Communication method and device

Abstract

The invention discloses a communication method and device, which are used for improving the sensing precision of multiple scattering in bistatic sensing. In the application, the method comprises: a first communication device receives density information from a second communication device, the density information being used for indicating a distribution condition of M first scattering points in a sensing space. And the first communication device determines coordinates of N second scattering points in the sensing space according to the density information. And the first communication device sends the coordinates of the N second scattering points in the sensing space to the second communication device. Wherein M and N are integers greater than 1.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of wireless communication, and in particular, to a communication method and apparatus. Background Art

[0002] Sensing, also known as wireless sensing, refers to emitting electromagnetic energy into space and calculating information about an object by receiving radio waves reflected by an object existing in the space. For example, parameters such as position, direction, height, speed, size, path, etc., and the internal and external shapes and structures of the object can be detected. By exploring the transmission, echo, reflection, and scattering of radio waves, the physical world can be sensed and better understood. As one of the electromagnetic wave sensing technologies, wireless sensing technology can be an important alternative technology for security inspections, detecting hidden objects, environmental reconstruction, and monitoring due to its penetrability and security.

[0003] Currently, the main sensing modes include single - base sensing (mono - static sensing) and single - bounce in bi - static sensing. Among them, single - base sensing is self - transmitting and self - receiving. For example, a base station transmits a sensing signal and receives the sensing signal scattered back via a scatter point. The base station performs sensing based on the transmitted sensing signal and the received sensing signal. Bi - static sensing is self - transmitting and other - receiving. For example, a base station transmits a sensing signal, and after being scattered once, the sensing signal is received by a user equipment (UE). The UE performs sensing based on the received sensing signal. Considering the limited sensing range of the two sensing modes of single - base sensing and single - bounce in bi - static sensing, a sensing mode of multiple bounces in bi - static sensing is further introduced. However, the sensing accuracy of multiple bounces in bi - static sensing is lower than that of the former two.

[0004] How to improve the sensing accuracy of multiple bounces in bi - static sensing is a technical problem that needs to be solved urgently at present. Summary of the Invention

[0005] The present application provides a communication method and apparatus for improving the sensing accuracy of multiple bounces in bi - static sensing.

[0006] In a first aspect, the present application provides a communication method, which can be interactively executed by a first communication device and a second communication device.

[0007] The first communication device may be a UE, and the second communication device may be a base station; or, the first communication device and the second communication device may be two different base stations. Further, the first communication device may also be a module (such as a chip) in a device, such as the first communication device is a module in a base station or a UE; the second communication device may also be a module (such as a chip) in a device, such as the second communication device is a module in a base station.

[0008] Alternatively, when the sensing management function (SMF) and the base station are separately deployed, the first communication device may be the base station, and the second communication device may be the SMF. Further, the SMF may be a network element in a hardware device, or a software function running on dedicated hardware, or a virtualized function instantiated on a platform (e.g., a cloud platform). Optionally, the SMF may be implemented by one device, or jointly implemented by multiple devices, or may also be a functional module within a device. In addition, the first communication device may also be a module (such as a chip) in the base station.

[0009] The communication method includes: the second communication device sends density information to the first communication device. Correspondingly, the first communication device receives the density information from the second communication device, where the density information is used to indicate the distribution of M first scattering points in the sensing space. The first communication device determines the coordinates of N second scattering points in the sensing space according to the density information. The first communication device sends the coordinates of the N second scattering points in the sensing space to the second communication device. Here, both M and N are integers greater than 1.

[0010] In the above technical solution, the second communication device sends density information to the first communication device. Specifically, the density information is the distribution of M known scattering points in the sensing space. The first communication device determines the coordinates of N scattering points in the sensing space according to the density information. By using the density information, the accuracy of the first communication device in determining the coordinates of the scattering points in the sensing space is improved, and thus the sensing accuracy of multiple scattering in bistatic sensing is improved.

[0011] In a possible implementation, the sensing space includes multiple sensing sub-spaces, the density information includes density distribution information, and the density distribution information includes the number of first scattering points included in each of the multiple sensing sub-spaces. Exemplarily, the first communication device and the second communication device pre-negotiate to use a first calculation method to determine the coordinates of N second scattering points. That is, after receiving the density information, the first communication device may determine the coordinates of N second scattering points according to the density distribution information in the density information and the first calculation method.

[0012] In the above technical solution, when the second communication device sends the density information to the first communication device, there is no need to indicate to the first communication device which calculation method to use to determine the coordinates of N second scattering points through the density information, which helps to reduce signaling interaction. And the first communication device does not need to determine which calculation method to use to determine the coordinates of N second scattering points according to the format of the density distribution information, which helps to reduce the judgment logic of the first communication device.

[0013] In a possible implementation, the density information includes a sensing range. The sensing space is determined based on the sensing range, and the sensing range is determined based on one or more of the following: the position of the transmitting end of the sensing signal, the position of the receiving end of the sensing signal, the transmitting angle of the sensing signal, or the receiving angle of the sensing signal. Exemplarily, the sensing range includes the coordinate ranges of the sensing space on the x, y, and z axes in the world coordinate system.

[0014] In the above technical solution, the density information includes a sensing range. The first communication device can use the density distribution information and the sensing range in the density information to determine the coordinates of N second scattering points, which helps to further improve the sensing accuracy of multiple scattering in bistatic sensing.

[0015] In a possible implementation, the density information includes a type indication, and the type indication is used to indicate the calculation method for the first communication device to determine the coordinates of N second scattering points. Exemplarily, the calculation method includes: the first communication device determines the coordinates of N second scattering points according to the number of first scattering points included in multiple sensing subspaces respectively, and the sensing space includes multiple sensing subspaces; and / or, the first communication device determines the coordinates of N second scattering points according to the coordinates of M first scattering points.

[0016] In the above technical solution, different type indications are used to indicate different calculation methods for determining the coordinates of N second scattering points. The first communication device can determine the calculation method corresponding to the type indication according to the type indication, which helps to improve the sensing accuracy of multiple scattering in bistatic sensing. And the first communication device can support using multiple calculation methods to determine the coordinates of N second scattering points, improving sensing flexibility.

[0017] In a possible implementation, when the first communication device determines the coordinates of N second scattering points in the sensing space according to the density information, specifically, the second communication device sends a sensing signal to the first communication device, and the first communication device determines the coordinates of N second scattering points in the sensing space according to the density information and the received sensing signal.

[0018] In a possible implementation, when the first communication device determines the coordinates of N second scattering points in the sensing space according to the density information and the received sensing signal, specifically, the first communication device determines the transmission parameters corresponding to the transmission path of the sensing signal in the sensing space according to the received sensing signal, and the transmission path includes N second scattering points; the first communication device determines the coordinates of N second scattering points in the sensing space according to the density information and the transmission parameters; where the transmission parameters at least include one or more of the following: the transmission duration of the sensing signal, the transmitting angle of the sensing signal, or the receiving angle of the sensing signal.

[0019] In the above technical solution, the second communication device sends a sensing signal to the first communication device. The first communication device determines the transmission parameters corresponding to the transmission path of the sensing signal in the sensing space according to the received sensing signal, and then determines the coordinates of N second scattering points in the sensing space according to the density information and the transmission parameters, which helps to further improve the sensing accuracy of multiple scattering in bistatic sensing.

[0020] In a second aspect, the present application provides a communication device, which has the functions of the first communication device or the second communication device in the above first aspect or any possible implementation manner of the first aspect.

[0021] The functions of the above communication device can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules, units or means corresponding to the above functions.

[0022] In a possible implementation manner, the structure of the device includes a processing module and a transceiver module. Among them, the processing module is configured to support the device to implement the functions of the first communication device or the second communication device in the above first aspect or any possible implementation manner of the first aspect. The transceiver module is used to support the communication between the device and other communication devices. For example, when the device is the first communication device, it can receive density information from the second communication device. The communication device may further include a storage module, and the storage module is coupled to the processing module, and stores necessary program instructions and data of the device. As an example, the processing module may be a processor, the communication module may be a transceiver, and the storage module may be a memory. The memory may be integrated with the processor or separately provided from the processor.

[0023] In another possible implementation manner, the structure of the device includes a processor and may further include a memory. The processor is coupled to the memory and can be used to execute computer program instructions stored in the memory, so that the device implements the functions of the first communication device or the second communication device in the above first aspect or any possible implementation manner of the first aspect. Optionally, the device further includes a communication interface, and the processor is coupled to the communication interface. When the device is a network device or a terminal device, the communication interface may be a transceiver or an input / output interface; when the device is a chip included in a network device or a chip included in a terminal device, the communication interface may be an input / output interface of the chip. Optionally, the transceiver may be a transceiver circuit, and the input / output interface may be an input / output circuit.

[0024] In a third aspect, an embodiment of the present application provides a chip system, including: a processor and a memory, the processor is coupled to the memory, and the memory is used to store programs or instructions. When the programs or instructions are executed by the processor, the chip system implements the functions of the first communication device or the second communication device in the first aspect or any possible implementation manner of the first aspect.

[0025] Optionally, the chip system further includes an interface circuit, and the interface circuit is used to interact code instructions to the processor.

[0026] Optionally, the processor in the chip system can be one or more, and the processor can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented by software, the processor can be a general-purpose processor, which is implemented by reading software code stored in the memory.

[0027] Optionally, the memory in the chip system can also be one or more. The memory can be integrated with the processor or can be separately arranged from the processor. Exemplarily, the memory can be a non-transitory processor, such as a read only memory (ROM), which can be integrated with the processor on the same chip or can be separately arranged on different chips.

[0028] In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is executed by a communication device, the communication device implements the functions of the first communication device or the second communication device in the first aspect or any possible implementation manner of the first aspect.

[0029] In a fifth aspect, the present application provides a computer program product, which includes a computer program or instruction. When the computer program or instruction is executed by a communication device, the communication device implements the functions of the first communication device or the second communication device in the first aspect or any possible implementation manner of the first aspect.

[0030] In a sixth aspect, an embodiment of the present application provides a communication system, which includes the first communication device in the first aspect or any possible implementation manner of the first aspect, and the second communication device in the first aspect or any possible implementation manner of the first aspect.

