Communication sensing method and device and storage medium

Abstract

The invention provides a communication sensing method and device and a storage medium, and relates to the technical field of communication. The method is applied to a first device, and the method comprises the following steps: transmitting a first sensing signal on a first time domain resource by adopting a first transmission parameter; and obtaining a second transmission parameter, the second transmission parameter being related to the first transmission parameter, and / or the second transmission parameter being related to sensing data of a target object obtained based on the first sensing signal. And transmitting a second sensing signal on a second time domain resource by using the second transmission parameter, wherein the first sensing signal and the second sensing signal are both used for sensing the target object. According to the method provided by the invention, the second transmission parameter can be adjusted when the moving target object is sensed, so that the sensing signal is adjusted.

Description

Technical Field

[0001] This application relates to the field of communication technologies, and in particular, to a communication perception method, apparatus, and storage medium. Background Art

[0002] Communication perception fusion refers to the unified design of communication and perception functions through means such as joint design of the air interface and protocols, time-frequency-space resource reuse, and sharing of hardware devices, enabling the wireless network to achieve the perception function while performing communication interactions, thereby improving the overall performance and service capabilities of the network.

[0003] Currently, communication perception can obtain characteristic information of the environment and / or objects in the environment by analyzing the transmission, reflection, and scattering of wireless perception signals to track, monitor, and detect the target object to be perceived. However, when the target object is a moving object, there is currently no design for adjusting the transmission parameters of the perception signal transceiver in the case of continuously perceiving a moving target.

[0004] Therefore, how to adjust the transmission parameters of the perception signal transceiver in the case of continuously perceiving a moving target is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a communication perception method, apparatus, and storage medium, which solve the technical problems of low perception performance of communication perception and low accuracy of the obtained perception data.

[0006] In a first aspect, an embodiment of this application provides a communication perception method, which is applied to a first device; the method includes:

[0007] Transmit a first perception signal using a first transmission parameter on a first time-domain resource;

[0008] Obtain a second transmission parameter, where the second transmission parameter is related to the first transmission parameter, and / or, the second transmission parameter is related to the perception data of the target object obtained based on the first perception signal;

[0009] Transmit a second perception signal using the second transmission parameter on a second time-domain resource, where both the first perception signal and the second perception signal are used to perceive the target object.

[0010] Optionally, the obtaining of the second transmission parameter includes:

[0011] Receive indication information sent by a second device, where the indication information is used to indicate the second transmission parameter or the perception data of the target object;

[0012] Obtain the second transmission parameter according to the indication information.

[0013] Optionally, the first transmission parameter includes: a first transmission parameter and / or a first reception parameter, and the second transmission parameter includes: a second transmission parameter and / or a second reception parameter; the indication information includes: a first indication information and / or a second indication information;

[0014] If the indication information is the first indication information, the first device is a sensing signal sender, the second device is a sensing signal receiver, or the second device is a device other than the sensing signal sender and the sensing signal receiver, and the first indication information is used to determine the second transmission parameter;

[0015] If the indication information is the second indication information, the first device is a sensing signal receiver, the second device is a sensing signal sender, or the second device is a device other than the sensing signal sender and the sensing signal receiver, and the second indication information is used to determine the second reception parameter.

[0016] Optionally, receiving the indication information sent by the second device includes:

[0017] Receiving the first indication information sent by the second device on a third time-domain resource; the start time of the third time-domain resource is equal to or later than the end time of the first time-domain resource, and the end time of the third time-domain resource is earlier than or equal to the start time of the second time-domain resource minus the time of T1, where T1 is greater than or equal to 0;

[0018] and / or, receiving the second indication information sent by the second device on a fourth time-domain resource; the start time of the fourth time-domain resource is equal to or later than the end time of the first time-domain resource, and the end time of the fourth time-domain resource is earlier than or equal to the start time of the second time-domain resource minus the time of T2, where T2 is greater than or equal to 0.

[0019] Optionally, the method further includes:

[0020] If the first indication information is not received on the third time-domain resource, the second transmission parameter is the same as the first transmission parameter;

[0021] and / or,

[0022] If the second indication information is not received on the fourth time-domain resource, the second reception parameter is the same as the first reception parameter.

[0023] Optionally, before receiving the indication information sent by the second device, the method further includes:

[0024] Obtaining the sensing data of the target object according to the first sensing signal;

[0025] Send the sensed data to the second device.

[0026] Optionally, the sending the sensed data to the second device includes:

[0027] When it is determined that the sensed data of the target object has changed, send the sensed data to the second device.

[0028] In a second aspect, an embodiment of the present application provides a communication sensing method, and the method is applied to a second device; the method includes:

[0029] Obtain first sensed data of a target object;

[0030] Generate indication information according to the first sensed data of the target object, where the indication information is used to indicate a second transmission parameter or second sensed data of the target object, and the second transmission parameter is used for a first device to transmit a second sensing signal on a second time domain resource, and the second sensing signal is used to sense the target object;

[0031] Send the indication information to the first device.

[0032] Optionally, the first transmission parameter includes: a first transmission parameter and / or a first reception parameter, and the second transmission parameter includes: a second transmission parameter and / or a second reception parameter; the indication information includes: a first indication information and / or a second indication information;

[0033] If the indication information is the first indication information, the first device is a sensing signal sending end, the second device is a sensing signal receiving end, or the second device is a device other than the sensing signal sending end and the sensing signal receiving end, and the first indication information is used to determine the second transmission parameter;

[0034] If the indication information is the second indication information, the first device is a sensing signal receiving end, the second device is a sensing signal sending end, or the second device is a device other than the sensing signal sending end and the sensing signal receiving end, and the second indication information is used to determine the second reception parameter.

[0035] Optionally, if the second device is a device other than the sensing signal sending end and the sensing signal receiving end, the obtaining the first sensed data of the target object includes:

[0036] Receive the first sensed data of the target object sent by the sensing signal receiving end.

[0037] Optionally, the sending the indication information to the first device includes:

[0038] When it is determined that the second sensing data of the target object or the change in the second sensing data of the target object is greater than or equal to a first threshold, or the change in the second transmission parameter is greater than or equal to a second threshold, send the indication information to the first device.

[0039] Optionally, the first sensing data of the target object is obtained based on a first sensing signal transmitted using a first transmission parameter on a first time-domain resource, and the first sensing signal is used to sense the target object; the first transmission parameter includes: a first transmission parameter and / or a first reception parameter.

[0040] In a third aspect, an embodiment of the present application provides a communication sensing device, and the device is applied to a first device; the device includes:

[0041] A first transmission unit, configured to transmit a first sensing signal using a first transmission parameter on a first time-domain resource;

[0042] An acquisition unit, configured to acquire a second transmission parameter, where the second transmission parameter is related to the first transmission parameter, and / or, the second transmission parameter is related to sensing data of a target object obtained based on the first sensing signal;

[0043] A second transmission unit, configured to transmit a second sensing signal using the second transmission parameter on a second time-domain resource, where both the first sensing signal and the second sensing signal are used to sense the target object.

[0044] In a fourth aspect, an embodiment of the present application provides a communication sensing device, and the device is applied to a second device; the device includes:

[0045] An acquisition unit, configured to acquire first sensing data of a target object;

[0046] A processing unit, configured to generate indication information according to the first sensing data of the target object, where the indication information is used to indicate a second transmission parameter or second sensing data of the target object, the second transmission parameter is used by a first device to transmit a second sensing signal on a second time-domain resource, and the second sensing signal is used to sense the target object;

[0047] A sending unit, configured to send the indication information to the first device.

[0048] In a fifth aspect, an embodiment of the present application provides a communication sensing device, and the device is applied to a first device, and the device includes a memory, a transceiver, and a processor:

[0049] The memory is configured to store a computer program; the transceiver is configured to send and receive data under the control of the processor; the processor is configured to read the computer program in the memory and perform the following operations:

[0050] Transmit a first sensing signal using a first transmission parameter on a first time-domain resource;

[0051] Obtain a second transmission parameter, where the second transmission parameter is related to the first transmission parameter, and / or, the second transmission parameter is related to sensed data of a target object obtained based on the first sensing signal;

[0052] Transmit a second sensing signal using the second transmission parameter on a second time-domain resource, where both the first sensing signal and the second sensing signal are used to sense the target object.

[0053] Optionally, the obtaining of the second transmission parameter includes:

[0054] Receive indication information sent by a second device, where the indication information is used to indicate the second transmission parameter or the sensed data of the target object;

[0055] Obtain the second transmission parameter according to the indication information.

[0056] Optionally, the first transmission parameter includes: a first transmission parameter and / or a first reception parameter, and the second transmission parameter includes: a second transmission parameter and / or a second reception parameter; the indication information includes: a first indication information and / or a second indication information;

[0057] If the indication information is the first indication information, the first device is a sensing signal transmitter, the second device is a sensing signal receiver, or, the second device is a device other than the sensing signal transmitter and the sensing signal receiver, and the first indication information is used to determine the second transmission parameter;

[0058] If the indication information is the second indication information, the first device is a sensing signal receiver, the second device is a sensing signal transmitter, or, the second device is a device other than the sensing signal transmitter and the sensing signal receiver, and the second indication information is used to determine the second reception parameter.

[0059] Optionally, the receiving of the indication information sent by the second device includes:

[0060] Receive the first indication information sent by the second device on a third time-domain resource; the start time of the third time-domain resource is equal to or later than the end time of the first time-domain resource, and the end time of the third time-domain resource is earlier than or equal to the start time of the second time-domain resource minus the time T1, where T1 is greater than or equal to 0;

[0061] And / or, receiving the second indication information sent by the second device on the fourth time-domain resource; a start time of the fourth time-domain resource is equal to or later than an end time of the first time-domain resource, an end time of the fourth time-domain resource is earlier than or equal to a time when a start time of the second time-domain resource minus T2, and the T2 is greater than or equal to 0.

[0062] Optionally, the processor is further configured to perform the following operations:

[0063] If the first indication information is not received on the third time-domain resource, the second transmission parameter is the same as the first transmission parameter;

[0064] And / or,

[0065] If the second indication information is not received on the fourth time-domain resource, the second reception parameter is the same as the first reception parameter.

[0066] Optionally, before receiving the indication information sent by the second device, the processor is further configured to perform the following operations:

[0067] Obtaining perception data of the target object according to the first perception signal;

[0068] Sending the perception data to the second device.

[0069] Optionally, the sending the perception data to the second device includes:

[0070] When it is determined that the perception data of the target object changes, sending the perception data to the second device.

[0071] In a sixth aspect, an embodiment of the present application provides a communication perception device, which is applied to a second device. The device includes a memory, a transceiver, and a processor:

[0072] The memory is configured to store a computer program; the transceiver is configured to send and receive data under the control of the processor; the processor is configured to read the computer program in the memory and perform the following operations:

[0073] Obtaining first perception data of a target object;

[0074] Generating indication information according to the first perception data of the target object, where the indication information is used to indicate a second transmission parameter or second perception data of the target object, and the second transmission parameter is used for a first device to transmit a second perception signal on a second time-domain resource, and the second perception signal is used to perceive the target object;

[0075] Sending the indication information to the first device.

