Double-base sensing method, communication equipment, device and storage medium

Abstract

The invention provides a double-base sensing method, communication equipment, a device and a storage medium, and the method comprises the steps: carrying out the transmission and receiving of a sensing signal alternately with opposite-end equipment, and carrying out the sensing of a sensing target; the step of alternately sending and receiving the sensing signal with the opposite-end equipment comprises the following steps: receiving the sensing signal from the opposite-end equipment on a first time domain resource; determining transmission parameters based on a sensing signal received on the first time domain resource, wherein the transmission parameters comprise a sending parameter for sending the sensing signal; and sending a sensing signal on a second time domain resource by using the sending parameter.

Description

Technical Field

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

[0002] Communication-sensing fusion (which can be abbreviated as communication-sensing integration or communication-sensing unification for short) refers to achieving unified design of communication and sensing functions through means such as joint design of the air interface and protocols, time-frequency-space resource reuse, and sharing of hardware devices, enabling the wireless network to implement sensing functions while performing communication interactions, thereby improving the overall performance and service capabilities of the network.

[0003] Bistatic sensing refers to a sensing method in which the sensing signal transmitter and the sensing signal receiver are spatially separated. Currently, there is no clear solution for continuously sensing moving targets under the bistatic sensing method. Summary of the Invention

[0004] In view of the problems existing in the prior art, this application provides a bistatic sensing method, a communication device, an apparatus, and a storage medium.

[0005] In a first aspect, this application provides a bistatic sensing method, including:

[0006] Alternately sending and receiving sensing signals with a peer device for sensing a sensing target;

[0007] Alternately sending and receiving sensing signals with a peer device includes:

[0008] Receiving sensing signals from the peer device on a first time-domain resource;

[0009] Determining transmission parameters based on the sensing signals received on the first time-domain resource, where the transmission parameters include transmission parameters for sending sensing signals;

[0010] Sending sensing signals using the transmission parameters on a second time-domain resource.

[0011] In some embodiments, determining transmission parameters based on the sensing signals received on the first time-domain resource includes:

[0012] Determining sensing data related to the sensing target based on the sensing signals received on the first time-domain resource;

[0013] Determining transmission parameters based on the sensing data related to the sensing target.

[0014] In some embodiments, the transmission parameters further include receiving parameters for receiving sensing signals, and alternately sending and receiving sensing signals with the peer device further includes:

[0015] Receive the sensing signal from the peer device using reception parameters on the third time-domain resource.

[0016] In some embodiments, the method further includes:

[0017] Receive time-domain resource indication information;

[0018] Based on the time-domain resource indication information, determine the time-domain resource for sending the sensing signal and / or the time-domain resource for receiving the sensing signal; the time-domain resource for receiving the sensing signal includes a first time-domain resource, and the time-domain resource for sending the sensing signal includes a second time-domain resource.

[0019] In some embodiments, the method further includes:

[0020] Receive time-domain resource indication information;

[0021] Based on the time-domain resource indication information, determine the time-domain resource for sending the sensing signal and / or the time-domain resource for receiving the sensing signal; the time-domain resource for receiving the sensing signal includes a first time-domain resource and / or a third time-domain resource, and the time-domain resource for sending the sensing signal includes a second time-domain resource.

[0022] In some embodiments, the time-domain resource indication information includes first time-domain resource indication information, and the first time-domain resource indication information is used to indicate the time-domain resource for sending the sensing signal and / or the time-domain resource for receiving the sensing signal.

[0023] In some embodiments, the time-domain resource indication information includes second time-domain resource indication information and / or third time-domain resource indication information. The second time-domain resource indication information is used to indicate the next or next group of time-domain resources for receiving the sensing signal, and the third time-domain resource indication information is used to indicate the next or next group of time-domain resources for sending the sensing signal.

[0024] In some embodiments, the time-domain resource indication information includes the resource configuration or resource identifier of the indicated time-domain resource.

[0025] In some embodiments, the next or next group of time-domain resources for receiving the sensing signal is one or more time-domain resources at a first time interval after the sending time of the second time-domain resource indication information, and the next or next group of time-domain resources for sending the sensing signal is one or more time-domain resources at a second time interval after the sending time of the third time-domain resource indication information.

[0026] In some embodiments, receiving the time-domain resource indication information includes:

[0027] Receive the time-domain resource indication information sent by the peer device.

[0028] In some embodiments, the method further includes:

[0029] Based on the speed and / or sensing performance of the sensing target, start or end the alternating transmission and reception of sensing signals with the peer device.

[0030] In some embodiments, based on the speed and / or sensing performance of the sensing target, starting or ending the alternating transmission and reception of sensing signals with the peer device includes:

[0031] When the first condition is met, start the alternating transmission and reception of sensing signals with the peer device;

[0032] The first condition includes one or more of the following:

[0033] The speed of the sensing target is lower than or equal to the first threshold;

[0034] The received power of the sensing signal is higher than or equal to the second threshold.

[0035] In some embodiments, based on the speed and / or sensing performance of the sensing target, starting or ending the alternating transmission and reception of sensing signals with the peer device includes:

[0036] When the second condition is met, end the alternating transmission and reception of sensing signals with the peer device;

[0037] The second condition includes one or more of the following:

[0038] The speed of the sensing target is higher than or equal to the third threshold;

[0039] The received power of the sensing signal is lower than or equal to the fourth threshold.

[0040] In some embodiments, the method further includes:

[0041] Send first indication information to the peer device, where the first indication information is used to indicate starting or ending the alternating transmission and reception of sensing signals.

[0042] In some embodiments, the method further includes:

[0043] Receive second indication information sent by the peer device;

[0044] Based on the second indication information, start or end the alternating transmission and reception of sensing signals with the peer device.

[0045] In some embodiments, the method further includes:

[0046] Receive third indication information sent by the peer device, where the third indication information is used to indicate sensing data related to the sensing target and / or parameter information related to transmission parameters;

[0047] Based on the third indication information, determine the transmission parameters used for the next or next set of sensing signal transmissions.

[0048] In some embodiments, the method further includes:

[0049] Send fourth indication information to the peer device, where the fourth indication information is used to indicate sensing data related to the sensing target and / or parameter information related to the transmission parameters.

[0050] In some embodiments, sending the fourth indication information to the peer device includes:

[0051] Send the fourth indication information to the peer device when a third condition is satisfied;

[0052] The third condition includes one or more of the following:

[0053] The speed of the sensing target is higher than or equal to a fifth threshold;

[0054] The received power of the sensing signal is lower than or equal to a sixth threshold.

[0055] In some embodiments, the time-domain resource indication information is a radio resource control (RRC) message, an RRC information element, a media access control layer control element (MAC CE), or physical layer indication information.

[0056] In some embodiments, the transmission parameters include one or more of a transmission beam parameter and a transmission power.

[0057] In some embodiments, the reception parameters include a reception beam parameter.

[0058] In some embodiments, the sensing data related to the sensing target includes one or more of the following:

[0059] The speed of the sensing target, the distance from the sensing target, the direction of the sensing target, the position of the sensing target, the sensing measurement quantity related to the sensing target, the speed offset of the sensing target, the distance offset of the sensing target, the direction offset of the sensing target, the sensing measurement quantity offset of the sensing target, the speed range of the sensing target, the distance range of the sensing target, and the direction range of the sensing target.