[0031] The technical effects that can be achieved by any one of the second aspect to the sixth aspect can refer to the description of the beneficial effects in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of a communication system architecture provided by this application;

[0033] Figure 2 Schematic diagram of a scenario in a single-base sensing mode provided by this application;

[0034] Figure 3 Schematic diagram of a scenario in a double-base sensing mode provided by this application;

[0035] Figure 4 Schematic diagram of the architecture of a communication and sensing integrated system provided by this application;

[0036] Figure 5 Schematic diagram of the process flow of a communication method provided by this application;

[0037] Figure 6 Schematic diagram of a density matrix provided by this application;

[0038] Figure 7 Schematic diagram of the structure of density information provided by this application;

[0039] Figure 8 Schematic diagram of the sensing signal scattered N times in the sensing space provided by this application;

[0040] Figure 9 Flowchart of the communication method in the first specific scenario provided by this application;

[0041] Figure 10 Flowchart of the communication method in the second specific scenario provided by this application;

[0042] Figure 11 Flowchart of the communication method in the third specific scenario provided by this application;

[0043] Figure 12 Flowchart of the communication method in the fourth specific scenario provided by this application;

[0044] Figure 13 Schematic diagram of the structure of a communication device provided by this application;

[0045] Figure 14 Schematic diagram of the structure of another communication device provided by this application. Detailed implementation manners

[0046] The following first explains the relevant technical features involved in the embodiments of this application. It should be noted that these explanations are for the purpose of making the embodiments of this application easier to understand, and should not be regarded as a limitation of the protection scope required by this application.

[0047] The technical solution of the embodiment of the present application can be applied to new radio (NR) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD), worldwide interoperability for microwave access (WiMAX) communication systems, next-generation wireless communication systems such as 6G, etc., which are not limited herein.

[0048] Figure 1 It is a schematic diagram of the architecture of a communication system 1000 to which the embodiment of the present application is applied. As Figure 1 shown, the communication system includes a radio access network 100. Among them, the radio access network 100 may include at least one radio access network device (such as Figure 1 110a and / or 110b in Figure 1 ), and may also include at least one terminal device (such as Figure 1 at least one of 120a - 120j in Figure 1 ). The terminal device is connected to the access network device wirelessly, and the access network device is connected to the core network device wirelessly or wiredly. The terminal devices can be connected to each other, and the radio access network devices can be connected to each other, either wiredly or wirelessly.

[0049] A radio access network device is a network-side device with wireless transceiver capabilities. The radio access network device can be a device in a radio access network (RAN) that provides wireless communication functions for terminal devices, referred to as RAN. For example, the radio access network device can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next generation NodeB (gNB) in a 5th generation (5G) mobile communication system, a next generation NodeB in a 6th generation (6G) mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system, etc.; it can also be a module or unit that completes some functions of the base station. For example, it can be a central unit (CU) or a distributed unit (DU). Here, the CU completes the functions of the radio resource control protocol and the packet data convergence protocol (PDCP) of the base station, and can also complete the function of the service data adaptation protocol (SDAP); the DU completes the functions of the radio link control layer and the medium access control (MAC) layer of the base station, and can also complete some or all of the functions of the physical layer. For specific descriptions of the above protocol layers, reference can be made to the relevant technical specifications of the 3rd generation partnership project (3GPP). The radio access network device can be a macro base station (such as Figure 1 110a in Figure 1 ), or a micro base station or an indoor station (such as 110b in

[0050] ), or a relay node or a donor node, etc. The embodiments of this application do not limit the specific technologies and specific device forms adopted by the radio access network device.In another possible scenario, multiple radio access network devices cooperate to assist a terminal device in achieving wireless access, and different radio access network devices respectively implement partial functions. For example, the radio access network device can be a CU, DU, CU-control plane (CP), CU-user plane (UP), or radio unit (RU), etc. The CU and DU can be separately set, or can also be included in the same network element. For example, they can be included in a baseband unit (BBU). The RU can be included in a radio frequency device or radio frequency unit. For example, it can be included in a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). In different systems, the CU (or CU-CP and CU-UP), DU, or RU may also have different names, but those skilled in the art can understand their meanings. For example, in an open radio access network (ORAN) system, the CU can also be called an O-CU (open CU), the DU can also be called an O-DU, the CU-CP can also be called an O-CU-CP, the CU-UP can also be called an O-CU-UP, and the RU can also be called an O-RU. For ease of description, in this application, the CU, CU-CP, CU-UP, DU, and RU are used as examples for description. Any one of the CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0051] A terminal device is a user-side device with wireless transceiver functions. The terminal device can also be called a user equipment (UE), a mobile station, a mobile terminal, etc. The terminal device can be widely applied to various scenarios, such as device-to-device (D2D), vehicle to everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, remote medical treatment, smart grid, smart furniture, smart office, smart wearables, smart transportation, smart city, etc. The terminal device can be a mobile phone, a tablet computer, a computer with wireless transceiver functions, a wearable device, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a robotic arm, a smart home device, etc. The embodiments of this application do not limit the specific technologies and specific device forms adopted by the terminal device.

[0052] The radio access network device and the terminal device can be fixed in position or movable. The radio access network device and the terminal device can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; they can also be deployed on airplanes, balloons, and artificial satellites in the air. The embodiments of the present application do not limit the application scenarios of the radio access network device and the terminal device.

[0053] The roles of the radio access network device and the terminal device can be relative. For example, Figure 1 the helicopter or the drone 120i in can be configured as a mobile radio access network device. For the terminal devices 120j that access the radio access network 100 through 120i, the terminal device 120i is a radio access network device; but for the radio access network device 110a, 120i is a terminal device, that is, the communication between 110a and 120i is through the radio air interface protocol. Of course, the communication between 110a and 120i can also be through the interface protocol between radio access network devices. At this time, relative to 110a, 120i is also a radio access network device. Therefore, both the radio access network device and the terminal device can be uniformly referred to as communication devices. Figure 1 the 110a and 110b in can be referred to as communication devices with the functions of radio access network devices. Figure 1 the 120a - 120j in can be referred to as communication devices with the functions of terminal devices.

[0054] In the embodiments of the present application, the functions of the radio access network device can also be executed by a module (such as a chip) in the radio access network device, or by a control subsystem including the functions of the radio access network device. The control subsystem including the functions of the radio access network device here can be a control center in the above application scenarios such as smart grid, industrial control, intelligent transportation, and smart city. The functions of the terminal device can also be executed by a module (such as a chip or a modem) in the terminal device, or by a device including the functions of the terminal device.

[0055] In the following, the radio access network device is taken as the base station and the terminal device is taken as the UE for illustration. The methods executed by the radio access network device, a module (such as a chip) in the radio access network device, or a control subsystem including the functions of the radio access network device are all illustrated by taking the base station as an example; the methods executed by the terminal device, a module (such as a chip) in the terminal device, or a device including the functions of the terminal device are all illustrated by taking the UE as an example.

[0056] Communication-sensing integration refers to the integrated use of electromagnetic signals for communication and those for sensing. In the past, the main targets of active positioning were UEs that can emit electromagnetic waves, such as mobile phones, vehicles, Internet of Things (IoT) devices, etc. The targets of virtual environment reconstruction further include passive objects, such as buildings, urban facilities (billboards, bridges, etc.), and transportation vehicles (vehicles, bicycles, etc.). By receiving the electromagnetic wave signals propagated through the spatial environment and solving the composition of the spatial environment, through the detection and reconstruction of the virtual environment (active and passive objects and devices), further auxiliary positioning or improvement of auxiliary communication performance can be achieved. Base stations and UEs are the main devices for virtual environment reconstruction. The quality of sensing is related to communication-sensing resources, space, time, frequency band, power consumption, and stations. Among them, stations can refer to base stations, UEs, or wireless terminal access devices (customer premise equipment, CPE), etc.

[0057] Based on whether the transmitting and receiving ends of the sensing signal are co-located or non-co-located, the sensing modes are mainly divided into monostatic sensing, bi-static sensing, and multi-static sensing. Multi-static sensing is generally composed of monostatic sensing and bi-static sensing.

[0058] As Figure 2 shows a schematic diagram of a scenario in a monostatic sensing mode. The transmitting end and the receiving end are at the same location. The sensing signal can use data payload, so this sensing function does not consume communication resources. At the same time, due to the same source for transmission and reception, there are no problems with non-ideal factors such as synchronization. Its sensing algorithm complexity, estimation accuracy, etc. are relatively good. Since it uses self-transmission and self-reception, the signal angle range that can be detected is strongly related to the incident angle of the environment. The reflected signal of the object will rapidly fade as the incident angle increases. That is, the range of the spatial environment that can be sensed in the monostatic sensing mode is greatly affected by the material and placement angle of the target object. In monostatic sensing, the sensing signal sent by the transmitting end is usually received by the receiving end after one scattering. When solving the environmental space at the receiving end, the accuracy of solving the spatial environment is relatively high.

[0059] As Figure 3A schematic diagram of a scenario in a bistatic sensing mode is shown. The transmitter and the receiver are in different positions, and dedicated pilots or known signals are required for the sensing signal. Therefore, this sensing function consumes communication resources. At the same time, due to different sources of transmission and reception, there are problems of non-ideal factors such as synchronization and phase noise. Its sensing algorithm complexity, estimation accuracy, etc. are poor, and a more complex calibration algorithm is required to handle. In bistatic sensing, since it uses self-transmission and other-reception, the range of the spatial environment it can sense is relatively large, and as the receiver moves, the range of the spatial environment it can sense will also increase. In addition, the sensing signal transmitted by the transmitter can be received by the receiver after one scattering or after multiple scatterings. Currently, the solution accuracy of the spatial environment corresponding to multiple scatterings is lower than that corresponding to one scattering, but the range of the spatial environment that can be sensed by multiple scatterings is larger than that which can be sensed by one scattering.

[0060] Based on Figure 1 the schematic diagram of the architecture of the communication system shown, and Figure 2 and Figure 3 the schematic diagram of the scenario shown, as Figure 4 This is a schematic diagram of the architecture of a communication and sensing integrated system provided exemplarily in this application. The communication and sensing integrated system includes a sensing management function (SMF), a base station, and a UE. There can be one or more SMFs, each SMF can be connected to one or more base stations, and each base station can be used to serve one or more UEs. Figure 4 In the figure, the SMF and the base station are separated for deployment, but in actual applications, they can also be combined for deployment, that is, the SMF is deployed in a certain base station. Correspondingly, other base stations are connected to the SMF deployed in this base station. It should be noted that there can be other names for the sensing function entity, which is not limited in this application.

[0061] This communication and sensing integrated system is used to sense the scatter points in the spatial environment. Specifically, it can be understood that the spatial environment can include multiple scatterers (such as buildings, urban facilities, vehicles, etc.). When the sensing signal hits a certain point on the scatterer, this point on the scatterer (referred to as the scatter point) will scatter the sensing signal. Therefore, the sensing calculation is specifically to sense the coordinates of this scatter point on the scatterer. Further, the shape of the scatterer can be constructed based on multiple scatter points.

