount is configured, only the perception measurement amount needs to be measured, thereby saving perception measurement overhead.

[0178] The above-mentioned indication information for indicating whether to report the sensor measurement result can be used to realize that the sensor measurement result is reported based on the indication information during the perception measurement process, so as to avoid redundant reporting and save reporting overhead.

[0179] The sensor type expected to be used is the sensor type expected to be used by the first device, so that calculation can be performed based on motion information of the sensor type expected to be used when determining the second perception measurement result, thereby further improving the reliability of the second perception measurement result.

[0180] The above-mentioned expected sensor data type is the sensor data type that the above-mentioned first device expects to use, so that when determining the second perception measurement result, calculation can be performed based on the motion information of the expected sensor data type, thereby further improving the reliability of the second perception measurement result.

[0181] The measurement result reporting configuration is used to indicate a reporting configuration of a perception measurement result. For example, the measurement result reporting configuration includes at least one of the following:

[0182] Reporting resource configuration, reporting cycle, and reporting triggering events;

[0183] The triggering event includes at least one of the following:

[0184] Enter the target area;

[0185] Time to reach target;

[0186] The measurement result of the target signal reaches a first threshold;

[0187] The moving position exceeds a second threshold;

[0188] The change angle of the orientation exceeds a third threshold;

[0189] The movement speed exceeds the fourth threshold;

[0190] The environmental information changes meet the preset conditions.

[0191] The above-mentioned reported resource configuration may be a reported time domain or frequency domain resource configuration.

[0192] The above reporting period may indicate that the perception measurement results are reported periodically.

[0193] The above-mentioned reported triggering event may indicate that the perception measurement result meets the triggering condition for reporting.

[0194] The target area may be a specific location area or a cell.

[0195] The target time may be a specific time agreed upon in the protocol or configured on the network side.

[0196] The target signal may be a specific measurement signal agreed upon in the protocol or configured on the network side.

[0197] The first threshold, the second threshold, the third threshold, the fourth threshold and the preset condition may be agreed upon by the protocol or configured on the network side. For example, the trigger events include an event in which the device moves from a previous position exceeding some predefined (straight-line) distance, or an event in which the angle of change of the device's orientation exceeds some predefined angle threshold, or an event in which the movement speed of the device exceeds some predefined speed threshold, or an event in which the environmental information measured by the device sensor (such as temperature / humidity / light intensity) exceeds a certain range.

[0198] In the above implementation manner, the measurement configuration information can be used to perform perception measurement based on the configuration information during the perception measurement process, so as to improve the reliability of the perception measurement.

[0199] The signal configuration information is configuration information of the perception signal. For example, the signal configuration information includes at least one of the following:

[0200] Signal resource identifier, used to distinguish different signal resource configurations;

[0201] Signal purpose indicates whether the signal is used for communication (such as channel measurement, channel estimation, synchronization, carrying data information, etc.), a signal used for perception, or a signal used for both communication and perception. Specifically, it can also indicate which perception service the signal is used for, or which type of perception service the signal is used for.

[0202] Waveforms, such as Orthogonal frequency division multiplex (OFDM), Single-carrier Frequency-Division Multiple Access (SC-FDMA), Orthogonal Time Frequency Space (OTFS), Frequency Modulated Continuous Wave (FMCW), pulse signals, etc.;

[0203] Subcarrier spacing, for example, the subcarrier spacing of the OFDM system is 30KHz.

[0204] The guard interval is the time interval from the moment when the signal ends to the moment when the latest echo signal of the signal is received. This parameter is proportional to the maximum perception distance. For example, it can be calculated by c / (2R max ) is calculated, R max is the maximum sensing distance (belonging to the sensing demand information), for example, for the self-transmitted and self-received sensing signal, R maxRepresents the maximum distance from the perceived signal receiving point to the signal transmitting point; in some cases, the OFDM signal cyclic prefix (CP) can play the role of the minimum guard interval; c is the speed of light.

[0205] The starting frequency domain position, i.e., the starting frequency point, may also be the starting resource element (RE) or resource block (RB) index;

[0206] The starting time domain position, i.e. the starting time point, can also be the starting symbol index, time slot index, or frame index;

[0207] The ending frequency domain position, i.e., the ending frequency point, can be represented by the ending RE and RB index;

[0208] The termination time domain position, i.e., the termination time point, can be represented by the termination RE and RB index;

[0209] The frequency domain resource length, that is, the frequency domain bandwidth, is inversely proportional to the distance resolution, and the frequency domain bandwidth B of each first signal is ≥ c / (2ΔR), where c is the speed of light and ΔR is the distance resolution;

[0210] The time domain resource length, also called the burst duration, is inversely proportional to the Doppler resolution.

[0211] Frequency domain resource spacing, which indicates the spacing between adjacent signal frequency domain resource units, can be expressed by the number of REs or RBs, or by a density value (Density). For example, Density = 1 indicates that there is one RE in each RB for carrying signals. The frequency domain resource spacing is inversely proportional to the maximum unambiguous distance / delay, where, for an OFDM system, when subcarriers are continuously mapped, the frequency domain spacing is equal to the subcarrier spacing;

[0212] The time domain resource interval is a time interval between two adjacent signal resource units, and the time domain resource interval is associated with a maximum unambiguous Doppler frequency shift or a maximum unambiguous speed.

[0213] Time domain resource characteristics: periodic transmission, semi-continuous transmission, and non-periodic transmission.

[0214] The signal power, for example, takes a value from -20dBm to 23dBm at intervals of 2dBm.

[0215] Sequence information, including sequence type information (ZC sequence, PN sequence, etc.), sequence generation method, sequence length, etc.

[0216] Signal direction, angle information or beam information of signal transmission.

[0217] Quasi co-location (QCL) relationship, for example, the perception signal includes multiple resources, each resource is associated with a synchronization signal block (Synchronization Signal Block, SSB) QCL, QCL includes type A, B, C or D.

[0218] Antenna port information, such as the maximum number of antenna ports and antenna port index.

[0219] Cyclic prefix (CP) information, including CP type (e.g., normal cyclic prefix (NCP), extended cyclic prefix (ECP) or newly designed CP dedicated to perception measurement), CP length, etc.

[0220] In the above implementation manner, the above signal configuration information can be used to enable the perception signal to be sent and measured based on the signal configuration information, so as to save transmission overhead.

[0221] Optionally, when the first device includes a terminal or a network side device, the method further includes at least one of the following:

[0222] The first device sends capability information to a core network element;

[0223] The first device receives signal configuration information sent by a core network element;

[0224] The first device receives measurement configuration information sent by a core network element.

[0225] Among them, the above-mentioned capability information, signal configuration information and measurement configuration information refer to the corresponding description of the above-mentioned implementation method.

[0226] Reporting the capability information enables the first device to schedule the terminal or the network-side device to perform the perception measurement supported by it based on the capability information, thereby improving the perception measurement performance.

[0227] The above signal configuration information can enable the perception signal to be sent and measured based on the signal configuration information to save transmission overhead.

[0228] The measurement configuration information can be used to perform perception measurement based on the configuration information during the perception measurement process, so as to improve the reliability of the perception measurement.

[0229] As an optional implementation manner, the second perception measurement result includes at least one of the following:

[0230] A target Doppler value, and sensing information calculated based on the target Doppler value.

[0231] The above-mentioned target Doppler value may be the target Doppler value of the signal path (ie, the second path) in the perception signal that is reflected by the perception target, or may be the target Doppler value of other signal paths, and there is no limitation on this.

[0232] The perception information calculated based on the target Doppler value may be perception information such as target movement speed, action recognition, breathing, heart rate, etc. further calculated based on the target Doppler value.

[0233] In this implementation, it is possible to obtain a target Doppler value associated with motion information and to calculate perception information based on the target Doppler value, so as to improve perception performance.

[0234] As an optional implementation manner, determining a second perception measurement result for the perception target includes:

[0235] A motion interference elimination operation is performed on the first perception measurement result to obtain the second perception measurement result for the perception target.

[0236] The motion interference elimination operation is used to eliminate or reduce the influence of the motion of the target device on the perception measurement result. The operation may be agreed upon by the protocol or predefined.

[0237] The performing the motion interference elimination operation on the first perception measurement result may include:

[0238] Performing a motion interference elimination operation on the first perception measurement result based on the motion information; or

[0239] A motion interference elimination operation is performed on the first perception measurement result based on the motion information and the device information of the target device.

