Transmission method and device of sensing signal

Abstract

The embodiment of the invention provides a sensing signal transmission method and device, and the method comprises the steps: determining the resource information of a sensing signal, and the resource information comprises at least one of the following items: the initial position of the sensing signal, the number of time units of the sensing signal, and the number of time units of the sensing signal; the length of a first blank time unit after the time unit of the sensing signal; wherein the first blank time unit is used for at least one of the following items: switching from sending to receiving, and receiving an echo signal of the sensing signal; and sending the sensing signal based on the resource information.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a method and device for transmitting a perception signal. Background Art

[0002] The frame structure of communication-aware fusion is a communication-aware time-division frame structure, that is, the perception or communication function is realized in different time slots or symbols respectively.

[0003] The current frame structure design of the perception signal is only applicable to the pure dual-base mode. When applied to the single-base mode or the single-base-dual-base mixed mode, the perception signal cannot be sent and received normally, resulting in a decrease in perception performance. Summary of the invention

[0004] The embodiments of the present application provide a method and device for transmitting a perception signal, so as to solve the defect of reduced perception performance in the prior art and improve the perception performance.

[0005] In a first aspect, an embodiment of the present application provides a method for transmitting a perception signal, which is applied to a first communication device, and the method includes:

[0006] Determine resource information of the perception signal, the resource information including at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; wherein the first blank time unit is used for at least one of the following: switching from a transmission unit to a reception unit, and receiving an echo signal of the perception signal;

[0007] Based on the resource information, the perception signal is sent.

[0008] Optionally, according to a method for transmitting a perceptual signal in an embodiment of the present application, the method further includes:

[0009] An echo signal of the perception signal is received during the first blank time unit.

[0010] Optionally, according to a method for transmitting a perceptual signal in an embodiment of the present application, the method further includes:

[0011] obtaining a first sending timing advance TA of the perception signal, and / or,

[0012] The length of a second blank time unit before the time unit of the perception signal is obtained.

[0013] Optionally, according to a method for transmitting a perception signal in an embodiment of the present application, when the first communication device includes a terminal, the acquiring a first sending timing advance TA of the perception signal includes:

[0014] receiving TA information sent by a network side device, and determining a first TA of the perception signal based on the TA information;

[0015] The TA information includes one or more of the following:

[0016] the first TA; or,

[0017] A second TA for sending messages or data; or

[0018] A timing advance offset is an offset of the first TA relative to the second TA.

[0019] Optionally, according to a method for transmitting a perception signal in an embodiment of the present application, when the first communication device includes a terminal, determining resource information of the perception signal includes:

[0020] Receive resource configuration information of the perception signal sent by the network side device;

[0021] Based on the resource configuration information, resource information of the perception signal is determined.

[0022] Optionally, according to a method for transmitting a perception signal in an embodiment of the present application, the determining resource information of the perception signal includes:

[0023] When it is determined based on the resource configuration information that the number of time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0024] Optionally, according to a method for transmitting a perception signal in an embodiment of the present application, the determining resource information of the perception signal includes:

[0025] When it is determined that the length of the first blank time unit is greater than 0 based on the resource configuration information, the number of time units of the perception signal is determined to be 1.

[0026] Optionally, according to the method for transmitting a perception signal in an embodiment of the present application, when the first communication device includes a terminal, the method further includes:

[0027] Determine whether to send a message or data in the time unit of the sensing signal.

[0028] Optionally, according to a method for transmitting a perception signal in an embodiment of the present application, the determining whether to send a message or data in a time unit of the perception signal includes:

[0029] Based on the first TA and the second TA, it is determined whether to send the message or data in the time unit of the sensing signal.

[0030] Optionally, for the method of transmitting a sensing signal according to an embodiment of the present application, determining whether to send the message or data on the time unit of the sensing signal based on the first TA and the second TA includes one or more of the following:

[0031] When the absolute value of the difference between the first TA and the second TA is less than or equal to a preset threshold, determining to send the message or data on the time unit of the sensing signal; or,

[0032] When the absolute value of the difference between the first TA and the first value is less than or equal to a preset threshold, determining to send the message or data on the time unit of the sensing signal; wherein, the first value is calculated based on the second TA.

[0033] Optionally, for the method of transmitting a sensing signal according to an embodiment of the present application, when the first communication device includes a first network-side device and the receiving node of the sensing signal includes a first network-side device or a second network-side device, the method further includes:

[0034] Before sending the sensing signal, determining whether the time unit of the sensing signal belongs to an uplink time unit or a downlink time unit.

[0035] Optionally, for the method of transmitting a sensing signal according to an embodiment of the present application, determining whether the time unit of the sensing signal belongs to an uplink time unit or a downlink time unit includes:

[0036] Based on protocol predefinition, determining that the time unit of the sensing signal belongs to a downlink time unit; or,

[0037] Based on attribute indication information, determining that the time unit of the sensing signal belongs to an uplink time unit and / or a downlink time unit.

[0038] Optionally, for the method of transmitting a sensing signal according to an embodiment of the present application, the length of the second blank time unit is an integer multiple of the length of one time unit;

[0039] And / or,

[0040] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of the length of one time unit.

[0041] Optionally, for the method of transmitting a sensing signal according to an embodiment of the present application, when the length of the second blank time unit is not an integer multiple of the length of one time unit, the time unit of the sensing signal is not used for sending or receiving messages or data.

[0042] Optionally, according to the method for transmitting a perception signal in an embodiment of the present application, when the first communication device includes a terminal, the method further includes:

[0043] A message or data is sent at the time unit of the sensing signal.

[0044] Optionally, according to a method for transmitting a perceptual signal in an embodiment of the present application, the method further includes:

[0045] Obtain characteristic parameters or model parameters of the perceived object;

[0046] In the case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

[0047] In a second aspect, an embodiment of the present application further provides a method for transmitting a perception signal, which is applied to a second communication device, and the method includes:

[0048] Determine resource information of the perception signal, the resource information comprising at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal;

[0049] Based on the resource information, the perception signal is received.

[0050] Optionally, according to a method for transmitting a perceptual signal in an embodiment of the present application, the method further includes:

[0051] The length of a second blank time unit before the time unit of the perception signal is obtained.

[0052] Optionally, according to a method for transmitting a perceptual signal in an embodiment of the present application, the method further includes:

[0053] No message or data is received on the first blank time unit or the second blank time unit.

[0054] Optionally, according to the method for transmitting a perception signal in an embodiment of the present application, when the second communication device includes a terminal, the method further includes:

[0055] A message or data is received at the time unit of the sensing signal.

[0056] Optionally, according to a method for transmitting a perception signal in an embodiment of the present application, the determining resource information of the perception signal includes:

[0057] Receive resource configuration information of the perception signal sent by the network side device;

[0058] Based on the resource configuration information, resource information of the perception signal is determined.

[0059] Optionally, according to a method for transmitting a perception signal in an embodiment of the present application, the determining resource information of the perception signal includes:

[0060] When it is determined based on the resource configuration information that the number of time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0061] Optionally, according to a method for transmitting a perception signal in an embodiment of the present application, the determining resource information of the perception signal includes:

[0062] When it is determined that the length of the first blank time unit is greater than 0 based on the resource configuration information, the number of time units of the perception signal is determined to be 1.

[0063] Optionally, according to a method for transmitting a perceptual signal in an embodiment of the present application, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0064] and / or,

[0065] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of a time unit length.

[0066] Optionally, according to a method for transmitting a perception signal in an embodiment of the present application, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0067] Optionally, according to a method for transmitting a perceptual signal in an embodiment of the present application, the method further includes:

[0068] Obtain characteristic parameters or model parameters of the perceived object;

[0069] In the case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

[0070] In a third aspect, an embodiment of the present application further provides a first communication device, including a memory, a transceiver, and a processor, wherein:

[0071] A memory for storing a computer program; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer program in the memory and implementing the steps of the method for transmitting a perception signal as described in the first aspect above.

[0072] In a fourth aspect, an embodiment of the present application further provides a second communication device, including a memory, a transceiver, and a processor, wherein:

[0073] A memory for storing a computer program; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer program in the memory and implementing the steps of the method for transmitting a perception signal as described in the second aspect above.

[0074] In a fifth aspect, an embodiment of the present application further provides a transmission device for a perception signal, the transmission device for a perception signal comprising:

[0075] A first determining module is configured to determine resource information of a perception signal, wherein the resource information includes at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; wherein the first blank time unit is used for at least one of the following: switching from a transmission unit to a reception unit, and receiving an echo signal of the perception signal;

[0076] The first sending module is used to send the perception signal based on the resource information.

[0077] In a sixth aspect, an embodiment of the present application further provides a transmission device for a perception signal, the transmission device for a perception signal comprising:

[0078] A second determination module is configured to determine resource information of the perception signal, wherein the resource information includes at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal;

[0079] The first receiving module is used to receive the perception signal based on the resource information.

[0080] In a seventh aspect, an embodiment of the present application further provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the steps of the method for transmitting a perception signal as described in the first aspect above.

[0081] In an eighth aspect, an embodiment of the present application further provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the steps of the method for transmitting a perception signal as described in the second aspect above.

[0082] The method and device for transmitting a sensing signal provided by an embodiment of the present application reserve the length of a first blank time unit after a time unit of the sensing signal for transmitting receive switching and / or receiving an echo signal of the sensing signal, so as to enable the effective progress of sensing services in a monostatic mode or a hybrid mode of monostatic-bistatic, and improve sensing performance. Description of the Drawings

[0083] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0084] Figure 1 is a schematic diagram of bistatic and monostatic sensing classification provided by the related art;

[0085] Figure 2 is a schematic diagram of a hybrid mode provided by the related art;

[0086] Figure 3 is a schematic structural diagram of a single-column sensing symbol and a multi-column sensing symbol provided by the related art;

[0087] Figure 4 is a schematic diagram of the requirements for the monostatic time-division sensing time domain structure provided by an embodiment of the present application;

[0088] Figure 5 is a schematic diagram of monostatic partial full-duplex provided by an embodiment of the present application;

[0089] Figure 6 is a schematic diagram of the requirements for the monostatic partial full-duplex sensing time domain structure provided by an embodiment of the present application;

[0090] Figure 7 is one of the flow schematic diagrams of the method for transmitting a sensing signal provided by an embodiment of the present application;

[0091] Figure 8 is the second of the flow schematic diagrams of the method for transmitting a sensing signal provided by an embodiment of the present application;

[0092] Fig. 9 is one of the schematic diagrams of the bistatic mode of base station A + base station B provided by an embodiment of the present application;

[0093] Fig.10 is the second of the schematic diagrams of the bistatic mode of base station A + base station B provided by an embodiment of the present application;

[0094] Fig.11This is one of the schematic diagrams of the hybrid mode of dual-station sensing and single-station sensing provided in the embodiment of the present application;

[0095] Fig.12 This is the second schematic diagram of the hybrid mode of dual-station sensing and single-station sensing provided in the embodiment of the present application;

[0096] Fig.13 It is a schematic diagram of the relative position of the advance amount of the UE sending the perception signal provided in an embodiment of the present application;

[0097] Fig.14 This is the third schematic diagram of the hybrid mode of dual-station sensing and single-station sensing provided in the embodiment of the present application;

[0098] Fig.15 is a schematic diagram of resources for sensing signals provided in an embodiment of the present application;

[0099] Fig.16 is a schematic diagram of the structure of a first communication device provided in an embodiment of the present application;

[0100] Fig.17 is a schematic diagram of the structure of a second communication device provided in an embodiment of the present application;

[0101] Fig.18 This is one of the structural schematic diagrams of the transmission device of the perception signal provided in the embodiment of the present application;

[0102] Fig.19 This is the second structural schematic diagram of the transmission device of the perception signal provided in the embodiment of the present application. DETAILED DESCRIPTION

[0103] In the embodiments of the present application, the term "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0104] In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0105] The technical solution provided in the embodiment of the present application can be applicable to a variety of systems, especially 5G systems. For example, the applicable system can be a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (WCDMA) general packet radio service (GPRS) system, a long term evolution (LTE) system, a LTE frequency division duplex (FDD) system, a LTE time division duplex (TDD) system, an advanced long term evolution (LTE-A) system, a universal mobile telecommunication system (UMTS), a world-wide interoperability for microwave access (WiMAX) system, a 5G new radio (NR) system, etc. These various systems include terminal equipment and network equipment. The system may also include a core network part, such as an evolved packet system (EPS), a 5G system (5GS), etc.