[0062] Further, the SMF is used to centrally store, manage, distribute, and calculate the information of the scatter points in the spatial environment. The base station is used to centrally store, manage, distribute, and calculate the information of the scatterers in a part of the spatial environment where the base station is located.

[0063] In addition, in single-base sensing, the base station can act as both a transmitter and a receiver to self-transmit and self-receive sensing signals, so as to realize the sensing of scatterers in the spatial environment; in double-base sensing, the base station acts as a transmitter to transmit sensing signals, and the UE acts as a receiver to receive sensing signals. Then, the UE senses the scatterers in the spatial environment according to the received sensing signals; or, the two base stations are base station 1 and base station 2 respectively. Among them, base station 1 acts as a transmitter to transmit sensing signals, and base station 2 acts as a receiver to receive sensing signals. Then, base station 2 senses the scatterers in the spatial environment according to the received sensing signals, etc. For other descriptions of the base station and the UE, reference can also be made to Figure 1 the descriptions in the relevant embodiments.

[0064] For example, Figure 5 FIG. is a schematic flowchart of a communication method provided exemplarily in this application. In this communication method, density information is introduced. This density information is used to indicate the distribution of known scatterers in the sensing space. Furthermore, this density information can be used to determine the coordinates of new scatterers, thereby helping to improve the sensing accuracy in the multi-path scattering sensing mode of double-base sensing.

[0065] This communication method can be executed interactively by a first communication device and a second communication device. The first communication device and the second communication device can be Figure 4 the base station and the SMF in Figure 4 respectively, or they can be Figure 4 two base stations (such as base station 2 and base station 1) in Figures 9 to 12 respectively, or they can be

[0066] Step 501, the second communication device sends density information to the first communication device. Correspondingly, the first communication device receives the density information from the second communication device.

[0067] Among them, the density information is used to indicate the distribution of M first scatterers in the sensing space, and M is an integer greater than 1.

[0068] Specifically, the density information includes density distribution information, and the density distribution information is used to indicate the distribution of M first scatterers in the sensing space. The content included in the density distribution information is explained as follows.

[0069] Implementation method 1: The sensing space includes multiple sensing sub-spaces, and the density distribution information includes the number of first scatter points respectively included in the multiple sensing sub-spaces. Exemplarily, the second communication device divides the sensing space into multiple sensing sub-spaces and determines the number of first scatter points included in each sensing sub-space. For example, the second communication device stores the coordinates of multiple known scatter points, and the second communication device can determine the number of known scatter points (i.e., first scatter points) whose coordinates are within the sensing sub-space according to the boundary of each sensing sub-space.

[0070] In a specific implementation, the sensing space can be a large cuboid, and the second communication device can divide the sensing space into grids according to the preset length, width, and height to obtain multiple grids, and then use the multiple grids as multiple sensing sub-spaces.

[0071] Exemplarily, the second communication device divides the sensing space into I grids in the x-axis direction, J grids in the y-axis direction, and K grids in the z-axis direction, so as to obtain I×J×K grids, where I, J, and K are all integers greater than 1. Further, the second communication device determines the number of first scatter points included in each grid, uses this number as the value of the element corresponding to the grid, and then generates a density matrix according to the value of the element corresponding to each grid. The density matrix is the density distribution information.

[0072] Such as Figure 6 FIG. is a schematic diagram of a density matrix exemplarily provided in the present application. The density matrix includes 3×4×2 elements, that is, I = 3, J = 4, K = 2. The second communication device divides the sensing space into 3×4×2 grids. Further, the value of the element at the corresponding position of (1,1,1) in the density matrix is 300, indicating that there are 300 first scatter points in the corresponding grid; the value of the element at the corresponding position of (2,1,1) in the density matrix is 310, indicating that there are 310 first scatter points in the corresponding grid; others are similar and will not be elaborated.

[0073] Implementation method 2: The density distribution information includes the coordinates of M first scatter points. Exemplarily, the second communication device stores the coordinates of multiple known scatter points, and the second communication device can determine M known scatter points (i.e., M first scatter points) whose coordinates are within the sensing space and the coordinates of the M first scatter points according to the coordinates of the multiple known scatter points and the boundary of the sensing space.

[0074] In a possible implementation manner, the density information may include not only the density distribution information, but also the sensing range and / or type indication. The sensing range and type indication are described separately as follows.

[0075] (1) Sensing range

[0076] Among them, the sensing range can be the boundary of the sensing space.

[0077] In a possible implementation, the sensing range can be determined by the second communication device based on one or more of the following: the position of the transmitting end of the sensing signal, the position of the receiving end of the sensing signal, the transmitting angle of the sensing signal, or the receiving angle of the sensing signal.

[0078] Optionally, the second communication device is the transmitting end of the sensing signal. For example, both the second communication device and the transmitting end are base stations in the bistatic sensing mode; or, the second communication device is used to manage the transmitting end of the sensing signal. For example, the second communication device is the SMF and the transmitting end is the base station.

[0079] Example 1, the second communication device determines the sensing range according to the position of the transmitting end of the sensing signal. For example, the distance between any position in the sensing range and the position of the transmitting end of the sensing signal is less than a first preset value.

[0080] For example, the first preset value is determined according to the transmitting power of the transmitting end for transmitting the sensing signal, the minimum detectable power of the receiving end, the transmitting antenna gain, the receiving antenna gain, and the frequency of the sensing signal. For example, the second communication device determines the first preset value according to the following formula 1:

[0081]

[0082] where d is the first preset value, P t is the transmitting power of the transmitting end for transmitting the sensing signal, P r,min is the minimum detectable power of the receiving end, G t is the transmitting antenna gain, G r is the receiving antenna gain, and f is the frequency of the sensing signal.

[0083] Furthermore, taking formula 1 as an example, the transmitting power of the transmitting end for transmitting the sensing signal is 10 dBm, the minimum detectable power of the receiving end is -60 dBm, the transmitting antenna gain and the receiving antenna gain are both 5 dBi, and the frequency f of the sensing signal is 2.4 GHz. Then, the second communication device can calculate the first preset value d to be approximately 99.5 m according to formula 1.

[0084] Example 2, the second communication device determines the sensing range according to the transmitting angle of the transmitting end of the sensing signal. For example, the angle difference between the angle of the line connecting any position in the sensing range and the transmitting end and the transmitting angle of the transmitting end for sending the sensing signal is less than a second preset value. Among them, the second preset value can be 1°, 5°, 10°, or other values.

[0085] Example 3. The second communication device determines the sensing range according to the position of the receiving end of the sensing signal. For example, the distance between any position in the sensing range and the position of the receiving end of the sensing signal is less than a third preset value. For example, the third preset value is determined according to the transmission power of the sensing signal transmitted by the transmitting end, the minimum detectable power of the receiving end, the transmitting antenna gain, the receiving antenna gain, and the frequency of the sensing signal. For example, the second communication device determines the third preset value according to Formula 1 in Example 1.

[0086] Example 4. The second communication device determines the sensing range according to the receiving angle of the receiving end of the sensing signal. For example, the angular difference between the angle of the line connecting any position in the sensing range and the receiving end and the receiving angle of the receiving end for receiving the sensing signal is less than a fourth preset value. Among them, the fourth preset value can be 1°, 5°, 10° or other values.

[0087] Example 5. The second communication device determines the sensing range according to the position of the transmitting end of the sensing signal and the transmitting angle of the transmitting end of the sensing signal. For example, the distance between any position in the sensing range and the position of the transmitting end of the sensing signal is less than a first preset value, and the angular difference between the angle of the line connecting any position in the sensing range and the transmitting end and the transmitting angle of the transmitting end for sending the sensing signal is less than a second preset value.

[0088] Example 6. The second communication device determines the sensing range according to the position of the receiving end of the sensing signal and the receiving angle of the receiving end of the sensing signal. For example, the distance between any position in the sensing range and the position of the receiving end of the sensing signal is less than a third preset value, and the angular difference between the angle of the line connecting any position in the sensing range and the receiving end and the receiving angle of the receiving end for receiving the sensing signal is less than a fourth preset value.

[0089] Example 7. The second communication device determines the sensing range according to the position of the transmitting end of the sensing signal and the position of the receiving end of the sensing signal. For example, the distance between any position in the sensing range and the position of the transmitting end of the sensing signal is less than a first preset value, or the distance between any position in the sensing range and the position of the receiving end of the sensing signal is less than a third preset value.

[0090] Example 8. The second communication device determines the sensing range according to the transmitting angle of the transmitting end of the sensing signal and the receiving angle of the receiving end of the sensing signal. For example, the angular difference between the angle of the line connecting any position in the sensing range and the transmitting end and the transmitting angle of the transmitting end for sending the sensing signal is less than a second preset value, or the angular difference between the angle of the line connecting any position in the sensing range and the receiving end and the receiving angle of the receiving end for receiving the sensing signal is less than a fourth preset value.

[0091] The above are only possible ways for the second communication device to determine the sensing range provided by way of example. The second communication device may also determine the sensing range by other means, which is not limited in this application. For the determination methods of the preset values in Examples 5 to 8, reference may be made to the descriptions of Examples 1 to 4 above.

[0092] In a possible implementation, the sensing range may be the coordinate ranges of the sensing space on the x, y, and z axes in the world coordinate system respectively. Exemplarily, the sensing range in the world coordinate system may be expressed as (x_min, x_max, y_min, y_max, z_min, z_max), or expressed as (x_min, x_delta, y_min, y_delta, z_min, z_delta), or expressed as (x_max, x_delta, y_max, y_delta, z_max, z_delta), where x_min, x_max, and x_delta are the minimum coordinate, maximum coordinate, and change amount of the sensing range on the x-axis in the world coordinate system respectively, y_min, y_max, and y_delta are the minimum coordinate, maximum coordinate, and change amount of the sensing range on the y-axis in the world coordinate system respectively, and z_min, z_max, and z_delta are the minimum coordinate, maximum coordinate, and change amount of the sensing range on the z-axis in the world coordinate system respectively.

[0093] Further, in Example 1 above, the second communication device may first determine the range (denoted as the preset range) where the distance from the position of the transmitting end of the sensing signal is less than the first preset value according to the position of the transmitting end of the sensing signal, and then determine the sensing range according to the preset range. For example, the sensing range includes the preset range, or the sensing range is determined from the preset range; in Example 2 above, the second communication device first determines the range (denoted as the preset range) where the angle difference between the angle of the line connecting to the transmitting end and the transmitting angle of the sensing signal transmitted by the transmitting end is less than the second preset value according to the transmitting angle of the transmitting end of the sensing signal, and then determines the sensing range according to the preset range. For example, the sensing range includes the preset range, or the sensing range includes a part of the preset range, or the sensing range is determined from the preset range. Other examples are similar.