[0076] In a seventh aspect, an embodiment of the present application provides a non-transitory readable storage medium storing a computer program for causing a processor to execute the method according to any one of the first aspect; or execute the method according to any one of the second aspect.

[0077] In an eighth aspect, an embodiment of the present application provides a communication perception method applied to a first device. The method includes:

[0078] Transmitting a first sensing signal using a first transmission parameter on a first time-domain resource;

[0079] Receiving indication information sent by a second device, where the indication information is used to indicate a second transmission parameter or sensing data of a target object;

[0080] Obtaining the second transmission parameter according to the indication information;

[0081] Transmitting a second sensing signal using the second transmission parameter on a second time-domain resource, where both the first sensing signal and the second sensing signal are used to sense the target object.

[0082] Optionally, the receiving the indication information sent by the second device includes:

[0083] Receiving first indication information sent by the second device on a third time-domain resource; a start time of the third time-domain resource is equal to or later than an end time of the first time-domain resource, and an end time of the third time-domain resource is earlier than or equal to a time when a start time of the second time-domain resource minus T1, where T1 is greater than or equal to 0;

[0084] And / or, receiving the second indication information sent by the second device on a fourth time-domain resource; a start time of the fourth time-domain resource is equal to or later than an end time of the first time-domain resource, and an end time of the fourth time-domain resource is earlier than or equal to a time when a start time of the second time-domain resource minus T2, where T2 is greater than or equal to 0.

[0085] Optionally, the second transmission parameter is the first transmission parameter, or the second transmission parameter is determined according to the first transmission parameter, or the second transmission parameter is determined according to the sensing data of the target object.

[0086] Optionally, the determining the second transmission parameter according to the indication information includes:

[0087] Determining the second transmission parameter according to the indication information and the second time-domain resource.

[0088] Optionally, the determining the second transmission parameter according to the indication information includes:

[0089] Determine the second transmission parameter according to the indication information and the first transmission parameter.

[0090] Optionally, determining the second transmission parameter according to the indication information includes:

[0091] Determine the second transmission parameter according to the indication information, the second time domain resource and the first transmission parameter.

[0092] Optionally, the second transmission parameter or the sensed data of the target object is obtained according to the first sensing signal.

[0093] In a ninth aspect, an embodiment of the present application provides a communication sensing device, which is applied to a first device. The device includes a memory, a transceiver, and a processor:

[0094] The memory is used to store computer programs; the transceiver is used to transmit and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations:

[0095] Transmit a first sensing signal on a first time domain resource using a first transmission parameter;

[0096] Receive indication information sent by a second device, where the indication information is used to indicate a second transmission parameter or sensed data of a target object;

[0097] Obtain the second transmission parameter according to the indication information;

[0098] Transmit a second sensing signal on a second time domain resource using the second transmission parameter, where the first sensing signal and the second sensing signal are both used to sense the target object.

[0099] Optionally, the processor is specifically configured to:

[0100] Receive first indication information sent by the second device on a third time domain resource; a start time of the third time domain resource is equal to or later than an end time of the first time domain resource, and an end time of the third time domain resource is earlier than or equal to a time that is the start time of the second time domain resource minus T1, where T1 is greater than or equal to 0;

[0101] and / or, receive the second indication information sent by the second device on a fourth time domain resource; a start time of the fourth time domain resource is equal to or later than an end time of the first time domain resource, and an end time of the fourth time domain resource is earlier than or equal to a time that is the start time of the second time domain resource minus T2, where T2 is greater than or equal to 0.

[0102] Optionally, the second transmission parameter is the first transmission parameter, or the second transmission parameter is determined according to the first transmission parameter, or the second transmission parameter is determined according to the perception data of the target object.

[0103] Optionally, the processor is specifically configured to:

[0104] Determine the second transmission parameter according to the indication information and the second time-domain resource.

[0105] Optionally, the processor is specifically configured to:

[0106] Determine the second transmission parameter according to the indication information and the first transmission parameter.

[0107] Optionally, the processor is specifically configured to:

[0108] Determine the second transmission parameter according to the indication information, the second time-domain resource, and the first transmission parameter.

[0109] Optionally, the second transmission parameter or the perception data of the target object is obtained according to the first perception signal.

[0110] This application provides a communication perception method, device, and storage medium. After the first device uses the first transmission parameter to transmit the first perception signal on the first time-domain resource to perceive the target object, a second transmission parameter related to the first transmission parameter and / or related to the perception data of the target object obtained based on the first perception signal is obtained, so as to adjust the second transmission parameter used by the first device to transmit the second perception signal on the second time-domain resource, thereby realizing adjusting the second transmission parameter when perceiving a moving target object, and further adjusting the perception signal.

[0111] It should be understood that the content described in the above-mentioned invention content part is not intended to limit the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0112] In order to more clearly illustrate the technical solutions in this 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 invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0113] Figure 1 It is a schematic diagram of the scenario of a communication perception method provided by an embodiment of this application;

[0114] Figure 2 Flow schematic diagram of a communication perception method provided by an embodiment of this application;

[0115] Figure 3 Flow schematic diagram of another communication perception method provided by an embodiment of this application;

[0116] Figure 4 Flow schematic diagram of yet another communication perception method provided by an embodiment of this application;

[0117] Figure 5 Flow schematic diagram of still another communication perception method provided by an embodiment of this application;

[0118] Figure 6 Flow schematic diagram of yet another communication perception method provided by an embodiment of this application;

[0119] Figure 7 Flow schematic diagram of yet another communication perception method provided by an embodiment of this application;

[0120] Figure 8 Structural schematic diagram of a communication perception device provided by an embodiment of this application;

[0121] Figure 9 Structural schematic diagram of another communication perception device provided by an embodiment of this application;

[0122] Figure 10 Structural schematic diagram of yet another communication perception device provided by an embodiment of this application;

[0123] Figure 11 Structural schematic diagram of still another communication perception device provided by an embodiment of this application. Detailed implementation manners

[0124] In the embodiments of the present invention, the term "and / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0125] In the embodiments of this application, the term "a plurality of" means two or more, and other quantifiers are similar.

[0126] In the embodiments of the present application, the descriptions of terms such as "first" and "second" are only for the purpose of illustration and distinguishing the described objects, without any order, nor do they represent a special limitation on the number of objects in the embodiments of the present application, and cannot constitute any limitation to the embodiments of the present application. For example, the first device is a device whose second transmission parameter is adjusted according to the sensing data, and the second device is the source device of the second transmission parameter obtained by the first device. The descriptions using "first", "second", etc. are only to distinguish different devices, rather than indicating differences in the priority or importance of these two devices.

[0127] Next, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0128] Communication-sensing fusion can be abbreviated as communication-sensing integration, or can also be called communication-sensing integration, abbreviated as communication-sensing integration.

[0129] The implementation of the integration of communication and sensing mainly relies on introducing a sensing function (SF) in a wireless communication network that supports such integration. This sensing function can be an independent network function or merged with other network functions (such as the Location Management Function (LMF), Access and Mobility Management Function (AMF)) into one network function. The wireless communication network can be any communication network capable of introducing the sensing function, such as a Wireless Sensor Network (WSN), Mobile Ad hoc Networks, Vehicular Networks, Internet of Things, 5G communication system (abbreviated as 5G system), future communication systems, or a system integrating multiple communication systems, etc., which is not limited in the embodiments of this application. The communication system may also include a core network part, such as the core network of an Evloved Packet System (EPS), 5G system (5GS), etc. The sensing function can implement at least one sensing-related function among sensing control, sensing data processing, and sensing authorization. Devices such as base stations and user equipment (UE) in the wireless network need to send and / or receive wireless sensing signals to sense the target object to be sensed. Based on the reception of wireless signals, the base station or UE can obtain the sensing data of the target object.

[0130] As a part of the communication network, the wireless sensing function provides the possibility of enhancing the use of telecommunications infrastructure in areas such as object detection and tracking, environmental monitoring, and human motion monitoring. The integration of communication and sensing provides inputs for various vertical fields (such as the fields of drones, smart homes, vehicular networks, factories, etc.). For example, it can be used for object and intruder detection in predefined safe areas around smart homes, highways, railways, factories, critical infrastructure, etc., or for obstacle avoidance and trajectory tracking, automatic operation and navigation of automatic guided vehicles such as drones and vehicles, or for public safety search and rescue, rainfall monitoring and floods, health and motion monitoring, etc.

[0131] Currently, when existing sensing methods obtain the state information of the object to be sensed through sensing signals, they mainly sense through fixed sensing signals. In this way, if the object to be sensed is a moving object, the sensing signal may not cover the object to be sensed or may not be aligned with the object to be sensed, resulting in problems such as the inability to accurately obtain the state information of the object to be sensed and low sensing performance.

[0132] In view of this, an embodiment of the present application provides a communication sensing method. When sensing a target object, the transmission parameters of the sensing signal transmitted in the next time domain resource are adjusted according to the sensed data of the target object that has been collected and / or the sensing signal transmission parameters used when collecting the sensed data, so that the transmission parameters of the sensing signal (such as the beam direction) can correspond to the moving target object. Thereby improving the sensing performance of the communication sensing service.

[0133] Next, the scenario of the communication sensing method provided by the present application will be introduced. Figure 1 It is a scenario schematic diagram of a communication sensing method provided by an embodiment of the present application. As Figure 1 shown, this scenario may include: a sensing signal transmitter, a sensing signal receiver, and a target object.

[0134] Among them, the sensing signal transmitter and the sensing signal receiver can be devices in a wireless network that can send and receive sensing signals, such as base stations, UEs, etc. Devices, as long as they can transmit sensing signals. A sensing signal refers to a wireless signal used for sensing. The sensing signal can be a wireless signal dedicated to sensing, or the sensing signal can also be a wireless signal used for both sensing and communication at the same time. The target object can be any object that the sensing signal can detect sensed data, such as a vehicle, a living being, a drone, etc.

[0135] The sensing signal transmitter is used to send out a sensing signal, and the sensing signal receiver is used to receive the sensing signal. The sensing signal is used to sense the target object to obtain the sensed data of the target object. By receiving the sensing signal, the influence generated by the reflection, scattering, etc. of the target object on the sensing signal is analyzed, so as to obtain the sensed data of the target object. Through the state information of the target object represented by the sensed data, the historical movement trajectory of the target object can be known. For example, the historical movement trajectory of the target object may include the historical position, speed, direction, etc. of the target object.

[0136] Among them, the function of obtaining the state information of the target object according to the sensed data can be provided by the sensing signal receiver, or after the sensing signal receiver sends the sensed data to other devices with data processing functions, the state information of the target object obtained by the other devices processing the sensed information. After obtaining the state information of the target object, functions such as detection, monitoring, and tracking of the target object can be realized based on the state information as described above.

[0137] Currently, communication sensing can be divided into single-base sensing and double-base sensing.