[0106] First, the following contents are introduced:

[0107] In the technical evolution of communication systems, ISAC (Integrated Sensing And Communication) is an important candidate for evolutionary characteristics. For the perception process, it is divided into dual-station perception, single-station perception, and hybrid perception mode (dual-station mode plus single-station mode). Different perception modes and nodes without perception capabilities may have different corresponding perception resource formats. The perception capability here can refer to the ability to receive reflected signals (or echo signals).

[0108] (1) Basic concepts of ISAC;

[0109] ISAC (Integrated Perception and Communication) is an important candidate for the evolution of communication systems. Its basic idea is to introduce wireless perception functions in wireless mobile communications. Wireless perception refers to the perception of environmental information through wireless signals. Environmental information includes the distribution, size, quantity, temperature, human behavior, and even human breathing frequency, heart rate, etc. The principle of wireless perception is relatively simple, which is to transmit radio signals to the environment that needs to be perceived, and collect wireless signals reflected, scattered, and transmitted by multiple paths in the environment at the receiving end. Since the collected wireless signals are involved in the environment, they carry environmental information. After receiving the signal, after complex signal processing, the characteristics of the environment can be discovered, and the perceived environment can be reconstructed on the computer, including identifying people and objects in the environment, detecting temperature, detecting human movements, and even breathing frequency, heart rate, etc. It is used in the fields of personnel health detection, security, etc.

[0110] Wireless sensing is usually divided into: single-station sensing (monostatic) and dual-station sensing. Figure 1 It is a schematic diagram of the classification of dual-station and single-station sensing provided by related technologies, such as Figure 1 As shown in the figure, single-station sensing means that the base station (or terminal) actively sends a sensing signal, and after the sensing signal is reflected by the sensed object, the base station (or terminal) receives the reflected sensing signal. Dual-station sensing means that the base station (or terminal) actively sends a sensing signal, and the sensing signal passes through the wireless channel and is received by the other terminal (or base station). Single-station sensing includes: base station single-station sensing and terminal single-station sensing. Dual-station sensing includes: UE-UE, gNB-gNB, UE-gNB, and gNB-UE.

[0111] In actual deployment scenarios, wireless sensing may also include hybrid modes. Figure 2 is a schematic diagram of a hybrid mode provided by the related art, such as Figure 2 As shown, the base station sends a perception signal. In addition to the perception terminal receiving and measuring the perception signal, the base station also receives the reflected perception signal and performs perception measurement. Finally, the base station (or perception server) uses the perception measurement results of the base station and the terminal to determine the final perception result.

[0112] (2) Perceiving signal frame structure;

[0113] Figure 3 It is a structural schematic diagram of a single-column perception symbol and a multi-column perception symbol provided by the related technology, such as Figure 3 As shown in the figure, the frame structure of communication-sensing fusion is a communication-sensing time-division frame structure, that is, the sensing or communication function is realized in different time slots / symbols. From the perspective of the entire frame structure, the time-division frame structure keeps the communication frame structure unchanged, and the structural characteristics of the sensing signal are as follows:

[0114] 1: Occupies one or more OFDM (Orthogonal Frequency Division Multiplexing) symbols alone.

[0115] 2: Use the same cyclic prefix (CP) and subcarrier spacing (SCS) as the communication symbols.

[0116] 3: The perception and communication symbols use the time division multiplexing (TDM) method (with no empty gaps in between).

[0117] (3) Single-base time division mode (signal transmission and reception adopt time division);

[0118] Single-station time-division mode means that when the device is sending a sensing signal, it cannot receive the sensing signal. That is, the device enters the signal receiving mode only after the signal is sent.

[0119] Figure 4 is a schematic diagram of the requirements of the single-base time-division perception time domain structure provided in the embodiment of the present application, such as Figure 4 As shown, when the single-station time division mode is adopted, time needs to be reserved after the perception signal for the device to switch between sending and receiving and to receive the perception signal.

[0120] (4) Single-base “partial full-duplex” (signal transmission and reception are performed simultaneously);

[0121] Partial full-duplex means that when the device is in full-duplex mode, the reception time only overlaps with the sending perception signal in the time domain, and the reception time of the perception signal cannot overlap with the communication symbol in the time domain.

[0122] Figure 5 Schematic diagram of single-base partial full-duplex provided in an embodiment of the present application, such as Figure 5 As shown in the figure, when the device sends the sensing signal, it receives the echo, that is, in the d1 time period, which is a full-duplex time period. When the device has finished sending the sensing signal, the device can only be in the receiving state, that is, in the d2 time period, the single-base node only receives the sensing signal, which is a non-full-duplex time period. Based on this, Figure 6 is a schematic diagram of the requirements of the single-base partial full-duplex sensing time domain structure provided in the embodiment of the present application, such as Figure 6 As shown, when single-base "partial full-duplex" is adopted, a reserved time is required after the sensing signal. No information can be sent during the reserved time, which is used for the device to receive the reflected signal of the sensing signal.

[0123] The advantage of a device having only "partial full-duplex" capability is that it can reduce the complexity of eliminating co-channel interference (the perception signal contains fewer types of information, making it easier to eliminate interference than communication symbols). When the perception object and the device sending the signal are far apart, it can reduce interference and improve the signal-to-noise ratio of the echo signal (the greater the reflection wave delay, the smaller the echo signal-to-noise ratio. If the reflected echo falls in the blank symbol area, there is no self-interference sent by the device, thereby improving the signal-to-noise ratio of the echo).

[0124] Therefore, the frame structure design of the above-mentioned perception signal is more suitable for the pure dual-base mode, and is difficult to match the single-base mode (time division mode, or partial full-duplex mode), or the single-base / dual-base mixed mode, resulting in reduced perception performance.

[0125] The embodiments of the present application provide a method and device for transmitting a perception signal to improve perception performance.

[0126] Among them, the method and the device are based on the same application concept. Since the method and the device solve the problem in a similar principle, the implementation of the device and the method can refer to each other, and the repeated parts will not be repeated.

[0127] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0128] Figure 7 This is one of the flow charts of the method for transmitting a perception signal provided in an embodiment of the present application, such as Figure 7 As shown, the method for transmitting the perception signal is applied to a first communication device (the first communication device refers to a communication device that sends a perception signal and may receive an echo signal of the perception signal), and the first communication device may be a terminal or a network side device, such as a base station; the method for transmitting the perception signal includes:

[0129] Step 700, determining resource information of the perception signal, the resource information including at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; wherein the first blank time unit is used for at least one of the following: switching from a transmission unit to a reception unit, and receiving an echo signal of the perception signal;

[0130] Step 710: Send the perception signal based on the resource information.

[0131] Optionally, the resource information of the perception signal may include: the starting position of the perception signal (the starting time domain position of the first communication device sending the perception signal), the number of time units of the perception signal, and the length of the first blank time unit after the time unit of the perception signal (the length of the time unit after the first communication device stops sending any information after sending the perception signal, which is used for the first communication device to switch between sending / receiving and receiving the echo signal).

[0132] Specifically, when the first communication device is a terminal, the network side device can configure resource information of the perception signal for the terminal, such as configuring the time domain parameters of the perception signal: the time unit of the perception signal and the post-first blank time unit, wherein the post-first blank time unit is used to perceive the first communication device receiving the echo signal in the mixed mode, and after determining the resource information of the perception signal, the first communication device can send the perception signal, and can also perform send-receive switching and / or receive the echo signal of the perception signal in the post-first blank time unit.

[0133] Specifically, when the first communication device is a network side device, the network side device can determine the resource information of the perception signal, such as the time domain parameters of the perception signal: the time unit of the perception signal and the post-placed first blank time unit, wherein the post-placed first blank time unit is used for the first communication device to receive the echo signal in the perception mixed mode. After determining the resource information of the perception signal, the first communication device can send the perception signal, and can also perform send-receive switching and / or receive the echo signal of the perception signal in the post-placed first blank time unit.

[0134] For example, taking the second communication device as a terminal as an example (the second communication device refers to a receiving end that only serves as a perception signal, that is, receiving the perception signal sent by the first communication device), the terminal does not expect to receive any downlink information in the first blank time unit, such as PDSCH (Physical Downlink Shared Channel), CSI-RS (Channel State Information-Reference Signal), PDCCH (Physical Downlink Control Channel), etc., considering that the first communication device may receive the echo signal of the perception signal in the blank symbol, and thus cannot execute the behavior of sending the signal.

[0135] For example, taking the first communication device as a terminal, the terminal does not expect to send any uplink information in the first blank time unit, such as PUCCH (Physical Uplink Control Channel), PUSCH (Physical Uplink Shared Channel), SRS (Sounding Reference Signal) or PRACH (Physical Random Access Channel), etc., considering that the terminal may receive an echo signal of a perception signal in a blank symbol, and thus cannot execute the behavior of sending a signal.

[0136] In each embodiment of the present application, the time unit may be a symbol or a partial symbol or other unit of any other time length, which is not limited here.

[0137] For example, taking the time unit as a symbol, the network side device may configure resource information of the perception signal for the terminal, for example, the time domain parameters of the perception signal may be configured to include: the number of symbols m of the perception signal, the number of symbols b1 of the first blank symbol placed afterwards;

[0138] For example, taking the time unit as a symbol, the network side device determines that the time domain parameters of the perception signal include: the number of symbols m of the perception signal, and the number of symbols b1 of the first blank symbol placed afterwards.

[0139] Optionally, the first communication device may have a "partial full-duplex" capability, or only have a "time division duplex" capability.

[0140] The method for transmitting a perception signal provided in an embodiment of the present application reserves the length of a first blank time unit after a time unit of the perception signal to send and receive an echo signal of the perception signal for switching and / or receiving the perception signal, so that the perception service of a single-base mode or a single-base-dual-base hybrid mode is effectively carried out, thereby improving the perception performance.

[0141] In some optional embodiments, the method further includes:

[0142] An echo signal of the perception signal is received during the first blank time unit.

[0143] Specifically, after sending the perception signal, the first communication device may also receive an echo signal of the perception signal.

[0144] Specifically, in a perception scenario, the second communication device receives a perception signal sent by the first communication device.

[0145] For example, in scenario 1: base station 1 sends a perception signal; base station 1 receives an echo signal of the perception signal, and the terminal receives the perception signal (the terminal does not expect to receive communication information on a blank symbol); in this scenario 1, the first communication device is base station 1, and the second communication device is the terminal.

[0146] In scenario 2: base station 1 sends a perception signal; base station 1 receives an echo signal of the perception signal, and base station 2 receives the perception signal; in scenario 2, the first communication device is base station 1, and the second communication device is base station 2.