[0094] (2) Type indication

[0095] Optionally, the density information further includes a type indication, which is used to indicate the calculation method for the first communication device to determine the coordinates of the N second scattering points. It should be noted that the first communication device may include multiple calculation methods. When the first communication device determines the coordinates of the N second scattering points in the sensing space according to the density information, it may first select the calculation method corresponding to the type indication from multiple calculation methods according to the type indication, and then determine the coordinates of the N second scattering points in the sensing space according to the selected calculation method and the density information (see the description in step 502).

[0096] In one possible way, the type indication has a corresponding relationship with the calculation method. When the type indication is the first type indication, the calculation method corresponding to the type indication is the first calculation method; when the type indication is the second type indication, the calculation method corresponding to the type indication is the second calculation method; when the type indication is the third type indication, the calculation method corresponding to the type indication is the third calculation method, and so on.

[0097] Exemplarily, the value of the type indication is used to indicate which specific type indication the type indication is. For example, when the value of the type indication is 0, it is the first type indication; when the value of the type indication is 1, it is the second type indication; when the value of the type indication is 2, it is the third type indication, and so on. For another example, the field of the type indication occupies 2 bit positions. When the field of the type indication is 00, it is the first type indication; when the field of the type indication is 01, it is the second type indication; when the field of the type indication is 10, it is the third type indication, and so on.

[0098] In another possible way, the type indication is used to indicate the format of the density distribution information and / or the determination method of the sensing range. Further, the format of the density distribution information and / or the determination method of the sensing range has a corresponding relationship with the calculation method.

[0099] Exemplarily, when the type indication is the first type indication, it represents that the density distribution information includes the number of first scatter points in multiple sensing subspaces, thereby indicating that the calculation method is the first calculation method; when the type indication is the second type indication, it represents that the density distribution information includes the coordinates of M first scatter points, and the sensing range is based on the position of the transmitting end of the sensing signal, thereby indicating that the calculation method is the second calculation method; when the type indication is the third type indication, it represents that the density distribution information includes the coordinates of M first scatter points, and the sensing range is determined based on the transmitting angle of the sensing signal, thereby indicating that the calculation method is the third calculation method, and so on.

[0100] Of course, the type indication can also be other type indications, thereby indicating other calculation methods, or the type indication can also be other type indications, thereby indicating other formats of the density distribution information and / or determination methods of the sensing range. Combining the examples in the above Examples 1 to 6, for example, the type indication can also be the fourth type indication. The fourth type indication represents that the density distribution information includes the coordinates of M first scatter points, and the sensing range is determined based on the position of the receiving end of the sensing signal, thereby indicating that the calculation method is the fourth calculation method; for another example, the type indication can also be the fifth type indication. The fifth type indication represents that the density distribution information includes the coordinates of M first scatter points, and the sensing range is determined based on the receiving angle of the sensing signal, thereby indicating that the calculation method is the fifth calculation method.

[0101] Such asFigure 7 A structural schematic diagram of density information provided for an example of this application, where the density information includes a type indication, a sensing range, and density distribution information. As Figure 7 in (A), the value of the type indication is 0, the value of the sensing range is (x0_min, x0_max, y0_min, y0_max, z0_min, z0_max), the density distribution information is the density matrix M, and the density matrix M includes I×J×K elements. The density matrix M can be expressed as array[I][J][K]. The value of the element in the i-th row, j-th column, and k-th layer of the density matrix M is the number of first scatterers in the grid of the i-th row, j-th column, and k-th layer. i ranges over integers in [1, I], j ranges over integers in [1, J], and k ranges over integers in [1, K]. As Figure 7 in (B), the value of the type indication is 1, the value of the sensing range is (x1_min, x1_max, y1_min, y1_max, z1_min, z1_max), and the value of the density distribution information is the coordinates of the first scatterer 1, the coordinates of the first scatterer 2,..., the coordinates of the first scatterer M. As Figure 7 in (C), the value of the type indication is 2, the value of the sensing range is (x2_min, x2_max, y2_min, y2_max, z2_min, z2_max), and the value of the density distribution information is the coordinates of the first scatterer 1, the coordinates of the first scatterer 2,..., the coordinates of the first scatterer M.

[0102] Optionally, before step 501, the second communication device may first obtain the density information of the sensing space. Exemplarily, the second communication device determines the density information of the sensing space based on the sensing mode of single-base sensing or the sensing mode of single scattering in bistatic sensing. Additionally, the second communication device obtains the density information of the sensing space from other devices. For specific descriptions, refer to Figures 9 to 12 the descriptions in the relevant embodiments.

[0103] Step 502, the first communication device determines the coordinates of N second scatterers in the sensing space according to the density information. Among them, the N second scatterers are specifically the scatterers corresponding to the N times of scattering of the sensing signal in the sensing space, and N is an integer greater than 1.

[0104] As Figure 8 A schematic diagram of the sensing signal scattered N times in the sensing space provided exemplarily for this application. As Figure 8 in (A), the transmitting end of the sensing signal is the base station, and the receiving end of the sensing signal is the UE. The sensing signal is sent by the base station and received by the UE after two scatterings. The scatterers corresponding to the two scatterings are scatterer 1 and scatterer 2 respectively, where N = 2; as Figure 8In (B), the transmitting end of the sensing signal is Base Station 1, and the receiving end of the sensing signal is Base Station 2. The sensing signal is sent by Base Station 1 and received by Base Station 2 after three scatterings. The scatter points corresponding to the three scatterings are Scatter Point 4, Scatter Point 5, and Scatter Point 6. Among them, N = 3.

[0105] In the first possible implementation manner, the density information includes density distribution information. The density distribution information specifically includes the number of first scatter points included in each of the multiple sensing subspaces. The first communication device can obtain the density distribution information from the density information and determine the coordinates of N second scatter points in the sensing space using the first calculation method based on the format of the density distribution information (such as Figure 6 the density matrix in). In another possible implementation manner, the second communication device and the first communication device can pre-define the use of the first calculation method. In this way, the first communication device does not need to determine the use of the first calculation method based on the format of the density distribution information, which helps to reduce the judgment steps of the first communication device.

[0106] Exemplarily, the density information further includes a sensing range. The first communication device inputs the density distribution information and the sensing range into the first calculation method to obtain the coordinates of N second scatter points in the sensing space. In this way, determining the coordinates of the second scatter points in the sensing space through the sensing range and the density distribution information helps to improve the sensing accuracy. And the second communication device can carry the sensing range in the density information each time it sends the density information to the first communication device. That is, the second communication device can determine the coordinates of the second scatter points in the sensing space corresponding to the sensing range based on the sensing range each time. Different sensing ranges can be carried in different density information. That is, the first communication device can determine the coordinates of the second scatter points in different sensing spaces, which helps to improve the flexibility of sensing.

[0107] In the second possible implementation manner, the density information includes not only density distribution information but also a type indication. The first communication device can first obtain the type indication from the density information and select the calculation method corresponding to the type indication from multiple calculation methods, that is, select the calculation method for determining the coordinates of N second scatter points in the sensing space.

[0108] In an example, there is a corresponding relationship between the type indication and the calculation method. The type indication is the first type indication. The first communication device determines to use the first calculation method according to the first type indication. The type indication is the second type indication. The first communication device determines to use the second calculation method according to the second type indication. The type indication is the third type indication. The first communication device determines to use the third calculation method according to the third type indication.

[0109] In another example, the type indication is used to indicate the format of the density distribution information and / or the way to determine the sensing range. The way to determine the format of the density distribution information and / or the sensing range has a corresponding relationship with the calculation method. The type indication is the first type indication. According to the first type indication, the first communication device determines the number of first scatter points included in each of the multiple sensing subspaces in the density distribution information, and then determines to use the first calculation method. The type indication is the second type indication. According to the second type indication, the first communication device determines the coordinates of M first scatter points included in the density distribution information and that the sensing range is determined based on the position of the transmitting end of the sensing signal, and then determines to use the second calculation method. The type indication is the third type indication. According to the third type indication, the first communication device determines the coordinates of M first scatter points included in the density distribution information and that the sensing range is determined based on the transmitting angle of the sensing signal, and then determines to use the third calculation method, and so on.

[0110] Exemplarily, the density information further includes a sensing range. The first communication device inputs the density distribution information and the sensing range into the calculation method corresponding to the type indication to obtain the coordinates of N second scatter points in the sensing space. For the effect of carrying the sensing range in the density information, refer to the description in the first possible implementation manner.

[0111] In the above technical solution, different type indications are used to indicate different calculation methods for determining the coordinates of N second scatter points. The first communication device can determine the calculation method corresponding to the type indication according to the type indication, which helps to improve the sensing accuracy. Moreover, the first communication device can support using multiple calculation methods to determine the coordinates of N second scatter points, improving the sensing flexibility.

[0112] In a specific implementation, the density distribution information is used to indicate the distribution of the first scatter points, that is, it is used to indicate that the scatter points are more densely distributed in some parts of the sensing space, while the scatter points are more sparsely distributed in other parts of the sensing space. The first communication device can calculate the coordinates of multiple groups of N scatter points in the sensing space. The first communication device can determine which group of coordinates in the multiple groups of coordinates is located in the part of the sensing space where the scatter points are more densely distributed, and then use this group of coordinates as the finally determined coordinates of N second scatter points.

[0113] Combined with Figure 6In an example, the density distribution information (i.e., the density matrix) includes a total of 24 elements of 3×4×2. The second communication device divides the sensing space into a total of 24 grids of 3×4×2. Further, the value of the element at the corresponding position of (1,1,1) in the density matrix is 300, indicating that there are 300 first scattering points in the corresponding grid. The value of the element at the corresponding position of (2,1,1) in the density matrix is 310, indicating that there are 310 first scattering points in the corresponding grid. The value of the element at the corresponding position of (3,1,1) in the density matrix is 310, indicating that there are 310 first scattering points in the corresponding grid. The value of the element at the corresponding position of (2,2,1) in the density matrix is 0, indicating that there are no first scattering points in the corresponding grid, and so on. The total number of first scattering points included in the 24 grids is M, for example, M = 3000. Further, the first communication device can calculate the coordinates of two groups of N scattering points in the sensing space. For example, N = 2. The coordinates of the N scattering points in the first group are respectively denoted as (x1, y1, z1) and (x2, y2, z2), and the coordinates of the N scattering points in the second group are respectively denoted as (x3, y3, z3) and (x4, y4, z4). The first communication device determines that (x1, y1, z1) is located in the grid corresponding to (1,1,1) in the density matrix, (x2, y2, z2) is located in the grid corresponding to (2,1,1) in the density matrix, while determining that (x3, y3, z3) is located in the grid corresponding to (1,1,1) in the density matrix, and (x4, y4, z4) is located in the grid corresponding to (2,2,1) in the density matrix. Then, the first communication device can determine (x1, y1, z1) and (x2, y2, z2) more accurately, that is, determine that (x1, y1, z1) and (x2, y2, z2) are the coordinates of N second scattering points.