[0138] Among them, single-base sensing means that the sensing signal transmitter and the sensing signal receiver are the same in space, that is, the sensing signal transmitter and the sensing signal receiver can be deployed in the same hardware entity, or the sensing signal transmitter and the sensing signal receiver are a hardware entity, and this hardware entity can provide the functions of sending and receiving sensing signals.

[0139] Bi-base sensing means that the sensing signal transmitter and the sensing signal receiver are separated in space. That is, the sensing signal transmitter and the sensing signal receiver can be deployed in different hardware entities, and data interaction is carried out through the communication connection between the two hardware entities of the sensing signal transmitter and the sensing signal receiver to achieve the function of transmitting sensing signals.

[0140] Next, based on Figure 1 the scenarios shown below, the technical solutions of this application and how the technical solutions of this application solve the above technical problems will be described in detail through specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. Next, the embodiments of this application will be described with reference to the accompanying drawings.

[0141] Figure 2 It is a schematic flowchart of a communication sensing method provided by an embodiment of this application. As Figure 2 shown, this method includes:

[0142] S201. The first device transmits a first sensing signal on a first time-domain resource using first transmission parameters.

[0143] Among them, the first device can be the sensing signal transmitter and / or the sensing signal receiver as described in Figure 1 , and the first device can be, for example, devices such as a base station, a UE, etc. The first transmission parameters can include transmission parameters and / or reception parameters. The transmission parameters are used for the sensing signal transmitter to transmit the first sensing signal on the first time-domain resource, and the reception parameters are used for the sensing signal receiver to receive the first sensing signal on the first time-domain resource. The first sensing signal is used to sense a target object to obtain sensing data of the target object. The method of sensing the target object through the first sensing signal to obtain the sensing data of the target object is the same as the method described in the foregoing Figure 1 , and will not be repeated here. Through this sensing data, the state information of the target object can be obtained. For example, the historical motion trajectory, shape, etc. of the target object can be obtained. The historical motion trajectory of the target object can include, for example, the historical position, speed, direction, etc. of the target object.

[0144] When the first device is the sensing signal transmitter, it transmits the first sensing signal on the first time-domain resource using the first transmission parameters, and the first transmission parameters are the transmission parameters included in the aforementioned first transmission parameters. Correspondingly, the sensing signal receiver receives the first sensing signal on the first time-domain resource using the first reception parameters, and the first reception parameters are the reception parameters included in the aforementioned first transmission parameters. When the first device is the sensing signal receiver, it receives the first sensing signal on the first time-domain resource using the first reception parameters, and correspondingly, the sensing signal transmitter transmits the first sensing signal on the first time-domain resource using the first transmission parameters.

[0145] In various embodiments of the present application, the transmission parameters are used to control the beam, power, etc. used for transmitting the sensing signal. The transmission parameters may include, for example, at least one of the beam parameters, power parameters, etc. for transmitting the sensing signal, and the beam parameters may include at least one of the beam direction and beam width. By adjusting the transmission parameters, the beam, power, etc. used for transmitting the sensing signal can be adjusted. The first transmission parameters here are used to control the beam, power, etc. used for transmitting the first sensing signal. By adjusting the first transmission parameters, the beam, power, etc. used for transmitting the first sensing signal can be adjusted.

[0146] The first sensing signal is the sensing signal mentioned above Figure 1 in the above.

[0147] Regarding the first time-domain resource, the present application does not limit how to determine the first time-domain resource. The first time-domain resource may be determined by the first device according to actual needs, or may be determined according to the resource indication of other devices, or the received resource configuration, etc. Among them, the first time-domain resource may be any time-domain resource in the periodic time-domain resources, or may be a non-periodic time-domain resource. The time-domain resource may include at least one time unit for transmitting the sensing signal, and the time unit may be a frame, a time slot, a sub-frame, an Orthogonal Frequency Division Multiplexing (OFDM) symbol, etc.

[0148] S202. The first device obtains the second transmission parameters.

[0149] Among them, the second transmission parameter is the transmission parameter used by the first device to transmit the second sensing signal on the second time-domain resource. The start time of the second time-domain resource is later than the end time of the first time-domain resource. This application does not limit how to determine the second time-domain resource. For example, the second time-domain resource can be determined by the first device according to actual needs, or can be determined according to the resource indication of other devices, or the received resource configuration, etc. Among them, the second time-domain resource can be any time-domain resource in the periodic time-domain resource, or can be a non-periodic time-domain resource.

[0150] A possible implementation manner is that the second transmission parameter is obtained by the first device by receiving the indication information sent by the second device. The second device can be a device that transmits the sensing signal with the first device (for example, if the first device is the sensing signal sender, then the second device is the sensing signal receiver; or, if the first device is the sensing signal receiver, then the second device is the sensing signal sender), or can be a device other than the sensing signal sender and the sensing signal receiver (referred to as other devices in the subsequent embodiments), such as the device where the sensing control end is located. The other device can generate the indication information according to the sensing data of the target object. The first device determines the second transmission parameter according to the indication information.

[0151] Another possible implementation manner is that the second transmission parameter is determined by the first device based on the first transmission parameter. For example, the second transmission parameter can be the same as the first transmission parameter.

[0152] Still another possible implementation manner is that the second transmission parameter is determined by the first device according to the sensing data of the target object obtained based on the first sensing signal.

[0153] The second transmission parameter is related to the first transmission parameter, and / or the second transmission parameter is related to the sensing data of the target object obtained based on the first sensing signal. For example, there may be a mapping relationship between the second transmission parameter and the first transmission parameter; or, the second transmission parameter is calculated according to the first transmission parameter; or, there may be a mapping relationship between the second transmission parameter and the sensing data; or the second transmission parameter is calculated according to the sensing data; or, there is a mapping relationship between the second transmission parameter and both the first transmission parameter and the sensing data; or the second transmission parameter is calculated according to the first transmission parameter and the sensing data, etc.

[0154] In various embodiments of the present application, the perception data of the target object may include, for example, at least one of the speed, distance, direction, position, related perception measurement quantity, speed offset, distance offset, direction offset, perception measurement quantity offset, speed range, distance range, and direction range of the target object. The perception measurement quantity is, for example, one or more of time delay, Doppler frequency shift, angle of arrival, received strength of the perception signal, and channel state information.

[0155] S203. The first device transmits a second perception signal using second transmission parameters on a second time domain resource.

[0156] Among them, the second perception signal is also used to perceive the target object.

[0157] In the method provided by the embodiments of the present application, after the first device perceives the target object by transmitting a first perception signal using first transmission parameters on a first time domain resource, a second transmission parameter related to the first transmission parameter and / or related to the perception data of the target object obtained based on the first perception signal is obtained, so as to adjust the second transmission parameter used by the first device to transmit the second perception signal on the second time domain resource, thereby realizing the adjustment of the second transmission parameter when perceiving a moving target object, and further better perceiving the target object.

[0158] Next, taking the example that the first device obtains the second transmission parameter by receiving the indication information sent by the second device in step S202, the communication perception method will be introduced in detail.

[0159] Figure 3 It is a schematic flowchart of another communication perception method provided by the embodiments of the present application. As Figure 3 shown, the method may include:

[0160] S301. The first device transmits a first perception signal using first transmission parameters on a first time domain resource.

[0161] Among them, the first device may be a perception signal sending end or a perception signal receiving end.

[0162] S302. The second device generates indication information.

[0163] Among them, the indication information is used to indicate the second transmission parameter, the second perception data of the target object, the transmission parameter offset for determining the second transmission parameter, or the transmission parameter range for determining the second transmission parameter. The second perception data is, for example, the perception data corresponding to the predicted target object on the second time domain resource.

[0164] The indication information for indicating the second transmission parameter may include, for example, the second transmission parameter or an identifier / index indicating the second transmission parameter, etc.

[0165] The transmission parameter offset is, for example, a beam direction offset, a beam width offset, or a power offset.

[0166] The transmission parameter range is, for example, a beam direction range, a beam width range, or a power range.

[0167] The indication information for indicating the second sensing data of the target object may, for example, include the second sensing data of the target object or an identifier / index indicating the second sensing data of the target object, etc.

[0168] The second device may obtain the first sensing data of the target object and generate indication information based on the first sensing data. The first sensing data of the target object may be determined according to the first sensing signal transmitted on the first time-domain resource.

[0169] In a possible implementation, the second transmission parameter indicated by the indication information, the second sensing data of the target object, the transmission parameter offset for determining the second transmission parameter, or the transmission parameter range for determining the second transmission parameter may be determined according to the first sensing data of the target object. The second sensing data of the target object is different from the first sensing data of the target object. For example, the first sensing data of the target object is a sensing measurement quantity or a sensing measurement quantity offset related to the target object, and the second sensing data of the target object is one or more of the speed, distance, direction, position, speed offset, distance offset, direction offset, speed range, distance range, and direction range of the target object. The second sensing data of the target object may be determined according to the first sensing data of the target object. Another example is that the first sensing data of the target object is the position of the target object, and the second transmission parameter includes the second transmission beam direction. The second transmission beam direction is determined to be the direction that can align with the position of the target object. Another example is that the first sensing data of the target object is the direction range of the target object, and the transmission parameter range for determining the second transmission parameter includes the transmission beam direction range for determining the second transmission beam direction. The transmission beam direction range is determined to be the direction range that can align with the direction range of the target object.

[0170] In another possible implementation, the second sensing data of the target object indicated by the indication information is the first sensing data of the target object.

[0171] If the first device is the sender of the sensing signal, the second device can be the receiver of the sensing signal or other device. When the second device is the receiver of the sensing signal, the second device receives the first sensing signal according to the first reception parameter, obtains the first sensing data of the target object based on the first sensing signal, and generates an indication information according to the first sensing data. When the second device is other device, the second device receives the first sensing data of the target object sent by the receiver of the sensing signal, and generates an indication information according to the first sensing data. The first sensing data of the target object can be obtained by the receiver of the sensing signal based on the first sensing signal.

[0172] If the first device is the receiver of the sensing signal, the second device can be the sender of the sensing signal or other device. When the second device is the sender of the sensing signal, the second device obtains the first sensing data of the target object from the first device (the receiver of the sensing signal), and generates an indication information according to the first sensing data. When the second device is other device, the other device obtains the first sensing data of the target object from the receiver of the sensing signal, and generates an indication information according to the first sensing data. The first sensing data of the target object can be obtained by the receiver of the sensing signal based on the first sensing signal.

[0173] Optionally, if the second device determines that the first sensing data of the target object meets the criterion or the change of the first sensing data of the target object meets the criterion, it generates an indication information. Otherwise, the second device does not generate an indication information.

[0174] S303. The second device sends the indication information to the first device.

[0175] Correspondingly, the first device receives the indication information sent by the second device.

[0176] Optionally, if the second device determines one of the following, it sends an indication information to the first device:

[0177] The second sensing data of the target object meets the criterion; for example, the second sensing data of the target object is greater than or equal to the first threshold;

[0178] The change of the second sensing data of the target object meets the criterion; for example, the change of the second sensing data of the target object is greater than or equal to the first threshold;

[0179] The change of the second transmission parameter meets the criterion; for example, the change of the second transmission parameter is greater than or equal to the second threshold;

[0180] The transmission parameter offset for determining the second transmission parameter meets the criterion; for example, the transmission parameter offset for determining the second transmission parameter is greater than or equal to the third threshold;

[0181] The change in the transmission parameter range for determining the second transmission parameter meets the criterion. For example, the change in the transmission parameter range for determining the second transmission parameter is greater than or equal to a fourth threshold.