[0060] In a second aspect, the present application further provides a communication device, including a memory, a transceiver, and a processor;

[0061] The memory is used to store a computer program; the transceiver is used to transmit and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations:

[0062] Alternately send and receive sensing signals with the peer device for sensing the sensing target;

[0063] Alternately sending and receiving sensing signals with a peer device includes:

[0064] Receiving a sensing signal from a peer device on a first time-domain resource;

[0065] Determining transmission parameters based on the sensing signal received on the first time-domain resource, where the transmission parameters include transmission parameters for sending the sensing signal;

[0066] Sending the sensing signal on a second time-domain resource using the transmission parameters.

[0067] In some embodiments, determining transmission parameters based on the sensing signal received on the first time-domain resource includes:

[0068] Determining sensing data related to a sensing target based on the sensing signal received on the first time-domain resource;

[0069] Determining transmission parameters based on the sensing data related to the sensing target.

[0070] In some embodiments, the transmission parameters further include reception parameters for receiving the sensing signal. Alternately sending and receiving the sensing signal with the peer device further includes:

[0071] Receiving a sensing signal from a peer device on a third time-domain resource using the reception parameters.

[0072] In some embodiments, this operation further includes:

[0073] Receiving time-domain resource indication information;

[0074] Based on the time-domain resource indication information, determining the time-domain resource for sending the sensing signal and / or the time-domain resource for receiving the sensing signal; the time-domain resource for receiving the sensing signal includes the first time-domain resource, and the time-domain resource for sending the sensing signal includes the second time-domain resource.

[0075] In some embodiments, this operation further includes:

[0076] Receiving time-domain resource indication information;

[0077] Based on the time-domain resource indication information, determining the time-domain resource for sending the sensing signal and / or the time-domain resource for receiving the sensing signal; the time-domain resource for receiving the sensing signal includes the first time-domain resource and / or the third time-domain resource, and the time-domain resource for sending the sensing signal includes the second time-domain resource.

[0078] In some embodiments, the time-domain resource indication information includes first time-domain resource indication information, and the first time-domain resource indication information is used to indicate the time-domain resource for sending the sensing signal and / or the time-domain resource for receiving the sensing signal.

[0079] In some embodiments, the time-domain resource indication information includes second time-domain resource indication information and / or third time-domain resource indication information. The second time-domain resource indication information is used to indicate the next or next group of time-domain resources for receiving the sensing signal, and the third time-domain resource indication information is used to indicate the next or next group of time-domain resources for transmitting the sensing signal.

[0080] In some embodiments, the time-domain resource indication information includes the resource configuration or resource identifier of the indicated time-domain resources.

[0081] In some embodiments, the next or next group of time-domain resources for receiving the sensing signal are one or more time-domain resources after an interval of a first duration from the transmission time of the second time-domain resource indication information, and the next or next group of time-domain resources for transmitting the sensing signal are one or more time-domain resources after an interval of a second duration from the transmission time of the third time-domain resource indication information.

[0082] In some embodiments, receiving the time-domain resource indication information includes:

[0083] Receiving the time-domain resource indication information sent by the peer device.

[0084] In some embodiments, this operation further includes:

[0085] Based on the speed and / or sensing performance of the sensing target, starting or ending the alternating transmission and reception of sensing signals with the peer device.

[0086] In some embodiments, based on the speed and / or sensing performance of the sensing target, starting or ending the alternating transmission and reception of sensing signals with the peer device includes:

[0087] When a first condition is met, starting the alternating transmission and reception of sensing signals with the peer device;

[0088] The first condition includes one or more of the following:

[0089] The speed of the sensing target is lower than or equal to a first threshold;

[0090] The received power of the sensing signal is higher than or equal to a second threshold.

[0091] In some embodiments, based on the speed and / or sensing performance of the sensing target, starting or ending the alternating transmission and reception of sensing signals with the peer device includes:

[0092] When a second condition is met, ending the alternating transmission and reception of sensing signals with the peer device;

[0093] The second condition includes one or more of the following:

[0094] The speed of the sensed target is higher than or equal to a third threshold;

[0095] The received power of the sensed signal is lower than or equal to a fourth threshold.

[0096] In some embodiments, the operation further includes:

[0097] Sending first indication information to the peer device, where the first indication information is used to indicate starting or ending the alternating transmission and reception of sensed signals.

[0098] In some embodiments, the operation further includes:

[0099] Receiving second indication information sent by the peer device;

[0100] Based on the second indication information, starting or ending the alternating transmission and reception of sensed signals with the peer device.

[0101] In some embodiments, the operation further includes:

[0102] Receiving third indication information sent by the peer device, where the third indication information is used to indicate sensed data related to the sensed target and / or parameter information related to transmission parameters;

[0103] Based on the third indication information, determining the transmission parameters to be used for the next or next set of sensed signal transmissions.

[0104] In some embodiments, the operation further includes:

[0105] Sending fourth indication information to the peer device, where the fourth indication information is used to indicate sensed data related to the sensed target and / or parameter information related to transmission parameters.

[0106] In some embodiments, sending the fourth indication information to the peer device includes:

[0107] Sending the fourth indication information to the peer device when a third condition is met;

[0108] The third condition includes one or more of the following:

[0109] The speed of the sensed target is higher than or equal to a fifth threshold;

[0110] The received power of the sensed signal is lower than or equal to a sixth threshold.

[0111] In some embodiments, the time domain resource indication information is a radio resource control (RRC) message, an RRC information element, a media access control layer control element (MAC CE), or physical layer indication information.

[0112] In some embodiments, the transmission parameters include one or more of a transmission beam parameter and a transmission power.

[0113] In some embodiments, the received parameters include received beam parameters.

[0114] In some embodiments, the sensing data related to the sensing target includes one or more of the following:

[0115] The speed of the sensing target, the distance from the sensing target, the direction of the sensing target, the position of the sensing target, the sensing measurement related to the sensing target, the speed offset of the sensing target, the distance offset of the sensing target, the direction offset of the sensing target, the sensing measurement offset of the sensing target, the speed range of the sensing target, the distance range of the sensing target, and the direction range of the sensing target.

[0116] In a third aspect, the present application further provides a bistatic sensing device, including:

[0117] A transmission unit, configured to alternately transmit and receive sensing signals with a peer device, and configured to sense a sensing target;

[0118] Alternately transmitting and receiving sensing signals with a peer device includes:

[0119] Receiving a sensing signal from a peer device on a first time-domain resource;

[0120] Determining transmission parameters based on the sensing signal received on the first time-domain resource, where the transmission parameters include transmission parameters for transmitting the sensing signal;

[0121] Transmitting the sensing signal on a second time-domain resource using the transmission parameters.

[0122] In some embodiments, determining transmission parameters based on the sensing signal received on the first time-domain resource includes:

[0123] Determining sensing data related to the sensing target based on the sensing signal received on the first time-domain resource;

[0124] Determining transmission parameters based on the sensing data related to the sensing target.

[0125] In some embodiments, the transmission parameters further include receiving parameters for receiving the sensing signal, and alternately transmitting and receiving sensing signals with a peer device further includes:

[0126] Receiving a sensing signal from a peer device on a third time-domain resource using the receiving parameters.

[0127] In some embodiments, the device further includes:

[0128] A first receiving unit, configured to receive time-domain resource indication information;

[0129] A first determination unit, configured to determine a time-domain resource for sending a sensing signal and / or a time-domain resource for receiving a sensing signal based on time-domain resource indication information; the time-domain resource for receiving a sensing signal includes a first time-domain resource, and the time-domain resource for sending a sensing signal includes a second time-domain resource.