[0240] In this implementation, the influence of the movement of the target device on the perception measurement result can be eliminated or reduced, thereby improving the accuracy of the second perception measurement result.

[0241] It should be noted that, in the embodiments of the present application, determining the second perception measurement result for the perception target is not limited to performing the above-mentioned motion interference elimination operation. For example, in some embodiments, the second perception measurement result for the perception target may be a perception measurement result of a different type from the first perception measurement result determined based on the first perception measurement result and motion information. For example, the first perception measurement result is Doppler information, and the second perception measurement result is perception information calculated based on the Doppler information and motion information, such as perception information such as target motion speed, motion recognition, breathing or heart rate.

[0242] Optionally, the first sensing measurement result includes a Doppler measurement value of a second path of the sensing signal, where the second path is a signal path reflected by the sensing target;

[0243] The motion interference elimination operation includes:

[0244] Calculate the Doppler projection value on the second path based on the motion information;

[0245] The second perception measurement result for the perception target is calculated based on the projection value and the Doppler measurement value of the second path.

[0246] The Doppler projection value on the second path may be an influence value of the Doppler of the sensing signal on the second path due to the movement of the target device.

[0247] The calculation of the second perception measurement result for the perception target based on the projection value and the Doppler measurement value of the second path may be performed by removing the influence value of the Doppler of the perception signal on the second path caused by the movement of the target device from the Doppler measurement value of the second path based on the projection value. For example, the calculation of the second perception measurement result for the perception target based on the projection value and the Doppler measurement value of the second path includes:

[0248] Subtract the projection value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path; or,

[0249] Subtract the projection value and the frequency deviation value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path, wherein the frequency deviation value is a frequency deviation value of the transceiver device of the sensing signal;

[0250] The second sensing measurement result includes a target Doppler value of the second path.

[0251] The frequency deviation value is a frequency deviation value of a transceiver device of a perception signal calculated based on the motion information, and the frequency deviation value may also be referred to as a clock frequency deviation value of a transceiver device of a perception signal.

[0252] The target Doppler value of the second path may be understood as the Doppler value of the second path after eliminating or reducing the influence of motion.

[0253] In this implementation, the above calculation can eliminate or reduce the influence of the movement of the target device on the perception measurement result, thereby improving the accuracy of the second perception measurement result.

[0254] It should be noted that, in some embodiments, the motion interference elimination operation is not limited to the calculation method based on the projection value. For example, in some embodiments, the motion interference elimination operation can also be based on removing the measurement value of the first perception measurement result that is most affected by the motion in the motion information, and retaining the measurement value of the first perception measurement result that is less affected by the motion.

[0255] Optionally, the first perception measurement result further includes an angle measurement value of a second path of the perception signal, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the second path, the motion direction, and the motion speed; or,

[0256] The first perception measurement result further includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein an arrival time of the first path is earlier than an arrival time of the second path, the motion information includes: a motion direction, and the projection value includes: a projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, and the motion direction; or,

[0257] The first perception measurement result also includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein an arrival time of the first path is earlier than an arrival time of the second path, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, the motion direction, and the motion speed.

[0258] by Figure 4 Taking the scenario shown in FIG. 1 as an example, the projection value calculated based on the angle measurement value of the second path, the movement direction and the movement speed may include a projection value obtained through the following process:

[0259] According to the angle θ of the second diameter R The angle θ between the moving direction of the target device and the positive direction of the x-axis v , the angle between the second path and the moving direction of the target device is calculated to be Δθ = θ R -θ v ;

[0260] Calculate the maximum Doppler value caused by the target device's motion Among them, f dmax is the maximum Doppler value, |v R | represents the speed of the target device, where f cis the center frequency of the carrier signal, c is the speed of light;

[0261] Calculate the Doppler projection value f on the second path caused by the target device movement d1 =f dmax •cosΔθ.

[0262] by Figure 4 Taking the scenario shown in FIG. 1 as an example, the projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path and the motion direction may include a projection value calculated through the following process:

[0263] According to the angle θ of the first path L The angle θ between the moving direction of the target device and the positive direction of the x-axis v The angle between the first path and the moving direction of the target device is calculated as Δθ1=θ L -θ v ;

[0264] Calculate the maximum Doppler value caused by the target device's motion Among them, f dLOS represents the Doppler measurement value of the first path;

[0265] According to the angle θ of the second diameter R The angle θ between the moving direction of the target device and the positive direction of the x-axis v The angle between the second path and the moving direction of the target device is calculated as Δθ2 = θ R -θ v ;

[0266] Calculate the Doppler projection value f on the second path caused by the target device movement d1 =f dmax ·cosΔθ2.

[0267] by Figure 4 Taking the scenario shown in FIG. 1 as an example, the projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, the movement direction and the movement speed may include a projection value calculated through the following process:

[0268] According to the angle θ of the first path L The angle θ between the target device's moving direction and the positive direction of the x-axis v The angle between the first path and the moving direction of the target device is calculated to be Δθ1=θ L -θ v ;

[0269] Calculate the maximum Doppler value caused by the target device's motion |v R | indicates the movement speed of the target device, fc is the center frequency of the carrier signal, c is the speed of light;

[0270] Calculate the Doppler projection value f on the first path caused by the motion of the target device d1 =f dmax ·cosΔθ1;

[0271] Calculate the clock frequency deviation of the transceiver device that senses the signal Δf = f dLOS -f d1 Among them, f dLOS represents the Doppler measurement value of the first path;

[0272] According to the angle θ of the second diameter R The angle θ between the target device's moving direction and the positive direction of the x-axis v The calculated angle between the target diameter and the target device movement direction is Δθ2=θ R -θ v ;

[0273] Calculate the Doppler projection value f caused by the target device movement on the target reflection path d2 =f dmax ·cosΔθ2.

[0274] In the above implementation, it is possible to calculate the Doppler projection value on the second path based on different information.

[0275] In an embodiment of the present application, a first device obtains a first perception measurement result for a perception target; the first device obtains motion information of a target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result; the first device determines a second perception measurement result for the perception target based on the first perception measurement result and the motion information. In this way, since the second perception measurement result is determined based on the first perception measurement result and the motion information of the device, the second perception measurement result is a perception measurement result associated with the motion information of the device, so that for a scene where the device is moving, the reliability of the second perception measurement result can be improved.

[0276] See also Figure 5 , Figure 5 is a flow chart of a method for sending a perception measurement result provided by an embodiment of the present application, such as Figure 5 As shown, the following steps are included:

[0277] Step 501: The second device sends target information to the first device, where the target information includes at least one of the following:

[0278] a first perception measurement result for a perception target and motion information of a target device;

[0279] The first perception measurement result is a perception measurement result obtained by the second device performing perception measurement on the perception signal;

[0280] The target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0281] The target information is used to determine a second perception measurement result for the perception target.

[0282] Optionally, the first perception measurement result includes at least one of the following:

[0283] A Doppler measurement value of the perception signal and an angle measurement value of the perception signal.

[0284] Optionally, the Doppler measurement value of the sensing signal includes at least one of the following:

[0285] a Doppler measurement value of a first path of the sensed signal, a Doppler measurement value of a second path of the sensed signal, and a Doppler measurement value of a third path of the sensed signal;

[0286] Or, the angle measurement value of the perception signal includes at least one of the following

[0287] an angle measurement value of a first path of the perceived signal, an angle measurement value of a second path of the perceived signal, and an angle measurement value of a third path of the perceived signal;

[0288] The arrival time of the first path is earlier than the arrival times of the second path and the third path;

[0289] The second path is a signal path reflected by the sensing target;

[0290] The third path is a signal path reflected by the target object.

[0291] Optionally, the method further includes at least one of the following:

[0292] The second device measures the signal sent by the target device to obtain motion information of the target device;

[0293] The second device obtains the motion information of the target device through a sensor;

[0294] The second device measures a signal sent by a peer device of the target device to obtain movement information of the target device;

[0295] The second device calculates the motion information of the target device based on the first perception measurement result;

[0296] The second device calculates motion information of the target device based on the location information of the target device.

[0297] Optionally, the motion information includes at least one of the following:

[0298] Movement direction and speed.

[0299] Optionally, the target information also includes device information of the target device.