[0182] Conversely, if the second device determines that none of the above occurs, it may not send the indication information to the first device.

[0183] Optionally, the second device may generate and send the indication information when determining that one of the above occurs. The second device may not generate the indication information when determining that none of the above occurs.

[0184] Optionally, the second device sends the indication information on a third time domain resource, where the start time of the third time domain resource is equal to or later than the end time of the first time domain resource, and the end time of the third time domain resource is earlier than or equal to the start time of the second time domain resource minus T, and T is greater than or equal to 0. This implementation can receive the indication information on the third time domain resource between the first time domain resource and the second time domain resource, and leave a duration of T for the first device to process the indication information and / or configure the second transmission parameter for the second time domain resource. The third time domain resource and T can be determined according to actual requirements under the condition of meeting the above requirements, and the present application does not limit this. For example, T is greater than or equal to the processing time. The processing time may include at least one of the following: the processing time of the indication information, the processing time of determining the second transmission parameter, and the processing time of adjusting the transmission parameter.

[0185] S304. The first device obtains the second transmission parameter according to the indication information.

[0186] In a possible implementation, if the indication information includes the second transmission parameter, the second transmission parameter is directly extracted from the indication information.

[0187] In another possible implementation, the indication information may include information indicating the second transmission parameter. For example, the indication information includes an identifier / index indicating the second transmission parameter, and the first device determines the transmission parameter corresponding to the identifier as the second transmission parameter according to the identifier / index. For example, it may be to determine the second transmission parameter according to the identifier / index and the mapping relationship between the identifier / index and the transmission parameter.

[0188] In yet another possible implementation, the indication information indicates a transmission parameter offset or a transmission parameter range for determining the second transmission parameter, and the first device determines the second transmission parameter according to the transmission parameter offset or the transmission parameter range. For example, the first device determines the second transmission parameter according to the first transmission parameter and the transmission parameter offset. The second transmission parameter may be the first transmission parameter plus the transmission parameter offset. Another example is that the second transmission parameter determined by the first device is within the transmission parameter range.

[0189] In another possible implementation, the indication information indicates the second sensing data of the target object, and the first device determines the second transmission parameter according to the second sensing data of the target object. For example, the second sensing data of the target object is the position of the target object, and the second transmission parameter includes the second transmission beam direction, and it is determined that the second transmission beam direction is the direction that can align with the position of the target object.

[0190] In another possible implementation, the first device determines the second transmission parameter according to the first transmission parameter and the indication information. For example, the indication information indicates a transmission parameter offset, and the first device determines the second transmission parameter as the first transmission parameter plus the transmission parameter offset.

[0191] In another possible implementation, the first device determines the second transmission parameter according to the second time domain resource and the indication information. For example, the second transmission parameter includes the second transmission beam direction, the indication information indicates the second sensing data of the target object, and the first device predicts the position of the target object at the time of the second time domain resource according to the second sensing data, and determines that the second transmission beam direction is the direction that aligns with the predicted position of the target object.

[0192] In another possible implementation, the first device determines the second transmission parameter according to the first transmission parameter, the second time domain resource and the indication information. For example, the second transmission parameter includes the second transmission beam direction, the indication information indicates the direction offset of the target object, and the first device predicts the direction of the target object at the time of the second time domain resource according to the first transmission beam direction and the direction offset of the target object, and determines that the second transmission beam direction is the direction that aligns with the predicted direction of the target object.

[0193] Optionally, if the first device does not receive the indication information on the third time domain resource, the first transmission parameter can be used as the second transmission parameter. If the first device does not receive the indication information on the third time domain resource, it indicates that there may be a situation where the first device cannot receive the indication information, or the second device cannot send the indication information to the first device on time, or the second device does not need to indicate the first device to adjust the second transmission parameter on the second time domain resource (for example, if the position distance of the target object before and after movement is relatively close, there is no need to adjust the beam direction of the sensing signal), etc. Therefore, the second sensing signal can be transmitted using the second transmission parameter that is the same as the first transmission parameter.

[0194] S305. The first device transmits the second sensing signal using the second transmission parameter in the second time domain resource.

[0195] In the implementation provided by the embodiments of the present application, the second device sends indication information to the first device, so that the first device can obtain a second transmission parameter according to the indication information and use the second transmission parameter to transmit a second sensing signal in a second time-domain resource. The second transmission parameter obtained by the first device through the indication information can be used to adjust the second transmission parameter when sensing a moving target object, thereby better sensing the target object. When the second device is other than a sensing signal receiving end and a sensing signal sending end, the steps of processing sensing data or determining the second transmission parameter can be transferred to the other device, so that there is no need for the sensing signal receiving end and the sensing signal sending end to process the sensing data or determine the second transmission parameter, reducing the data processing requirements of the sensing signal receiving end and the sensing signal sending end.

[0196] Next, in the foregoing implementation, how to obtain the second transmission parameter based on the sensing data of the target object, the transmission parameter offset for determining the second transmission parameter, or the transmission parameter range for determining the second transmission parameter will be introduced.

[0197] A possible implementation is to predict the position or position range of the target object in the second time-domain resource relative to the direction of the first device according to the position of the target object in the sensing data and the position of the target object in the historical sensing signals before the first sensing signal, and determine the beam direction in the second transmission parameter.

[0198] Another possible implementation is to predict the position or position range of the target object in the second time-domain resource relative to the direction of the first device according to the position of the target object in the sensing data and the position of the target object in the historical sensing signals before the first sensing signal. Determine the deviation range of the second transmission parameter according to the difference in direction between the prediction result and the sensing data of the target object obtained based on the first sensing signal. According to the deviation range and the first transmission parameter, the first transmission parameter after fusing the deviation range is used as the second transmission parameter.

[0199] Therefore, when the indication information includes calculation data for calculating the second transmission parameter, the calculation data may include the position of the target object in the sensing data, the position of the target object in the historical sensing signals before the first sensing signal, or the prediction result of the position or position range of the target object in the second time-domain resource relative to the direction of the first device, or the deviation range of the second transmission parameter and the first transmission parameter, etc.

[0200] The method provided by the embodiments of this application predicts the position or direction of a target object within the time range corresponding to a second time-domain resource based on the perception data of the target object obtained from a first perception signal, so as to generate second transmission parameters that can indicate aligning the second perception signal with the target object, enabling the first device to also send the second perception signal through a beam aligned with the target object on the second time-domain resource, thereby improving the perception ability of communication perception.

[0201] For ease of understanding, in combination with the scenarios where the first device and the second device are respectively different device roles, the specific implementation under the method described above will be introduced. Figure 2 and Figure 3 in the specific implementation under the method described above will be introduced.

[0202] Optionally, the first transmission parameter may include: a first transmission parameter and / or a first reception parameter, the second transmission parameter may include: a second transmission parameter and / or a second reception parameter, and the indication information may include: a first indication information and / or a second indication information. The first indication information is used to determine the second transmission parameter, and the second indication information is used to determine the second reception parameter. The first indication information is used to indicate the second transmission parameter, the second perception data of the target object, the transmission parameter offset for determining the second transmission parameter, or the transmission parameter range for determining the second transmission parameter. The second indication information is used to indicate the second reception parameter, the second perception data of the target object, the reception parameter offset for determining the second reception parameter, or the reception parameter range for determining the second reception parameter.

[0203] If the indication information is the first indication information and the first device is the perception signal sender, then the second device may be the perception signal receiver, or the second device may be a device other than the perception signal sender and the perception signal receiver. If the indication information is the second indication information and the first device is the perception signal receiver, the second device may be the perception signal sender, or the second device may be a device other than the perception signal sender and the perception signal receiver.

[0204] It should be noted that whether the indication information is the first indication information or the second indication information may be determined according to whether the first device is the perception signal sender or receiver, or may be determined by the identifier carried in the indication information, or the first device does not need to determine or judge.

[0205] Scenario 1: The first device is the perception signal sender and the second device is the perception signal receiver.

[0206] Figure 4 is a schematic flowchart of another communication perception method provided by the embodiments of this application. As Figure 4 shown, the foregoing method may include:

[0207] S401. The sensing signal sender sends a first sensing signal on a first time-domain resource using first transmission parameters.

[0208] Correspondingly, the sensing signal receiver receives the first sensing signal on the first time-domain resource using first reception parameters.

[0209] S402. The sensing signal receiver obtains sensing data of a target object obtained based on the first sensing signal.

[0210] After the sensing signal sender sends the sensing signal, the sensing signal receiver receives the sensing signal after reflection, scattering, etc. caused by the target object, and extracts the sensing data of the target object after processing the sensing signal.

[0211] S403. The sensing signal receiver generates first indication information according to the sensing data of the target object.

[0212] Wherein, the first indication information is used to indicate second transmission parameters, the sensing data of the target object, a transmission parameter offset for determining the second transmission parameters, or a transmission parameter range for determining the second transmission parameters. The method for generating the first indication information is similar to how the second device generates indication information according to the first sensing data of the target object in the foregoing step S302, except that only the first indication information for determining the second transmission parameters is generated here, which will not be elaborated here.

[0213] S404. The sensing signal receiver sends the first indication information to the sensing signal sender.

[0214] Correspondingly, the sensing signal sender receives the first indication information sent by the sensing signal receiver.

[0215] Optionally, if it is determined that the sensing data of the target object meets a criterion, or the change in the sensing data of the target object meets a criterion, or the change in the second transmission parameters meets a criterion, the first indication information is sent to the sensing signal sender. If the above conditions are determined, it indicates that the position of the target object changes greatly at this time and the second transmission parameters need to be adjusted, so the first indication information is sent to the sensing signal sender. On the contrary, it indicates that the position of the target object changes little and the second transmission parameters can be not adjusted, that is, the first indication information can be not sent to the sensing signal sender. The sensing data of the target object meeting the criterion is, for example, that the sensing data of the target object is greater than or equal to a first threshold. The change in the sensing data of the target object meeting the criterion is, for example, that the change in the sensing data of the target object is greater than or equal to a first threshold. The change in the second transmission parameters meeting the criterion is, for example, that the change in the second transmission parameters is greater than or equal to a second threshold.

[0216] Optionally, the sensing signal sender receives first indication information sent by the sensing signal receiver on a third time-domain resource. The start time of the third time-domain resource is equal to or later than the end time of the first time-domain resource, and the end time of the third time-domain resource is earlier than or equal to the start time of the second time-domain resource minus T1, where T1 is greater than or equal to 0. This implementation can receive the indication information on the third time-domain resource between the first time-domain resource and the second time-domain resource, and leave a duration of T1 for the sensing signal sender to process the first indication information and / or configure second transmission parameters for the second time-domain resource. The third time-domain resource and T1 can be determined according to actual requirements under the condition of meeting the above requirements, and this application does not limit this. For example, T1 is greater than or equal to the processing time. The processing time may include at least one of the following: the processing time of the first indication information, the processing time of determining the second transmission parameter, and the processing time of adjusting the transmission parameter.