[0147] In scenario 3: terminal 1 sends a perception signal, terminal 1 receives a perception signal of the perception signal, the base station receives the perception signal, and terminal 1 does not expect to send communication information on a blank symbol; in this scenario 3, the first communication device is terminal 1, and the second communication device is the base station.

[0148] In scenario 4: terminal 1 sends a perception signal, terminal 1 receives a perception signal of the perception signal, terminal 2 receives the perception signal, and terminal 1 does not expect to send communication information on a blank symbol; in this scenario 4, the first communication device is terminal 1, and the second communication device is terminal 2.

[0149] It should be noted that: the echo signal of the perception signal received in the first blank time unit may be a complete signal of the echo signal received in the first blank time unit (e.g., the distance of the perceived object is relatively far, and the delay of the echo signal is greater than the duration of the perception signal). It may also be a partial signal of the echo signal received in the first blank time unit (e.g., the distance of the perceived object is relatively close, and the delay of the echo signal is less than the duration of the perception signal, a part of the echo signal overlaps with the perception signal sent, and the other part is on the blank symbol), which is not limited here.

[0150] Optionally, when the first communication device includes a terminal, the first blank time unit is not used to send uplink information.

[0151] Specifically, in the case where the perception signal is a signal transmitted in uplink, the terminal does not transmit any uplink information, such as PUSCH or SRS, in the first blank time unit.

[0152] In some optional embodiments, the method further includes:

[0153] obtaining a first sending timing advance (TA) of the sensing signal, and / or,

[0154] The length of a second blank time unit before the time unit of the perception signal is obtained.

[0155] Specifically, for the perception signal configured for uplink transmission, TA information of the perception signal may be further acquired.

[0156] Specifically, a second blank time unit may also be reserved before the time unit of the sensing signal for the first communication device to perform power adjustment, signal bandwidth adjustment, or transmit-receive switching. For example, when the first communication device is a measurement signal receiving node, transmit-receive switching may be performed in the second blank time unit.

[0157] Specifically, when a second blank time unit is reserved before the time unit of the sensing signal, the first communication device may not send or receive any information in the second blank time unit, and the first communication device performs power adjustment or signal bandwidth adjustment in the second blank time unit.

[0158] Taking the first communication device as a terminal and the time unit as a symbol as an example, the network-side device (the network-side device may be the second communication device and / or the network-side device to which the terminal is connected) may also configure a preposed second blank symbol for the terminal, with the number of symbols being b0. The terminal may perform power adjustment, signal bandwidth adjustment, or transmit-receive switching on the second blank symbol before the symbol for sending the sensing signal.

[0159] Taking the first communication device as a network-side device (in this case, the second communication device may be a terminal or another network-side device) and the time unit as a symbol as an example, the network-side device may determine a preposed second blank symbol, with the number of symbols being b0. The network-side device may perform power adjustment, signal bandwidth adjustment, or transmit-receive switching on the second blank symbol before the symbol for sending the sensing signal.

[0160] In some optional embodiments, when the first communication device includes a terminal, obtaining the first transmit timing advance TA of the sensing signal includes:

[0161] Receiving TA information sent by the network-side device and determining the first TA of the sensing signal based on the TA information;

[0162] Wherein, the TA information includes one or more of the following:

[0163] The first TA; or,

[0164] A second TA for sending a message or data; or,

[0165] A timing advance offset, which is the offset of the first TA relative to the second TA.

[0166] Specifically, the time advance (TA_s) of the terminal for sending the communication and sensing signal (sensing signal), i.e., the first TA, may be indicated to the terminal by the network-side device through the following method:

[0167] (1) A base station (the base station may be the second communication device and / or the network side device to which the terminal is connected) indicates separately (through high-layer signaling, MAC-CE or physical layer signaling),

[0168] (2) The indication of “the timing advance amount TA used for sending communication information” is applied to TA_s.

[0169] (3) Based on the "timing advance amount TA for sending communication information", the base station indicates an offset.

[0170] Specifically, the time advance (TA_s) of the terminal sending the synaesthesia signal (perception signal), that is, the first TA, relative to the following time point T0 may be:

[0171] (1) The absolute time indicated by the base station (the base station may be the second communication device and / or the network side device to which the terminal is connected), and the terminal can use the time to determine the time point T0_TX of sending the corresponding perception symbol.

[0172] (2) The terminal determines the downlink subframe timing or symbol timing T0_RX received by the terminal according to the downlink synchronization signal.

[0173] For example, if the first communication device is a terminal, for the perception signal configured for uplink transmission, the network side device may further indicate to the terminal a first timing advance TA for sending the perception signal.

[0174] For example, for the perception mode of base station (first communication device) + terminal (second communication device), or the perception mode of base station 1 (first communication device) + base station 2 (second communication device), if the first communication device sends a perception signal on the uplink symbol, the base station can also indicate the TA_s used to send the perception signal, that is, indicate the first TA used for the perception signal through the TA information.

[0175] Specifically, the TA information may indicate the relative position and / or absolute time of TA_s.

[0176] TA_s is the advance amount relative to the following two time reference points:

[0177] (1) The time point T0_Tx indicated by the network side device (i.e., the timing information when the base station sends downlink information);

[0178] (2) The first communication device detects downlink timing information T0_Rx based on the synchronization channel.

[0179] In some optional embodiments, when the first communication device includes a terminal, the determining resource information of the perception signal includes:

[0180] Receive the resource configuration information of the sensing signal sent by the network-side device;

[0181] Based on the resource configuration information, determine the resource information of the sensing signal.

[0182] Specifically, when the first communication device is a terminal, the network-side device (which can be the second communication device and / or the network-side device to which the terminal is connected) can configure the resource information of the sensing signal for the terminal through the resource configuration information.

[0183] In some optional embodiments, the determining the resource information of the sensing signal includes:

[0184] When it is determined based on the resource configuration information that the number of time units of the sensing signal is greater than 1, determine that the length of the first blank time unit is 0.

[0185] Specifically, when the first communication device is a terminal, the network-side device (which can be the second communication device and / or the network-side device to which the terminal is connected) can configure the resource information of the sensing signal for the terminal through the resource configuration information, such as configuring the number of time units of the sensing signal and the length of the first blank time unit, or only configuring one of them, and the terminal determines the other based on default or derivation.

[0186] Specifically, when the resource configuration information indicates that the number of time units of the sensing signal is greater than 1, the length of the first blank time unit does not need to be configured, and the terminal can determine based on default or derivation that the length of the first blank time unit is 0.

[0187] For example, if the resource configuration information indicates that the number of symbols m of the sensing signal is greater than 1, the length b1 of the first blank symbol does not need to be configured, that is, by default b1 = 0;

[0188] In some optional embodiments, the determining the resource information of the sensing signal includes:

[0189] When it is determined based on the resource configuration information that the length of the first blank time unit is greater than 0, determine that the number of time units of the sensing signal is 1.

[0190] Specifically, when the resource configuration information indicates that the length of the first blank time unit is greater than 1, the number of time units of the sensing signal does not need to be configured, and the terminal can determine based on default or derivation that the number of time units of the sensing signal is 1.

[0191] For example, if the resource configuration information indicates that the length b1 of the first blank symbol is greater than 0, the number of symbols m of the sensing signal does not need to be configured, that is, by default m = 1.

[0192] In some optional embodiments, when the first communication device includes a terminal, the method further includes:

[0193] Determine whether to send a message or data in the time unit of the sensing signal.

[0194] For example, if the first communication device is a terminal, for the perception signal configured for uplink transmission, the network side device can further indicate the timing advance TA information of the perception signal to the base station, and the terminal can also determine whether to send communication information, such as messages or data, in the time unit of the perception signal.

[0195] In some optional embodiments, the determining whether to send a message or data in the time unit of the sensing signal includes:

[0196] Based on the first TA and the second TA, it is determined whether to send the message or data in the time unit of the sensing signal.

[0197] Specifically, when the terminal determines whether to send communication information in the time unit of the perception signal, it can be based on the first TA and the second TA (TA of the communication signal, that is, the TA used for message or data sending) used for the perception signal to determine whether the communication information can be sent simultaneously when sending the perception signal, that is, whether the message or data can be sent in the time unit of the perception signal.

[0198] In some optional embodiments, the determining, based on the first TA and the second TA, whether to send the message or data in the time unit of the sensing signal includes one or more of the following:

[0199] When the absolute value of the difference between the first TA and the second TA is less than or equal to a preset threshold, determining to send the message or data in the time unit of the sensing signal; or

[0200] When an absolute value of a difference between the first TA and the first value is less than or equal to a preset threshold, determine to send the message or data in a time unit of the perception signal; wherein the first value is calculated based on the second TA.

[0201] Specifically, the terminal determines whether the communication information can be sent simultaneously when sending the perception signal based on the first TA and the second TA used for the perception signal, which can be determined according to the difference between the first TA and the second TA, or according to the difference between the first TA and the first value. The first value can be obtained by performing a mathematical operation on the second TA, such as dividing the second TA by 2, or dividing the second TA by 1.5, which is not limited here;

[0202] Optionally, when the absolute value of the difference between the first TA and the second TA is less than or equal to a preset threshold, the perception signal and the communication signal need to be multiplexed, and the communication message or data is sent in the time unit of the perception signal;

[0203] Optionally, when the absolute value of the difference between the first TA and the second TA is greater than a preset threshold, it can be determined that the start time difference between the perception signal and the communication signal exceeds the duration corresponding to the preset threshold, and the perception signal and the communication signal are not multiplexed.

[0204] Optionally, when the absolute value of the difference between the first TA and the second TA is greater than a preset threshold, it can be determined that the perception signal needs to be received by multiple base stations, that is, the perception signal is not aligned with the TA of a normal communication signal.

[0205] Optionally, the terminal may use at least one of the following methods to determine whether communication information can be sent simultaneously when sending the perception signal:

[0206] (1) When the absolute value of the difference between TA_s (first TA) and TA_c / 2 (first value) is less than the preset threshold (or the same), the perception signal and the communication information can be sent simultaneously. (Note: In this case, the row positions of the advance amount of the perception signal and the communication information are different < the perception signal is relative to T0_Tx, and the communication information is relative to T0_Rx)

[0207] (2) When the absolute value of the difference between TA_s (first TA) and TA_c (second TA) is less than a certain threshold (or the same), the perception signal and communication information can be sent simultaneously. (Note: In this case, the row pair positions of the advance amount of the perception signal and the communication information are the same < both are T0_Tx, or T0_Rx)

[0208] It should be noted that: when the difference between TA_s and TA_c (or the difference between TA_s and TA_c / 2) is less than a certain threshold, it means that the base stations receiving the perception signal and the communication information are all service base stations; when the difference is greater than a certain threshold, it means that the base stations receiving the perception signal also include non-service base stations, and therefore cannot be sent together with the communication information.

[0209] In some optional embodiments, when the first communication device includes a first network side device, and the receiving node of the perception signal includes the first network side device or the second network side device, the method further includes:

[0210] Before sending the perception signal, it is determined whether the time unit of the perception signal belongs to an uplink time unit or a downlink time unit.

[0211] Specifically, in the perception mode of base station 1 (first communication device) + base station 2 (second communication device), it can be further determined that the time unit in which base station 1 sends the perception signal belongs to the uplink time unit or the downlink time unit, and the TDD ratio basis is determined.

[0212] In some optional embodiments, the determining that the time unit of the perception signal belongs to an uplink time unit or a downlink time unit includes:

[0213] Determining, based on protocol pre-definition, that the time unit of the sensing signal belongs to a downlink time unit; or,

[0214] Based on the attribute indication information, it is determined that the time unit of the perception signal belongs to an uplink time unit and / or a downlink time unit.