[0114] Step 503, the first communication device sends the coordinates of N second scattering points in the sensing space to the second communication device. Correspondingly, the second communication device receives the coordinates of N second scattering points in the sensing space from the first communication device.

[0115] Optionally, the first communication device also sends one or more of the following to the second communication device: the identifiers of the N second scattering points, the confidence levels of the coordinates of the N second scattering points, the moving speeds of the N second scattering points, the transmission angles of the sensing signals, the reception angles of the sensing signals, the reception powers of the sensing signals, the sensing modes of N scatterings in bistatic sensing, and the confidence levels corresponding to the sensing modes of N scatterings in bistatic sensing.

[0116] Optionally, after receiving the coordinates of N second scattering points in the sensing space, the second communication device can use the coordinates of the N second scattering points in the sensing space as the known scattering point coordinates for subsequent sensing, which helps to further improve the sensing accuracy.

[0117] In Figure 5 the shown communication method, the second communication device sends density information to the first communication device (i.e., indicates the distribution of M first scattering points in the sensing space to the first communication device), and the first communication device determines the coordinates of N second scattering points in the sensing space according to the density information, and sends the coordinates of the N second scattering points in the sensing space to the second communication device. By using the density information, the accuracy of the first communication device in determining the coordinates of the N second scattering points in the sensing space is improved, and further, the sensing accuracy of multiple scattering in bistatic sensing is improved.

[0118] Combined with the schematic diagram of the architecture of the communication and sensing integrated system shown in Fig. 3, and Figure 5 the flowchart of a communication method shown in Figure 9 is the flowchart of the communication method provided exemplarily in the first specific scenario of this application.

[0119] In Figure 9 it, the second communication device is specifically the SMF, the first communication device is specifically the base station, the SMF and the base station are separated and deployed, and the transmitting end of the sensing signal is the base station, the receiving end of the sensing signal is the UE, and the sensing space is specifically the first sensing space.

[0120] Step 901, the SMF sends the density information of the first sensing space to the base station. Correspondingly, the base station receives the density information of the first sensing space from the SMF. Among them, the density information of the first sensing space is used to indicate the distribution of M first scattering points in the first sensing space. The content included in the density information of the first sensing space can be referred to in step 501, and "sensing space" can be replaced with "first sensing space".

[0121] Optionally, before step 901, it further includes: step 900, the SMF obtains the density information of the second sensing space, and determines the density information of the first sensing space according to the density information of the second sensing space. Among them, there is an intersection between the first sensing space and the second sensing space. Exemplarily, the first sensing space is a subset of the second sensing space. Exemplarily, the SMF can use the density information of the sensing space corresponding to the intersection part of the first sensing space and the second sensing space as the density information of the first sensing space.

[0122] When the SMF obtains the density information of the second sensing space, there are specifically the following two examples:

[0123] Example 1: One or more base stations are connected under the SMF. The SMF instructs each base station to determine the coordinates of the scattering points in the sensing space corresponding to the base station based on the sensing mode of single-base sensing or the sensing mode of single-scattering in double-base sensing. Furthermore, the SMF obtains the coordinates of the scattering points in the sensing space corresponding to the one or more base stations, and generates the coordinates of multiple known scattering points in the second sensing space.

[0124] Example 2: The SMF obtains the density information of the second sensing space from other management devices. For example, if the second sensing space is a city street, the SMF can obtain the boundaries of multiple scatterers (such as buildings, urban facilities, etc.) in the city street from the management device of the city street layout, and then obtain the density information of the city street. For another example, if the second sensing space is an office, the SMF can obtain the boundaries of multiple scatterers (such as desks, chairs, water dispensers, printers, etc.) in the office from the management device of the office layout, and then obtain the density information of the office.

[0125] Step 902: The base station determines the coordinates of N second scattering points in the first sensing space according to the density information of the first sensing space.

[0126] This step 902 can be specifically implemented in the following two ways:

[0127] Implementation method 1:

[0128] Step 902a: The base station sends a sensing signal to the UE. Correspondingly, the UE receives the sensing signal from the base station.

[0129] Step 902b: The UE determines the transmission parameters corresponding to the transmission path of the sensing signal in the first sensing space according to the received sensing signal.

[0130] Among them, the sensing signal is received by the UE after N scatterings in the first sensing space. That is, the transmission path of the sensing signal in the first sensing space includes N second scattering points. For specific descriptions, please refer to Figure 8 the descriptions in the relevant embodiments.

[0131] Optionally, the sensing signal carries the emission angle and emission time of the sensing signal. The UE determines the transmission parameters according to the reception time and reception angle of the sensing signal, as well as the emission angle and emission time of the sensing signal obtained from the sensing signal.

[0132] Step 902c: The UE sends the transmission parameters to the base station. Correspondingly, the base station receives the transmission parameters from the UE.

[0133] Step 902d: The base station determines the coordinates of N second scattering points in the first sensing space according to the transmission parameters and the density information of the first sensing space.

[0134] In a possible implementation manner, the density information of the first sensing space includes density distribution information, and the density distribution information specifically includes the number of first scattering points included in each of multiple sensing sub-spaces. Exemplarily, the density information of the first sensing space further includes a sensing range. The base station inputs the transmission parameters, the density distribution information, and the sensing range into the first calculation method to obtain the coordinates of N second scattering points in the first sensing space.

[0135] In another possible implementation manner, the density information of the first sensing space includes not only density distribution information but also a type indication. The base station can first obtain the type indication from the density information of the first sensing space, and select the calculation method corresponding to the type indication from multiple calculation methods according to the type indication. Exemplarily, the density information of the first sensing space further includes a sensing range. The base station inputs the transmission parameters, the density distribution information, and the sensing range into the calculation method corresponding to the type indication to obtain the coordinates of N second scattering points in the first sensing space.

[0136] For the content not described in detail in step 902d, reference can be made to the description in step 502, where "the first communication device" in step 502 can be replaced with "the base station", and "the sensing space" can be replaced with "the first sensing space".

[0137] It should be added that in the above steps 902a to 902d, the UE can be one or more.

[0138] For example, the one or more UEs are located within the coverage area of the base station. The base station can broadcast a sensing signal. Correspondingly, the one or more UEs located within the coverage area of the base station can receive the sensing signal from the base station. Each UE can determine the transmission parameters corresponding to the transmission path of the sensing signal in the first sensing space according to the received sensing signal, and send the transmission parameters to the base station. The base station can determine the coordinates of N second scattering points in the first sensing space according to the transmission parameters from the one or more UEs and the density information of the first sensing space. That is, in step 902d above, the transmission parameters are the transmission parameters from the one or more UEs.

[0139] For another example, the coverage area of a base station includes one or more UEs, and the base station can further select UEs from the one or more UEs according to the sensing range. Alternatively, the SMF records the locations of the UEs and the coverage area of the base station. The SMF determines one or more UEs located within the coverage area of the base station based on the coverage area of the base station and the locations of the UEs, and then further selects UEs from the one or more UEs according to the sensing range, and sends the identifiers of the selected UEs to the base station. Further, the base station sends sensing signals to the selected one or more UEs. The selected one or more UEs can receive the sensing signals from the base station. Each UE determines the transmission parameters corresponding to the transmission path of the sensing signal in the first sensing space based on the received sensing signal, and sends the transmission parameters to the base station. The base station can determine the coordinates of N second scattering points in the first sensing space based on the transmission parameters from the selected one or more UEs and the density information of the first sensing space. That is, in step 902d above, the transmission parameters are the transmission parameters from the selected one or more UEs.

[0140] Since the computing power of the base station is greater than that of the UE, and the base station can obtain the transmission parameters of multiple UEs, in this implementation method 1, determining the coordinates of N scattering points by the base station can be applied to scenarios with a large amount of data, such as scenarios of sensing building groups in a city, and can obtain relatively accurate coordinates of the scattering points. The density information of the first sensing space is not sent to the UE, which helps to ensure information security.

[0141] Implementation method 2:

[0142] Step 902A, the base station sends a sensing signal and the density information of the first sensing space to the UE. Correspondingly, the UE receives the sensing signal and the density information of the first sensing space from the base station.

[0143] Step 902B, the UE determines the transmission parameters corresponding to the transmission path of the sensing signal in the first sensing space based on the received sensing signal. The specific implementation method of step 902B can refer to step 902b in the above implementation method 1.

[0144] Step 902C, the UE determines the coordinates of N second scattering points in the first sensing space based on the transmission parameters and the density information of the first sensing space.

[0145] In a possible implementation, the density information of the first sensing space includes density distribution information, and the density distribution information specifically includes the number of first scattering points included in each of multiple sensing sub-spaces. Exemplarily, the density information of the first sensing space further includes a sensing range, and the UE inputs the transmission parameters, the density distribution information, and the sensing range into a first calculation method to obtain the coordinates of N second scattering points in the first sensing space. In this method, the base station and the UE can also pre-negotiate to use the first calculation method, or the UE determines to use the first calculation method to determine the coordinates of N second scattering points in the first sensing space according to the format of the density distribution information.

[0146] In yet another possible implementation, the density information of the first sensing space includes not only density distribution information but also a type indication. The UE can first obtain the type indication from the density information of the first sensing space and select the calculation method corresponding to the type indication from multiple calculation methods. Exemplarily, the density information of the first sensing space further includes a sensing range, and the UE inputs the transmission parameters, the density distribution information, and the sensing range into the calculation method corresponding to the type indication to obtain the coordinates of N second scattering points in the first sensing space.

[0147] For the content not described in detail in step 902C, reference can be made to the specific implementation in step 502 of how the first communication device determines the coordinates of N second scattering points in the first sensing space according to the density information of the first sensing space. At this time, "the first communication device" can be replaced with "the UE".

[0148] Step 902D, the UE sends the coordinates of N second scattering points in the first sensing space to the base station. Correspondingly, the base station receives the coordinates of N second scattering points in the first sensing space from the UE.