[0130] In some embodiments, the apparatus further includes:

[0131] A second receiving unit, configured to receive time-domain resource indication information;

[0132] A second determination unit, configured to determine a time-domain resource for sending a sensing signal and / or a time-domain resource for receiving a sensing signal based on time-domain resource indication information; the time-domain resource for receiving a sensing signal includes a first time-domain resource and / or a third time-domain resource, and the time-domain resource for sending a sensing signal includes a second time-domain resource.

[0133] In some embodiments, the time-domain resource indication information includes first time-domain resource indication information, and the first time-domain resource indication information is used to indicate a time-domain resource for sending a sensing signal and / or a time-domain resource for receiving a sensing signal.

[0134] In some embodiments, the time-domain resource indication information includes second time-domain resource indication information and / or third time-domain resource indication information, the second time-domain resource indication information is used to indicate the next or next group of time-domain resources for receiving a sensing signal, and the third time-domain resource indication information is used to indicate the next or next group of time-domain resources for sending a sensing signal.

[0135] In some embodiments, the time-domain resource indication information includes a resource configuration or a resource identifier of the indicated time-domain resource.

[0136] In some embodiments, the next or next group of time-domain resources for receiving a sensing signal is one or more time-domain resources after a first time duration from the sending time of the second time-domain resource indication information, and the next or next group of time-domain resources for sending a sensing signal is one or more time-domain resources after a second time duration from the sending time of the third time-domain resource indication information.

[0137] In some embodiments, receiving the time-domain resource indication information includes:

[0138] Receiving time-domain resource indication information sent by a peer device.

[0139] In some embodiments, the apparatus further includes:

[0140] A first control unit, configured to start or end alternating with a peer device in sending and receiving sensing signals based on the speed of a sensing target and / or sensing performance.

[0141] In some embodiments, based on the speed and / or sensing performance of a sensed target, starting or ending the alternating transmission and reception of sensing signals with a peer device includes:

[0142] Starting the alternating transmission and reception of sensing signals with a peer device when a first condition is met;

[0143] The first condition includes one or more of the following:

[0144] The speed of the sensed target is lower than or equal to a first threshold;

[0145] The received power of the sensing signal is higher than or equal to a second threshold.

[0146] In some embodiments, based on the speed and / or sensing performance of a sensed target, starting or ending the alternating transmission and reception of sensing signals with a peer device includes:

[0147] Ending the alternating transmission and reception of sensing signals with a peer device when a second condition is met;

[0148] The second condition includes one or more of the following:

[0149] The speed of the sensed target is higher than or equal to a third threshold;

[0150] The received power of the sensing signal is lower than or equal to a fourth threshold.

[0151] In some embodiments, the apparatus further includes:

[0152] A first transmission unit, configured to send first indication information to a peer device, where the first indication information is used to indicate starting or ending the alternating transmission and reception of sensing signals.

[0153] In some embodiments, the apparatus further includes:

[0154] A third reception unit, configured to receive second indication information sent by a peer device;

[0155] A second control unit, configured to start or end the alternating transmission and reception of sensing signals with a peer device based on the second indication information.

[0156] In some embodiments, the apparatus further includes:

[0157] A fourth reception unit, configured to receive third indication information sent by a peer device, where the third indication information is used to indicate sensing data related to a sensed target and / or parameter information related to transmission parameters;

[0158] A third determination unit, configured to determine transmission parameters to be used for the next or next set of sensing signal transmissions based on the third indication information.

[0159] In some embodiments, the device further includes:

[0160] A second sending unit, configured to send fourth indication information to a peer device, where the fourth indication information is used to indicate sensing data related to a sensing target and / or parameter information related to transmission parameters.

[0161] In some embodiments, sending the fourth indication information to the peer device includes:

[0162] Sending the fourth indication information to the peer device when a third condition is met;

[0163] The third condition includes one or more of the following:

[0164] The speed of the sensing target is higher than or equal to a fifth threshold;

[0165] The received power of the sensing signal is lower than or equal to a sixth threshold.

[0166] In some embodiments, the time-domain resource indication information is a radio resource control (RRC) message, an RRC information element, a media access control layer control element (MAC CE), or physical layer indication information.

[0167] In some embodiments, the sending parameters include one or more of a sending beam parameter and a sending power.

[0168] In some embodiments, the receiving parameters include a receiving beam parameter.

[0169] In some embodiments, the sensing data related to the sensing target includes one or more of the following:

[0170] The speed of the sensing target, the distance from the sensing target, the direction of the sensing target, the position of the sensing target, the sensing measurement quantity related to the sensing target, the speed offset of the sensing target, the distance offset of the sensing target, the direction offset of the sensing target, the sensing measurement quantity offset of the sensing target, the speed range of the sensing target, the distance range of the sensing target, and the direction range of the sensing target.

[0171] In a fourth aspect, the present application further provides a non-transitory readable storage medium storing a computer program, where the computer program is used to cause a processor to execute the bistatic sensing method described in the first aspect above.

[0172] In a fifth aspect, the present application further provides a communication device storing a computer program, where the computer program is used to cause the communication device to execute the bistatic sensing method described in the first aspect above.

[0173] In a sixth aspect, the present application further provides a processor-readable storage medium storing a computer program for causing a processor to execute the bistatic sensing method described in the first aspect above.

[0174] In a seventh aspect, the present application further provides a chip product storing a computer program for causing the chip product to execute the bistatic sensing method described in the first aspect above.

[0175] For the bistatic sensing method, communication device, apparatus and storage medium provided by the present application, after the sensing device receives the sensing signal from the peer device on the first time-domain resource, it determines the transmission parameter based on the sensing signal received on the first time-domain resource, and then uses this transmission parameter to send the sensing signal on the second time-domain resource, so that it can adaptively adjust the transmission parameter during the alternating transmission and reception process to maintain continuous sensing of the sensing target. This not only solves the problem of continuously sensing a moving target in the bistatic sensing mode, but also avoids signaling interaction and saves signaling overhead. BRIEF DESCRIPTION OF THE DRAWINGS

[0176] To more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0177] Figure 1 It is a schematic flowchart of the bistatic sensing method provided by an embodiment of the present application;

[0178] Figure 2 It is an example diagram of the time-domain resources including multiple transmissions of sensing signals provided by an embodiment of the present application;

[0179] Figure 3 It is an example diagram of the bistatic sensing process provided by an embodiment of the present application;

[0180] Figure 4 It is a schematic structural diagram of the communication device provided by an embodiment of the present application;

[0181] Figure 5 It is a schematic structural diagram of the bistatic sensing apparatus provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0182] In the embodiments of the present application, the term "and / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0183] In the embodiments of the present application, the term "plurality" means two or more, and other quantifiers are similar.

[0184] In the embodiments of the present application, terms such as "first" and "second" are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are usually of the same category, and do not limit the number of objects. For example, the first object can be one or multiple.