[0215] Specifically, it can be stipulated by the protocol that the time unit of the perception signal belongs to the downlink time unit. In the perception mode of base station 1 (first communication device) + base station 2 (second communication device), it can be further determined that the time unit of base station 1 sending the perception signal belongs to the downlink time unit;

[0216] Specifically, the attribute of the time unit of the perception signal can be indicated by the attribute indication information, for example, the uplink attribute (sent only on uplink symbols), or the downlink attribute (sent only on downlink symbols), or uplink and downlink (according to the uplink and downlink ratio information, the symbols in the downlink range are downlink, and those in the uplink range are uplink). In the perception mode of base station 1 (first communication device) + base station 2 (second communication device), it can be further determined based on the attribute indication information that the time unit for sending the perception signal by base station 1 belongs to the uplink time unit, or it can be determined based on the attribute indication information that the time unit for sending the perception signal by base station 1 belongs to the downlink time unit, or it can be determined based on the attribute indication information that the time unit for sending the perception signal by base station 1 belongs to the uplink and downlink (according to the uplink and downlink ratio information, the symbols in the downlink range are downlink, and those in the uplink range are uplink), or attributes applicable to both uplink and downlink.

[0217] In some optional embodiments, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0218] and / or,

[0219] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of a time unit length.

[0220] Taking the symbol as an example, when configuring the second blank symbol b0, the duration of b0 may be an integer multiple of the OFDM symbol duration (e.g., b0 = 1 symbol duration), or may not be an integer multiple (e.g., b0 = 0.5 symbol duration), and further, the first blank symbol b1 may not be an integer multiple of the symbol (e.g., b1 = 1.5 symbol duration). However, it is recommended that b0+b1 is an integer multiple of the symbol duration.

[0221] In some optional embodiments, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0222] Specifically, when the time unit of the communication signal and the time unit of the perception signal use the same SCS and CP type, if the length of the second blank time unit is b0, and b0 is not an integer multiple of the time unit, the first communication device does not receive or send communication information in the time unit of the perception signal.

[0223] Taking the first communication device as a terminal and the time unit as a symbol as an example, when the communication symbol and the perception symbol use the same SCS and CP type, if the base station configures a leading blank symbol b0, and b0 is not an integer multiple of the OFDM symbol, the terminal does not receive or send communication information on m symbols (perception symbols).

[0224] Optionally, when the time unit of the perception signal and the communication time unit adopt different SCS or CP types, the time unit of the perception signal is not used for sending or receiving communication information.

[0225] Specifically, when the time unit of the communication signal and the time unit of the perception signal adopt different SCS and CP types, the first communication device does not receive or send communication information in the time unit of the perception signal.

[0226] Taking the first communication device as a terminal and the time unit as a symbol as an example, when the communication symbol and the perception symbol use different SCS and CP types, the terminal does not receive or send communication information on m symbols (perception symbols).

[0227] In some optional embodiments, when the first communication device includes a terminal, the method further includes:

[0228] A message or data is sent at the time unit of the sensing signal.

[0229] Specifically, in the case where the first communication device is a terminal, the terminal may send a communication signal, that is, send a message or data, at a time unit of a sensing signal.

[0230] In some optional embodiments, the method further includes:

[0231] Obtain characteristic parameters or model parameters of the perceived object;

[0232] In the case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

[0233] Specifically, after sending the perception signal, the first communication device can also serve as a receiving node for the echo signal of the perception signal to receive the perception signal; it may also configure characteristic parameters or model parameters of the perceived object, such as the shape, size, material composition, and movement state of the perceived object.

[0234] Specifically, the first communication device can first determine whether there is a measurement quantity that conforms to the characteristics / model in the echo signal of the received perception signal. If a measurement quantity that conforms to the characteristics / model is detected, the relevant measurement quantity is reported; otherwise, the measurement result is not reported this time, or it is indicated that no measurement quantity that conforms to the characteristics / model is detected.

[0235] Figure 8 This is a second flow chart of the method for transmitting a perception signal provided in an embodiment of the present application, such as Figure 8 As shown, the method for transmitting the perception signal is applied to a second communication device, which may be a terminal or a network side device, such as a base station, and the method includes:

[0236] Step 800, determining resource information of the perception signal, the resource information including at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal;

[0237] Step 810: Receive the perception signal based on the resource information.

[0238] Specifically, in the perception scenario, after sending a perception signal, the first communication device may also receive an echo signal of the perception signal, and the second communication device receives the perception signal sent by the first communication device.

[0239] For example, in scenario 1: base station 1 sends a perception signal; base station 1 receives an echo signal of the perception signal, and the terminal receives the perception signal (the terminal does not expect to receive communication information on a blank symbol); in this scenario 1, the first communication device is base station 1, and the second communication device is the terminal.

[0240] In scenario 2: base station 1 sends a perception signal; base station 1 receives an echo signal of the perception signal, and base station 2 receives the perception signal; in scenario 2, the first communication device is base station 1, and the second communication device is base station 2.

[0241] In scenario 3: terminal 1 sends a perception signal, terminal 1 receives a perception signal of the perception signal, the base station receives the perception signal, and terminal 1 does not expect to send communication information on a blank symbol; in this scenario 3, the first communication device is terminal 1, and the second communication device is the base station.

[0242] In scenario 4: terminal 1 sends a perception signal, terminal 1 receives a perception signal of the perception signal, terminal 2 receives the perception signal, and terminal 1 does not expect to send communication information on a blank symbol; in this scenario 4, the first communication device is terminal 1, and the second communication device is terminal 2.

[0243] It should be noted that: the echo signal of the perception signal received in the first blank time unit may be a complete signal of the echo signal received in the first blank time unit (e.g., the distance of the perceived object is relatively far, and the delay of the echo signal is greater than the duration of the perception signal). It may also be a partial signal of the echo signal received in the first blank time unit (e.g., the distance of the perceived object is relatively close, and the delay of the echo signal is less than the duration of the perception signal, a part of the echo signal overlaps with the perception signal sent, and the other part is on the blank symbol), which is not limited here.

[0244] Optionally, the resource information of the perception signal may include: the starting position of the perception signal (the starting time domain position of the first communication device sending the perception signal), the number of time units of the perception signal, and the length of the first blank time unit after the time unit of the perception signal (the length of the time unit after the first communication device stops sending any information after sending the perception signal, which is used for the first communication device to switch between sending / receiving and receiving the echo signal).

[0245] Specifically, when the second communication device is a terminal, the network side device can configure resource information of the perception signal for the terminal, such as configuring the time domain parameters of the perception signal: the time unit of the perception signal and the post-first blank time unit, wherein the post-first blank time unit is used to perceive the first communication device receiving the echo signal in the mixed mode, and after determining the resource information of the perception signal, the first communication device can send the perception signal, and can also perform send-receive switching and / or receive the echo signal of the perception signal in the post-first blank time unit.

[0246] Specifically, when the second communication device is a network side device, the network side device can determine the resource information of the perception signal, such as the time domain parameters of the perception signal: the time unit of the perception signal and the post-first blank time unit, wherein the post-first blank time unit is used for the first communication device to receive the echo signal in the perception mixed mode. After determining the resource information of the perception signal, the first communication device can send the perception signal, and can also perform send-receive switching and / or receive the echo signal of the perception signal in the post-first blank time unit.

[0247] For example, taking the second communication device as a terminal, the terminal believes that the base station will not send communication information in the first blank time unit, that is, the terminal does not receive downlink communication information in the first blank time unit, such as PDCCH (Physical Downlink Control Channel), PDSCH (Physical Downlink Shared Channel), CSI-RS, etc.

[0248] For example, taking the second communication device as a terminal (the second communication device refers to a receiving end that only serves as a perception signal, that is, receiving the perception signal sent by the first communication device), the terminal does not expect to receive any downlink information in the first blank time unit, such as PDSCH, CSI-RS, PDCCH, etc., considering that the first communication device may receive an echo signal of the perception signal in the blank symbol, and thus cannot execute the behavior of sending the signal.

[0249] For example, taking the first communication device as a terminal, the terminal does not expect to send any uplink information, such as PUCCH, PUSCH, SRS or PRACH, in the first blank time unit. Considering that the terminal may receive an echo signal of a perception signal in a blank symbol, it is impossible to send a signal.

[0250] In each embodiment of the present application, the time unit may be a symbol or a partial symbol or other unit of any other time length, which is not limited here.

[0251] For example, taking the time unit as a symbol, the network side device can configure the resource information of the perception signal for the terminal, for example, the time domain parameters of the perception signal can be configured to include: the number of symbols m of the perception signal, the number of symbols b1 of the first blank symbol placed afterwards;

[0252] For example, taking the time unit as a symbol, the network side device determines that the time domain parameters of the perception signal include: the number of symbols m of the perception signal, and the number of symbols b1 of the first blank symbol placed afterwards.

[0253] The method for transmitting a perception signal provided in an embodiment of the present application reserves the length of a first blank time unit after a time unit of the perception signal to send and receive an echo signal of the perception signal for switching and / or receiving the perception signal, so that the perception service of a single-base mode or a single-base-dual-base hybrid mode is effectively carried out, thereby improving the perception performance.

[0254] In some optional embodiments, the method further includes:

[0255] The length of a second blank time unit before the time unit of the perception signal is obtained.

[0256] Specifically, a second blank time unit can be reserved before the time unit for sensing the signal, for the first communication device to perform power adjustment or signal bandwidth adjustment or send-receive switching. For example, when the first communication device is a measurement signal receiving node, send-receive switching can be performed in the second blank time unit.

[0257] Specifically, when a second blank time unit is reserved before a time unit for sensing a signal, the first communication device may not send or receive any information in the second blank time unit, and the first communication device performs power adjustment or signal bandwidth adjustment in the second blank time unit.

[0258] Taking the first communication device as a terminal and the time unit as a symbol as an example, the network side device may further configure a second blank symbol in front of the terminal, the number of symbols being b0, and the terminal may perform power adjustment or signal bandwidth adjustment or perform send-receive switching on the second blank symbol before the symbol for sending the perception signal;

[0259] Taking the case where the first communication device is a network side device and the time unit is a symbol as an example, the network side device can determine the preceding second blank symbol and the number of symbols b0. The network side device can adjust the power or signal bandwidth or perform send-receive switching on the second blank symbol before sending the symbol of the perception signal.

[0260] In some optional embodiments, the method further includes:

[0261] No message or data is received on the first blank time unit or the second blank time unit.

[0262] Optionally, the second communication device may not receive any information in the first blank time unit;

[0263] Optionally, the second communication device may not receive any information in the second blank time unit.

[0264] In some optional embodiments, when the second communication device includes a terminal, the method further includes:

[0265] A message or data is received at the time unit of the sensing signal.

[0266] Specifically, when the second communication device includes a terminal, in the time unit of the perception signal, the terminal can, in addition to receiving the perception signal, also receive communication information, that is, receive messages or data, such as PDCCH, PDSCH or CSI-RS, according to the scheduling signaling or high-level configuration signaling of the network side device (which may be the first communication device).

[0267] In some optional embodiments, determining resource information of the perception signal includes:

[0268] Receive resource configuration information of the perception signal sent by the network side device;

[0269] Based on the resource configuration information, resource information of the perception signal is determined.

[0270] Specifically, the network side device can configure resource information of the perception signal for the terminal through resource configuration information.