[0149] It should be added that in the above steps 902A to 902D, the base station can broadcast the sensing signal and the density information of the first sensing space. Correspondingly, one or more UEs within the coverage area of the base station can receive the sensing signal and the density information of the first sensing space from the base station; or, there are one or more UEs within the coverage area of the base station, and the base station or the SMF can select a UE from one or more UEs according to the sensing range, and the base station sends the sensing signal and the density information of the first sensing space to the selected UE. For the content not described in detail in this method, reference can be made to Implementation 1. It can be understood that the difference between Implementation 2 and Implementation 1 is that in Implementation 1, the base station sends the sensing signal to the UE, and correspondingly, the base station determines the coordinates of N second scattering points; while in Implementation 2, the base station sends the sensing signal and the density information of the first sensing space to the UE, and correspondingly, the UE determines the coordinates of N second scattering points.

[0150] In Implementation 2, each UE can calculate the coordinates of N second scattering points and send the calculated coordinates of the N second scattering points to the base station. In this way, the base station can obtain the coordinates of the N second scattering points calculated by each of the multiple UEs and send the coordinates of the N second scattering points calculated by each of the multiple UEs to the SMF, which helps the SMF aggregate the coordinates of more second scattering points, realize the richness of the coordinates of the known scattering points, and thus further improve the sensing accuracy.

[0151] Step 903: The base station sends the coordinates of N second scattering points in the first sensing space to the SMF. Correspondingly, the SMF receives the coordinates of the N second scattering points in the first sensing space from the base station.

[0152] Optionally, the SMF updates the density information of the second sensing space according to the coordinates of the N second scattering points in the first sensing space. For example, the SMF adds the coordinates of the N second scattering points in the first sensing space to the density information of the second sensing space.

[0153] For the content not described in detail in Step 903, reference can also be made to the description in Step 503.

[0154] It should be added that Figure 9 In related embodiments, the receiving end of the sensing signal can also be other base stations. Denote the transmitting end of the sensing signal as Base Station 1 and the receiving end of the sensing signal as Base Station 2. Figure 9 Replace the "base station" in the related embodiments with "Base Station 1", and Figure 9 Replace the "UE" in the related embodiments with "Base Station 2". Among them, Base Station 2 can be determined by Base Station 1 or the SMF according to the sensing range.

[0155] It should also be added that Figure 9 In related embodiments, the processing operation of the base station can be performed by the CU, and the transceiver operation of the base station can be performed by the DU or RU; or, the processing operation of the base station can be performed by the CU-CP, and the transceiver operation of the base station can be performed by the DU or RU.

[0156] In the above Implementation 1:

[0157] For example, the CU may generate a sensing signal, and the CU may send the sensing signal to the DU. The DU may send the sensing signal to the UE, or the DU may send the sensing signal to the RU, and the RU sends it to the UE. Similarly, the DU may receive the density information of the first sensing space from the SMF and the transmission parameters from the UE, and send the density information of the first sensing space and the transmission parameters to the CU. The CU determines the coordinates of N second scattering points in the first sensing space according to the density information of the first sensing space and the transmission parameters. Alternatively, the RU receives the density information of the first sensing space from the SMF and the transmission parameters from the UE, and sends the density information of the first sensing space and the transmission parameters to the DU.

[0158] For another example, the CU-CP may generate a sensing signal, and the CU-CP may send the sensing signal to the DU. The DU may send the sensing signal to the UE, or the DU may send the sensing signal to the RU, and the RU sends it to the UE. Similarly, the DU may receive the density information of the first sensing space from the SMF and the transmission parameters from the UE, and send the density information of the first sensing space and the transmission parameters to the CU-CP. The CU-CP determines the coordinates of N second scattering points in the first sensing space. Alternatively, the RU may receive the density information of the first sensing space from the SMF and the transmission parameters from the UE, and send the density information of the first sensing space and the transmission parameters to the DU.

[0159] In the above implementation 2:

[0160] For example, the CU may generate a sensing signal, and the CU may send the sensing signal to the DU. The DU may send the sensing signal to the UE, or the DU may send the sensing signal to the RU, and the RU sends it to the UE. Similarly, the DU may receive the coordinates of N second scattering points in the first sensing space from the UE, and send the coordinates of N second scattering points in the first sensing space to the CU. Alternatively, the RU receives the coordinates of N second scattering points in the first sensing space from the UE, and sends the coordinates of N second scattering points in the first sensing space to the DU.

[0161] For another example, the CU-CP may generate a sensing signal, and the CU-CP may send the sensing signal to the DU. The DU may send the sensing signal to the UE, or the DU may send the sensing signal to the RU, and the RU sends it to the UE. Similarly, the DU may receive the coordinates of N second scattering points in the first sensing space from the UE, and send the coordinates of N second scattering points in the first sensing space to the CU-CP. Alternatively, the RU may receive the coordinates of N second scattering points in the first sensing space from the UE, and send the coordinates of N second scattering points in the first sensing space to the DU.

[0162] Of course, the CU, DU, RU, and CU-CP can also perform other operations, which will not be exemplified one by one in this application.

[0163] Further, in the O-RAN scenario, the operations performed by the above-mentioned CU can be performed by the O-CU, the operations performed by the DU can be performed by the O-DU, the operations performed by the RU can be performed by the O-RU, and the operations performed by the CU-CP can be performed by the O-CU-CP.

[0164] Combined with the schematic diagram of the communication and sensing integrated system shown in FIG. 3, and Figure 5 the flowchart of a communication method shown in, as Figure 10 is the flowchart of the communication method provided exemplarily by this application in the second specific scenario.

[0165] In Figure 10 the second communication device is specifically a base station, the SMF and the base station are separately deployed, the first communication device is specifically a UE, the transmitter of the sensing signal is the base station, the receiver of the sensing signal is the UE, and the sensing space is specifically the first sensing space.

[0166] Step 1001, the base station sends the density information of the first sensing space and the sensing signal to the UE. Correspondingly, the UE receives the density information of the first sensing space and the sensing signal from the base station.

[0167] Among them, the density information of the first sensing space is used to indicate the distribution of M first scattering points in the first sensing space. The content included in the density information of the first sensing space can be referred to the description in step 501, and "sensing space" can be replaced with "first sensing space".

[0168] Optionally, before step 1001, it further includes: step 1000, the SMF sends the density information of the first sensing space to the base station. Correspondingly, the base station receives the density information of the first sensing space from the SMF.

[0169] In a possible way, before the SMF sends the density information of the first sensing space to the base station, it first obtains the density information of the second sensing space, and the SMF determines the density information of the first sensing space according to the density information of the second sensing space. The way for the SMF to obtain the density information of the second sensing space can be referred to the description in step 900.

[0170] In a possible way, the density information of the first sensing space is also used to indicate that the base station performs sensing detection on the first sensing space; or, the SMF can also send a sensing indication to the base station, and the sensing indication is used to indicate that the base station performs sensing detection on the first sensing space, that is, the SMF sends the sensing indication and the density information of the first sensing space to the base station.

[0171] Step 1002: The UE determines the transmission parameters corresponding to the transmission path of the sensing signal in the first sensing space according to the received sensing signal. For the specific implementation manner of step 1002, refer to step 902b in the above implementation manner 1.

[0172] Step 1003: The UE determines the coordinates of N second scattering points in the first sensing space according to the transmission parameters and the density information of the first sensing space. For the specific description of this step, refer to the description in step 902C.

[0173] Step 1004: The UE sends the coordinates of N second scattering points in the first sensing space to the base station. Correspondingly, the base station receives the coordinates of N second scattering points in the first sensing space from the UE.

[0174] For the content not described in detail in step 1004, refer to the description in step 503.

[0175] Optionally, it further includes: Step 1005: The base station sends the coordinates of N second scattering points in the first sensing space to the SMF. Correspondingly, the SMF receives the coordinates of N second scattering points in the first sensing space from the base station.

[0176] Optionally, the SMF updates the density information of the second sensing space according to the coordinates of N second scattering points in the first sensing space. For example, the SMF adds the coordinates of N second scattering points in the first sensing space to the density information of the second sensing space.

[0177] In the above steps 1001 to 1004, the UE can be one or more. For example, the one or more UEs are one or more UEs within the coverage area of the base station, or the one or more UEs are determined by the SMF or the base station according to the coverage area and sensing range of the base station. For the specific description, refer to the description in Figure 9 the relevant embodiments.

[0178] It should be added that Figure 10 In the relevant embodiments, the receiving end of the sensing signal can also be other base stations. Denote the transmitting end of the sensing signal as base station 1 and the receiving end of the sensing signal as base station 2. Replace Figure 10 "base station" in the relevant embodiments with "base station 1", and Figure 8 "UE" in the relevant embodiments with "base station 2". Among them, base station 2 can be determined by base station 1 or the SMF according to the sensing range.

[0179] It should also be added that Figure 10 In the relevant embodiments, the processing operation of the base station can be executed by the CU, and the transceiver operation of the base station can be executed by the DU or RU; or the processing operation of the base station can be executed by the CU-CP, and the transceiver operation of the base station can be executed by the DU or RU.

[0180] For example, the CU may generate a sensing signal, and the CU may send the sensing signal to the DU. The DU may send the sensing signal to the UE, or the DU may send the sensing signal to the RU, and the RU sends it to the UE. Similarly, the DU may receive the coordinates of N second scattering points in the first sensing space from the UE, and send the coordinates of the N second scattering points in the first sensing space to the CU. Alternatively, the RU receives the coordinates of N second scattering points in the first sensing space from the UE, and sends the coordinates of the N second scattering points in the first sensing space to the DU.

[0181] For another example, the CU-CP may generate a sensing signal, and the CU-CP may send the sensing signal to the DU. The DU may send the sensing signal to the UE, or the DU may send the sensing signal to the RU, and the RU sends it to the UE. Similarly, the DU may receive the coordinates of N second scattering points in the first sensing space from the UE, and send the coordinates of the N second scattering points in the first sensing space to the CU-CP. Alternatively, the RU may receive the coordinates of N second scattering points in the first sensing space from the UE, and send the coordinates of the N second scattering points in the first sensing space to the DU.

[0182] Of course, the CU, DU, RU, and CU-CP may also perform other operations, which are not exemplified one by one in this application.

[0183] Furthermore, in the O-RAN scenario, the operations performed by the above-mentioned CU may be performed by the O-CU, the operations performed by the DU may be performed by the O-DU, the operations performed by the RU may be performed by the O-RU, and the operations performed by the CU-CP may be performed by the O-CU-CP.

[0184] Combined with the schematic diagram of the architecture of the communication and sensing integrated system shown in FIG. 3, and Figure 5 the flowchart of a communication method shown in, as Figure 11 is the flowchart of the communication method in the third specific scenario provided exemplarily by this application.