[0217] Optionally, if the first indication information is not received on the third time-domain resource, it indicates that there may be a situation where the first device cannot receive the indication information, or the sensing signal receiver cannot send the indication information to the sensing signal sender on time, or the sensing signal receiver does not need to indicate the sensing signal sender to adjust the second transmission parameter on the second time-domain resource (for example, if the position distance before and after the target object moves is relatively close, there is no need to adjust the beam direction of the sensing signal), etc. Therefore, the second sensing signal can be sent using the same second transmission parameter as the first transmission parameter.

[0218] In a possible implementation, if the indication information is not received on the specified time-domain resource, the second transmission parameter can also be set to any preset transmission parameter to avoid the impact of the above situation on the sensing function.

[0219] S405. The sensing signal sender obtains the second transmission parameter according to the first indication information.

[0220] The method for the sensing signal sender to obtain the second transmission parameter according to the first indication information can refer to the content of how the first device obtains the second transmission parameter according to the indication information in the foregoing step S304, which will not be elaborated here.

[0221] S406. The sensing signal sender sends a second sensing signal on the second time-domain resource using the second transmission parameter.

[0222] Correspondingly, the sensing signal receiver receives the second sensing signal on the second time-domain resource using the second reception parameter. The sensing signal receiver can determine the second reception parameter according to the first sensing signal received in the first time-domain resource.

[0223] The method provided by the embodiments of this application enables the receiving end of the sensing signal, in addition to receiving the sensing signal, to generate second transmission parameters for the transmitting end of the sensing signal to use on the second time-domain resource based on the sensing data. Thus, without adding hardware entities, when sensing a moving target object, the second transmission parameters can be adjusted, and further the function of the sensing signal can be adjusted.

[0224] Scenario 2: The first device is the receiving end of the sensing signal, and the second device is the transmitting end of the sensing signal.

[0225] Figure 5 It is a schematic flowchart of another communication sensing method provided by the embodiments of this application. As Figure 5 shown, the foregoing method may include:

[0226] S501. The transmitting end of the sensing signal sends a first sensing signal on a first time-domain resource using first transmission parameters. Correspondingly, the receiving end of the sensing signal receives the first sensing signal on the first time-domain resource using first reception parameters

[0227] S502. The receiving end of the sensing signal obtains sensing data of the target object based on the first sensing signal.

[0228] After the transmitting end of the sensing signal sends the sensing signal, the receiving end of the sensing signal receives the sensing signal after reflection, scattering, etc. caused by the target object, and extracts the sensing data of the target object after processing the sensing signal.

[0229] S503. The receiving end of the sensing signal sends the sensing data of the target object obtained based on the first sensing signal to the transmitting end of the sensing signal;

[0230] Optionally, when the receiving end of the sensing signal determines that the change in the sensing data of the target object meets the criterion or the sensing data of the target object meets the criterion, it sends the sensing data of the target object to the transmitting end of the sensing signal. For example, when the difference value from the previously obtained sensing data is greater than or equal to a preset threshold, it indicates that the position difference of the target object before and after movement is relatively large, and the second reception parameters need to be adjusted. Therefore, the current sensing data needs to be sent to the transmitting end of the sensing signal so that the transmitting end of the sensing signal can generate second indication information to indicate the changed second reception parameters. If the change in the sensing data of the target object does not meet the criterion or the sensing data of the target object does not meet the criterion, the receiving end of the sensing signal does not send the sensing data of the target object to the transmitting end of the sensing signal. For example, if the difference value from the previously obtained sensing data is less than the preset threshold, it indicates that the target object has not moved or the position difference before and after movement is relatively small, and there is no need to adjust the second reception parameters. Therefore, the sensing data may not be sent, so that the receiving end of the sensing signal can receive the second sensing signal on the second time-domain resource using the same second reception parameters as the first reception parameters.

[0231] Correspondingly, the sensing signal sender receives the sensing data of the target object obtained based on the first sensing signal.

[0232] S504. The sensing signal sender generates second indication information according to the sensing data of the target object.

[0233] Among them, the second indication information is used to indicate the second reception parameter, the sensing data of the target object, the reception parameter offset for determining the second reception parameter, or the reception parameter range for determining the second reception parameter. The method for generating the second indication information is similar to how the second device generates indication information according to the first sensing data of the target object in the foregoing step S302. The difference is that only the second indication information for determining the second reception parameter is generated here, which will not be elaborated here.

[0234] S505. The sensing signal sender sends the second indication information to the sensing signal receiver.

[0235] Correspondingly, the sensing signal receiver receives the second indication information sent by the sensing signal sender.

[0236] Optionally, if it is determined that the sensing data of the target object meets the criterion, or the change in the sensing data of the target object meets the criterion, or the change in the second reception parameter meets the criterion, the second indication information is sent to the sensing signal receiver. If the above conditions are determined, it indicates that the position change of the target object is relatively large at this time and the second reception parameter needs to be adjusted, so the second indication information is sent to the sensing signal receiver. On the contrary, it indicates that the position change of the target object is relatively small and the second reception parameter can be not adjusted, that is, the second indication information can be not sent to the sensing signal receiver. The sensing data of the target object meeting the criterion is, for example, that the sensing data of the target object is greater than or equal to the first threshold. The change in the sensing data of the target object meeting the criterion is, for example, that the change in the sensing data of the target object is greater than or equal to the first threshold. The change in the second reception parameter meeting the criterion is, for example, that the change in the second reception parameter is greater than or equal to the second threshold.

[0237] Optionally, the sensing signal receiving end receives second indication information sent by the sensing signal sending end on a fourth time domain resource, where the start time of the fourth time domain resource is equal to or later than the end time of the first time domain resource, and the end time of the fourth time domain resource is earlier than or equal to the start time of the second time domain resource minus T2, and T2 is greater than or equal to 0. This implementation can receive the indication information on the fourth time domain resource between the first time domain resource and the second time domain resource, and leave a duration of T2 for the sensing signal sending end to process the second indication information and / or configure second receiving parameters for the second time domain resource. The fourth time domain resource and T2 can be determined according to actual requirements under the condition of meeting the above requirements, and the present application does not limit this. For example, T2 is greater than or equal to the processing time. The processing time may include at least one of the following: the processing time of the second indication information, the processing time of determining the second receiving parameters, and the processing time of adjusting the receiving parameters.

[0238] Optionally, if the second indication information is not received on the fourth time domain resource, it indicates that there may be a situation where the first device cannot receive the indication information, or the sensing signal sending end cannot send the indication information to the sensing signal receiving end on time, or the sensing signal sending end does not need to indicate the sensing signal receiving end to adjust the second transmission parameters on the second time domain resource (for example, if the position distance before and after the movement of the target object is relatively close, there is no need to adjust the beam direction of the sensing signal), etc. Therefore, the second receiving parameters identical to the first receiving parameters can be used to receive the second sensing signal.

[0239] In a possible implementation, if the indication information is not received on the specified time domain resource, the second transmission parameters can also be set to any preset transmission parameters to avoid the impact of the above situation on the sensing function.

[0240] S506. The sensing signal receiving end obtains second receiving parameters according to the second indication information.

[0241] The method for the sensing signal receiving end to obtain the second receiving parameters according to the second indication information can refer to the content of how the first device obtains the second transmission parameters according to the indication information in the foregoing step S304, which will not be elaborated here.

[0242] S507. The sensing signal receiving end receives the second sensing signal on the second time domain resource by using the second receiving parameters.

[0243] Correspondingly, the sensing signal sending end sends the second sensing signal on the second time domain resource by using the second sending parameters. The sensing signal sending end can determine the second sending parameters according to the sensing data of the target object.

[0244] This embodiment is the same as Figure 5The difference between the illustrated embodiment and others is that, in this embodiment, the second transmission parameter to be adjusted is the second reception parameter for the perception signal receiver to receive the second perception signal on the second time domain resource. The perception signal receiver sends the perception data to the perception signal sender, and the perception signal sender undertakes the data processing function of obtaining the indication information according to the perception data.

[0245] Scenario 3: The first device is the perception signal sender, and the second device is a device other than the perception signal sender and the perception signal receiver (other device).

[0246] Figure 6 It is a schematic flowchart of another communication perception method provided by the embodiments of this application. As Figure 6 shown, the foregoing method may include:

[0247] S601. The perception signal sender sends a first perception signal on the first time domain resource using a first transmission parameter. Correspondingly, the perception signal receiver receives the first perception signal on the first time domain resource using a first reception parameter

[0248] S602. The perception signal receiver obtains first perception data of the target object obtained based on the first perception signal.

[0249] S603. The perception signal receiver sends the first perception data of the target object to other devices.

[0250] Optionally, when the perception signal receiver determines that the change in the first perception data of the target object satisfies the criterion or the first perception data of the target object satisfies the criterion, it sends the first perception data of the target object to other devices. For example, when the difference value from the previously obtained first perception data is greater than or equal to a preset threshold, it indicates that the position difference before and after the movement of the target object is large, and the second transmission parameter needs to be adjusted. Therefore, it is necessary to send the current first perception data to other devices so that other devices can generate a first indication information to indicate the changed second transmission parameter. If the change in the first perception data of the target object does not satisfy the criterion or the first perception data of the target object does not satisfy the criterion, the perception signal receiver does not send the first perception data of the target object to other devices. For example, if the difference value from the previously obtained first perception data is less than the preset threshold, it indicates that the target object has not moved or the position difference before and after the movement is small, and there is no need to adjust the second transmission parameter. Therefore, the first perception data may not be sent so that the perception signal sender sends a second perception signal on the second time domain resource using the same second transmission parameter as the first transmission parameter.

[0251] Correspondingly, other devices receive the first perception data of the target object.

[0252] S604. Other devices generate first indication information according to the first perception data of the target object.

[0253] The first indication information is used to indicate a second transmission parameter, second sensing data of the target object, a transmission parameter offset for determining the second transmission parameter, or a transmission parameter range for determining the second transmission parameter. The method for generating the first indication information is similar to how the second device generates indication information based on the first sensing data of the target object in the foregoing step S302, except that here only the first indication information for determining the second transmission parameter is generated, which will not be elaborated here.

[0254] S605. Other devices send the first indication information to the sensing signal sender.

[0255] Correspondingly, the sensing signal sender receives the first indication information sent by other devices.

[0256] Optionally, other devices send the first indication information to the sensing signal sender when it is determined that the second sensing data of the target object meets the criterion, or the change in the second sensing data of the target object meets the criterion, or the change in the second transmission parameter meets the criterion. For example, when the difference value from the previously obtained sensing data is greater than or equal to a preset threshold, it indicates that the position difference before and after the movement of the target object is large and the second transmission parameter needs to be adjusted. Therefore, the first indication information indicating the changed second transmission parameter is generated. If the sensing data of the target object has not changed, or the difference value from the previously obtained sensing data is less than the preset threshold, it indicates that the target object has not moved or the position difference before and after the movement is small, and there is no need to adjust the second transmission parameter. Therefore, the first indication information may not be generated, so that the sensing signal sender sends the second sensing signal on the second time-domain resource with the same second transmission parameter as the first transmission parameter.