[0300] Optionally, the device information includes at least one of the following:

[0301] The location information of the target device, the orientation information of the target device, the coordinate information of the target device, the timestamp information of the target device, and the clock frequency deviation information;

[0302] Among them, the clock frequency deviation information includes: when the target device is the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device is the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

[0303] Optionally, the target device is the second device; or,

[0304] The target device is a sending device of the perception signal, and the second device is a receiving device of the perception signal; or,

[0305] The target device is a receiving device of the perception signal, and the second device is a sending device of the perception signal.

[0306] Optionally, the method further includes at least one of the following:

[0307] capability information of the second device to the first device;

[0308] The second device receives the signal configuration information sent by the first device;

[0309] The second device receives the measurement configuration information sent by the first device.

[0310] Optionally, the capability information includes at least one of the following:

[0311] Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, supported perception resource configurations.

[0312] Optionally, the measurement configuration information includes:

[0313] The measured signal resource indication, the sensing measurement quantity, the indication information used to indicate whether to report the sensor measurement result, the expected sensor type to be used, the expected sensor data type, and the measurement result reporting configuration.

[0314] Optionally, the measurement result reporting configuration includes at least one of the following:

[0315] Reporting resource configuration, reporting cycle, and reporting triggering events;

[0316] The triggering event includes at least one of the following:

[0317] Enter the target area;

[0318] Time to reach target;

[0319] The measurement result of the target signal reaches a first threshold;

[0320] The moving position exceeds a second threshold;

[0321] The change angle of the orientation exceeds a third threshold;

[0322] The movement speed exceeds the fourth threshold;

[0323] The environmental information changes meet the preset conditions.

[0324] It should be noted that this embodiment is Figure 3 The implementation of the second device corresponding to the embodiment shown in the figure can be found in the specific implementation of the second device. Figure 3 To avoid repeated description, the related description of the embodiment shown in the present invention will not be repeated in detail.

[0325] The method provided in the embodiments of the present application is illustrated below by means of multiple embodiments:

[0326] Embodiment 1:

[0327] In this embodiment, a perception process based on a mobile receiving device is used as an example to illustrate, specifically, a base station sends a perception signal, and a terminal receives the perception signal. Figure 6 As shown, the following steps are included:

[0328] Step 1. The sensing network function obtains device capability information of the terminal or base station, which may be that the sensing network function sends device capability query request information to the terminal or base station, and the terminal or base station sends device capability information to the sensing network function, where the device capability information includes at least one of the following:

[0329] Supported sensing services or sensing service types;

[0330] Supported perception modes;

[0331] Supported perceptual measurements;

[0332] The perceptual accuracy that can be achieved;

[0333] Supported aware resource configurations.

[0334] The above capability information can be found in Figure 3 The illustrated embodiments are not described in detail here.

[0335] Step 2. The perception network function sends signal configuration information or measurement configuration information to the terminal or base station. The signal configuration information and the measurement configuration information may be sent by the same signaling or by different signaling.

[0336] The above signal configuration information and measurement configuration information refer to Figure 3 The illustrated embodiments are not described in detail here.

[0337] Step 3. The base station sends a perception signal to the terminal. The perception signal can be sent omnidirectionally or directionally, for example, using multiple beams.

[0338] Step 4. The terminal receives the sensing signal and performs measurement, and sends first information to the sensing network function, including at least one of the following: a first sensing measurement result, motion information, or device information. The first sensing measurement result, motion information, and device information refer to Figure 3 The illustrated embodiments are not described in detail here.

[0339] Step 5. The perception network function calculates the perception result after eliminating the influence of device motion based on the first information sent by the terminal.

[0340] Optionally, the terminal may calculate the perception result after eliminating the influence of device motion based on the first information and send it to the perception network function; or the terminal may send the first information to the base station, and the base station may calculate the perception result after eliminating the influence of device motion and send it to the perception network function.

[0341] Embodiment 2:

[0342] In this embodiment, the perception based on the mobile sending device is used as an example for explanation, specifically, the terminal sends a perception signal and the base station receives the perception signal as an example. Figure 7 The following steps are shown:

[0343] Step 1. The perception network function obtains the perception capability information of the terminal or base station.

[0344] Step 2. The sensing network function sends signal configuration information or measurement configuration information to the terminal or base station.

[0345] Step 3. The terminal sends a perception signal to the base station. The perception signal can be sent omnidirectionally or directionally, for example, using multiple beams.

[0346] Step 4. The terminal sends the terminal's motion information or device information to the perception network function, for example, at least one of the terminal's motion speed, motion direction, device orientation, location, and device local coordinate system information.

[0347] Step 5. The base station receives the perception signal and performs measurement, and sends the first perception measurement result to the perception network function.

[0348] First perception measurement results, motion information or device information refer to Figure 3 The corresponding description of the illustrated embodiment will not be repeated here.

[0349] Optionally, the base station obtains a perception result after eliminating the influence of device motion based on the device information and the first perception measurement result (and sends it to the perception network function), wherein the motion information or device information can be sent to the base station by the terminal (measured by a sensor equipped with the terminal), or is obtained by the base station based on the perception signal measurement.

[0350] Embodiment three:

[0351] In this embodiment, the perception based on the mobile transceiver device is used as an example, specifically, the terminal sends a perception signal and the base station receives the perception signal as an example. Figure 8 The following steps are shown:

[0352] Step 1. The perception network function obtains the perception capability information of the terminal.

[0353] Step 2. The perception network function sends signal configuration information or measurement configuration information to terminal A or terminal B.

[0354] Step 3. Terminal A sends a perception signal to terminal B. The perception signal may be sent omnidirectionally or directionally, for example, using multiple beams.

[0355] Step 4. Terminal A sends motion information or device information to the perception network function, for example, at least one of the motion speed, motion direction, device orientation, position, and device local coordinate system information of terminal A.

[0356] Step 5. Terminal B receives the perception signal and performs measurement, and sends first information to the perception network function, including at least one of the following: a first perception measurement result, motion information, and device information, such as at least one of the movement speed, movement direction, device orientation, position, and local coordinate system information of terminal B.

[0357] Optionally, terminal B may obtain a perception result after eliminating the influence of device motion based on the device information (including device information of terminal A and terminal B) and the first perception measurement result (and send it to the perception network function), wherein the device information of terminal A may be sent by terminal A (measured by a sensor equipped with terminal A) to terminal B, or may be obtained by terminal B based on the perception signal measurement.

[0358] Embodiment 4:

[0359] This embodiment mainly describes the perception result after calculating and eliminating the influence of device motion. In this embodiment, the clock deviation of the transceiver device is known or can be ignored relative to the perception measurement result.

[0360] In this embodiment, the clock deviation of the transceiver device is known or can be ignored relative to the perception measurement result, and the process of calculating the perception result after eliminating the influence of device motion based on the device information and the first perception measurement result is described.

[0361] by Figure 4 Taking the dual-base sensing scenario in as an example, the sensing mode is that the base station sends a sensing signal, the terminal receives the sensing signal, the target moves toward the negative direction of the y-axis, and the terminal is also moving while receiving the sensing signal.

[0362] In case 1, the perception result is calculated based on the terminal's speed and direction, the Doppler measurement value of the target reflection path (i.e., the second path mentioned above), and the AoA measurement value of the target reflection path. That is, the first perception measurement result includes: the arrival angle θ of the target path R , the Doppler measurement value of the target path f d0 ; Equipment information includes: terminal movement speed |v R | and the direction of motion (in this embodiment, it is expressed as the angle θ with the positive direction of the x-axis v ). The Doppler value f caused by the target motion can be calculated by the first sensing measurement result and the device information. dT (Perception results after eliminating the effect of device motion):

[0363] According to the target diameter angle θ R The angle θ between the terminal motion direction and the positive direction of the x-axis v The calculated angle between the target diameter and the terminal motion direction is Δθ=θ R -θ v ;

[0364] Calculate the maximum Doppler value caused by terminal motion where f c is the center frequency of the carrier signal, c is the speed of light;

[0365] Calculate the projection value f of the Doppler caused by the terminal motion on the target reflection path d1=f dmax ·cosΔθ;

[0366] Calculate the Doppler value f caused by target motion dT =f d0 -f d1 .