[0185] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0186] Communication perception fusion (which can be abbreviated as communication-sensing fusion, or can also be called communication-perception integration, abbreviated as communication-sensing integration) refers to the realization of unified design of communication and perception functions through means such as joint design of the air interface and protocols, time-frequency-space resource reuse, and hardware device sharing, so that the wireless network can realize the perception function while performing communication interactions, thereby improving the overall performance and service capabilities of the network. Wireless perception is a technology that uses wireless signals to obtain characteristic information of the environment and / or objects in the environment (such as shape, size, direction, speed, position, distance between objects, or relative motion, etc.). Wireless perception services rely on the analysis of the transmission, reflection, and scattering of wireless perception signals. As a part of the wireless communication network, wireless perception services provide the possibility of enhancing the use of telecommunications infrastructure in the fields of object detection and tracking, environmental monitoring, and human motion monitoring. Wireless perception services provide inputs for various vertical fields (including drones, smart homes, vehicle-to-everything (V2X), factories, etc.). Exemplarily, some specific use cases include:

[0187] (1) Object and intruder detection for smart homes, highways, railways, factories, and predefined security areas around critical infrastructure.

[0188] (2)Collision avoidance and trajectory tracking of unmanned aerial vehicles, vehicles, and automated guided vehicles.

[0189] (3)Automatic control and navigation.

[0190] (4)Public safety search and rescue.

[0191] (5)Rainfall monitoring and flood monitoring.

[0192] (6)Health and motion monitoring.

[0193] In a communication and sensing fusion system, a base station and a terminal (also referred to as a user equipment, UE) need to transmit and / or receive wireless signals. Based on the received wireless signals, the base station or the terminal can obtain sensing measurement data, and based on the sensing measurement data, sensing information can be obtained.

[0194] Figure 1 The flowchart of the bistatic sensing method provided by the embodiments of this application is shown as Figure 1 shown, and the method includes the following steps:

[0195] Step 100: Alternately transmit and receive sensing signals with the peer device for sensing the sensing target.

[0196] Among them, alternately transmitting and receiving sensing signals with the peer device includes:

[0197] Receiving sensing signals from the peer device on the first time-domain resource;

[0198] Determining transmission parameters based on the sensing signals received on the first time-domain resource, where the transmission parameters include transmission parameters for transmitting sensing signals;

[0199] Transmitting sensing signals using the transmission parameters on the second time-domain resource.

[0200] Specifically, the execution entity of this method is any one of the sensing devices in the bistatic sensing. For example, assuming that the sensing devices in the bistatic sensing are respectively called the first device and the second device, then the execution entity of this method is the first device (the peer device is the second device) or the second device (the peer device is the first device).

[0201] The first device and the second device can be two spatially separated devices, and both the first device and the second device can transmit and receive sensing signals. The first device can be a network device (such as a base station) or a terminal, and the second device can also be a network device or a terminal. The first device or the second device is a logical device, and the first device or the second device may be composed of multiple modules, multiple functions, or multiple devices.

[0202] A sensing signal refers to a wireless signal used for sensing. The sensing signal can be a wireless signal dedicated to sensing, or it can be a wireless signal used for both sensing and communication.

[0203] The second time-domain resource is the time-domain resource after the first time-domain resource. The process of alternating transmission and reception between the two sensing devices in bistatic sensing includes: a sensing device (taking the second device as an example, its peer device is the first device) receives the sensing signal sent by the peer device on the first time-domain resource, and then the second device determines the transmission parameters based on the sensing signal received on the first time-domain resource. The transmission parameters include the transmission parameters for sending the sensing signal. Next, the second device sends the sensing signal on the second time-domain resource using the transmission parameters. When the first device receives the sensing signal sent by the second device on the second time-domain resource, the first device can determine the transmission parameters (the transmission parameters include the transmission parameters for sending the sensing signal) based on the sensing signal received on the second time-domain resource, and then use the determined transmission parameters when sending the sensing signal next time or in the next group. In this way, the first device and the second device alternately send and receive the sensing signal, and both the first device and the second device can adaptively adjust the transmission parameters to continuously sense the sensing target. The sensing target can be any object, such as a vehicle, a living being, a drone, the environment, etc. The sensing target can include one or more sensing targets.

[0204] In some embodiments, the transmission parameters include one or more of the transmission beam parameters and the transmission power. Among them, the transmission beam parameters can include at least one of the following: the transmission beam direction and the transmission beam width.

[0205] The first time-domain resource can include the time-domain resources for one or multiple transmissions of the sensing signal. In the case where the first time-domain resource includes the time-domain resources for multiple transmissions of the sensing signal, the peer device sends the sensing signal multiple times on the first time-domain resource, and the sensing device receives the sensing signal sent by the peer device multiple times on the first time-domain resource.

[0206] The second time-domain resource can include the time-domain resources for one or multiple transmissions of the sensing signal. In the case where the second time-domain resource includes the time-domain resources for multiple transmissions of the sensing signal, the sensing device sends the sensing signal multiple times on the second time-domain resource, and the peer device receives the sensing signal multiple times on the second time-domain resource.

[0207] The same applies to the third time-domain resource described later, and the subsequent sending or receiving situations are similar.

[0208] The transmission parameters determined by the sensing device or the peer device can be the transmission parameters for multiple transmissions of the sensing signal. The transmission parameters for each transmission in the multiple transmissions can be the same or different.

[0209] An application scenario that includes transmitting sensing signals multiple times can be, for example, transmitting in multiple directions to scan multiple directions.

[0210] Figure 2 This is an example diagram of time-domain resources including sensing signals transmitted multiple times provided by an embodiment of the present application. As Figure 2 shown in part (a) of, the second time-domain resource is after the first time-domain resource. Both the first time-domain resource and the second time-domain resource include time-domain resources for transmitting sensing signals multiple times. As Figure 2 shown in part (b) of, the second time-domain resource is after the first time-domain resource, and the third time-domain resource is after the second time-domain resource. The first time-domain resource, the second time-domain resource, and the third time-domain resource all include time-domain resources for transmitting sensing signals multiple times. It should be understood that the figures are just examples. In reality, the first time-domain resource, the second time-domain resource, and the third time-domain resource do not necessarily all include time-domain resources for transmitting sensing signals twice. For example, the first time-domain resource includes time-domain resources for transmitting sensing signals three times, and the second time-domain resource includes time-domain resources for transmitting sensing signals four times, and so on.

[0211] In the present application, the sensing signals transmitted on different time-domain resources can be the same signal or different signals. This applies to the case of transmitting sensing signals multiple times in the first time-domain resource, the second time-domain resource, or the third time-domain resource (for example, the sensing signals transmitted multiple times can be the same signal or different signals), and also applies to the case of transmitting sensing signals between the first time-domain resource, the second time-domain resource, or the third time-domain resource (for example, the sensing signals transmitted on different time-domain resources can be the same signal or different signals).

[0212] It should be noted that during the process of the sensing devices alternately transmitting and receiving sensing signals, the sensing device can determine the transmission parameters based on the sensing signals received on the first time-domain resource. In some cases, the sensing device can also determine the transmission parameters based on other methods. That is, "determining the transmission parameters based on the sensing signals received on the first time-domain resource" is an optional step. For example, when the sensing target is moving at high speed or the received power of the sensing signal is low, the sensing device cannot sense the target well. At this time, the sensing device can determine the transmission parameters without relying on the received sensing signals, but by other methods to maintain continuous sensing of the sensing target.