[0271] For example, when the first communication device is a base station and the second communication device is a terminal, the base station may configure resource information of the sensing signal for the terminal;

[0272] For example, when the first communication device is base station 1 and the second communication device is base station 2, base station 1 may configure resource information of the sensing signal for base station 2;

[0273] In some optional embodiments, determining the resource information of the perception signal includes:

[0274] When it is determined based on the resource configuration information that the number of time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0275] Specifically, when the second communication device is a terminal, the network side device (the network side device may be the first communication device and / or the network side device to which the terminal is connected) may configure resource information of the perception signal for the terminal through resource configuration information, such as configuring the number of time units of the perception signal and the length of the first blank time unit, or only configuring one of them, and the terminal obtains the other item based on default or derivation.

[0276] Specifically, when the resource configuration information indicates that the number of time units of the perception signal is greater than 1, the length of the first blank time unit may not be configured, and the terminal may determine that the length of the first blank time unit is 0 based on default or derivation.

[0277] For example, the resource configuration information indicates that the number of symbols of the perception signal m>1, and the length b1 of the first blank symbol does not need to be configured, that is, b1=0 by default.

[0278] In some optional embodiments, determining the resource information of the perception signal includes:

[0279] When it is determined that the length of the first blank time unit is greater than 0 based on the resource configuration information, the number of time units of the perception signal is determined to be 1.

[0280] Specifically, when the resource configuration information indicates that the length of the first blank time unit is greater than 1, the number of time units of the perception signal does not need to be configured, and the terminal may determine that the number of time units of the perception signal is 1 based on default or derivation.

[0281] For example, the resource configuration information indicates that the length b1 of the first blank symbol is greater than 0, and the number of symbols m of the perception signal does not need to be configured, that is, m=1 by default.

[0282] In some optional embodiments, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0283] and / or,

[0284] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of a time unit length.

[0285] Taking the symbol as an example, when configuring the second blank symbol b0, the duration of b0 may be an integer multiple of the OFDM symbol duration (e.g., b0 = 1 symbol duration), or may not be an integer multiple (e.g., b0 = 0.5 symbol duration), and further, the first blank symbol b1 may not be an integer multiple of the symbol (e.g., b1 = 1.5 symbol duration). However, it is recommended that b0+b1 is an integer multiple of the symbol duration.

[0286] In some optional embodiments, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0287] Specifically, when the time unit of the communication signal and the time unit of the perception signal use the same SCS and CP type, if the length of the second blank time unit is b0, and b0 is not an integer multiple of the time unit, the first communication device and / or the second communication device does not receive or send communication information in the time unit of the perception signal.

[0288] Taking the second communication device as a terminal and the time unit as a symbol as an example, when the communication symbol and the perception symbol use the same SCS and CP type, if the base station (the base station may be the first communication device and / or the network side device to which the terminal is connected) configures a leading blank symbol b0, and b0 is not an integer multiple of the OFDM symbol, the terminal does not receive or send communication information on m symbols (perception symbols).

[0289] Optionally, when the time unit of the perception signal and the communication time unit adopt different SCS or CP types, the time unit of the perception signal is not used for sending or receiving communication information.

[0290] Specifically, when the time unit of the communication signal and the time unit of the perception signal adopt different SCS and CP types, the first communication device and / or the second communication device does not receive or send communication information in the time unit of the perception signal.

[0291] Taking the case where the second communication device is a terminal (in this case the first communication device may be a base station) and the time unit is a symbol as an example, when the communication symbol and the perception symbol use different SCS and CP types, the terminal does not receive or send communication information on m symbols (perception symbols).

[0292] In some optional embodiments, the method further includes:

[0293] Obtain characteristic parameters or model parameters of the perceived object;

[0294] In the case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

[0295] Specifically, after the first communication device sends the perception signal, the second communication device can serve as a receiving node for the echo signal of the perception signal to receive the perception signal; it is also possible to configure characteristic parameters or model parameters of the perceived object, such as the shape, size, material composition, and movement state of the perceived object.

[0296] Specifically, the second communication device can first determine whether there is a measurement quantity that conforms to the characteristics / model in the echo signal of the received perception signal. If a measurement quantity that conforms to the characteristics / model is detected, the relevant measurement quantity is reported; otherwise, the measurement result is not reported this time, or it is indicated that no measurement quantity that conforms to the characteristics / model is detected.

[0297] In one embodiment, for a base station, the base station may configure resource information of a perception signal, and the configuration parameters may include: a starting position s of the perception signal, a number m of time units of the perception signal, and a length b1 of a first blank time unit after a time unit of the perception signal.

[0298] Among them, take the time unit as an example:

[0299] The starting position s of the perception signal: the starting symbol position where the first communication device sends the perception signal.

[0300] The number m of time units of the perception signal: the number of symbols of the perception signal sent by the first communication device.

[0301] The length b1 of the first blank time unit after the time unit of the perception signal is: the number of symbols during which the first communication device stops sending any information after sending the perception signal. The blank symbol period is used for the send / receive switching of the transmitter and the reception of the echo signal.

[0302] Furthermore, the base station may also configure a pre-placed second blank symbol b0 (i.e., a second blank time unit), and use the blank symbol before sending the perception symbol for the first communication device to adjust power or signal bandwidth, or for measuring the signal receiving node to perform send / receive switching.

[0303] Furthermore, when b0 is configured, the duration of b0 may be an integer multiple of the OFDM symbol duration (e.g., b0 = 1 symbol duration), or may not be an integer multiple (e.g., b0 = 0.5 symbol duration), and b1 may not be an integer multiple of the symbol duration (e.g., b1 = 1.5 symbol duration). However, it is recommended that b0+b1 is an integer multiple of the symbol duration.

[0304] In an embodiment, for a terminal, the terminal may receive or send the perception signal according to resource information of the perception signal.

[0305] Specifically, the terminal determines the starting position s of receiving the perception signal, the number m of the time units of the perception signal, and the length b1 of the first blank time unit after the time unit of the perception signal;

[0306] Case 1 (the terminal receives the perception signal): Taking the time unit as a symbol as an example, the terminal determines the resource information of the perception signal as follows:

[0307] The starting position s of the perception signal: the starting symbol position of the perception signal received by the terminal.

[0308] The number m of time units of the perception signal: on m symbols, in addition to receiving the perception signal, the terminal may also receive communication symbol information (e.g., PDCCH, PDSCH or CSI-RS) according to the scheduling signaling (or high-level configuration signaling) of the base station;

[0309] The length b1 of the first blank time unit after the time unit of the perception signal: on the first blank symbol b1, the terminal believes that the base station will not send a communication symbol, that is, the terminal does not receive downlink communication information (such as PDCCH, PDSCH or CSI-RS) on this symbol.

[0310] Case 2 (the terminal sends a perception signal): Taking the time unit as a symbol as an example, the terminal determines the following resource information of the perception signal:

[0311] The starting position s of the perception signal: the starting symbol position where the terminal sends the perception signal.

[0312] The number m of time units of the perception signal: on m symbols, in addition to sending the perception signal, the terminal can also determine whether it can send uplink communication information (such as PUCCH, PUSCH, SRS or PRACH) based on the difference between TA_s (first TA) and TA_c (second TA) (the absolute value of the difference is less than a preset threshold).

[0313] The length b1 of the first blank time unit after the time unit of the perception signal: on the first blank symbol b1, the terminal does not send any information (such as: PUCCH, PUSCH, SRS or PRACH) on the symbol.

[0314] Optionally, in order to save the configuration overhead of resource information, only one of m and b1 can be configured, and the other one is calculated based on the configuration item:

[0315] (1) If m is configured and m>1, the terminal considers b1=0. That is, b1 does not need to be configured and is calculated based on m.

[0316] (2) If b1 is configured and b1>0, m=1. That is, m does not need to be configured and is calculated based on b1.

[0317] Optionally, if the base station configures a pre-placed second blank symbol b0 (ie, a second blank time unit), the terminal does not send any information on the b0 symbol according to the indicated b0, and the sending node of the perceived signal performs power adjustment or signal bandwidth adjustment.

[0318] Optionally, when the communication symbol and the perception symbol use the same SCS and CP type, if the base station configures a pre-pended second blank symbol b0, and b0 is not an integer multiple of the OFDM symbol, the terminal does not receive or send communication information on m symbols.

[0319] Optionally, when the communication symbol and the perception symbol use different SCS or CP types, the terminal does not receive or send communication information on m symbols.

[0320] Optionally, the sensing node receiving the sensing signal may also be configured with characteristic parameters or model parameters of the sensed object (for example, the shape, size, material composition, and movement state of the sensed object may be characterized). The sensing node first determines whether there is a measurement quantity that conforms to the characteristic / model in the received sensing signal. If a measurement quantity that conforms to the characteristic / model is detected, the relevant measurement quantity is reported. Otherwise, the measurement result is not reported this time, or it indicates that no measurement quantity that conforms to the characteristic / model is detected.

[0321] In each embodiment of the present application, for the dual-base mode of base station + terminal, or the mixed mode, the downlink symbol refers to the symbol of the perception signal sent by the base station (received by the terminal); the uplink symbol refers to the symbol of the perception signal sent by the terminal (received by the base station); accordingly, the positions of the downlink symbol and the uplink symbol comply with the uplink / downlink time slot information indicated by the base station.

[0322] In each embodiment of the present application, Fig. 9 is one of the schematic diagrams of the dual-base mode of base station A+base station B provided in the embodiment of the present application, Fig.10 This is a second schematic diagram of a dual-base mode of base station A + base station B provided in an embodiment of the present application, such as Fig. 9 and Fig.10 As shown, for the dual-base mode of base station A + base station B, or the mixed mode, the following methods are included:

[0323] Method 1: Indicate that one base station role is a base station and the other base station role is a terminal.

[0324] For example, it may be indicated by a perception server or determined through negotiation between two base stations;

[0325] For the perception resource allocation of a certain perception service, one of the base stations is indicated as the first base station (such as the main base station) and the other base station is indicated as the second base station (such as the secondary base station), wherein the role of the first base station is the base station and the role of the second base station is the terminal.

[0326] The downlink symbol refers to the symbol of the perception signal sent by the base station (the first base station) (received by the second base station).

[0327] The uplink symbol refers to the symbol of the perception signal sent by the second base station (received by the first base station).

[0328] Correspondingly, the position of the downlink / uplink symbol complies with the uplink / downlink time slot information indicated by the first base station.

[0329] Mode 2: The sending end is the base station and the receiving end is the terminal.

[0330] The downlink symbol refers to the symbol of the perception signal sent by base station A or base station B (received by base station B or base station A).

[0331] Correspondingly, when base station A acts as a transmitter, the position of the downlink / uplink symbols follows the uplink / downlink time slot information indicated by base station A.

[0332] Correspondingly, when base station B acts as a transmitter, the position of the downlink / uplink symbol complies with the uplink / downlink time slot information indicated by base station B.

[0333] Method 3: The base station that sends the perception signal is the terminal, and the receiving end is the base station.

[0334] The uplink symbol refers to the symbol of the perception signal sent by base station A or base station B (received by base station B or base station A).

[0335] Correspondingly, when base station A acts as a transmitter, the position of the downlink / uplink symbols follows the uplink / downlink time slot information indicated by base station B.

[0336] Correspondingly, when base station B acts as a transmitter, the position of the downlink / uplink symbols follows the uplink / downlink time slot information indicated by base station A.

[0337] Mode 4: Indicate the uplink / downlink time slots of synaesthesia separately, and send the perception signal in the downlink.

[0338] The configuration information of the perception signal is separately provided, indicating the uplink / downlink time slot information (negotiated between base stations or indicated by the perception server).

[0339] When base station A acts as a transmitter, a perception signal is sent in a downlink symbol, and the position of the downlink / uplink symbol complies with the uplink / downlink time slot information for the synaesthesia.