[0367] In case 2, the perception result is calculated based on the terminal movement direction, the Doppler measurement value of the first arrival path (i.e., the first path), the Doppler measurement value of the target reflection path (i.e., the second path), the AoA measurement value of the LOS path, and the AoA measurement value of the target reflection path. That is, the first perception measurement result includes: the arrival angle θ of the first arrival path (i.e., the LoS path) L , the arrival angle of the target path θ R , the Doppler measurement value f of the LoS path dLOS , the Doppler measurement value of the target path f d0 ; Equipment information includes: terminal movement direction (in this embodiment, it is expressed as the angle θ with the positive direction of the x-axis v ). The Doppler value f caused by the target motion can be calculated by the first sensing measurement result and the device information. dT (Perception results after eliminating the effect of device motion):

[0368] According to the LoS angle θ L The angle θ between the terminal (terminal) motion direction and the positive direction of the x-axis v The angle between the LoS path and the terminal movement direction is calculated as Δθ1=θ L -θ v ;

[0369] Calculate the maximum Doppler value caused by terminal motion

[0370] According to the target diameter angle θ R The angle θ between the terminal motion direction and the positive direction of the x-axis v The calculated angle between the target diameter and the terminal motion direction is Δθ2 = θ R -θ v ;

[0371] Calculate the projection value f of the Doppler caused by the terminal motion on the target reflection path d1 =f dmax ·cosΔθ2;

[0372] Calculate the Doppler value f caused by target motion dT =f d0 -f d1 .

[0373] The angle information in this embodiment is all angle information relative to the global coordinate system. If the angle information measured by the terminal is angle information relative to the local coordinate system of the terminal, the angle information in the global coordinate system can be calculated through the conversion parameters between the local coordinate system and the global coordinate system, such as the rotation angle of the local coordinate system relative to the global coordinate system: α (bearing angle), β (downtilt angle) and γ (tilt angle).

[0374] Embodiment five:

[0375] This embodiment describes the perception result after calculating and eliminating the influence of device motion. In this embodiment, the clock deviation of the transceiver device is unknown and cannot be ignored relative to the perception measurement result.

[0376] In this embodiment, the clock deviation of the transceiver device is unknown and cannot be ignored relative to the perception measurement result. The process of calculating the perception result after eliminating the influence of device motion based on the device information and the first perception measurement result is described.

[0377] Likewise Figure 4 Take the scenario in as an example to illustrate, the perception result is calculated according to the terminal movement direction, movement speed, LoS path Doppler measurement value, target reflection path Doppler measurement value, LOS path AoA measurement value, and target reflection path AoA measurement value. That is, the first perception measurement result includes: the arrival angle θ of the first arrival path (LoS path in this implementation) L , the arrival angle of the target path θ R , the Doppler measurement value f of the LoS path dLOS (In this embodiment, the Doppler measurement value is the superposition of the Doppler projection value on the LoS path caused by the terminal movement and the frequency deviation value of the transceiver device), the Doppler measurement value f of the target path d0 ; Equipment information includes: terminal movement speed |v R | and the direction of motion (in this embodiment, it is expressed as the angle θ with the positive direction of the x-axis v ). There is a clock frequency deviation Δf between the transmitting and receiving devices. The Doppler value f caused by the target motion can be calculated by the first sensing measurement result and the device information. dT (Perception results after eliminating the effect of device motion):

[0378] According to the LoS angle θ L The angle θ between the terminal (terminal) motion direction and the positive direction of the x-axis v The angle between the LoS path and the terminal movement direction is calculated as Δθ1=θ L -θ v ;

[0379] Calculate the maximum Doppler value caused by terminal motion where f c is the center frequency of the carrier signal, c is the speed of light;

[0380] Calculate the projection value f of the Doppler caused by the terminal motion on the LoS path d1 =f dmax ·cosΔθ1

[0381] Calculate the clock frequency deviation of the transceiver device Δf = f dLOS -f d1

[0382] According to the target diameter angle θ R The angle θ between the terminal (terminal) motion direction and the positive direction of the x-axis v The calculated angle between the target diameter and the terminal motion direction is Δθ2 = θ R -θ v ;

[0383] Calculate the projection value f of the Doppler caused by the terminal motion on the target reflection path d2 =f dmax ·cosΔθ2;

[0384] Calculate the Doppler value f caused by target motion dT =f d0 -f d2 -Δf.

[0385] The embodiments of the present application can achieve a perception result after eliminating the influence of device motion based on the first perception measurement result and motion information obtained by the perception signal receiving device measuring the perception signal, and can solve the problem that device motion interferes with perception services such as dynamic target detection and Doppler measurement, resulting in poor perception performance.

[0386] The perception measurement result processing method provided in the embodiment of the present application may be executed by a perception measurement result processing device. In the embodiment of the present application, a perception measurement result sending device executing the perception measurement result processing method is taken as an example to illustrate the perception measurement result processing device provided in the embodiment of the present application.

[0387] The perception measurement result sending method provided in the embodiment of the present application may be executed by a perception measurement result sending device. In the embodiment of the present application, the perception measurement result sending method executed by the perception measurement result sending device is taken as an example to illustrate the perception measurement result sending device provided in the embodiment of the present application.

[0388] See also Fig. 9 , Fig. 9 is a structural diagram of a perception measurement result processing device provided in an embodiment of the present application, such as Fig. 9 As shown, the perception measurement result processing device 900 includes:

[0389] A first acquisition module 901 is used to acquire a first perception measurement result for a perception target;

[0390] A second acquisition module 902, configured to acquire motion information of a target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0391] The determination module 903 is configured to determine a second perception measurement result for the perception target based on the first perception measurement result and the motion information.

[0392] Optionally, the first acquisition module 901 is used to:

[0393] performing a perception measurement on the perception signal to obtain a first perception measurement result for a perception target; or

[0394] A first perception measurement result for a perception target sent by a second device is received.

[0395] Optionally, the first perception measurement result includes at least one of the following:

[0396] A Doppler measurement value of the perception signal and an angle measurement value of the perception signal.

[0397] Optionally, the Doppler measurement value of the sensing signal includes at least one of the following:

[0398] a Doppler measurement value of a first path of the sensed signal, a Doppler measurement value of a second path of the sensed signal, and a Doppler measurement value of a third path of the sensed signal;

[0399] Or, the angle measurement value of the perception signal includes at least one of the following

[0400] an angle measurement value of a first path of the perceived signal, an angle measurement value of a second path of the perceived signal, and an angle measurement value of a third path of the perceived signal;

[0401] The arrival time of the first path is earlier than the arrival times of the second path and the third path;

[0402] The second path is a signal path reflected by the sensing target;

[0403] The third path is a signal path reflected by the target object.

[0404] Optionally, the second acquisition module 902 is used for at least one of the following:

[0405] Measuring the signal sent by the target device to obtain motion information of the target device;

[0406] receiving movement information of the target device reported by the target device;

[0407] receiving motion information of the target device sent by the second device;

[0408] Acquiring motion information of the target device through a sensor;

[0409] Measuring a signal sent by a peer device of the target device to obtain motion information of the target device;

[0410] Calculating motion information of the target device based on the first perception measurement result;

[0411] The motion information of the target device is calculated based on the position information of the target device.

[0412] Optionally, the motion information includes at least one of the following:

[0413] Movement direction and speed.

[0414] Optionally, the determination module 903 is used to determine a second perception measurement result for the perception target based on the first perception measurement result, the motion information and the device information of the target device.

[0415] Optionally, the device information includes at least one of the following:

[0416] The location information of the target device, the orientation information of the target device, the coordinate information of the target device, the timestamp information of the target device, and the clock frequency deviation information;

[0417] Among them, the clock frequency deviation information includes: when the target device includes the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device includes the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

[0418] Optionally, the first device corresponding to the apparatus includes a core network element, and the target device includes a terminal or a network side device; or,

[0419] The first device includes a terminal, and the target device includes a network-side device, the first device, or another terminal; or,

[0420] The first device includes a network side device, and the target device includes a terminal, the first device or another network side device.

[0421] Optionally, when the first device includes a core network element, the apparatus further includes at least one of the following:

[0422] A third acquisition module is used to acquire capability information sent by the target device or a peer device of the target device;

[0423] A first sending module, used to send signal configuration information to the target device or a peer device of the target device;

[0424] The second sending module is configured to send measurement configuration information to the target device or an opposite end device of the target device.

[0425] Optionally, when the first device includes a terminal or a network side device, the apparatus further includes at least one of the following:

[0426] A third sending module is used to send capability information to a core network element;

[0427] A first receiving module, used to receive signal configuration information sent by a core network element;

[0428] The first receiving module is used to receive measurement configuration information sent by a core network element.