[0185] In Figure 11 the second communication device is specifically a base station, the SMF and the base station are deployed in combination (that is, the base station includes the SMF, and the following takes the base station as an example for illustration), the first communication device is specifically a UE, the transmitter of the sensing signal is the base station, the receiver of the sensing signal is the UE, the sensing space is specifically the first sensing space, and the UE calculates the coordinates of N second scattering points.

[0186] Step 1101, the base station sends the density information and the sensing signal of the first sensing space to the UE. Correspondingly, the UE receives the density information and the sensing signal of the first sensing space from the base station.

[0187] Among them, the density information of the first sensing space is used to indicate the distribution of M first scattering points in the first sensing space. For the content included in the density information of the first sensing space, refer to the description in step 501, and "sensing space" can be replaced with "first sensing space".

[0188] Optionally, before step 1101, it further includes: step 1100, the base station obtains the density information of the second sensing space, and determines the density information of the first sensing space according to the density information of the second sensing space. For the manner in which the base station obtains the density information of the second sensing space, refer to the description in step 900, and "SMF" in step 900 can be replaced with "base station".

[0189] Step 1102, the UE determines the transmission parameters corresponding to the transmission path of the sensing signal in the first sensing space according to the received sensing signal. For the specific implementation manner of step 1102, refer to step 902b in the above implementation manner 1.

[0190] Step 1103, the UE determines the coordinates of N second scattering points in the first sensing space according to the transmission parameters and the density information of the first sensing space. For the specific description of this step, refer to the description in step 902C in the above implementation manner 2.

[0191] Step 1104, the UE sends the coordinates of N second scattering points in the first sensing space to the base station. Correspondingly, the base station receives the coordinates of N second scattering points in the first sensing space from the UE. For the content not described in detail in step 1104, refer to the description in step 503.

[0192] In the above steps 1101 to 1104, the UE can be one or more. For example, the one or more UEs are one or more UEs within the coverage area of the base station, or the one or more UEs are determined by the SMF or the base station according to the coverage area and sensing range of the base station. For the specific description, refer to Figure 9 the description in the relevant embodiments.

[0193] It should be added that Figure 11 in the relevant embodiments, the receiving end of the sensing signal can also be other base stations. Denote the transmitting end of the sensing signal as base station 1, and the receiving end of the sensing signal as base station 2. Figure 11 Replace "base station" in the relevant embodiments with "base station 1", and Figure 11 "UE" in the relevant embodiments with "base station 2". Among them, base station 2 can be determined by base station 1 or the SMF according to the sensing range.

[0194] It should also be added that Figure 11In related embodiments, the processing operations of the base station can be performed by the CU, and the transceiver operations of the base station can be performed by the DU or the RU; alternatively, the processing operations of the base station can be performed by the CU-CP, and the transceiver operations of the base station can be performed by the DU or the RU.

[0195] For example, the CU can generate a sensing signal and obtain density information of the second sensing space, and the CU can send the sensing signal and the density information of the second sensing space to the DU. The DU can send the sensing signal and the density information of the second sensing space to the UE, or the DU can send the sensing signal and the density information of the second sensing space to the RU, and the RU sends it to the UE. Similarly, the DU can receive the coordinates of N second scattering points in the first sensing space from the UE, and send the coordinates of the N second scattering points in the first sensing space to the CU. Alternatively, the RU can receive the coordinates of N second scattering points in the first sensing space from the UE, and send the coordinates of the N second scattering points in the first sensing space to the DU.

[0196] For another example, the CU-CP can generate a sensing signal and obtain density information of the second sensing space, and the CU-CP can send the sensing signal and the density information of the second sensing space to the DU. The DU can send the sensing signal and the density information of the second sensing space to the UE, or the DU can send the sensing signal and the density information of the second sensing space to the RU, and the RU sends it to the UE. Similarly, the DU can receive the coordinates of N second scattering points in the first sensing space from the UE, and send the coordinates of the N second scattering points in the first sensing space to the CU-CP. Alternatively, the RU can receive the coordinates of N second scattering points in the first sensing space from the UE, and send the coordinates of the N second scattering points in the first sensing space to the DU.

[0197] Of course, the CU, DU, RU, and CU-CP can also perform other operations, and this application will not list them one by one.

[0198] Furthermore, in the O-RAN scenario, the operations performed by the above CU can be performed by the O-CU, the operations performed by the DU can be performed by the O-DU, the operations performed by the RU can be performed by the O-RU, and the operations performed by the CU-CP can be performed by the O-CU-CP.

[0199] Combined with the schematic diagram of the architecture of the communication and sensing integrated system shown in FIG. 3, and Figure 5 the flowchart of a communication method shown in Figure 12 is the flowchart of the communication method in the fourth specific scenario provided exemplarily by this application.

[0200] In Figure 12Among them, the second communication device is specifically a base station, the SMF and the base station are deployed in combination (that is, the base station includes the SMF, and the base station is used as an example hereinafter), the first communication device is specifically a UE, the transmitter of the sensing signal is the base station, the receiver of the sensing signal is the UE, the sensing space is specifically the first sensing space, and the base station calculates the coordinates of N second scattering points.

[0201] Step 1201, the base station sends a sensing signal to the UE. Correspondingly, the UE receives the sensing signal from the base station.

[0202] Step 1202, the UE determines the transmission parameters corresponding to the transmission path of the sensing signal in the first sensing space according to the received sensing signal. For the specific implementation manner of step 1102, reference can be made to step 902b in the above implementation manner 1.

[0203] Step 1203, the UE sends the transmission parameters to the base station. Correspondingly, the base station receives the transmission parameters from the UE.

[0204] Step 1204, the base station determines the coordinates of N second scattering points in the first sensing space according to the transmission parameters and the density information of the first sensing space. For the specific implementation, reference can be made to the description in step 902d in the above implementation manner 1.

[0205] Among them, the density information of the first sensing space is used to indicate the distribution of M first scattering points in the first sensing space. For the content included in the density information of the first sensing space, reference can be made to the description in step 501, and "sensing space" can be replaced with "first sensing space".

[0206] Optionally, before step 1204, it further includes: step 1200, the base station obtains the density information of the second sensing space, and the base station determines the density information of the first sensing space according to the density information of the second sensing space. For the manner in which the base station obtains the density information of the second sensing space, reference can be made to the description in step 900, and "SMF" in step 900 can be replaced with "base station".

[0207] It should be added that Figure 12 In related embodiments, the receiver of the sensing signal can also be other base stations. The transmitter of the sensing signal can be denoted as base station 1, the receiver of the sensing signal can be denoted as base station 2, and Figure 11 "base station" in the related embodiments is replaced with "base station 1", and Figure 12 "UE" in the related embodiments is replaced with "base station 2". Among them, base station 2 can be determined by base station 1 or the SMF according to the sensing range.

[0208] It should also be added that Figure 12In related embodiments, the processing operations of the base station may be performed by the CU, and the transceiver operations of the base station may be performed by the DU or the RU; alternatively, the processing operations of the base station may be performed by the CU-CP, and the transceiver operations of the base station may be performed by the DU or the RU.

[0209] For example, the CU may generate a sensing signal and obtain density information of the second sensing space, and the CU may send the sensing signal to the DU. The DU may send the sensing signal to the UE, or the DU may send the sensing signal to the RU, and the RU sends it to the UE. Similarly, the DU may receive transmission parameters from the UE and send the transmission parameters to the CU. Alternatively, the RU may receive transmission parameters from the UE and send the transmission parameters to the DU. The CU may also determine the coordinates of N second scattering points in the first sensing space according to the density information of the second sensing space and the transmission parameters.

[0210] For another example, the CU-CP may generate a sensing signal and obtain density information of the second sensing space, and the CU-CP may send the sensing signal to the DU. The DU may send the sensing signal to the UE, or the DU may send the sensing signal to the RU, and the RU sends it to the UE. Similarly, the DU may receive transmission parameters from the UE and send the transmission parameters to the CU-CP. Alternatively, the RU may receive transmission parameters from the UE and send the UE's transmission parameters to the DU. The CU may also determine the coordinates of N second scattering points in the first sensing space according to the density information of the second sensing space and the transmission parameters.

[0211] Of course, the CU, DU, RU, and CU-CP may also perform other operations, which will not be enumerated one by one in this application.

[0212] Furthermore, in the O-RAN scenario, the operations performed by the above CU may be performed by the O-CU, the operations performed by the DU may be performed by the O-DU, the operations performed by the RU may be performed by the O-RU, and the operations performed by the CU-CP may be performed by the O-CU-CP.

[0213] It can be understood that in order to implement the functions in the above embodiments, the SMF, the base station, and the UE include corresponding hardware structures and / or software modules for performing each function. Those skilled in the art should easily realize that, in combination with the units and method steps of each example described in the embodiments disclosed in this application, this application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0214] Figure 13 and Figure 14Schematic diagram of a possible communication device provided by an embodiment of the present application. These communication devices can be used to implement the functions of the first communication device or the second communication device in the above method embodiments, that is, to implement the functions of the SMF, base station, or UE in the above method embodiments, and thus can also achieve the beneficial effects of the above method embodiments.

[0215] In an embodiment of the present application, the communication device can be one of the UE120a - 120j as shown in Figure 1 or can be the base station 110a or 110b as shown in Figure 1 . Or, the communication device can be any base station as shown in Figure 4 or any UE as shown in Figure 4 or the SMF as shown in Figure 4 . Or, it can also be a module (such as a chip) applied to the SMF, UE, or base station.

[0216] As shown in Figure 13 , the communication device 1300 includes a processing module 1310 and a transceiver module 1320. The communication device 1300 is used to implement the functions of the first communication device or the second communication device in the above Figures 5 to 12 related method embodiments.

[0217] When the communication device 1300 is used to implement the functions of the first communication device in the Figures 5 to 12 related method embodiments:

[0218] The transceiver module 1320 is used to receive density information, where the density information is used to indicate the distribution of M first scattering points in the sensing space; the processing module 1310 is used to determine the coordinates of N second scattering points in the sensing space according to the density information; the transceiver module 1320 is further used to send the coordinates of the N second scattering points in the sensing space; where both M and N are integers greater than 1.

[0219] In a possible implementation manner, the sensing space includes a plurality of sensing sub - spaces, and the density information includes the number of first scattering points included in each of the plurality of sensing sub - spaces.