[0213] In the dual-base sensing method provided in the embodiment of the present application, after the sensing device receives the sensing signal from the opposite device on the first time domain resource, it determines the sending parameter based on the sensing signal received on the first time domain resource, and then uses the sending parameter to send the sensing signal on the second time domain resource, thereby being able to adaptively adjust the sending parameter during the alternating transmission and reception process to maintain continuous perception of the sensing target, which not only solves the problem of continuous perception of mobile targets in the dual-base sensing mode, but also avoids signaling interaction and saves signaling overhead.

[0214] In some embodiments, determining a transmission parameter based on a perception signal received on a first time domain resource includes:

[0215] Determining perception data related to a perception target based on a perception signal received on a first time domain resource;

[0216] Transmission parameters are determined based on the sensing data associated with the sensing target.

[0217] Specifically, in this embodiment, when the perception device determines the transmission parameters, it first determines the perception data related to the perception target based on the received perception signal, and then determines the transmission parameters based on the perception data.

[0218] In some embodiments, the perception data related to the perception target includes one or more of the following: the speed of the perception target, the distance between (the perception device that determines the transmission parameters) and the perception target, the direction of the perception target, the position of the perception target, the perception measurement quantity related to the perception target, the speed offset of the perception target, the distance offset of the perception target, the direction offset of the perception target, the perception measurement quantity offset of the perception target, the speed range of the perception target, the distance range of the perception target, and the direction range of the perception target.

[0219] In some embodiments, the sensing measurement quantity includes one or more of delay, Doppler frequency shift, angle of arrival, sensed signal reception strength, and channel state information.

[0220] For example, after receiving the perception signal on the first time domain resource, the perception device first determines the position of the perception target based on the received perception signal, and then determines the transmission beam direction based on the position of the perception target. The transmission beam direction can be a direction aimed at the position of the perception target.

[0221] In some embodiments, the transmission parameters further include reception parameters for receiving the perception signal, and the sending and receiving of the perception signal are performed alternately with the opposite end device, and further include:

[0222] The perception signal from the opposite end device is received using the receiving parameter on the third time domain resource.

[0223] Specifically, the third time-domain resource is after the second time-domain resource. After the sensing device receives the sensing signal sent by the peer device on the first time-domain resource, it can determine the transmission parameter and the reception parameter based on the sensing signal received on the first time-domain resource, send the sensing signal using the transmission parameter on the second time-domain resource, and receive the sensing signal sent by the peer device using the reception parameter on the third time-domain resource.

[0224] The third time-domain resource may include the time-domain resources for one or more transmissions of the sensing signal. In the case where the third time-domain resource includes the time-domain resources for multiple transmissions of the sensing signal, the peer device sends the sensing signal multiple times on the third time-domain resource, and the sensing device receives the sensing signal sent by the peer device multiple times on the third time-domain resource. Examples of the third time-domain resource including the time-domain resources for multiple transmissions of the sensing signal can be found in the foregoing description and will not be elaborated here.

[0225] The peer device can determine the transmission parameter (the transmission parameter includes the transmission parameter and the reception parameter) based on the sensing signal received on the second time-domain resource, then send the sensing signal using the transmission parameter on the third time-domain resource, and use the determined reception parameter when receiving the sensing signal next time or in the next group. In this way, the sensing device and the peer device alternately send and receive the sensing signal, and both the sensing device and the peer device can adaptively adjust the transmission parameter and the reception parameter, so as to continuously sense the sensing target.

[0226] In some embodiments, the reception parameter includes the reception beam parameter. The reception beam parameter may include at least one of the following: reception beam direction, reception beam width.

[0227] In the bistatic sensing method provided by the embodiments of the present application, after the sensing device receives the sensing signal from the peer device on the first time-domain resource, it determines the transmission parameter and the reception parameter based on the sensing signal received on the first time-domain resource, then sends the sensing signal using the transmission parameter on the second time-domain resource, and receives the sensing signal using the reception parameter on the third time-domain resource. Therefore, it can adaptively adjust the transmission parameter and the reception parameter during the alternating transmission and reception process to continuously sense the sensing target, which not only solves the problem of continuously sensing a moving target in the bistatic sensing mode, but also avoids signaling interaction and saves signaling overhead.

[0228] In some embodiments, alternately sending and receiving the sensing signal with the peer device further includes:

[0229] Receiving the sensing signal from the peer device on the third time-domain resource.

[0230] Specifically, the third time-domain resource is after the second time-domain resource. After the sensing device receives the sensing signal sent by the peer device on the first time-domain resource, it can determine the transmission parameters based on the sensing signal received on the first time-domain resource, send the sensing signal using these transmission parameters on the second time-domain resource, and then receive the sensing signal sent by the peer device on the third time-domain resource. When receiving the sensing signal sent by the peer device on the third time-domain resource, the receiving parameters used are not limited here. For example, they can be the receiving parameters determined based on the sensing signal received on the first time-domain resource, or they can be receiving parameters determined by other means without relying on the received sensing signal.

[0231] The third time-domain resource may include the time-domain resources for one or more transmissions of the sensing signal. In the case where the third time-domain resource includes the time-domain resources for multiple transmissions of the sensing signal, the peer device sends the sensing signal multiple times on the third time-domain resource, and the sensing device receives the sensing signal sent by the peer device multiple times on the third time-domain resource. Examples of the third time-domain resource including the time-domain resources for multiple transmissions of the sensing signal can be seen in the foregoing description and will not be elaborated here.

[0232] Figure 3 This is an example diagram of the bistatic sensing process provided by the embodiments of this application. Referring to Figure 3 , in this example, the first device sends (Tx) the sensing signal in time-domain resource 1. Correspondingly, the second device receives (Rx) the sensing signal in time-domain resource 1. The second device determines the transmission parameters according to the sensing signal received in time-domain resource 1, including transmission parameter 1 and reception parameter 1. In some embodiments, before sending the sensing signal in time-domain resource 1, the first device can discover the sensing target through beam scanning or other means, determine the position of the sensing target, and then start tracking the sensing target, that is, start alternating transmission and reception from time-domain resource 1.

[0233] Next, the second device uses transmission parameter 1 to send the sensing signal in time-domain resource 2. Correspondingly, the first device receives the sensing signal in time-domain resource 2. The first device determines the transmission parameters according to the sensing signal received in time-domain resource 2, including transmission parameter 2 and reception parameter 2.

[0234] Next, the first device uses transmission parameter 2 to send the sensing signal in time-domain resource 3. At this time, the second device receives the sensing signal in time-domain resource 3 according to the previously determined reception parameter 1. Then, the second device determines the transmission parameters according to the sensing signal received in time-domain resource 3, including transmission parameter 3 and reception parameter 3. The second device uses transmission parameter 3 to send the sensing signal in time-domain resource 4, and the first device receives the sensing signal in time-domain resource 4 according to the previously determined reception parameter 2. In this way, by continuously alternating transmission and reception of the sensing signal between the two sensing devices, the purpose of continuously tracking the sensing target is achieved.

[0235] In this application, the first time-domain resource, the second time-domain resource, and the third time-domain resource are just different time-domain resources in a sequential order in time, and this application does not limit the specific time-domain positions of these time-domain resources. For example, referring to Figure 3 , Figure 3 any one of the time-domain resources 1, time-domain resource 2, time-domain resource 3, and time-domain resource 4 in

[0236] can be the first time-domain resource. Correspondingly, the subsequent time-domain resources are the second time-domain resource and the third time-domain resource. For example, if the second device receives a sensing signal on time-domain resource 1, for the second device, time-domain resource 1 is the first time-domain resource, and time-domain resources 2 and 3 are the second time-domain resource and the third time-domain resource respectively. For example, if the second device receives a sensing signal on time-domain resource 3, for the second device, time-domain resource 3 can also be considered as the first time-domain resource, time-domain resource 4 is the second time-domain resource, and the time-domain resource used for transmitting the sensing signal after time-domain resource 4 is the third time-domain resource.