[0429] Optionally, the capability information includes at least one of the following:

[0430] Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, supported perception resource configurations.

[0431] Optionally, the measurement configuration information includes:

[0432] The measured signal resource indication, the sensing measurement quantity, the indication information used to indicate whether to report the sensor measurement result, the expected sensor type to be used, the expected sensor data type, and the measurement result reporting configuration.

[0433] Optionally, the measurement result reporting configuration includes at least one of the following:

[0434] Reporting resource configuration, reporting cycle, and reporting triggering events;

[0435] The triggering event includes at least one of the following:

[0436] Enter the target area;

[0437] Time to reach target;

[0438] The measurement result of the target signal reaches a first threshold;

[0439] The moving position exceeds a second threshold;

[0440] The change angle of the orientation exceeds a third threshold;

[0441] The movement speed exceeds the fourth threshold;

[0442] The environmental information changes meet the preset conditions.

[0443] Optionally, the second perception measurement result includes at least one of the following:

[0444] A target Doppler value, and sensing information calculated based on the target Doppler value.

[0445] Optionally, the determining a second perception measurement result for the perception target includes:

[0446] A motion interference elimination operation is performed on the first perception measurement result to obtain the second perception measurement result for the perception target.

[0447] Optionally, the first sensing measurement result includes a Doppler measurement value of a second path of the sensing signal, where the second path is a signal path reflected by the sensing target;

[0448] The motion interference elimination operation includes:

[0449] Calculate the Doppler projection value on the second path based on the motion information;

[0450] The second perception measurement result for the perception target is calculated based on the projection value and the Doppler measurement value of the second path.

[0451] Optionally, the calculating the second perception measurement result for the perception target based on the projection value and the Doppler measurement value of the second path includes:

[0452] Subtract the projection value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path; or,

[0453] Subtract the projection value and the frequency deviation value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path, wherein the frequency deviation value is a frequency deviation value of the transceiver device of the sensing signal;

[0454] The second sensing measurement result includes a target Doppler value of the second path.

[0455] Optionally, the first perception measurement result further includes an angle measurement value of a second path of the perception signal, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the second path, the motion direction, and the motion speed; or,

[0456] The first perception measurement result further includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein an arrival time of the first path is earlier than an arrival time of the second path, the motion information includes: a motion direction, and the projection value includes: a projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, and the motion direction; or,

[0457] The first perception measurement result also includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein an arrival time of the first path is earlier than an arrival time of the second path, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, the motion direction, and the motion speed.

[0458] The above-mentioned perception measurement result processing device can improve the reliability of the perception measurement result.

[0459] In the embodiment of the present application, the sensing measurement result processing device may be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. For example, the electronic device may be a terminal, or may be a device other than a terminal. Exemplarily, the terminal may include but is not limited to the types of terminals listed in the embodiment of the present application, and other devices may be servers, network attached storage (NAS), etc., which are not specifically limited in the embodiment of the present application.

[0460] The perception measurement result processing device provided in the embodiment of the present application can achieve Figure 3 The various processes implemented by the method embodiment shown achieve the same technical effect and will not be described again here to avoid repetition.

[0461] See also Fig.10 , Fig.10 is a structural diagram of a perception measurement result sending device provided in an embodiment of the present application, such as Fig.10 As shown, the perception measurement result sending device 1000 includes:

[0462] The first sending module 1001 is configured to send target information to the first device, where the target information includes at least one of the following:

[0463] a first perception measurement result for a perception target and motion information of a target device;

[0464] The first perception measurement result is a perception measurement result obtained by the second device performing perception measurement on the perception signal;

[0465] The target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0466] The target information is used to determine a second perception measurement result for the perception target.

[0467] Optionally, the first perception measurement result includes at least one of the following:

[0468] A Doppler measurement value of the perception signal and an angle measurement value of the perception signal.

[0469] Optionally, the Doppler measurement value of the sensing signal includes at least one of the following:

[0470] a Doppler measurement value of a first path of the sensed signal, a Doppler measurement value of a second path of the sensed signal, and a Doppler measurement value of a third path of the sensed signal;

[0471] Or, the angle measurement value of the perception signal includes at least one of the following

[0472] an angle measurement value of a first path of the perceived signal, an angle measurement value of a second path of the perceived signal, and an angle measurement value of a third path of the perceived signal;

[0473] The arrival time of the first path is earlier than the arrival times of the second path and the third path;

[0474] The second path is a signal path reflected by the sensing target;

[0475] The third path is a signal path reflected by the target object.

[0476] Optionally, the device further comprises at least one of the following:

[0477] A first measuring module, configured to measure a signal sent by the target device to obtain motion information of the target device;

[0478] An acquisition module, used for acquiring motion information of the target device through a sensor;

[0479] A second measurement module, configured to measure a signal sent by a peer device of the target device to obtain motion information of the target device;

[0480] A first calculation module, configured to calculate the motion information of the target device based on the first perception measurement result;

[0481] The second calculation module is used to calculate the motion information of the target device based on the position information of the target device.

[0482] Optionally, the motion information includes at least one of the following:

[0483] Movement direction and speed.

[0484] Optionally, the target information also includes device information of the target device.

[0485] Optionally, the device information includes at least one of the following:

[0486] The location information of the target device, the orientation information of the target device, the coordinate information of the target device, the timestamp information of the target device, and the clock frequency deviation information;

[0487] Among them, the clock frequency deviation information includes: when the target device is the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device is the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

[0488] Optionally, the target device is the second device; or,

[0489] The target device is a sending device of the perception signal, and the second device is a receiving device of the perception signal; or,

[0490] The target device is a receiving device of the perception signal, and the second device is a sending device of the perception signal.

[0491] Optionally, the device further comprises at least one of the following:

[0492] A second sending module, configured to send capability information of the first device;

[0493] A first receiving module, used to receive signal configuration information sent by the first device;

[0494] The second receiving module is configured to receive measurement configuration information sent by the first device.

[0495] Optionally, the capability information includes at least one of the following:

[0496] Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, supported perception resource configurations.

[0497] Optionally, the measurement configuration information includes:

[0498] The measured signal resource indication, the sensing measurement quantity, the indication information used to indicate whether to report the sensor measurement result, the expected sensor type to be used, the expected sensor data type, and the measurement result reporting configuration.

[0499] Optionally, the measurement result reporting configuration includes at least one of the following:

[0500] Reporting resource configuration, reporting cycle, and reporting triggering events;

[0501] The triggering event includes at least one of the following:

[0502] Enter the target area;

[0503] Time to reach target;

[0504] The measurement result of the target signal reaches a first threshold;

[0505] The moving position exceeds a second threshold;

[0506] The change angle of the orientation exceeds a third threshold;

[0507] The movement speed exceeds the fourth threshold;

[0508] The environmental information changes meet the preset conditions.

[0509] The above-mentioned perception measurement result sending device can improve the reliability of the perception measurement result.

[0510] The sensing measurement result sending device in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device may be a terminal or a network side device.

[0511] The sensing measurement result sending device provided in the embodiment of the present application can achieve Figure 5 The various processes implemented by the method embodiment shown achieve the same technical effect and will not be described again here to avoid repetition.

[0512] Optional, such as Fig.11As shown, the embodiment of the present application further provides a communication device 1100, including a processor 1101 and a memory 1102, and the memory 1102 stores a program or instruction that can be run on the processor 1101. For example, when the communication device 1100 is a first device, the program or instruction is executed by the processor 1101 to implement the various steps of the above-mentioned perception measurement result processing method embodiment, and can achieve the same technical effect. When the communication device 1100 is a second device, the program or instruction is executed by the processor 1101 to implement the various steps of the above-mentioned perception measurement result sending method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0513] The embodiment of the present application also provides a communication device, including a processor and a communication interface, wherein the processor or the communication interface is used to obtain a first perception measurement result for a perception target; obtain motion information of a target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result; the processor is used to determine a second perception measurement result for the perception target based on the first perception measurement result and the motion information. This communication device embodiment corresponds to the above-mentioned perception measurement result processing method embodiment, and each implementation process and implementation method of the above-mentioned method embodiment can be applied to the communication device embodiment, and can achieve the same technical effect.

[0514] Specifically, Fig.12 A schematic diagram of the hardware structure of a device for implementing an embodiment of the present application, wherein the device is a first device or a second device.