[0340] When base station B acts as a transmitter, it sends a perception signal in a downlink symbol, and the position of the downlink / uplink symbols complies with the uplink / downlink time slot information for the synaesthesia.

[0341] It should be noted that, for mode 4, it is also possible to limit the sending of the perception signal only on the uplink symbols.

[0342] In one embodiment, taking a mixed mode perception scenario of dual-station perception and single-station perception as an example, a perception signal is sent in a downlink symbol (the base station is a first communication device, and the terminal is a second communication device); Fig.11 This is one of the schematic diagrams of the hybrid mode of dual-station sensing and single-station sensing provided in the embodiment of the present application, such as Fig.11As shown, the base station sends a sensing signal on downlink symbol #1, and receives an echo signal (reflected by the sensed object) on symbols #2 / #3. The sensing terminal receives the sensing signal on symbol #1, and does not receive any downlink symbols on symbols #2 and #3.

[0343] For a base station, the base station may configure resource information of the perception signal, and the configuration parameters may include: the starting position s of the perception signal, the number m of the time units of the perception signal, and the length b1 of the first blank time unit after the time unit of the perception signal.

[0344] Among them, take the time unit as an example:

[0345] The starting position s of the perception signal: the starting symbol position of the first communication device sending the perception signal. Here, s=1, indicating the second symbol starting from a time slot. It should be noted that the first symbol is s=0.

[0346] The number m of the time units of the perception signal: the number of symbols of the perception signal sent by the first communication device, where m=1. Generally, for the single-base mode, the value of m is 1. For the dual-base mode, m can be 1, 2 or 4.

[0347] The length b1 of the first blank time unit after the time unit of the perception signal is the number of symbols during which the first communication device stops sending any information after sending the perception signal. The blank symbol period is used for the sending / receiving switching of the transmitting end and the reception of the echo signal. Here, b1=2.

[0348] Optionally, the value of b1 is related to the farthest sensing distance L and the subcarrier spacing width.

[0349] Optionally, the resource information of the perception signal may be configured to the base station by the perception service.

[0350] Optionally, the resource information of the sensing signal may be determined according to the farthest sensing distance of the service;

[0351] For example, b1=duration(2*L) / duration(1 symbol), or b1=duration(2*L) / duration(1 symbol)-m.

[0352] Duration() is used to calculate the time length. To ensure that the blank symbol length is greater than or equal to twice the echo delay, the calculated b can be rounded up.

[0353] For the terminal, the terminal can receive the perception signal according to the resource information of the perception signal.

[0354] Specifically, the terminal determines the location where the base station sends the sensing resource according to the configuration information of the sensing resource, and performs signal reception and measurement;

[0355] Specifically, the terminal determines the starting position s of receiving the perception signal, the number m of the time units of the perception signal, and the length b1 of the first blank time unit after the time unit of the perception signal;

[0356] Among them, take the time unit as an example:

[0357] The starting position s of the perception signal: the starting symbol position of the perception signal received by the terminal.

[0358] The number m of time units of the perception signal: on m symbols, in addition to receiving the perception signal, the terminal may also receive communication symbol information (e.g., PDCCH, PDSCH or CSI-RS) according to the scheduling signaling (or high-level configuration signaling) of the base station;

[0359] The length b1 of the first blank time unit after the time unit of the perception signal: on the first blank symbol b1, the terminal believes that the base station will not send a communication symbol, that is, the terminal does not receive downlink communication information (such as PDCCH, PDSCH or CSI-RS) on this symbol.

[0360] Optionally, for m symbols, the base station may also instruct the terminal not to receive downlink communication symbol information, so the terminal does not receive downlink communication information (such as PDCCH, PDSCH, CSI-RS) on the symbol.

[0361] Optionally, for periodic perception resource configuration (or repeated transmission configuration), if any of the above m symbols is not on the downlink symbol, for example, on the uplink symbol, the terminal believes that the base station will not send a perception signal in m symbols, that is, the terminal believes that the corresponding perception resource configuration is invalid (including: m symbols and b1 symbols).

[0362] Optionally, for periodic perception resource configuration (or repeated transmission configuration), if the above m symbols are all downlink symbols, but at least one of the b1 symbols is not a downlink symbol, the protocol specifies that the corresponding perception resource configuration of the terminal is valid (including: m symbols and b1 symbols) or invalid; or the base station indicates that it is valid or invalid.

[0363] In one embodiment, taking a mixed mode perception scenario of dual-station perception and single-station perception as an example, a perception signal is sent in an uplink symbol (the terminal is a first communication device, and the base station is a second communication device); Fig.12 This is a second schematic diagram of a hybrid mode of dual-station sensing and single-station sensing provided in an embodiment of the present application, such as Fig.12As shown, the terminal sends a sensing signal on uplink symbol #1 and receives an echo signal (reflected by the sensed object) on symbol #2 / #3. The sensing base station receives the sensing signal on #1. The terminal does not send uplink symbols on symbols #2 and #3.

[0364] For a base station, the base station may configure resource information of the perception signal, and the configuration parameters may include: the starting position s of the perception signal, the number m of the time units of the perception signal, and the length b1 of the first blank time unit after the time unit of the perception signal.

[0365] in, Fig.15 is a schematic diagram of a resource for sensing a signal provided in an embodiment of the present application, such as Fig.15 As shown, taking the time unit as the symbol as an example:

[0366] The starting position s of the perception signal is the starting symbol position of the first communication device sending the perception signal, and the base station starts receiving the perception signal at the starting symbol position. Here, s=1, indicating the second symbol starting from a time slot. It should be noted that the first symbol is s=0.

[0367] The number m of the time units of the perception signal: the number of symbols of the perception signal sent by the first communication device, where m=1. Generally, for the single-base mode, the value of m is 1. For the dual-base mode, m can be 1, 2 or 4.

[0368] The length b1 of the first blank time unit after the time unit of the perception signal is the number of symbols during which the terminal stops sending any information after the first communication device sends the perception signal. The blank symbol period is used for the sending / receiving switching of the sending end and the reception of the echo signal. Here, b1=2.

[0369] Optionally, the value of b1 is related to the farthest sensing distance L and the subcarrier spacing width.

[0370] Optionally, the resource information of the perception signal may be configured to the base station by the perception service.

[0371] Optionally, the resource information of the sensing signal may be determined according to the farthest sensing distance of the service;

[0372] For example, b1=duration(2*L) / duration(1 symbol), or b1=duration(2*L) / duration(1 symbol)-m.

[0373] Duration() is used to calculate the time length. To ensure that the blank symbol length is greater than or equal to twice the echo delay, the calculated b can be rounded up.

[0374] For the terminal, the terminal can send the sensing signal according to the resource information of the sensing signal (the terminal is the first communication device).

[0375] Specifically, the terminal determines the position where the base station sends the sensing resource according to the configuration information of the sensing resource, and performs signal reception and measurement;

[0376] Specifically, the terminal determines the starting position s of receiving the sensing signal, the number m of time units of the sensing signal, and the length b1 of the first blank time unit after the time unit of the sensing signal;

[0377] Among them, taking the time unit as an example:

[0378] The starting position s of the sensing signal: the starting symbol position where the terminal sends the sensing signal.

[0379] The number m of time units of the sensing signal: on m symbols, in addition to sending the sensing signal, the terminal can also send communication symbol information (such as PUCCH, PUSCH, SRS, PRACH) according to the scheduling signaling (or high-layer configuration signaling) of the base station;

[0380] The length b1 of the first blank time unit after the time unit of the sensing signal: on the first blank symbol b1, the terminal does not send communication symbols, that is, the terminal does not receive or send communication information (such as PUCCH, PUSCH, SRS or PRACH) on this symbol.

[0381] In the embodiment of the present application, the base station indicates the time advance (TA_s) for sending the communication and sensing signal (i.e., the first TA), and the terminal sends the sensing signal according to TA_s;

[0382] Among them, the time advance (TA_s) for the terminal to send the communication and sensing signal, that is, the first TA, the base station can indicate it to the terminal through the following methods:

[0383] (1) The base station indicates it separately (through high-layer signaling, MAC-CE or physical layer signaling),

[0384] (2) The indication of the "time advance TA for communication information transmission" is applied to TA_s.

[0385] (3) Based on the "time advance TA for communication information transmission", the base station indicates an offset.

[0386] Among them, the time advance (TA_s) for the terminal to send the communication and sensing signal, the advance relative to the following time point T0 can be:

[0387] (1) The absolute time indicated by the base station, and using this time the terminal can determine the time point T0_TX for sending the corresponding sensing symbol.

[0388] (2) The terminal determines the downlink subframe timing or symbol timing T0_RX received by the terminal according to the downlink synchronization signal.

[0389] Fig.13 is a schematic diagram of the relative position of the advance amount of the UE sending the perception signal provided in an embodiment of the present application, such as Fig.13 As shown, T0_Tx is the subframe / symbol timing information of the base station known by the terminal, and the relevant subframe timing information or symbol information represents the timing information of the base station when actually sending, or the timing information when the base station hopes to receive the signal. When the UE sends the perception signal, TA_s is an advance amount relative to T0_Tx.

[0390] In the embodiment of the present application, the UE may use at least one of the following methods to determine whether communication information can be sent simultaneously when sending the perception signal:

[0391] (1) When the difference between TA_s and TA_c / 2 is less than a certain threshold (or the same), the perception signal and communication information can be sent simultaneously. (Note: In this case, the row positions of the advance amount of the perception signal and the communication information are different < the perception signal is relative to T0_Tx, and the communication information is relative to T0_Rx)

[0392] (2) When the difference between TA_s and TA_c is less than a certain threshold (or the same), the perception signal and communication information can be sent simultaneously. (Note: In this case, the row position of the advance amount of the perception signal and the communication information is the same < both are T0_Tx, or T0_Rx)

[0393] It should be noted that: when the difference between TA_s and TA_c (or the difference between TA_s and TA_c / 2) is less than a certain threshold, it means that the base stations receiving the perception signal and the communication information are all service base stations; when the difference is greater than a certain threshold, it means that the base stations receiving the perception signal also include non-service base stations, and therefore cannot be sent together with the communication information.

[0394] In an embodiment of the present application, the base station may further instruct the terminal to continue to send the communication signal or stop sending the communication signal when sending the perception signal, or specify through a protocol that the terminal continues to send the communication signal or stops sending the communication signal when sending the perception signal.

[0395] In one embodiment, taking a sensing scenario of a base station + base station dual-base hybrid mode as an example, a sensing signal is sent in a downlink symbol (base station 1 is a first communication device, and base station 2 is a second communication device); Fig.14 This is a third schematic diagram of a hybrid mode of dual-station sensing and single-station sensing provided in an embodiment of the present application, such as Fig.14As shown, base station 1 sends a sensing signal on downlink symbol #1, and receives an echo signal (reflected by the sensed object) on symbol #2 / #3. Base station 2 receives the sensing signal on symbol #1.

[0396] For base station 1, base station 1 may configure resource information of the perception signal to base station 2, and the configuration parameters may include: the starting position s of the perception signal, and the number m of time units of the perception signal.

[0397] Among them, take the time unit as an example:

[0398] The starting position s of the perception signal is the starting symbol position of the perception signal sent by the base station 1. Here, s=1, indicating the second symbol starting from a time slot. It should be noted that the first symbol is s=0.

[0399] The number m of the time units of the sensing signal: the number of symbols of the sensing signal sent by the base station 1, where m=1. Usually, for the single-base mode, the value of m is 1. For the dual-base mode, m can be 1, 2 or 4.

[0400] For the base station 2, it is not necessary to configure the length b1 of the first blank time unit after the time unit for sensing the signal, or the configuration of the post-positioned first blank time unit b1 may be ignored.