[0237] For example, if the first device receives a sensing signal on time-domain resource 2, for the first device, time-domain resource 2 is the first time-domain resource, time-domain resource 3 is the second time-domain resource, and time-domain resource 4 is the third time-domain resource. For example, if the first device receives a sensing signal on time-domain resource 4, for the first device, time-domain resource 4 can also be considered as the first time-domain resource, and the time-domain resources used for transmitting the sensing signal after time-domain resource 4 are the second time-domain resource and the third time-domain resource in sequence.

[0238] In some embodiments, when the sensing device receives the sensing signal for the first time, it can determine the receiving parameters (such as the receiving beam direction) based on the position of the initial sensing target. For example, referring to Figure 3 , on time-domain resource 2, the first device can determine the receiving beam direction based on the position of the initial sensing target.

[0239] Since there is a time interval between the received sensing signal for determining the transmission parameters and the next or next set of transmitted sensing signals, the position of the sensing target may have changed during this period. In some embodiments, a wider transmission beam and / or receiving beam can be considered, and the historical trajectory can also be considered to predict the transmission beam direction and / or receiving beam direction, so as to be able to send and / or receive the sensing signal more accurately and maintain continuous sensing of the sensing target.

[0240] In some embodiments, the method further includes:

[0241] Receiving time-domain resource indication information;

[0242] Determine the time-domain resources for sending the sensing signal and / or the time-domain resources for receiving the sensing signal based on the time-domain resource indication information; the time-domain resources for receiving the sensing signal include first time-domain resources, and the time-domain resources for sending the sensing signal include second time-domain resources.

[0243] In some embodiments, the method further includes:

[0244] Receive the time-domain resource indication information;

[0245] Determine the time-domain resources for sending the sensing signal and / or the time-domain resources for receiving the sensing signal based on the time-domain resource indication information; the time-domain resources for receiving the sensing signal include first time-domain resources and / or third time-domain resources, and the time-domain resources for sending the sensing signal include second time-domain resources.

[0246] Specifically, the sensing device can receive the time-domain resource indication information sent by other devices. Based on this time-domain resource indication information, it can determine the time-domain resources for sending the sensing signal and / or the time-domain resources for receiving the sensing signal, such as first time-domain resources, second time-domain resources, third time-domain resources, etc.

[0247] Among them, the other device can be a peer device, or a device other than both the sensing device and the peer device.

[0248] For example, the first device receives the time-domain resource indication information sent by the second device or a device other than the first device and the second device. Or, the second device receives the time-domain resource indication information sent by the first device or a device other than the first device and the second device.

[0249] In some embodiments, after receiving the time-domain resource indication information sent by a device other than the first device and the second device, the second device can send the time-domain resource indication information to the first device. The same applies to the first device and will not be elaborated here.

[0250] In some embodiments, the time-domain resource indication information is a Radio Resource Control (RRC) message, an RRC Information Element (IE), a Media Access Control Control Element (MAC CE), or physical layer indication information.

[0251] It should be noted that the names of the various indication information in this application (such as time domain resource indication information, first time domain resource indication information, second time domain resource indication information, third time domain resource indication information, first indication information, second indication information, third indication information, fourth indication information, etc.) do not limit their functions and contents. Different names are given to each indication information only for the purpose of convenient description and differentiation, but do not constitute a limitation on the functions or contents of the indication information.

[0252] In some embodiments, the time domain resource indication information includes first time domain resource indication information, and the first time domain resource indication information is used to indicate the time domain resources for transmitting sensing signals and / or the time domain resources for receiving sensing signals.

[0253] In some embodiments, the time domain resources for sensing signal transmission can be indicated to the sensing device in a semi-static configuration manner.

[0254] For example, referring to Figure 3 , taking Figure 3 's 4 time domain resources as an example, the first device receives the first time domain resource indication information 1, and the first device determines the time domain resources 1 and 3 for transmitting sensing signals, and the time domain resources 2 and 4 for receiving sensing signals according to the first time domain resource indication information 1. And / or, the second device receives the first time domain resource indication information 2, and the second device determines the time domain resources 2 and 4 for transmitting sensing signals, and the time domain resources 1 and 3 for receiving sensing signals according to the first time domain resource indication information 2. Then, the first device and the second device start to alternately transmit and receive sensing signals in the time domain resources 1, 2, 3, and 4. It should be understood that the first time domain resource indication information (the first time domain resource indication information 1) received by the first device and the first time domain resource indication information (the first time domain resource indication information 2) received by the second device, although both are used to indicate the time domain resources for transmitting sensing signals and / or the time domain resources for receiving sensing signals, are not necessarily the same indication information.

[0255] In some embodiments, the time domain resource indication information includes the resource configuration or resource identifier of the indicated time domain resource.

[0256] In some embodiments, in the case where the time domain resources are indicated by resource identifiers, the sensing device obtains the resource configuration of the time domain resources corresponding to the resource identifiers through other means (such as receiving other indication information).

[0257] For example, the first device receives first time-domain resource indication information, which indicates the resource configuration of time-domain resources (such as time-domain resource 1 and time-domain resource 3) for transmitting sensing signals, and indicates the resource configuration of time-domain resources (such as time-domain resource 2 and time-domain resource 4) for receiving sensing signals.

[0258] In some embodiments, the first time-domain resource indication information is SensingResourceConfig (sensing resource configuration). ResourceElement indicates the configuration information of the time-domain resource, txResourceList indicates the time-domain resources for transmitting sensing signals, including one or more ResourceElements, rxResourceList indicates the time-domain resources for receiving sensing signals, including one or more ResourceElements. The example information structure is as follows:

[0259] SensingResourceConfig::=SEQUENCE{

[0260] txResourceList SEQUENCE(SIZE(1..X))OF ResourceElement,rxResourceListSEQUENCE(SIZE(1..Y))OF ResourceElement

[0261] }

[0262] For another example, the first device receives first time-domain resource indication information, which indicates, through resource identifiers, that time-domain resource 1 and time-domain resource 3 are the time-domain resources for transmitting sensing signals, and / or indicates that time-domain resource 2 and time-domain resource 4 are the time-domain resources for receiving sensing signals. The first time-domain resource indication information indicates the resource identifiers of the time-domain resources (such as time-domain resource 1 and time-domain resource 3) for transmitting sensing signals, and / or indicates the resource identifiers of the time-domain resources (such as time-domain resource 2 and time-domain resource 4) for receiving sensing signals. In this case, the first device also needs to receive the resource configuration information indicating time-domain resource 1, time-domain resource 2, time-domain resource 3, and time-domain resource 4.