[0515] The device 1200 includes but is not limited to: a radio frequency unit 1201, a network module 1202, an audio output unit 1203, an input unit 1204, a sensor 1205, a display unit 1206, a user input unit 1207, an interface unit 1208, a memory 1209 and at least some of the components of a processor 1210.

[0516] Those skilled in the art will appreciate that the device 1200 may also include a power source (such as a battery) for supplying power to each component, and the power source may be logically connected to the processor 1210 through a power management system, thereby implementing functions such as managing charging, discharging, and power consumption management through the power management system. Fig.12 The device structure shown in the figure does not constitute a limitation of the device. The device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently, which will not be described in detail here.

[0517] It should be understood that in the embodiment of the present application, the input unit 1204 may include a graphics processing unit (GPU) 12041 and a microphone 12042, and the graphics processing unit 12041 processes the image data of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 1206 may include a display panel 12061, and the display panel 12061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 1207 includes a touch panel 12071 and at least one of other input devices 12072. The touch panel 12071 is also called a touch screen. The touch panel 12071 may include two parts: a touch detection device and a touch controller. Other input devices 12072 may include, but are not limited to, a physical keyboard, function keys (such as a volume control button, a switch button, etc.), a trackball, a mouse, and a joystick, which will not be repeated here.

[0518] In the embodiment of the present application, after receiving downlink data from the network side device, the RF unit 1201 can transmit the data to the processor 1210 for processing; in addition, the RF unit 1201 can send uplink data to the network side device. Generally, the RF unit 1201 includes but is not limited to an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.

[0519] The memory 1209 can be used to store software programs or instructions and various data. The memory 1209 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instruction required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory 1209 may include a volatile memory or a non-volatile memory, or the memory 1209 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), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM). The memory 1209 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0520] The processor 1210 may include one or more processing units; optionally, the processor 1210 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor 1210.

[0521] In this embodiment, the above device is taken as the first device, and the first device is taken as the terminal for illustration.

[0522] The radio frequency unit 1201 is configured to obtain a first sensing measurement result for a sensing target;

[0523] The radio frequency unit 1201 or the processor 1210 is configured to obtain motion information of a target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0524] The processor 1210 is configured to determine a second perception measurement result for the perception target based on the first perception measurement result and the motion information.

[0525] Optionally, the obtaining a first perception measurement result for a perception target includes:

[0526] performing a perception measurement on the perception signal to obtain a first perception measurement result for a perception target; or

[0527] A first perception measurement result for a perception target sent by a second device is received.

[0528] Optionally, the first perception measurement result includes at least one of the following:

[0529] A Doppler measurement value of the perception signal and an angle measurement value of the perception signal.

[0530] Optionally, the Doppler measurement value of the sensing signal includes at least one of the following:

[0531] a Doppler measurement value of a first path of the sensed signal, a Doppler measurement value of a second path of the sensed signal, and a Doppler measurement value of a third path of the sensed signal;

[0532] Or, the angle measurement value of the perception signal includes at least one of the following

[0533] an angle measurement value of a first path of the perceived signal, an angle measurement value of a second path of the perceived signal, and an angle measurement value of a third path of the perceived signal;

[0534] The arrival time of the first path is earlier than the arrival times of the second path and the third path;

[0535] The second path is a signal path reflected by the sensing target;

[0536] The third path is a signal path reflected by the target object.

[0537] Optionally, the acquiring the motion information of the target device includes at least one of the following:

[0538] Measuring the signal sent by the target device to obtain motion information of the target device;

[0539] receiving movement information of the target device reported by the target device;

[0540] receiving motion information of the target device sent by the second device;

[0541] Acquiring motion information of the target device through a sensor;

[0542] Measuring a signal sent by a peer device of the target device to obtain motion information of the target device;

[0543] Calculating motion information of the target device based on the first perception measurement result;

[0544] The motion information of the target device is calculated based on the position information of the target device.

[0545] Optionally, the motion information includes at least one of the following:

[0546] Movement direction and speed.

[0547] Optionally, the determining, based on the first perception measurement result and the motion information, a second perception measurement result for the perception target includes:

[0548] Based on the first perception measurement result, the motion information, and the device information of the target device, a second perception measurement result for the perception target is determined.

[0549] Optionally, the device information includes at least one of the following:

[0550] The location information of the target device, the orientation information of the target device, the coordinate information of the target device, the timestamp information of the target device, and the clock frequency deviation information;

[0551] Among them, the clock frequency deviation information includes: when the target device includes the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device includes the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

[0552] Optionally, the first device includes a core network element, and the target device includes a terminal or a network side device; or,

[0553] The first device includes a terminal, and the target device includes a network-side device, the first device, or another terminal; or,

[0554] The first device includes a network side device, and the target device includes a terminal, the first device or another network side device.

[0555] Optionally, when the first device includes a core network element, the radio frequency unit 1201 is further used for at least one of the following:

[0556] Acquire capability information sent by the target device or a peer device of the target device;

[0557] Sending signal configuration information to the target device or a peer device of the target device;

[0558] Send measurement configuration information to the target device or a peer device of the target device.

[0559] Optionally, when the first device includes a terminal or a network side device, the radio frequency unit 1201 is further used for at least one of the following:

[0560] Send capability information to core network elements;

[0561] Receive signal configuration information sent by core network elements;

[0562] Receive measurement configuration information sent by the core network element.

[0563] Optionally, the capability information includes at least one of the following:

[0564] Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, supported perception resource configurations.

[0565] Optionally, the measurement configuration information includes:

[0566] The measured signal resource indication, the sensing measurement quantity, the indication information used to indicate whether to report the sensor measurement result, the expected sensor type to be used, the expected sensor data type, and the measurement result reporting configuration.

[0567] Optionally, the measurement result reporting configuration includes at least one of the following:

[0568] Reporting resource configuration, reporting cycle, and reporting triggering events;

[0569] The triggering event includes at least one of the following:

[0570] Enter the target area;

[0571] Time to reach target;

[0572] The measurement result of the target signal reaches a first threshold;

[0573] The moving position exceeds a second threshold;

[0574] The change angle of the orientation exceeds a third threshold;

[0575] The movement speed exceeds the fourth threshold;

[0576] The environmental information changes meet the preset conditions.

[0577] Optionally, the second perception measurement result includes at least one of the following:

[0578] A target Doppler value, and sensing information calculated based on the target Doppler value.

[0579] Optionally, the determining a second perception measurement result for the perception target includes:

[0580] A motion interference elimination operation is performed on the first perception measurement result to obtain the second perception measurement result for the perception target.

[0581] Optionally, the first sensing measurement result includes a Doppler measurement value of a second path of the sensing signal, where the second path is a signal path reflected by the sensing target;

[0582] The motion interference elimination operation includes:

[0583] Calculate the Doppler projection value on the second path based on the motion information;

[0584] The second perception measurement result for the perception target is calculated based on the projection value and the Doppler measurement value of the second path.

[0585] Optionally, the calculating the second perception measurement result for the perception target based on the projection value and the Doppler measurement value of the second path includes:

[0586] Subtract the projection value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path; or,

[0587] Subtract the projection value and the frequency deviation value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path, wherein the frequency deviation value is a frequency deviation value of the transceiver device of the sensing signal;

[0588] The second sensing measurement result includes a target Doppler value of the second path.

[0589] Optionally, the first perception measurement result further includes an angle measurement value of a second path of the perception signal, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the second path, the motion direction, and the motion speed; or,

[0590] The first perception measurement result further includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein an arrival time of the first path is earlier than an arrival time of the second path, the motion information includes: a motion direction, and the projection value includes: a projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, and the motion direction; or,

[0591] The first perception measurement result also includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein an arrival time of the first path is earlier than an arrival time of the second path, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, the motion direction, and the motion speed.

[0592] The above-mentioned devices can improve the reliability of the perception measurement results.

[0593] It can be understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant description of the above-mentioned perception measurement result sending method, and achieve the same or corresponding technical effect. To avoid repetition, it will not be repeated here.

[0594] It should be noted that the above device can also realize Figure 5 The steps in the method shown may be implemented Fig.10 The methods executed by each module shown.

[0595] The embodiment of the present application also provides a device, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the following Figure 5 The steps of the method embodiment shown. This device embodiment corresponds to the above-mentioned method for sending the perception measurement result, and each implementation process and implementation mode of the above-mentioned method embodiment can be applied to the device embodiment and can achieve the same technical effect.