[0257] Optionally, the sensing signal sender receives the first indication information sent by other devices on a third time-domain resource, where the start time of the third time-domain resource is equal to or later than the end time of the first time-domain resource, and the end time of the third time-domain resource is earlier than or equal to the start time of the second time-domain resource minus the time T1, and T1 is greater than or equal to 0. This implementation can receive the indication information on the third time-domain resource between the first time-domain resource and the second time-domain resource, and leave a duration of T1 for the sensing signal sender to process the first indication information and / or configure the second transmission parameter for the second time-domain resource. The third time-domain resource and T1 can be determined according to actual requirements under the condition of meeting the above requirements, and this application does not limit this. For example, T1 is greater than or equal to the processing time. The processing time may include at least one of the following: the processing time of the first indication information, the processing time of determining the second transmission parameter, and the processing time of adjusting the transmission parameter.

[0258] Optionally, if the first indication information is not received on the third time-domain resource, it indicates that there may be a situation where the first device cannot receive the indication information, or other devices cannot send the indication information to the sensing signal sender on time, or other devices do not need to instruct the sensing signal sender to adjust the second transmission parameter on the second time-domain resource (for example, if the position distance before and after the target object moves is relatively close, there is no need to adjust the beam direction of the sensing signal), etc. Therefore, the second sensing signal can be sent using the second transmission parameter that is the same as the first transmission parameter.

[0259] S606. The sensing signal sender obtains the second transmission parameter according to the first indication information.

[0260] The method for the sensing signal sender to obtain the second transmission parameter according to the first indication information can refer to the content of how the first device obtains the second transmission parameter according to the indication information in the foregoing step S304, which will not be elaborated here.

[0261] S607. The sensing signal sender sends the second sensing signal on the second time-domain resource using the second transmission parameter.

[0262] Correspondingly, the sensing signal receiver receives the first sensing signal on the second time-domain resource using the second reception parameter. The sensing signal receiver can determine the second reception parameter according to the first sensing signal received on the first time-domain resource.

[0263] This embodiment is different from Figure 4 the embodiment shown in that in this embodiment, the device responsible for the data processing function of obtaining the indication information according to the sensing data is a device other than the sensing signal receiver and the sensing signal sender. The sensing signal receiver sends the sensing data to this other device, and this other device obtains the indication information according to the sensing data and then sends the indication information to the sensing signal sender. The remaining similar parts will not be elaborated here.

[0264] The method provided by the embodiments of the present application realizes adjusting the second transmission parameter and further adjusting the function of the sensing signal when sensing a moving target object by adding a third-party device responsible for the data processing function of obtaining the indication information according to the sensing data, thereby avoiding increasing the data processing pressure on the sensing signal sender or the sensing signal receiver, and thus eliminating the need to adjust the hardware of the sensing signal sender or the sensing signal receiver.

[0265] Scenario 4: The first device is the sensing signal receiver, and the second device is a device other than the sensing signal sender and the sensing signal receiver (other device)

[0266] Figure 7 is a schematic flowchart of another communication sensing method provided by the embodiments of the present application. As Figure 7As shown, the foregoing method may include:

[0267] S701. The sensing signal transmitting end transmits a first sensing signal on a first time-domain resource using first transmission parameters. Correspondingly, the sensing signal receiving end receives the first sensing signal on the first time-domain resource using first reception parameters.

[0268] S702. The sensing signal receiving end obtains first sensing data of the target object based on the first sensing signal.

[0269] After the sensing signal transmitting end emits the sensing signal, the sensing signal receiving end receives the sensing signal after reflection, scattering, etc. generated by the target object, and extracts the first sensing data of the target object after processing the sensing signal.

[0270] S703. The sensing signal receiving end sends the first sensing data of the target object to other devices;

[0271] Correspondingly, the other devices receive the first sensing data of the target object.

[0272] Optionally, when the sensing signal receiving end determines that the change in the first sensing data of the target object meets the criterion or the first sensing data of the target object meets the criterion, it sends the first sensing data of the target object to other devices. For example, when the difference value from the previously obtained first sensing data is greater than or equal to a preset threshold, it indicates that the position difference of the target object before and after movement is large, and the second reception parameter needs to be adjusted. Therefore, it is necessary to send the current first sensing data to other devices so that the other devices can generate second indication information to indicate the changed second reception parameter. If the change in the first sensing data of the target object does not meet the criterion or the first sensing data of the target object does not meet the criterion, the sensing signal receiving end does not send the first sensing data of the target object to other devices. For example, if the difference value from the previously obtained first sensing data is less than the preset threshold, it indicates that the target object has not moved or the position difference before and after movement is small, and there is no need to adjust the second reception parameter. Therefore, the first sensing data may not be sent, so that the sensing signal receiving end can send a second sensing signal on a second time-domain resource using the same second reception parameter as the first reception parameter.

[0273] S704. The other devices generate second indication information based on the first sensing data of the target object.

[0274] Among them, the second indication information is used to indicate a second reception parameter, second sensing data of the target object, a reception parameter offset for determining the second reception parameter, or a reception parameter range for determining the second reception parameter. The method for generating the second indication information is similar to how the second device generates indication information based on the first sensing data of the target object in the foregoing step S302. The difference is that only the second indication information for determining the second reception parameter is generated here, which will not be elaborated herein.

[0275] S705. Other devices send the second indication information to the sensing signal receiving end.

[0276] Correspondingly, the sensing signal receiving end receives the second indication information sent by other devices.

[0277] Optionally, other devices send the second indication information to the sensing signal receiving end when it is determined that the second sensing data of the target object meets the criteria, or the change in the second sensing data of the target object meets the criteria, or the change in the second reception parameter meets the criteria. For example, when the difference value from the previously obtained second sensing data is greater than or equal to a preset threshold, it indicates that the position difference before and after the movement of the target object is large and the second reception parameter needs to be adjusted. Therefore, the second indication information indicating the changed second reception parameter is generated. If the second sensing data of the target object has not changed, or the difference value from the previously obtained second sensing data is less than the preset threshold, it indicates that the target object has not moved or the position difference before and after the movement is small, and there is no need to adjust the second reception parameter. Therefore, the second indication information may not be generated, so that the sensing signal receiving end receives the second sensing signal on the second time domain resource with the same second reception parameter as the first reception parameter.

[0278] Optionally, the sensing signal receiving end receives the second indication information sent by other devices on a fourth time domain resource. The start time of the fourth time domain resource is equal to or later than the end time of the first time domain resource, and the end time of the fourth time domain resource is earlier than or equal to the start time of the second time domain resource minus the time T2, where T2 is greater than or equal to 0. This implementation method can receive the indication information on the fourth time domain resource between the first time domain resource and the second time domain resource, and leave a duration of T2 for the sensing signal receiving end to process the second indication information and / or configure the second reception parameter for the second time domain resource. The fourth time domain resource and T2 can be determined according to actual needs under the condition of meeting the above requirements, and this application does not limit this. For example, T2 is greater than or equal to the processing time. The processing time may include at least one of the following: the processing time of the second indication information, the processing time of determining the second reception parameter, and the processing time of adjusting the reception parameter.

[0279] Optionally, if the second indication information is not received on the fourth time-domain resource, it indicates that there may be a situation where the first device cannot receive the indication information, or other devices cannot send the indication information to the sensing signal receiver on time, or other devices do not need to indicate to the sensing signal receiver to adjust the second transmission parameter on the second time-domain resource (for example, if the position distance before and after the target object moves is relatively close, there is no need to adjust the beam direction of the sensing signal), etc. Therefore, the second sensing signal can be sent using the same second reception parameter as the first reception parameter.

[0280] S706. The sensing signal receiver obtains the second reception parameter according to the second indication information.

[0281] The method for the sensing signal receiver to obtain the second reception parameter according to the second indication information can refer to the content of how the first device obtains the second transmission parameter according to the indication information in the foregoing step S304, which will not be elaborated here.

[0282] S707. The sensing signal receiver receives the second sensing signal on the second time-domain resource with the second reception parameter.

[0283] Correspondingly, the sensing signal transmitter sends the second sensing signal on the second time-domain resource with the second transmission parameter.

[0284] This embodiment is different from the Figure 6 shown embodiment in that the second transmission parameter to be adjusted in this embodiment is the second reception parameter for the sensing signal receiver to receive the second sensing signal on the second time-domain resource. The remaining similar parts will not be elaborated here.

[0285] It should be understood that the above four implementation manners can be integrated with each other according to actual needs. For example, Figure 6 the shown embodiment and Figure 7 the shown embodiment are integrated with each other. The second device sends both the first indication information to the sensing signal transmitter and the second indication information to the sensing signal receiver, so that the sensing signal transmitter determines the second transmission parameter and the sensing signal receiver determines the second reception parameter; or, the sensing signal receiver and the sensing signal transmitter are the same device, and the Figure 6 shown embodiment and Figure 7 the shown embodiment can be integrated. The other device determines the indication information according to the first sensing data, and the other device sends the indication information to the sensing signal receiver and / or the sensing signal transmitter, so that the sensing signal receiver and / or the sensing signal transmitter determine the second transmission parameter; or, the sensing signal receiver and the sensing signal transmitter are the same device, and the Figure 4 shown embodiment and Figure 5Integrate with the illustrated embodiments. The device itself determines the second transmission parameter, etc. based on the perception data of the target object. This implementation method does not require generating and sending the first indication information, and obtaining the second transmission parameter according to the first indication information, nor does it require sending the perception data of the target object, generating and sending the second indication information, and obtaining the second reception parameter according to the second indication information. This application does not elaborate on the embodiments obtained after integrating the above implementation methods with each other.

[0286] Figure 8 This is a schematic structural diagram of a communication perception device provided by an embodiment of this application. As Figure 8 shown, the device 800 is applied to the first device. The device 800 includes: a memory 810, a transceiver 820, and a processor 830;

[0287] The memory 810 is used to store computer programs; the transceiver 820 is used to transmit and receive data under the control of the processor 830; the processor 830 is used to read the computer programs stored in the memory 810 and perform the following operations:

[0288] Transmit a first perception signal using a first transmission parameter on a first time-domain resource;

[0289] Obtain a second transmission parameter, where the second transmission parameter is related to the first transmission parameter, and / or the second transmission parameter is related to the perception data of the target object obtained based on the first perception signal;

[0290] Transmit a second perception signal using the second transmission parameter on a second time-domain resource. Both the first perception signal and the second perception signal are used to perceive the target object.

[0291] Optionally, the processor is specifically configured to perform the following operations:

[0292] Receive indication information sent by a second device, where the indication information is used to indicate the second transmission parameter or the perception data of the target object;

[0293] Obtain the second transmission parameter according to the indication information.