[0263] In some embodiments, the first time-domain resource indication information is SensingResourceConfig. The ResourceElementId (resource element identifier) indicates the identifier of the time-domain resource, the txResourceList indicates the time-domain resources used to transmit sensing signals and contains one or more ResourceElementIds, and the rxResourceList indicates the time-domain resources used to receive sensing signals and contains one or more ResourceElementIds. An example information structure is as follows:

[0264] SensingResourceConfig::=SEQUENCE{

[0265] txResourceList SEQUENCE(SIZE(1..X))OF ResourceElementId,rxResourceList SEQUENCE(SIZE(1..Y))OF ResourceElementId

[0266] }

[0267] In some embodiments, the time-domain resource indication information includes second time-domain resource indication information and / or third time-domain resource indication information. The second time-domain resource indication information is used to indicate the next or next group of time-domain resources for receiving sensing signals, and the third time-domain resource indication information is used to indicate the next or next group of time-domain resources for transmitting sensing signals.

[0268] In some embodiments, the time-domain resources for sensing signal transmission can be indicated to the sensing device in a dynamically configured manner. The sensing device receives the time-domain resource indication information before the time-domain resources indicated by the time-domain resource indication information.

[0269] For example, a sensing device (taking the second device as an example, its peer device is the first device) receives the second time-domain resource indication information 1, and the second time-domain resource indication information 1 indicates the first time-domain resource for the second device to receive sensing signals (i.e., the next or the next set of time-domain resources for receiving sensing signals, where "the next set" means the case where the first time-domain resource includes time-domain resources for receiving sensing signals multiple times). The second device receives the sensing signals sent by the first device on the first time-domain resource; then, the second device receives the third time-domain resource indication information 1, and the third time-domain resource indication information 1 indicates the second time-domain resource for the second device to send sensing signals (i.e., the next or the next set of time-domain resources for sending sensing signals, where "the next set" means the case where the second time-domain resource includes time-domain resources for sending sensing signals multiple times). The second device sends sensing signals on the second time-domain resource; then, the second device receives the second time-domain resource indication information 2, and the second time-domain resource indication information 2 indicates the third time-domain resource for the second device to receive sensing signals (i.e., the next or the next set of time-domain resources for receiving sensing signals, where "the next set" means the case where the third time-domain resource includes time-domain resources for receiving sensing signals multiple times). The second device receives the sensing signals sent by the first device on the third time-domain resource.

[0270] For another example, for the peer device of the sensing device (still taking the sensing device as the second device, its peer device is the first device), the first device receives the third time-domain resource indication information 2, and the third time-domain resource indication information 2 indicates the first time-domain resource for the first device to send sensing signals (i.e., the next or the next set of time-domain resources for sending sensing signals, where "the next set" means the case where the first time-domain resource includes time-domain resources for sending sensing signals multiple times). The first device sends sensing signals on the first time-domain resource; then, the first device receives the second time-domain resource indication information 3, and the second time-domain resource indication information 3 indicates the second time-domain resource for the first device to receive sensing signals (i.e., the next or the next set of time-domain resources for receiving sensing signals, where "the next set" means the case where the second time-domain resource includes time-domain resources for receiving sensing signals multiple times). The first device receives the sensing signals sent by the second device on the second time-domain resource; then, the first device receives the third time-domain resource indication information 3, and the third time-domain resource indication information 3 indicates the third time-domain resource for sending sensing signals (i.e., the next or the next set of time-domain resources for sending sensing signals, where "the next set" means the case where the third time-domain resource includes time-domain resources for sending sensing signals multiple times). The first device sends sensing signals on the third time-domain resource.

[0271] In some embodiments, for the case where the time-domain resource indication information includes second time-domain resource indication information and third time-domain resource indication information, the sensing device receiving the second time-domain resource indication information and the third time-domain resource indication information can be two receptions. It can also be understood that the second time-domain resource indication information and the third time-domain resource indication information are sent through two messages.

[0272] For example, with reference to Figure 3 , taking the 4 time-domain resources in Figure 3 as an example, the first device receives indication information 1, determines that time-domain resource 1 is used to send a sensing signal according to indication information 1, and the first device sends a sensing signal in time-domain resource 1; then, the first device receives indication information 2, determines that time-domain resource 2 is used to receive a sensing signal according to indication information 2, and the first device receives a sensing signal in time-domain resource 2; then, the first device receives indication information 3, determines that time-domain resource 3 is used to send a sensing signal according to indication information 3, and the first device sends a sensing signal in time-domain resource 3; then, the first device receives indication information 4, determines that time-domain resource 4 is used to receive a sensing signal according to indication information 4, and the first device receives a sensing signal in time-domain resource 4. The above indication information 2 and indication information 4 both belong to the second time-domain resource indication information, and the above indication information 1 and indication information 3 both belong to the third time-domain resource indication information. By dynamically configuring time-domain resources during the process of two sensing devices alternately sending and receiving sensing signals, the time-domain resource configuration is more flexible. The same applies to the second device and will not be elaborated here.

[0273] In some embodiments, the time-domain resource indication information includes the resource configuration or resource identifier of the indicated time-domain resource.

[0274] In some embodiments, in the case of indicating the time-domain resource by the resource identifier, the sensing device obtains the resource configuration of the time-domain resource corresponding to the resource identifier through other means (such as receiving other indication information).

[0275] For example, the first device receives the second time-domain resource indication information, and the second time-domain resource indication information indicates the resource configuration of the time-domain resource (such as time-domain resource 2) for receiving a sensing signal.

[0276] For another example, the first device receives the second time-domain resource indication information, and the second time-domain resource indication information indicates that time-domain resource 2 is the time-domain resource for receiving a sensing signal through the resource identifier. The second time-domain resource indication information indicates the resource identifier of the time-domain resource (such as time-domain resource 2) for receiving a sensing signal. In this case, the first device also needs to receive the resource configuration information of time-domain resource 2.

[0277] For yet another example, the first device receives the third time-domain resource indication information, and the third time-domain resource indication information indicates the resource configuration of the time-domain resource (such as time-domain resource 3) for sending a sensing signal.

[0278] For another example, the first device receives third time-domain resource indication information, and the third time-domain resource indication information indicates, through a resource identifier, that time-domain resource 3 is the time-domain resource for sending a sensing signal. The third time-domain resource indication information indicates the resource identifier of the time-domain resource (such as time-domain resource 3) for sending a sensing signal. In this case, the first device also needs to receive resource configuration information indicating time-domain resource 3.

[0279] In some embodiments, the next or next group of time-domain resources for receiving a sensing signal is one or more time-domain resources after a first time period from the transmission time of the second time-domain resource indication information (which may be the start transmission time or the end transmission time, and this application does not make a limitation). The one or more time-domain resources here can be any time-domain resources, or time-domain resources capable of receiving signals, or time-domain resources capable of receiving sensing signals.

[0280] The next or next group of time-domain resources for sending a sensing signal is one or more time-domain resources after a second time period from the transmission time of the third time-domain resource indication information (which may be the start transmission time or the end transmission time, and this application does not make a limitation). The one or more time-domain resources here can be any time-domain resources, or time-domain resources capable of sending signals, or time-domain resources capable of sending sensing signals.

[0281] Specifically, the first time period and the second time period can be any time periods, and there is no specific limitation. The first time period and the second time period can be the same or different.

[0282] For example, when the sensing device receives the second time-domain resource indication information, it determines the earliest one or more time-domain resources after a time period T1 from the transmission time of the second time-domain resource indication information as the next or next group of time-domain resources for receiving a sensing signal, where T1 represents the first time period and T1 is greater than or equal to 0.