[0596] An embodiment of the present application also provides a device, including a processor and a communication interface, wherein the communication interface is used to send target information to a first device, and the target information includes at least one of the following: a first perception measurement result for a perception target and motion information of the target device; wherein the first perception measurement result is a perception measurement result obtained by the second device performing a perception measurement on a perception signal; the target device includes a sending device or a receiving device of the perception signal corresponding to the first perception measurement result; and the target information is used to determine a second perception measurement result for the perception target.

[0597] Specifically, the embodiment of the present application further provides a device, which is a first device or a second device. Fig.13 As shown, the device 1300 includes: an antenna 1301, a radio frequency device 1302, a baseband device 1303, a processor 1304 and a memory 1305. The antenna 1301 is connected to the radio frequency device 1302. In the uplink direction, the radio frequency device 1302 receives information through the antenna 1301 and sends the received information to the baseband device 1303 for processing. In the downlink direction, the baseband device 1303 processes the information to be sent and sends it to the radio frequency device 1302, and the radio frequency device 1302 processes the received information and sends it out through the antenna 1301.

[0598] The perception measurement method in the above embodiment may be implemented in the baseband device 1303, which includes a baseband processor.

[0599] The baseband device 1303 may include, for example, at least one baseband board on which a plurality of chips are arranged. Fig.13 As shown, one of the chips is, for example, a baseband processor, which is connected to the memory 1305 through a bus interface to call the program in the memory 1305 to execute the device operations shown in the above method embodiment.

[0600] The device may further include a network interface 1306, which may be, for example, a Common Public Radio Interface (CPRI).

[0601] Specifically, the device 1300 of the embodiment of the present application further includes: instructions or programs stored in the memory 1305 and executable on the processor 1304, and the processor 1304 calls the instructions or programs in the memory 1305 to execute. Fig. 9 or Fig.10 The methods executed by the modules shown achieve the same technical effects, and therefore will not be described here in detail to avoid repetition.

[0602] In this embodiment, the above device is taken as an example as the second device.

[0603] The radio frequency device 1302 is used for the second device to send target information to the first device, and the target information includes at least one of the following:

[0604] a first perception measurement result for a perception target and motion information of a target device;

[0605] The first perception measurement result is a perception measurement result obtained by the second device performing perception measurement on the perception signal;

[0606] The target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0607] The target information is used to determine a second perception measurement result for the perception target.

[0608] Optionally, the first perception measurement result includes at least one of the following:

[0609] A Doppler measurement value of the perception signal and an angle measurement value of the perception signal.

[0610] Optionally, the Doppler measurement value of the sensing signal includes at least one of the following:

[0611] a Doppler measurement value of a first path of the sensed signal, a Doppler measurement value of a second path of the sensed signal, and a Doppler measurement value of a third path of the sensed signal;

[0612] Or, the angle measurement value of the perception signal includes at least one of the following

[0613] an angle measurement value of a first path of the perceived signal, an angle measurement value of a second path of the perceived signal, and an angle measurement value of a third path of the perceived signal;

[0614] The arrival time of the first path is earlier than the arrival times of the second path and the third path;

[0615] The second path is a signal path reflected by the sensing target;

[0616] The third path is a signal path reflected by the target object.

[0617] Optionally, the radio frequency device 1302 or the processor 1304 is further configured to:

[0618] Measuring the signal sent by the target device to obtain motion information of the target device;

[0619] Acquiring motion information of the target device through a sensor;

[0620] Measuring a signal sent by a peer device of the target device to obtain motion information of the target device;

[0621] Calculating motion information of the target device based on the first perception measurement result;

[0622] The motion information of the target device is calculated based on the position information of the target device.

[0623] Optionally, the motion information includes at least one of the following:

[0624] Movement direction and speed.

[0625] Optionally, the target information also includes device information of the target device.

[0626] Optionally, the device information includes at least one of the following:

[0627] The location information of the target device, the orientation information of the target device, the coordinate information of the target device, the timestamp information of the target device, and the clock frequency deviation information;

[0628] Among them, the clock frequency deviation information includes: when the target device is the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device is the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

[0629] Optionally, the target device is the second device; or,

[0630] The target device is a sending device of the perception signal, and the second device is a receiving device of the perception signal; or,

[0631] The target device is a receiving device of the perception signal, and the second device is a sending device of the perception signal.

[0632] Optionally, the radio frequency device 1302 is further used for at least one of the following:

[0633] capability information to the first device;

[0634] Receiving signal configuration information sent by the first device;

[0635] Receive measurement configuration information sent by the first device.

[0636] Optionally, the capability information includes at least one of the following:

[0637] Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, supported perception resource configurations.

[0638] Optionally, the measurement configuration information includes:

[0639] The measured signal resource indication, the sensing measurement quantity, the indication information used to indicate whether to report the sensor measurement result, the expected sensor type to be used, the expected sensor data type, and the measurement result reporting configuration.

[0640] Optionally, the measurement result reporting configuration includes at least one of the following:

[0641] Reporting resource configuration, reporting cycle, and reporting triggering events;

[0642] The triggering event includes at least one of the following:

[0643] Enter the target area;

[0644] Time to reach target;

[0645] The measurement result of the target signal reaches a first threshold;

[0646] The moving position exceeds a second threshold;

[0647] The change angle of the orientation exceeds a third threshold;

[0648] The movement speed exceeds the fourth threshold;

[0649] The environmental information changes meet the preset conditions.

[0650] The above-mentioned devices can improve the reliability of the perception measurement results.

[0651] It can be understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant description of the above-mentioned method embodiment, and achieve the same or corresponding technical effect. To avoid repetition, it will not be repeated here.

[0652] It should be noted that the above device can also realize Figure 3 The steps in the method shown may be implemented Fig. 9 The methods executed by each module shown.

[0653] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned perception measurement result processing method or perception measurement result sending method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0654] The processor is the processor in the terminal described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk. In some examples, the readable storage medium may be a non-transient readable storage medium.

[0655] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the various processes of the above-mentioned perception measurement result processing method or perception measurement result sending method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0656] 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.

[0657] An embodiment of the present application further provides a computer program / program product, which is stored in a storage medium, and is executed by at least one processor to implement the various processes of the above-mentioned perception measurement result processing method or perception measurement result sending method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0658] An embodiment of the present application further provides a wireless communication system, including: a first device and a second device, wherein the first device can be used to execute the steps of the perception measurement result processing method provided in the embodiment of the present application, and the second device can be used to execute the steps of the perception measurement result sending method provided in the embodiment of the present application.

[0659] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0660] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of a computer software product plus a necessary general hardware platform, and of course, can also be implemented by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, disk, CD, etc.), including several instructions to enable a terminal or a network-side device to execute the methods described in each embodiment of the present application.

[0661] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms of implementation methods without departing from the purpose of the present application and the scope of protection of the claims, and these implementation methods are all within the protection of the present application.

Claims

1. A method for processing perception measurement results, characterized in that: include: The first device obtains a first perception measurement result for a perception target; The first device acquires motion information of a target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result; The first device determines a second perception measurement result for the perception target based on the first perception measurement result and the motion information.

2. The method according to claim 1, characterized in that The first device obtains a first perception measurement result for a perception target, including: The first device performs perception measurement on the perception signal to obtain a first perception measurement result for a perception target; or The first device receives a first perception measurement result for a perception target sent by a second device.

3. The method according to claim 1 or 2, characterized in that The first perception measurement result includes at least one of the following: A Doppler measurement value of the perception signal and an angle measurement value of the perception signal.

4. The method according to claim 3, characterized in that The Doppler measurement value of the sensing signal includes at least one of the following: a Doppler measurement value of a first path of the sensed signal, a Doppler measurement value of a second path of the sensed signal, and a Doppler measurement value of a third path of the sensed signal; Or, the angle measurement value of the perception signal includes at least one of the following an angle measurement value of a first path of the perceived signal, an angle measurement value of a second path of the perceived signal, and an angle measurement value of a third path of the perceived signal; The arrival time of the first path is earlier than the arrival times of the second path and the third path; The second path is a signal path reflected by the sensing target; The third path is a signal path reflected by the target object.

5. The method according to any one of claims 1 to 4, characterized in that The first device acquires motion information of the target device, including at least one of the following: The first device measures the signal sent by the target device to obtain motion information of the target device; The first device receives the motion information of the target device reported by the target device; The first device receives the motion information of the target device sent by the second device; The first device obtains the motion information of the target device through a sensor; The first device measures a signal sent by a peer device of the target device to obtain motion information of the target device; The first device calculates motion information of the target device based on the first perception measurement result; The first device calculates motion information of the target device based on the location information of the target device.