[0294] Optionally, the first transmission parameter includes: a first transmission parameter and / or a first reception parameter, and the second transmission parameter includes: a second transmission parameter and / or a second reception parameter; the indication information includes: a first indication information and / or a second indication information;

[0295] If the indication information is the first indication information, the first device is the sensing signal sending end, the second device is the sensing signal receiving end, or the second device is a device other than the sensing signal sending end and the sensing signal receiving end, and the first indication information is used to determine the second sending parameter;

[0296] If the indication information is the second indication information, the first device is the sensing signal receiving end, the second device is the sensing signal sending end, or the second device is a device other than the sensing signal sending end and the sensing signal receiving end, and the second indication information is used to determine the second receiving parameter.

[0297] Optionally, the processor is specifically configured to perform the following operations:

[0298] Receive the first indication information sent by the second device on a third time-domain resource; the start time of the third time-domain resource is equal to or later than the end time of the first time-domain resource, and the end time of the third time-domain resource is earlier than or equal to the start time of the second time-domain resource minus the time of T1, where T1 is greater than or equal to 0;

[0299] And / or, receive the second indication information sent by the second device on a fourth time-domain resource; the start time of the fourth time-domain resource is equal to or later than the end time of the first time-domain resource, and the end time of the fourth time-domain resource is earlier than or equal to the start time of the second time-domain resource minus the time of T2, where T2 is greater than or equal to 0.

[0300] Optionally, the processor is further configured to perform the following operations:

[0301] If the first indication information is not received on the third time-domain resource, the second sending parameter is the same as the first sending parameter;

[0302] And / or,

[0303] If the second indication information is not received on the fourth time-domain resource, the second receiving parameter is the same as the first receiving parameter.

[0304] Optionally, before receiving the indication information sent by the second device, the processor is further configured to perform the following operations:

[0305] Obtain the sensing data of the target object according to the first sensing signal;

[0306] Send the sensing data to the second device.

[0307] Optionally, the processor is specifically configured to perform the following operations:

[0308] When it is determined that the sensed data of the target object has changed, send the sensed data to the second device.

[0309] The apparatus 800 may further include a user interface 880. For different terminal devices, the user interface 880 may also be an interface capable of externally or internally connecting to required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, etc.

[0310] Among them, the bus architecture may include any number of interconnected buses and bridges. Specifically, various circuits of one or more processors represented by the processor 830 and the memory represented by the memory 810 are linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art. Therefore, they will not be further described herein. The bus interface provides an interface. The transceiver 820 may be multiple components, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on a transmission medium, and these transmission mediums include wireless channels, wired channels, optical fiber cables and other transmission mediums. The processor 830 is responsible for managing the bus architecture and general processing, and the memory 810 may store data used by the processor 830 when executing operations.

[0311] Optionally, the processor 830 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), and the processor may also adopt a multi-core architecture.

[0312] The processor 830 is used to execute all the method steps of the terminal device in the embodiments of the present application according to the obtained executable instructions by calling the computer program stored in the memory 810. The processor 830 and the memory 810 may also be physically separated.

[0313] It should be noted here that the apparatus 800 provided in the present application can implement all the method steps implemented by the first device in the above method embodiments, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described herein.

[0314] Figure 9 It is a schematic structural diagram of another communication sensing apparatus provided in the embodiments of the present application. As Figure 9As shown, the device 900 is applied to a second device. The device 900 includes: a memory 99, a transceiver 920, and a processor 930.

[0315] The memory 99 is used to store computer programs; the transceiver 920 is used to send and receive data under the control of the processor 930; the processor 930 is used to read the computer programs stored in the memory 99 and perform the following operations:

[0316] Obtain first sensing data of a target object;

[0317] Generate indication information according to the first sensing data of the target object, where the indication information is used to indicate a second transmission parameter or second sensing data of the target object, and the second transmission parameter is used for a first device to transmit a second sensing signal on a second time-domain resource, and the second sensing signal is used to sense the target object;

[0318] Send the indication information to the first device.

[0319] Optionally, the first transmission parameter includes: a first transmission parameter and / or a first reception parameter, and the second transmission parameter includes: a second transmission parameter and / or a second reception parameter; the indication information includes: a first indication information and / or a second indication information;

[0320] If the indication information is the first indication information, the first device is a sensing signal sending end, the second device is a sensing signal receiving end, or the second device is a device other than the sensing signal sending end and the sensing signal receiving end, and the first indication information is used to determine the second transmission parameter;

[0321] If the indication information is the second indication information, the first device is a sensing signal receiving end, the second device is a sensing signal sending end, or the second device is a device other than the sensing signal sending end and the sensing signal receiving end, and the second indication information is used to determine the second reception parameter.

[0322] Optionally, if the second device is a device other than the sensing signal sending end and the sensing signal receiving end, the processor is specifically configured to perform the following operations:

[0323] Receive the first sensing data of the target object sent by the sensing signal receiving end.

[0324] Optionally, the processor is specifically configured to perform the following operations:

[0325] When it is determined that the second sensing data of the target object or the change in the second sensing data of the target object is greater than or equal to a first threshold, or the change in the second transmission parameter is greater than or equal to a second threshold, the indication information is sent to the first device.

[0326] Optionally, the first sensing data of the target object is obtained based on a first sensing signal transmitted using a first transmission parameter on a first time-domain resource, and the first sensing signal is used to sense the target object; the first transmission parameter includes: a first transmission parameter and / or a first reception parameter.

[0327] Among them, in Figure 9 The bus architecture may include any number of interconnected buses and bridges, specifically, various circuits of one or more processors represented by the processor 930 and the memory represented by the memory 99 are linked together. The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and thus will not be further described herein. The bus interface provides an interface. The transceiver 920 may be a plurality of components, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on a transmission medium, and these transmission media include transmission media such as wireless channels, wired channels, and optical cables. The processor 930 is responsible for managing the bus architecture and general processing, and the memory 99 may store data used by the processor 930 when performing operations.

[0328] Optionally, the processor 930 may be a CPU, ASIC, FPGA, or CPLD, and the processor may also adopt a multi-core architecture.

[0329] It should be noted here that the above device 900 provided in the present application can implement all the method steps implemented by the second device in the above method embodiment, and can achieve the same technical effect, and the same parts and beneficial effects as those in the method embodiment will not be specifically described herein.

[0330] Figure 10 It is a schematic structural diagram of another communication sensing device provided in an embodiment of the present application. As Figure 10 shown, the device 1000 is applied to a first device, and the device 1000 includes: a first transmission unit 1010, an acquisition unit 1020, and a second transmission unit 1030.

[0331] The first transmission unit 1010 is configured to transmit a first sensing signal using a first transmission parameter on a first time-domain resource.

[0332] An obtaining unit 1020, configured to obtain a second transmission parameter, where the second transmission parameter is related to the first transmission parameter, and / or the second transmission parameter is related to sensed data of a target object obtained based on the first sensing signal.

[0333] A second transmission unit 1030, configured to transmit a second sensing signal by using the second transmission parameter in a second time-domain resource, where both the first sensing signal and the second sensing signal are used to sense the target object.

[0334] Optionally, the obtaining unit 1020 is specifically configured to receive indication information sent by a second device, where the indication information is used to indicate the second transmission parameter or the sensed data of the target object, and obtain the second transmission parameter according to the indication information.

[0335] Optionally, the first transmission parameter includes: a first transmission parameter and / or a first reception parameter, and the second transmission parameter includes: a second transmission parameter and / or a second reception parameter. The indication information includes: a first indication information and / or a second indication information. If the indication information is the first indication information, the first device is a sensing signal sending end, the second device is a sensing signal receiving end, or the second device is a device other than the sensing signal sending end and the sensing signal receiving end, and the first indication information is used to determine the second transmission parameter. If the indication information is the second indication information, the first device is a sensing signal receiving end, the second device is a sensing signal sending end, or the second device is a device other than the sensing signal sending end and the sensing signal receiving end, and the second indication information is used to determine the second reception parameter.

[0336] Optionally, the obtaining unit 1020 is specifically configured to receive the first indication information sent by the second device in a third time-domain resource. A start time of the third time-domain resource is equal to or later than an end time of the first time-domain resource, and an end time of the third time-domain resource is earlier than or equal to a time when a start time of the second time-domain resource minus T1, where T1 is greater than or equal to 0. And / or receive the second indication information sent by the second device in a fourth time-domain resource. A start time of the fourth time-domain resource is equal to or later than an end time of the first time-domain resource, and an end time of the fourth time-domain resource is earlier than or equal to a time when a start time of the second time-domain resource minus T2, where T2 is greater than or equal to 0.

[0337] Optionally, if the first indication information is not received in the third time-domain resource, the second transmission parameter is the same as the first transmission parameter. And / or if the second indication information is not received in the fourth time-domain resource, the second reception parameter is the same as the first reception parameter.

[0338] Optionally, the obtaining unit 1020 is further configured to obtain the sensing data of the target object according to the first sensing signal before receiving the indication information sent by the second device. The second transmitting unit 1030 is further configured to send the sensing data to the second device.

[0339] Optionally, when it is determined that the sensing data of the target object changes, the second transmitting unit 1030 is further configured to send the sensing data to the second device.

[0340] It should be noted here that the apparatus 1000 provided in this application can implement all the method steps implemented by the first device in the above method embodiments, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described herein.

[0341] Figure 11 It is a schematic structural diagram of another communication sensing apparatus provided in an embodiment of this application. As Figure 11 shown, the apparatus 1100 is applied to a second device. The apparatus 1100 includes: an obtaining unit 1110, a processing unit 1120, and a transmitting unit 1130.

[0342] The obtaining unit 1110 is configured to obtain the first sensing data of the target object.

[0343] The processing unit 1120 is configured to generate indication information according to the first sensing data of the target object. The indication information is used to indicate a second transmission parameter or second sensing data of the target object. The second transmission parameter is used for the first device to transmit a second sensing signal on a second time domain resource, and the second sensing signal is used to sense the target object.

[0344] The transmitting unit 1130 is configured to send the indication information to the first device.

[0345] Optionally, the second transmission parameter includes: a second transmission parameter and / or a second reception parameter. The indication information includes: a first indication information and / or a second indication information. If the indication information is the first indication information, the first device is a sensing signal transmitting end, the second device is a sensing signal receiving end, or the second device is a device other than the sensing signal transmitting end and the sensing signal receiving end, and the first indication information is used to determine the second transmission parameter. If the indication information is the second indication information, the first device is a sensing signal receiving end, the second device is a sensing signal transmitting end, or the second device is a device other than the sensing signal transmitting end and the sensing signal receiving end, and the second indication information is used to determine the second reception parameter.

[0346] Optionally, if the second device is a device other than the sensing signal sender and the sensing signal receiver, the obtaining unit 1110 is specifically configured to receive the first sensing data of the target object sent by the sensing signal receiver.

[0347] The sending unit 1130 is specifically configured to send the indication information to the first device when it is determined that the second sensing data of the target object or the change in the second sensing data of the target object is greater than or equal to a first threshold, or the change in the second transmission parameter is greater than or equal to a second threshold.