[0401] In addition to receiving the resource information of the sensing signal, base station 2 may also receive the following information:

[0402] (1) Symbol property of the sensing signal: indicates the symbol property of the sensing signal sent by base station 1, such as uplink symbol, downlink symbol, or downlink and uplink symbol.

[0403] (2) Time slot ratio of base station 1: indicates the uplink and downlink time slot ratio information of base station 1. It is used to determine the position of the sensing symbol.

[0404] (3) Base station 1 sends the carrier information and subframe timing information used for the perception signal.

[0405] Optionally, the configuration information received by base station 2 may be configured by a perception server, or may be transmitted by base station 1 to base station 2.

[0406] For base station 2, base station 2 receives the perception signal according to the configuration information of the perception resource.

[0407] Base station 2 determines the resource location where base station 1 sends the perception signal according to the resource information of the perception signal, and performs signal reception and measurement.

[0408] Specifically, the base station 2 may determine the starting position s for receiving the perception signal and the number m of time units of the perception signal.

[0409] Optionally, base station 2 may determine the effective position of the perception information sent by base station 1 according to the “symbol property of the perception signal” indication information:

[0410] Optionally, if the indication information is "downlink", base station 2 may consider that the perception signal is transmitted on the downlink symbol, that is, base station 2 receives the perception signal on the downlink symbol and considers that the perception signal on the uplink symbol is invalid.

[0411] Optionally, if the indication information is "uplink", base station 2 may consider that the perception signal is transmitted on uplink symbols, that is, base station 2 receives the perception signal on uplink symbols and considers that the perception signal on downlink symbols is invalid.

[0412] Optionally, if the indication information is "uplink and downlink", the base station 2 considers that the perception signal is transmitted in both uplink and downlink symbols.

[0413] The embodiment of the present application provides a method for the format of a perception signal (including a trailing blank symbol or / and a leading blank symbol) for a mixed perception mode (such as a base station-UE dual-base, a base station single-base), which can ensure that the perception service is effectively carried out in the mixed mode. At the same time, a method for determining the symbol attribute of the perception signal sent in a mixed mode of base station-base station / base station single-base is provided, and a flexible time slot base station-base station dual-base mode is used.

[0414] The terminal device involved in the embodiment of the present application may be a device that provides voice and / or data connectivity to a user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem. In different systems, the name of the terminal device may also be different. For example, in a 5G system, the terminal device may be called a user equipment (UE). A wireless terminal device can communicate with one or more core networks (CN) via a radio access network (RAN). The wireless terminal device may be a mobile terminal device, such as a mobile phone (or a "cellular" phone) and a computer with a mobile terminal device. For example, it may be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device that exchanges language and / or data with a wireless access network. For example, personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs) and other devices. The wireless terminal device may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, an access point, a remote terminal device, an access terminal device, a user terminal device, a user agent, and a user device, but is not limited in the embodiments of the present application.

[0415] The network device involved in the embodiment of the present application may be a base station, which may include multiple cells providing services for the terminal. Depending on the specific application scenario, the base station may also be called an access point, or may be a device in the access network that communicates with the wireless terminal device through one or more sectors on the air interface, or other names. The network device may be used to interchange received air frames with Internet Protocol (IP) packets, and serve as a router between the wireless terminal device and the rest of the access network, wherein the rest of the access network may include an Internet Protocol (IP) communication network. The network device may also coordinate the attribute management of the air interface. For example, the network device involved in the embodiments of the present application may be a network device (Base Transceiver Station, BTS) in the Global System for Mobile communications (Global System for Mobile communications, GSM) or Code Division Multiple Access (Code Division Multiple Access, CDMA), or a network device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), or an evolutionary network device (evolutional Node B, eNB or e-NodeB) in the long term evolution (long term evolution, LTE) system, a 5G base station (gNB) in the 5G network architecture (next generation system), or a home evolved Node B (Home evolved Node B, HeNB), a relay node, a home base station (femto), a pico base station (pico), etc., which is not limited in the embodiments of the present application. In some network structures, the network device may include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit may also be arranged geographically separately.

[0416] Fig.16 is a schematic diagram of the structure of a first communication device provided in an embodiment of the present application, such as Fig.16 As shown, the first communication device includes a memory 1620, a transceiver 1600, and a processor 1610, wherein:

[0417] The memory 1620 is used to store computer programs; the transceiver 1600 is used to send and receive data under the control of the processor 1610; the processor 1610 is used to read the computer program in the memory 1620 and perform the following operations:

[0418] Determine resource information of the perception signal, the resource information including at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; wherein the first blank time unit is used for at least one of the following: switching from a transmission unit to a reception unit, and receiving an echo signal of the perception signal;

[0419] Based on the resource information, the perception signal is sent.

[0420] Specifically, the transceiver 1600 is used to receive and send data under the control of the processor 1610 .

[0421] Among them, Fig.16 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1610 and various circuits of memory represented by memory 1620 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1600 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, which transmission medium may include a wireless channel, a wired channel, an optical cable, and other transmission media. The processor 1610 is responsible for managing the bus architecture and general processing, and the memory 1620 may store data used by the processor 1610 when performing operations.

[0422] The processor 1610 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0423] Optionally, the processor 1610 is further configured to:

[0424] An echo signal of the perception signal is received during the first blank time unit.

[0425] Optionally, the processor 1610 is further configured to: acquire a first sending timing advance TA of the perception signal, and / or,

[0426] The length of a second blank time unit before the time unit of the perception signal is obtained.

[0427] Optionally, when the first communication device includes a terminal, the processor 1610 is specifically configured to:

[0428] receiving TA information sent by a network side device, and determining a first TA of the perception signal based on the TA information;

[0429] The TA information includes one or more of the following:

[0430] the first TA; or,

[0431] A second TA for sending messages or data; or

[0432] A timing advance offset is an offset of the first TA relative to the second TA.

[0433] Optionally, when the first communication device includes a terminal, the processor 1610 is specifically configured to:

[0434] Receive resource configuration information of the perception signal sent by the network side device;

[0435] Based on the resource configuration information, resource information of the perception signal is determined.

[0436] Optionally, the processor 1610 is specifically configured to:

[0437] When it is determined based on the resource configuration information that the number of time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0438] Optionally, the processor 1610 is specifically configured to:

[0439] When it is determined that the length of the first blank time unit is greater than 0 based on the resource configuration information, the number of time units of the perception signal is determined to be 1.

[0440] Optionally, when the first communication device includes a terminal, the processor 1610 is further configured to:

[0441] Determine whether to send a message or data in the time unit of the sensing signal.

[0442] Optionally, the processor 1610 is specifically configured to:

[0443] Based on the first TA and the second TA, it is determined whether to send the message or data in the time unit of the sensing signal.

[0444] Optionally, the processor 1610 is specifically configured to perform one or more of the following:

[0445] When the absolute value of the difference between the first TA and the second TA is less than or equal to a preset threshold, determining to send the message or data in the time unit of the sensing signal; or

[0446] When an absolute value of a difference between the first TA and the first value is less than or equal to a preset threshold, determine to send the message or data in a time unit of the perception signal; wherein the first value is calculated based on the second TA.

[0447] Optionally, when the first communication device includes a first network side device, and the receiving node of the perception signal includes the first network side device or the second network side device, the processor 1610 is further configured to:

[0448] Before sending the perception signal, it is determined whether the time unit of the perception signal belongs to an uplink time unit or a downlink time unit.

[0449] Optionally, the processor 1610 is specifically configured to:

[0450] Determining, based on protocol pre-definition, that the time unit of the sensing signal belongs to a downlink time unit; or,

[0451] Based on the attribute indication information, it is determined that the time unit of the perception signal belongs to an uplink time unit and / or a downlink time unit.

[0452] Optionally, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0453] and / or,

[0454] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of a time unit length.

[0455] Optionally, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0456] Optionally, when the first communication device includes a terminal, the processor 1610 is further configured to:

[0457] A message or data is sent at the time unit of the sensing signal.

[0458] Optionally, the processor 1610 is further configured to:

[0459] Obtain characteristic parameters or model parameters of the perceived object;

[0460] In the case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

[0461] It should be noted here that the above-mentioned first communication device provided in the embodiment of the present application can implement all the method steps implemented by the method embodiment in which the above-mentioned execution subject is the first communication device, and can achieve the same technical effect. The parts and beneficial effects in this embodiment that are the same as the method embodiment will not be described in detail here.

[0462] Fig.17 is a schematic diagram of the structure of the second communication device provided in an embodiment of the present application, such as Fig.17 As shown, the second communication device includes a memory 1720, a transceiver 1700, and a processor 1710, wherein:

[0463] The memory 1720 is used to store computer programs; the transceiver 1700 is used to send and receive data under the control of the processor 1710; the processor 1710 is used to read the computer program in the memory 1720 and perform the following operations:

[0464] Determine resource information of the perception signal, the resource information comprising at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal;

[0465] Based on the resource information, the perception signal is received.

[0466] Specifically, the transceiver 1700 is used to receive and send data under the control of the processor 1710 .

[0467] Among them, Fig.17 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1710 and various circuits of memory represented by memory 1720 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1700 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, which transmission medium may include a wireless channel, a wired channel, an optical cable, and other transmission media. The processor 1710 is responsible for managing the bus architecture and general processing, and the memory 1720 may store data used by the processor 1710 when performing operations.

[0468] The processor 1710 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0469] Optionally, the processor 1710 is further configured to:

[0470] The length of a second blank time unit before the time unit of the perception signal is obtained.

[0471] Optionally, when the second communication device includes a terminal, the processor 1710 is further configured to:

[0472] A message or data is received at the time unit of the sensing signal.

[0473] Optionally, the processor 1710 is specifically configured to:

[0474] Receive resource configuration information of the perception signal sent by the network side device;

[0475] Based on the resource configuration information, resource information of the perception signal is determined.

[0476] Optionally, the processor 1710 is specifically configured to:

[0477] When it is determined based on the resource configuration information that the number of time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0478] Optionally, the processor 1710 is specifically configured to:

[0479] When it is determined that the length of the first blank time unit is greater than 0 based on the resource configuration information, the number of time units of the perception signal is determined to be 1.

[0480] Optionally, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0481] and / or,

[0482] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of a time unit length.

[0483] Optionally, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0484] Optionally, the processor 1710 is further configured to:

[0485] Obtain characteristic parameters or model parameters of the perceived object;

[0486] In the case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

[0487] It should be noted here that the above-mentioned second communication device provided in the embodiment of the present application can implement all the method steps implemented by the method embodiment in which the above-mentioned execution subject is the second communication device, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0488] Fig.18 is one of the structural diagrams of the transmission device of the perception signal provided in the embodiment of the present application, such as Fig.18 As shown, the transmission device 1800 of the perception signal includes:

[0489] The first determining module 1810 is configured to determine resource information of a perception signal, where the resource information includes at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; wherein the first blank time unit is used for at least one of the following: switching from a transmission unit to a reception unit, and receiving an echo signal of the perception signal;

[0490] The first sending module 1820 is configured to send the perception signal based on the resource information.

[0491] It should be noted here that the perception signal transmission device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned perception signal transmission method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0492] Optionally, the device further comprises:

[0493] The second receiving module is used to receive the echo signal of the perception signal in the first blank time unit.

[0494] Optionally, the device further includes a first acquisition module, configured to perform one or more of the following:

[0495] obtaining a first sending timing advance TA of the perception signal, and / or,

[0496] The length of a second blank time unit before the time unit of the perception signal is obtained.