6. The method according to any one of claims 1 to 5, characterized in that The motion information includes at least one of the following: Movement direction and speed.

7. The method according to any one of claims 1 to 6, characterized in that The first device determines, based on the first perception measurement result and the motion information, a second perception measurement result for the perception target, including: The first device determines a second perception measurement result for the perception target based on the first perception measurement result, the motion information, and the device information of the target device.

8. The method according to claim 7, characterized in that The device information includes at least one of the following: The location information of the target device, the orientation information of the target device, the coordinate information of the target device, the timestamp information of the target device, and the clock frequency deviation information; Among them, the clock frequency deviation information includes: when the target device includes the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device includes the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

9. The method according to any one of claims 1 to 8, characterized in that The first device includes a core network element, and the target device includes a terminal or a network side device; or, The first device includes a terminal, and the target device includes a network-side device, the first device, or another terminal; or, The first device includes a network side device, and the target device includes a terminal, the first device or another network side device.

10. The method according to claim 9, characterized in that In the case where the first device includes a core network element, the method further includes at least one of the following: The first device obtains capability information sent by the target device or a peer device of the target device; The first device sends signal configuration information to the target device or a peer device of the target device; The first device sends measurement configuration information to the target device or an opposite end device of the target device.

11. The method according to claim 9, characterized in that In the case where the first device includes a terminal or a network side device, the method further includes at least one of the following: The first device sends capability information to a core network element; The first device receives signal configuration information sent by a core network element; The first device receives measurement configuration information sent by a core network element.

12. The method according to claim 10 or 11, characterized in that The capability information includes at least one of the following: Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, supported perception resource configurations.

13. The method according to any one of claims 10 to 12, characterized in that The measurement configuration information includes: The measured signal resource indication, the perceived measurement quantity, the indication information used to indicate whether to report the sensor measurement result, the expected sensor type to be used, the expected sensor data type, and the measurement result reporting configuration.

14. The method according to claim 13, characterized in that The measurement result reporting configuration includes at least one of the following: Reporting resource configuration, reporting cycle, and reporting triggering events; The triggering event includes at least one of the following: Enter the target area; Time to reach target; The measurement result of the target signal reaches a first threshold; The moving position exceeds a second threshold; The change angle of the orientation exceeds a third threshold; The movement speed exceeds the fourth threshold; The environmental information changes meet the preset conditions.

15. The method according to any one of claims 1 to 14, characterized in that The second perception measurement result includes at least one of the following: A target Doppler value, and sensing information calculated based on the target Doppler value.

16. The method according to any one of claims 1 to 15, characterized in that The determining a second perception measurement result for the perception target includes: A motion interference elimination operation is performed on the first perception measurement result to obtain the second perception measurement result for the perception target.

17. The method according to claim 16, characterized in that The first sensing measurement result includes a Doppler measurement value of a second path of the sensing signal, where the second path is a signal path reflected by the sensing target; The motion interference elimination operation includes: Calculate the Doppler projection value on the second path based on the motion information; The second perception measurement result for the perception target is calculated based on the projection value and the Doppler measurement value of the second path.

18. The method according to claim 17, characterized in that The calculating, based on the projection value and the Doppler measurement value of the second path, the second perception measurement result for the perception target includes: Subtract the projection value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path; or, Subtract the projection value and the frequency deviation value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path, wherein the frequency deviation value is a frequency deviation value of the transceiver device of the sensing signal; The second sensing measurement result includes a target Doppler value of the second path.

19. The method according to claim 17 or 18, characterized in that The first perception measurement result further includes an angle measurement value of a second path of the perception signal, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the second path, the motion direction and the motion speed; or The first perception measurement result further includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein an arrival time of the first path is earlier than an arrival time of the second path, the motion information includes: a motion direction, and the projection value includes: a projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, and the motion direction; or, The first perception measurement result also includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein an arrival time of the first path is earlier than an arrival time of the second path, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, the motion direction, and the motion speed.

20. A method for sending a perception measurement result, characterized in that: include: The second device sends target information to the first device, where the target information includes at least one of the following: a first perception measurement result for a perception target and motion information of a target device; The first perception measurement result is a perception measurement result obtained by the second device performing perception measurement on the perception signal; The target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result; The target information is used to determine a second perception measurement result for the perception target.

21. The method of claim 20, wherein: The first perception measurement result includes at least one of the following: A Doppler measurement value of the perception signal and an angle measurement value of the perception signal.

22. The method according to claim 21, characterized in that The Doppler measurement value of the sensing signal includes at least one of the following: a Doppler measurement value of a first path of the sensed signal, a Doppler measurement value of a second path of the sensed signal, and a Doppler measurement value of a third path of the sensed signal; Or, the angle measurement value of the perception signal includes at least one of the following an angle measurement value of a first path of the perceived signal, an angle measurement value of a second path of the perceived signal, and an angle measurement value of a third path of the perceived signal; The arrival time of the first path is earlier than the arrival times of the second path and the third path; The second path is a signal path reflected by the sensing target; The third path is a signal path reflected by the target object.

23. The method according to any one of claims 20 to 22, characterized in that The method further comprises at least one of the following: The second device measures the signal sent by the target device to obtain motion information of the target device; The second device obtains the motion information of the target device through a sensor; The second device measures a signal sent by a peer device of the target device to obtain movement information of the target device; The second device calculates the motion information of the target device based on the first perception measurement result; The second device calculates motion information of the target device based on the location information of the target device.

24. The method according to any one of claims 20 to 23, characterized in that The motion information includes at least one of the following: Movement direction and speed.

25. The method according to any one of claims 20 to 24, characterized in that The target information also includes device information of the target device.

26. The method of claim 25, wherein: The device information includes at least one of the following: The location information of the target device, the orientation information of the target device, the coordinate information of the target device, the timestamp information of the target device, and the clock frequency deviation information; Among them, the clock frequency deviation information includes: when the target device is the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device is the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

27. The method according to any one of claims 20 to 26, characterized in that The target device is the second device; or, The target device is a sending device of the perception signal, and the second device is a receiving device of the perception signal; or, The target device is a receiving device of the perception signal, and the second device is a sending device of the perception signal.

28. The method according to any one of claims 20 to 27, characterized in that The method further comprises at least one of the following: capability information of the second device to the first device; The second device receives the signal configuration information sent by the first device; The second device receives the measurement configuration information sent by the first device.

29. The method of claim 28, wherein: The capability information includes at least one of the following: Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, supported perception resource configurations.

30. The method according to claim 28 or 29, characterized in that The measurement configuration information includes: The measured signal resource indication, the perceived measurement quantity, the indication information used to indicate whether to report the sensor measurement result, the expected sensor type to be used, the expected sensor data type, and the measurement result reporting configuration.

31. The method of claim 30, wherein: The measurement result reporting configuration includes at least one of the following: Reporting resource configuration, reporting cycle, and reporting triggering events; The triggering event includes at least one of the following: Enter the target area; Time to reach target; The measurement result of the target signal reaches a first threshold; The moving position exceeds a second threshold; The change angle of the orientation exceeds a third threshold; The movement speed exceeds the fourth threshold; The environmental information changes meet the preset conditions.

32. A perception measurement result processing device, characterized in that: include: A first acquisition module, used to acquire a first perception measurement result for a perception target; A second acquisition module, configured to acquire motion information of a target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result; A determination module is used to determine a second perception measurement result for the perception target based on the first perception measurement result and the motion information.

33. A device for sending a perception measurement result, characterized in that: include: The first sending module is configured to send target information to the first device, where the target information includes at least one of the following: a first perception measurement result for a perception target and motion information of a target device; The first perception measurement result is a perception measurement result obtained by the second device performing perception measurement on the perception signal; The target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result; The target information is used to determine a second perception measurement result for the perception target.

34. A device, characterized in that The method comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the method for processing the perception measurement result according to any one of claims 1 to 19 are implemented, or when the program or instruction is executed by the processor, the steps of the method for sending the perception measurement result according to any one of claims 20 to 31 are implemented.

35. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by the processor, the steps of the method for processing the perception measurement result according to any one of claims 1 to 19 are implemented, or the steps of the method for sending the perception measurement result according to any one of claims 20 to 31 are implemented.

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