[0348] Optionally, the first sensing data of the target object is obtained based on a first sensing signal transmitted using a first transmission parameter on a first time-domain resource, and the first sensing signal is used to sense the target object. The first transmission parameter includes: a first transmission parameter and / or a first reception parameter.

[0349] It should be noted here that the above-mentioned apparatus 1100 provided in this application can implement all the method steps implemented by the second device in the above method embodiments, and can achieve the same technical effects. Therefore, the same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0350] It should be noted that the division of units in the embodiments of this application is illustrative, and is only a logical function division. In actual implementation, there may be other division methods. In addition, in each embodiment of this application, each functional unit may be integrated into a processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0351] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a processor-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of this application. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0352] An embodiment of the present application also provides a non-transitory readable storage medium storing a computer program for causing a processor to execute the method steps of the first device in the above method embodiment.

[0353] An embodiment of the present application also provides a non-transitory readable storage medium storing a computer program for causing a processor to execute the method steps of the second device in the above method embodiment.

[0354] The non-transitory readable storage medium may be any available medium or data storage device accessible by the processor, including but not limited to magnetic memories (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical memories (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor memories (such as ROMs, EPROMs, EEPROMs, non-volatile memories (NANDFLASH), solid state drives (SSD)).

[0355] An embodiment of the present application also provides a computer program product including a computer program which, when executed by a processor, implements the method steps of the first device in the above method embodiment.

[0356] An embodiment of the present application also provides a computer program product including a computer program which, when executed by a processor, implements the method steps of the second device in the above method embodiment.

[0357] An embodiment of the present application also provides a communication system which may include, for example, the aforementioned first device and second device for implementing the aforementioned method embodiment.

[0358] Those skilled in the art should understand that the embodiments of the present application may be provided as a method, a system, or a computer program product. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories and optical memories, etc.) containing computer-usable program code.

[0359] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices produce means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0360] These processor-executable instructions can also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the processor-readable memory produce a manufactured article including instruction means that implement the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0361] These processor-executable instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0362] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to include these changes and modifications.

Claims

1. A communication perception method, characterized in that, the method is applied to a first device; the method includes: transmitting a first perception signal on a first time-domain resource using a first transmission parameter; acquiring a second transmission parameter, where the second transmission parameter is related to the first transmission parameter, and / or, the second transmission parameter is related to perception data of a target object obtained based on the first perception signal; transmitting a second perception signal on a second time-domain resource using the second transmission parameter, where both the first perception signal and the second perception signal are used to perceive the target object.

2. The method according to claim 1, characterized in that, the acquiring of the second transmission parameter includes: receiving indication information sent by a second device, where the indication information is used to indicate the second transmission parameter or the perception data of the target object; acquiring the second transmission parameter according to the indication information.

3. The method according to claim 2, characterized in that, the first transmission parameter includes: a first transmission parameter and / or a first reception parameter, the second transmission parameter includes: a second transmission parameter and / or a second reception parameter; the indication information includes: a first indication information and / or a second indication information; if the indication information is the first indication information, the first device is a perception signal transmitter, the second device is a perception signal receiver, or, the second device is a device other than the perception signal transmitter and the perception signal receiver, and the first indication information is used to determine the second transmission parameter; if the indication information is the second indication information, the first device is a perception signal receiver, the second device is a perception signal transmitter, or, the second device is a device other than the perception signal transmitter and the perception signal receiver, and the second indication information is used to determine the second reception parameter.

4. The method according to claim 3, characterized in that, the receiving of the indication information sent by the second device includes: receiving the first indication information sent by the second device on a third time-domain resource; the start time of the third time-domain resource is equal to or later than the end time of the first time-domain resource, and the end time of the third time-domain resource is earlier than or equal to the start time of the second time-domain resource minus a time T1, where T1 is greater than or equal to 0; and / or, receiving the second indication information sent by the second device on a fourth time-domain resource; the start time of the fourth time-domain resource is equal to or later than the end time of the first time-domain resource, and the end time of the fourth time-domain resource is earlier than or equal to the start time of the second time-domain resource minus a time T2, where T2 is greater than or equal to 0.

5. The method according to claim 4, characterized in that, the method further includes: if the first indication information is not received on the third time-domain resource, then the second transmission parameter is the same as the first transmission parameter; and / or, if the second indication information is not received on the fourth time-domain resource, then the second reception parameter is the same as the first reception parameter.

6. The method according to any one of claims 2-5, characterized in that, Before receiving the indication information sent by the second device, the method further includes: Obtaining the sensing data of the target object according to the first sensing signal; Sending the sensing data to the second device.

7. The method according to claim 6, wherein, The sending the sensing data to the second device includes: When it is determined that the sensing data of the target object has changed, sending the sensing data to the second device.

8. A communication sensing method, wherein, The method is applied to a second device; the method includes: Obtaining first sensing data of a target object; Generating indication information according to the first sensing data of the target object, where the indication information is used to indicate a second transmission parameter or second sensing data of the target object, and the second transmission parameter is used for a first device to transmit a second sensing signal on a second time domain resource, and the second sensing signal is used to sense the target object; Sending the indication information to the first device.

9. The method according to claim 8, wherein, The second transmission parameter includes: a second transmission parameter and / or a second reception parameter; the indication information includes: a first indication information and / or a second indication information; If the indication information is the first indication information, the first device is a sensing signal sending end, the second device is a sensing signal receiving end, or the second device is a device other than the sensing signal sending end and the sensing signal receiving end, and the first indication information is used to determine the second transmission parameter; If the indication information is the second indication information, the first device is a sensing signal receiving end, the second device is a sensing signal sending end, or the second device is a device other than the sensing signal sending end and the sensing signal receiving end, and the second indication information is used to determine the second reception parameter.

10. The method according to claim 9, wherein, If the second device is a device other than the sensing signal sending end and the sensing signal receiving end, the obtaining the first sensing data of the target object includes: Receiving the first sensing data of the target object sent by the sensing signal receiving end.

11. The method according to any one of claims 8-10, wherein, The sending the indication information to the first device includes: When it is determined that the second sensing data of the target object or the change of the second sensing data of the target object is greater than or equal to a first threshold, or the change of the second transmission parameter is greater than or equal to a second threshold, sending the indication information to the first device.

12. The method according to claim 8, wherein, The first sensing data of the target object is obtained based on a first sensing signal transmitted on a first time domain resource using a first transmission parameter, and the first sensing signal is used to sense the target object; The first transmission parameter includes: a first transmission parameter and / or a first reception parameter.

13. A communication sensing device, wherein, The device is applied to a first device; and includes: The first transmission unit is configured to transmit a first sensing signal on a first time-domain resource using first transmission parameters; The obtaining unit is configured to obtain second transmission parameters, where the second transmission parameters are related to the first transmission parameters, and / or the second transmission parameters are related to sensing data of a target object obtained based on the first sensing signal; The second transmission unit is configured to transmit a second sensing signal on a second time-domain resource using the second transmission parameters, where both the first sensing signal and the second sensing signal are used to sense the target object.

14. A communication sensing device Characterized in that The device is applied to a second device; and includes: An obtaining unit configured to obtain first sensing data of a target object; A processing unit configured to generate indication information according to the first sensing data of the target object, where the indication information is used to indicate second transmission parameters or second sensing data of the target object, and the second transmission parameters are used for a first device to transmit a second sensing signal on a second time-domain resource, and the second sensing signal is used to sense the target object; A sending unit configured to send the indication information to the first device.

15. A communication sensing device Characterized in that The device is applied to a first device, and the device includes a memory, a transceiver, and a processor: The memory is configured to store a computer program; the transceiver is configured to send and receive data under the control of the processor; the processor is configured to read the computer program in the memory and perform the following operations: Transmit a first sensing signal on a first time-domain resource using first transmission parameters; Obtain second transmission parameters, where the second transmission parameters are related to the first transmission parameters, and / or the second transmission parameters are related to sensing data of a target object obtained based on the first sensing signal; Transmit a second sensing signal on a second time-domain resource using the second transmission parameters, where both the first sensing signal and the second sensing signal are used to sense the target object.

16. The device according to claim 15 Characterized in that The processor is specifically configured to perform the following operations: Receive indication information sent by a second device, where the indication information is used to indicate the second transmission parameters or the sensing data of the target object; Obtain the second transmission parameters according to the indication information.

17. The device according to claim 16 Characterized in that The first transmission parameters include: first transmission parameters and / or first reception parameters, and the second transmission parameters include: second transmission parameters and / or second reception parameters; the indication information includes: first indication information and / or second indication information; If the indication information is the first indication information, the first device is a sensing signal sending end, the second device is a sensing signal receiving end, or the second device is a device other than the sensing signal sending end and the sensing signal receiving end, and the first indication information is used to determine the second transmission parameters; If the indication information is the second indication information, the first device is a sensing signal receiving end, the second device is a sensing signal sending end, or the second device is a device other than the sensing signal sending end and the sensing signal receiving end, and the second indication information is used to determine the second receiving parameter.

18. The apparatus according to claim 17, wherein, the processor is specifically configured to perform the following operations: Receive the first indication information sent by the second device on a third time-domain resource; the start time of the third time-domain resource is equal to or later than the end time of the first time-domain resource, and the end time of the third time-domain resource is earlier than or equal to the start time of the second time-domain resource minus the time of T1, where T1 is greater than or equal to 0; and / or, receive the second indication information sent by the second device on a fourth time-domain resource; the start time of the fourth time-domain resource is equal to or later than the end time of the first time-domain resource, and the end time of the fourth time-domain resource is earlier than or equal to the start time of the second time-domain resource minus the time of T2, where T2 is greater than or equal to 0.

19. The apparatus according to claim 18, wherein, the processor is further configured to perform the following operations: If the first indication information is not received on the third time-domain resource, the second transmission parameter is the same as the first transmission parameter; and / or, If the second indication information is not received on the fourth time-domain resource, the second receiving parameter is the same as the first receiving parameter.

20. The apparatus according to claims 16-19, wherein, before receiving the indication information sent by the second device, the processor is further configured to perform the following operations: Obtain the sensing data of the target object according to the first sensing signal; Send the sensing data to the second device.

21. The apparatus according to claim 20, wherein, the processor is specifically configured to perform the following operations: When it is determined that the sensing data of the target object has changed, send the sensing data to the second device.

22. A communication sensing apparatus, wherein, the apparatus is applied to a second device, and the apparatus includes a memory, a transceiver, and a processor: The memory is used to store a computer program; the transceiver is used to transmit and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations: Obtain the first sensing data of the target object; Generate indication information according to the first sensing data of the target object, where the indication information is used to indicate a second transmission parameter or the second sensing data of the target object, and the second transmission parameter is used for the first device to transmit a second sensing signal on a second time-domain resource, and the second sensing signal is used to sense the target object; Send the indication information to the first device.

23. A non-transitory readable storage medium, wherein, The non-transitory readable storage medium stores a computer program for causing a processor to execute the method according to any one of claims 1 to 7; or, to execute the method according to any one of claims 8 to 12.

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