[0220] In a possible implementation manner, the density information includes a sensing range, the sensing space is determined based on the sensing range, and the sensing range is determined based on one or more of the following: the position of the transmitting end of the sensing signal, the position of the receiving end of the sensing signal, the transmitting angle of the sensing signal, or the receiving angle of the sensing signal. Exemplarily, the sensing range includes the coordinate ranges of the sensing space on the x, y, and z axes in the world coordinate system respectively.

[0221] In a possible implementation, the density information includes a type indication, which is used to indicate the calculation method for determining the coordinates of N second scattering points. Exemplarily, the calculation method includes: determining the coordinates of N second scattering points according to the number of first scattering points included in each of a plurality of sensing subspaces, where the sensing space includes a plurality of sensing subspaces; and / or determining the coordinates of N second scattering points according to the coordinates of M first scattering points.

[0222] In a possible implementation, when the processing module 1310 determines the coordinates of N second scattering points in the sensing space according to the density information, it is specifically configured to: determine the coordinates of N second scattering points in the sensing space according to the density information and the received sensing signal. Exemplarily, when the processing module 1310 determines the coordinates of N second scattering points in the sensing space according to the density information and the received sensing signal, it is specifically configured to: determine the transmission parameters corresponding to the transmission path of the sensing signal in the sensing space according to the received sensing signal, where the transmission path includes N second scattering points; determine the coordinates of N second scattering points in the sensing space according to the density information and the transmission parameters; where the transmission parameters include at least one or more of the following: the transmission duration of the sensing signal, the emission angle of the sensing signal, or the reception angle of the sensing signal.

[0223] When the communication device 1300 is used to implement Figures 5 to 12 the functions of the second communication device in the related method embodiments:

[0224] The processing module 1310 is configured to determine density information; the transceiver module 1320 is configured to send density information, where the density information is used to indicate the distribution of M first scattering points in the sensing space; and to receive the coordinates of N second scattering points in the sensing space, where the coordinates of N second scattering points in the sensing space are determined by the density information, and both M and N are integers greater than 1.

[0225] In a possible implementation, the processing module 1310 is further configured to update the density information according to the coordinates of N second scattering points.

[0226] In a possible implementation, the sensing space includes a plurality of sensing subspaces, and the density information includes the number of first scattering points included in each of the plurality of sensing subspaces.

[0227] In a possible implementation, the density information includes a sensing range, the sensing space is determined based on the sensing range, and the sensing range is determined based on one or more of the following: the position of the transmitting end of the sensing signal, the position of the receiving end of the sensing signal, the emission angle of the sensing signal, or the reception angle of the sensing signal. Exemplarily, the sensing range includes: the coordinate ranges of the sensing space on the x, y, and z axes in the world coordinate system.

[0228] In a possible implementation, the density information includes a type indication, which is used to indicate the calculation method for determining the coordinates of the N second scattering points.

[0229] For a more detailed description of the above processing module 1310 and transceiver module 1320, reference can be directly made to Figures 5 to 12 the relevant descriptions in the relevant method embodiments, which will not be elaborated here.

[0230] As Figure 14 shown, the communication device 1400 includes a processor 1410 and an interface circuit 1420. The processor 1410 and the interface circuit 1420 are coupled to each other. It can be understood that the interface circuit 1420 can be a transceiver or an input / output interface. Optionally, the communication device 1400 may further include a memory 1430, which is used to store instructions executed by the processor 1410 or store input data required for the processor 1410 to run the instructions or store data generated after the processor 1410 runs the instructions.

[0231] When the communication device 1400 is used to implement Figures 5 to 12 the method in the relevant method embodiments, the processor 1410 is used to implement the functions of the above processing module 1310, and the interface circuit 1420 is used to implement the functions of the above transceiver module 1320.

[0232] When the above communication device is a chip applied to a UE, the UE chip implements the functions of the UE in the above method embodiments. The UE chip receives information from other modules in the UE (such as a radio frequency module or an antenna), and this information is sent by the base station to the UE; or, the UE chip sends information to other modules in the UE (such as a radio frequency module or an antenna), and this information is sent by the UE to the base station.

[0233] When the above communication device is a module applied to a base station, the base station module implements the functions of the base station in the above method embodiments. The base station module receives information from other modules in the base station (such as a radio frequency module or an antenna), and this information is sent by the SMF or the UE to the base station; or, the base station module sends information to other modules in the base station (such as a radio frequency module or an antenna), and this information is sent by the base station to the SMF or the UE. Here, the base station module can be a baseband chip of the base station, or a DU or other modules. Here, the DU can be an O-DU under the O-RAN architecture.

[0234] When the above communication device is a chip applied to an SMF, the SMF chip implements the functions of the SMF in the above method embodiments. The SMF chip receives information from other modules in the SMF, and this information is sent by the base station to the SMF; or, the SMF chip sends information to other modules in the SMF, and this information is sent by the SMF to the base station.

[0235] It can be understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0236] The method steps in the embodiments of the present application may be implemented in a hardware manner or by a processor executing software instructions. The software instructions may be composed of corresponding software modules, and the software modules may be stored in a random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, register, hard disk, removable hard disk, CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium may also be a component of the processor. The processor and the storage medium may be located in an ASIC. Additionally, the ASIC may be located in an SMF, base station, or UE. Of course, the processor and the storage medium may also exist as discrete components in an SMF, base station, or UE.

[0237] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in the form of a computer program product in whole or in part. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions of the embodiments of the present application are executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable devices. The computer program or instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired or wireless manner. The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it can also be an optical medium, such as a digital video disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium can be a volatile or non-volatile storage medium, or can include both volatile and non-volatile types of storage media.

[0238] In various embodiments of the present application, if there is no special description and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0239] In the present application, "at least one" means one or more, and "a plurality" means two or more. "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, or B exists alone, where A and B can be singular or plural.

[0240] In the written description of the present application, the character " / " generally indicates that the associated objects before and after are in an "or" relationship; in the formulas of the present application, the character " / " indicates that the associated objects before and after are in a "division" relationship. "Including at least one of A, B, and C" can represent: including A; including B; including C; including A and B; including A and C; including B and C; including A, B, and C.

[0241] It can be understood that the various numerical numbers involved in the embodiments of the present application are only for the convenience of description and are not used to limit the scope of the embodiments of the present application. The magnitudes of the serial numbers of the above processes do not mean the sequence of execution. The execution sequence of each process should be determined according to its function and internal logic.

Claims

1. A communication method, characterized in that, Including: Receiving density information, where the density information is used to indicate the distribution of M first scattering points in the sensing space; Determining the coordinates of N second scattering points in the sensing space according to the density information; Sending the coordinates of N second scattering points in the sensing space; where both M and N are integers greater than 1.

2. The method according to claim 1, wherein The sensing space includes the multiple sensing subspaces, and the density information includes the number of the first scattering points respectively included in the multiple sensing subspaces.

3. The method according to claim 1 or 2, characterized in that, The density information includes a sensing range, the sensing space is determined based on the sensing range, and the sensing range is determined based on one or more of the following: the position of the transmitting end of the sensing signal, the position of the receiving end of the sensing signal, the transmitting angle of the sensing signal, or the receiving angle of the sensing signal.

4. The method according to any one of claims 1 to 3, characterized in that, The density information includes a sensing range, and the sensing range includes: the coordinate ranges of the x, y, and z axes of the sensing space in the world coordinate system respectively.

5. The method according to claim 1, 3 or 4, characterized in that The density information includes a type indication, and the type indication is used to indicate the calculation method for determining the coordinates of the N second scattering points.

6. The method according to claim 5, characterized in that, The calculation method includes: Determining the coordinates of the N second scattering points according to the number of the first scattering points respectively included in the multiple sensing subspaces, where the sensing space includes the multiple sensing subspaces; and / or, Determining the coordinates of the N second scattering points according to the coordinates of the M first scattering points.

7. The method according to any one of claims 1 to 6, characterized in that, The determining the coordinates of N second scattering points in the sensing space according to the density information includes: Determining the coordinates of N second scattering points in the sensing space according to the density information and the received sensing signal.

8. The method according to claim 7, wherein The determining the coordinates of N second scattering points in the sensing space according to the density information and the received sensing signal includes: Determining the transmission parameters corresponding to the transmission path of the sensing signal in the sensing space according to the received sensing signal, where the transmission path includes the N second scattering points; Determining the coordinates of N second scattering points in the sensing space according to the density information and the transmission parameters; where the transmission parameters include at least one or more of the following: the transmission duration of the sensing signal, the transmitting angle of the sensing signal, or the receiving angle of the sensing signal.

9. A communication method, characterized in that, Including: Sending density information, where the density information is used to indicate the distribution of M first scattering points in the sensing space; Receiving the coordinates of N second scattering points in the sensing space, where the coordinates of the N second scattering points in the sensing space are determined by the density information, and both M and N are integers greater than 1.

10. The method according to claim 9, characterized in that, The sensing space includes the multiple sensing subspaces, and the density information includes the number of the first scattering points respectively included in the multiple sensing subspaces.

11. The method according to claim 9 or 10, characterized in that, The density information includes a sensing range, the sensing space is determined based on the sensing range, and the sensing range is determined based on one or more of the following: the position of the transmitting end of the sensing signal, the position of the receiving end of the sensing signal, the transmitting angle of the sensing signal, or the receiving angle of the sensing signal.

12. The method according to any one of claims 9-10, characterized in that, The density information includes a sensing range, and the sensing range includes: the coordinate ranges of the sensing space on the x, y, and z axes in the world coordinate system respectively.

13. The method according to claim 9, 11 or 12, characterized in that The density information includes a type indication, and the type indication is used to indicate the calculation method for determining the coordinates of the N second scattering points.

14. A communication device, characterized in that, It includes a module for executing the method according to any one of claims 1 to 8, or includes a module for executing the method according to any one of claims 9 to 13.

15. A communication device, characterized in that, It includes a processor and an interface circuit. The interface circuit is used to receive signals from other communication devices outside the communication device and transmit them to the processor, or send signals from the processor to other communication devices outside the communication device. The processor uses logic circuits or executes code instructions to implement the method according to any one of claims 1 to 8, or the processor uses logic circuits or executes code instructions to implement the method according to any one of claims 9 to 13.

16. A computer-readable storage medium, characterized in that, A computer program or instruction is stored in the storage medium. When the computer program or instruction is executed by the communication device, the method according to any one of claims 1 to 8 is implemented, or the method according to any one of claims 9 to 13 is implemented.

17. A computer program product, characterized in that, The computer program product includes a computer program or instruction. When the computer program or instruction is executed by the communication device, the method according to any one of claims 1 to 8 is implemented, or the method according to any one of claims 9 to 13 is implemented.

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