[0497] Optionally, when the first communication device includes a terminal, the first acquisition module is used to:

[0498] receiving TA information sent by a network side device, and determining a first TA of the perception signal based on the TA information;

[0499] The TA information includes one or more of the following:

[0500] the first TA; or,

[0501] A second TA for sending messages or data; or

[0502] A timing advance offset is an offset of the first TA relative to the second TA.

[0503] Optionally, when the first communication device includes a terminal, the first determining module 1810 is configured to:

[0504] Receive resource configuration information of the perception signal sent by the network side device;

[0505] Based on the resource configuration information, resource information of the perception signal is determined.

[0506] Optionally, the first determining module 1810 is used to:

[0507] When it is determined based on the resource configuration information that the number of time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0508] Optionally, the first determining module 1810 is used to:

[0509] When it is determined that the length of the first blank time unit is greater than 0 based on the resource configuration information, the number of time units of the perception signal is determined to be 1.

[0510] Optionally, the device further comprises:

[0511] The first judgment module is used to judge whether to send a message or data in the time unit of the perception signal when the first communication device includes a terminal.

[0512] Optionally, the first determination module is used to:

[0513] Based on the first TA and the second TA, it is determined whether to send the message or data in the time unit of the sensing signal.

[0514] Optionally, the first determination module is used for one or more of the following:

[0515] When the absolute value of the difference between the first TA and the second TA is less than or equal to a preset threshold, determining to send the message or data in the time unit of the sensing signal; or

[0516] When an absolute value of a difference between the first TA and the first value is less than or equal to a preset threshold, determine to send the message or data in a time unit of the perception signal; wherein the first value is calculated based on the second TA.

[0517] Optionally, the device further comprises:

[0518] The third determination module is used to determine whether the time unit of the perception signal belongs to an uplink time unit or a downlink time unit before sending the perception signal when the first communication device includes a first network side device and the receiving node of the perception signal includes the first network side device or the second network side device.

[0519] Optionally, the third determining module is used to:

[0520] Determining, based on protocol pre-definition, that the time unit of the sensing signal belongs to a downlink time unit; or,

[0521] Based on the attribute indication information, it is determined that the time unit of the perception signal belongs to an uplink time unit and / or a downlink time unit.

[0522] Optionally, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0523] and / or,

[0524] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of a time unit length.

[0525] Optionally, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0526] Optionally, the device further comprises:

[0527] The second sending module is used to send a message or data in the time unit of the perception signal when the first communication device includes a terminal.

[0528] Optionally, the device further comprises:

[0529] A second acquisition module is used to acquire characteristic parameters or model parameters of the sensed object;

[0530] The third sending module is used to send the measurement quantity when the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object.

[0531] Fig.19 This is a second structural diagram of the transmission device of the perception signal provided in the embodiment of the present application, such as Fig.19 As shown, the transmission device 1900 of the perception signal includes:

[0532] The second determining module 1910 is configured to determine resource information of the perception signal, where the resource information includes at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal;

[0533] The first receiving module 1920 is configured to receive the perception signal based on the resource information.

[0534] It should be noted here that the perception signal transmission device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned perception signal transmission method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0535] Optionally, the device further comprises:

[0536] The third acquisition module is used to acquire the length of a second blank time unit before the time unit of the perception signal.

[0537] Optionally, the device further comprises:

[0538] a fourth receiving module, configured to receive no message or data in the first blank time unit or the second blank time unit.

[0539] The third receiving module is used to receive a message or data in the time unit of the perception signal when the second communication device includes a terminal.

[0540] Optionally, the second determining module 1910 is used to:

[0541] Receive resource configuration information of the perception signal sent by the network side device;

[0542] Based on the resource configuration information, resource information of the perception signal is determined.

[0543] Optionally, the second determining module 1910 is used to:

[0544] When it is determined based on the resource configuration information that the number of time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0545] Optionally, the second determining module 1910 is used to:

[0546] When it is determined that the length of the first blank time unit is greater than 0 based on the resource configuration information, the number of time units of the perception signal is determined to be 1.

[0547] Optionally, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0548] and / or,

[0549] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of a time unit length.

[0550] Optionally, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0551] Optionally, the device further comprises:

[0552] A fourth acquisition module is used to acquire characteristic parameters or model parameters of the sensed object;

[0553] The fourth sending module is used to send the measurement quantity when the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object.

[0554] It should be noted that the division of units in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional unit in each embodiment of the present application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0555] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0556] It should be noted here that the above-mentioned device provided in the embodiment of the present invention can implement all the method steps implemented in the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0557] On the other hand, an embodiment of the present application further provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the methods provided in the above embodiments.

[0558] The processor-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid-state drive (SSD)), etc.

[0559] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0560] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer executable instructions. These computer executable instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0561] These processor executable instructions may also be stored in a processor readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the processor readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0562] These processor-executable instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0563] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for transmitting a sensing signal, It is characterized in that Applied to a first communication device, the method includes: Determine resource information of the perception signal, the resource information including at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; wherein the first blank time unit is used for at least one of the following: switching from a transmission unit to a reception unit, and receiving an echo signal of the perception signal; Based on the resource information, the perception signal is sent.

2. The method for transmitting a perception signal according to claim 1, It is characterized in that The method further comprises: An echo signal of the perception signal is received during the first blank time unit.

3. The method for transmitting a perception signal according to claim 1 or 2, It is characterized in that The method further comprises: obtaining a first sending timing advance TA of the perception signal, and / or, The length of a second blank time unit before the time unit of the perception signal is obtained.

4. The method for transmitting a perception signal according to claim 3, It is characterized in that In a case where the first communication device includes a terminal, the acquiring a first sending timing advance TA of the perception signal includes: receiving TA information sent by a network side device, and determining a first TA of the perception signal based on the TA information; The TA information includes one or more of the following: the first TA; or, A second TA for sending messages or data; or A timing advance offset is an offset of the first TA relative to the second TA.

5. The method for transmitting a perception signal according to any one of claims 1 to 4, It is characterized in that In a case where the first communication device includes a terminal, the determining resource information of the perception signal includes: Receive resource configuration information of the perception signal sent by the network side device; Based on the resource configuration information, resource information of the perception signal is determined.

6. The method for transmitting a perception signal according to claim 5, It is characterized in that The determining resource information of the perception signal includes: When it is determined based on the resource configuration information that the number of time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

7. The method for transmitting a perception signal according to claim 5, It is characterized in that The determining resource information of the perception signal includes: When it is determined that the length of the first blank time unit is greater than 0 based on the resource configuration information, the number of time units of the perception signal is determined to be 1.

8. The method for transmitting a perception signal according to claim 3, It is characterized in that In the case where the first communication device includes a terminal, the method further includes: Determine whether to send a message or data in the time unit of the sensing signal.

9. The method for transmitting a perception signal according to claim 8, It is characterized in that The determining whether to send a message or data in the time unit of the sensing signal includes: Based on the first TA and the second TA, it is determined whether to send the message or data in the time unit of the sensing signal.

10. The method for transmitting a perception signal according to claim 9, It is characterized in that The determining, based on the first TA and the second TA, whether to send the message or data in the time unit of the sensing signal includes one or more of the following: When the absolute value of the difference between the first TA and the second TA is less than or equal to a preset threshold, determining to send the message or data in the time unit of the sensing signal; or When an absolute value of a difference between the first TA and the first value is less than or equal to a preset threshold, determine to send the message or data in a time unit of the perception signal; wherein the first value is calculated based on the second TA.

11. The method for transmitting a perception signal according to any one of claims 1 to 3, It is characterized in that In a case where the first communication device includes a first network side device, and the receiving node of the perception signal includes the first network side device or the second network side device, the method further includes: Before sending the perception signal, it is determined whether the time unit of the perception signal belongs to an uplink time unit or a downlink time unit.

12. The method for transmitting a perception signal according to claim 11, It is characterized in that The determining that the time unit of the perception signal belongs to an uplink time unit or a downlink time unit includes: Determining, based on protocol pre-definition, that the time unit of the sensing signal belongs to a downlink time unit; or, Based on the attribute indication information, it is determined that the time unit of the perception signal belongs to an uplink time unit and / or a downlink time unit.

13. The method for transmitting a perception signal according to claim 3, It is characterized in that The length of the second blank time unit is an integer multiple of the length of a time unit; and / or, The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of a time unit length.

14. The method for transmitting a perception signal according to claim 3 or 13, It is characterized in that In the case that the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

15. The method for transmitting a perception signal according to any one of claims 1 to 3, It is characterized in that In the case where the first communication device includes a terminal, the method further includes: A message or data is sent at the time unit of the sensing signal.

16. The method for transmitting a perception signal according to any one of claims 1 to 3, It is characterized in that The method further comprises: Obtain characteristic parameters or model parameters of the perceived object; In the case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

17. A method for transmitting a perception signal, It is characterized in that Applied to a second communication device, the method includes: Determine resource information of the perception signal, the resource information comprising at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; Based on the resource information, the perception signal is received.

18. The method for transmitting a perception signal according to claim 17, It is characterized in that The method further comprises: The length of a second blank time unit before the time unit of the perception signal is obtained.

19. The method for transmitting a perception signal according to claim 17 or 18, It is characterized in that The method further comprises: No message or data is received on the first blank time unit or the second blank time unit.

20. The method for transmitting a perception signal according to claim 17 or 18, It is characterized in that In the case where the second communication device includes a terminal, the method further includes: A message or data is received at the time unit of the sensing signal.

21. The method for transmitting a sensory signal according to claim 17 or 18, It is characterized in that The determining of resource information of the perception signal includes: Receive resource configuration information of the perception signal sent by the network side device; Based on the resource configuration information, resource information of the perception signal is determined.

22. The method for transmitting a perception signal according to claim 21, It is characterized in that The determining resource information of the perception signal includes: When it is determined based on the resource configuration information that the number of time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

23. The method for transmitting a sensory signal according to claim 21, It is characterized in that The determining resource information of the perception signal includes: When it is determined that the length of the first blank time unit is greater than 0 based on the resource configuration information, the number of time units of the perception signal is determined to be 1.

24. The method for transmitting a perception signal according to claim 18, It is characterized in that The length of the second blank time unit is an integer multiple of the length of a time unit; and / or, The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of a time unit length.

25. The method for transmitting a sensory signal according to claim 24, It is characterized in that In the case that the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

26. The method for transmitting a sensory signal according to claim 17 or 18, It is characterized in that The method further comprises: Obtain characteristic parameters or model parameters of the perceived object; In the case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

27. A first communication device, It is characterized in that Including memory, transceiver, processor: A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Determine resource information of the perception signal, the resource information including at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; wherein the first blank time unit is used for at least one of the following: switching from a transmission unit to a reception unit, and receiving an echo signal of the perception signal; Based on the resource information, the perception signal is sent.

28. A second communication device, It is characterized in that Including memory, transceiver, processor: A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Determine resource information of the perception signal, the resource information comprising at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; Based on the resource information, the perception signal is received.

29. A transmission device for sensing signals, It is characterized in that include: A first determining module is configured to determine resource information of a perception signal, wherein the resource information includes at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; wherein the first blank time unit is used for at least one of the following: switching from a transmission unit to a reception unit, and receiving an echo signal of the perception signal; The first sending module is used to send the perception signal based on the resource information.

30. A transmission device for sensing signals, It is characterized in that include: A second determination module is configured to determine resource information of the perception signal, wherein the resource information includes at least one of the following: a starting position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; The first receiving module is used to receive the perception signal based on the resource information.

31. A processor-readable storage medium, It is characterized in that The processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the method according to any one of claims 1 to 26.

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