[0283] For another example, after the sensing device receives the second time-domain resource indication information, it determines one or more time-domain resources after a time period T1 from the transmission time of the second time-domain resource indication information, and the one or more time-domain resources can all be used by the sensing device to receive a sensing signal until the next third time-domain resource indication information indicates the time-domain resource for the sensing device to send a sensing signal. Taking the indication information 2 and indication information 3 exemplified above as an example, in some embodiments, after the sensing device receives the indication information 2, it determines one or more time-domain resources from the time after a time period T1 from the transmission time of the indication information 2 until a time period T1 from the transmission time of the indication information 3 as the time-domain resources for the first device to receive a sensing signal.

[0284] For another example, when the sensing device receives the third time-domain resource indication information, it determines the earliest one or more time-domain resources after an interval of T2 from the transmission time of the third time-domain resource indication information as the next or next group of time-domain resources for transmitting sensing signals, where T2 represents the second duration and T2 is greater than or equal to 0.

[0285] For another example, after the sensing device receives the third time-domain resource indication information, it determines one or more time-domain resources after an interval of T2 from the transmission time of the third time-domain resource indication information. These one or more time-domain resources can all be used by the sensing device to transmit sensing signals until the next second time-domain resource indication information indicates the time-domain resources for the sensing device to receive sensing signals. Taking the indication information 1 and indication information 2 exemplified above as an example, in some embodiments, after the sensing device receives the indication information 1, it determines one or more time-domain resources starting from an interval of T2 from the transmission time of the indication information 1 until an interval of T2 from the transmission time of the indication information 2 as the time-domain resources for the first device to transmit sensing signals.

[0286] In some embodiments, the method further includes:

[0287] Based on the speed and / or sensing performance of the sensing target, start or end the alternating transmission and reception of sensing signals with the peer device.

[0288] Specifically, in this embodiment, the start or end conditions for the alternating transmission and reception can be set, and the sensing device can decide to start or end the alternating transmission and reception based on the speed and / or sensing performance (such as the received power of the sensing signal) of the sensing target.

[0289] In some embodiments, starting or ending the alternating transmission and reception of sensing signals with the peer device based on the speed and / or sensing performance of the sensing target includes:

[0290] When the first condition is met, start the alternating transmission and reception of sensing signals with the peer device;

[0291] The first condition includes one or more of the following:

[0292] The speed of the sensing target is lower than or equal to the first threshold;

[0293] The received power of the sensing signal is higher than or equal to the second threshold.

[0294] For example, the method of alternatingly transmitting and receiving sensing signals between the first device and the second device can be used when the speed of the sensing target meets the first criterion. The speed of the sensing target meeting the first criterion can specifically be that the speed of the sensing target is lower than or equal to the first threshold.

[0295] For another example, when the sensing performance meets the second criterion, the method of alternately transmitting and receiving sensing signals using the first device and the second device can be used. Specifically, the sensing performance meeting the second criterion can be that the received power of the sensing signal is higher than or equal to the second threshold.

[0296] The first threshold and the second threshold are arbitrary thresholds and can be flexibly set without specific limitations.

[0297] In some embodiments, based on the speed of the sensing target and / or the sensing performance, starting or ending the alternate transmission and reception of sensing signals with the peer device includes:

[0298] When the second condition is met, ending the alternate transmission and reception of sensing signals with the peer device;

[0299] The second condition includes one or more of the following:

[0300] The speed of the sensing target is higher than or equal to the third threshold;

[0301] The received power of the sensing signal is lower than or equal to the fourth threshold.

[0302] For example, when the speed of the sensing target meets the third criterion, the method of alternately transmitting and receiving sensing signals using the first device and the second device can be ended. Specifically, the speed of the sensing target meeting the third criterion can be that the speed of the sensing target is higher than or equal to the third threshold.

[0303] For another example, when the sensing performance meets the fourth criterion, the method of alternately transmitting and receiving sensing signals using the first device and the second device can be ended. Specifically, the sensing performance meeting the fourth criterion can be that the received power of the sensing signal is lower than or equal to the fourth threshold.

[0304] The third threshold and the fourth threshold are arbitrary thresholds and can be flexibly set without specific limitations.

[0305] In some embodiments, the method further includes:

[0306] Sending first indication information to the peer device, where the first indication information is used to indicate starting or ending the alternate transmission and reception of sensing signals.

[0307] For example, when the first device determines to start or end the alternate transmission and reception of sensing signals based on the speed of the sensing target and / or the sensing performance, the first device can send the first indication information to the second device to indicate the second device to start or end the alternate transmission and reception of sensing signals. The same applies to the second device and will not be elaborated here.

[0308] In some embodiments, the method further includes:

[0309] Receiving second indication information sent by the peer device;

[0310] Based on the second indication information, start or end the alternating transmission and reception of sensing signals with the peer device.

[0311] For example, the second device determines to start or end the alternating transmission and reception of sensing signals based on the speed and / or sensing performance of the sensing target, and the second device sends the second indication information to the first device, and the first device starts or ends the alternating transmission and reception of sensing signals according to the second indication information.

[0312] In some embodiments, the method further includes:

[0313] Receiving third indication information sent by the peer device, where the third indication information is used to indicate sensing data related to the sensing target and / or parameter information related to transmission parameters;

[0314] Based on the third indication information, determine the transmission parameters to be used for the next or next set of sensing signal transmissions.

[0315] Specifically, in order to prevent the sensing method of alternating transmission and reception of sensing signals from not being able to sense the target well in some cases, the transmission parameters can be assisted in adjustment through signaling.

[0316] In some embodiments, the parameter information related to the transmission parameters can be the information of the transmission parameters themselves, that is, the third indication information indicates the transmission parameters used for sensing signal transmission.

[0317] In some embodiments, the parameter information related to the transmission parameters can be the information of the related parameters (such as the offset of the transmission parameters, the value range of the transmission parameters, etc.) used to determine the transmission parameters.

[0318] In some embodiments, the method further includes:

[0319] Sending fourth indication information to the peer device, where the fourth indication information is used to indicate sensing data related to the sensing target and / or parameter information related to transmission parameters.

[0320] Specifically, assisting in adjusting the transmission parameters through signaling can be that either one of the two sensing devices sends indication information to the other device. For example, the first device sends the fourth indication information to the second device, and the fourth indication information is used to indicate sensing data related to the sensing target and / or parameter information related to transmission parameters, and the second device determines the transmission parameters to be used for the next or next set of sensing signal transmissions according to the fourth indication information.

[0321] In some embodiments, sending the fourth indication information to the peer device includes:

[0322] Sending the fourth indication information to the peer device when the third condition is satisfied;

[0323] The third condition includes one or more of the following:

[0324] The speed of the sensed target is higher than or equal to a fifth threshold;

[0325] The received power of the sensed signal is lower than or equal to a sixth threshold.

[0326] For example, the first device may send fourth indication information to the second device when the speed of the sensed target meets the fifth criterion. Specifically, the speed of the sensed target meeting the fifth criterion may be that the speed of the sensed target is higher than or equal to the fifth threshold.

[0327] Again, for example, the first device may send fourth indication information to the second device when the sensing performance meets the sixth criterion. Specifically, the sensing performance meeting the sixth criterion may be that the received power of the sensed signal is lower than or equal to the sixth threshold.

[0328] The fifth threshold and the sixth threshold are arbitrary thresholds that can be flexibly set and are not specifically limited.

[0329] The following is an example in a specific application scenario combined with Figure 3 to illustrate the methods provided in the above embodiments of the present application.

[0330] Example 1: The first device and the second device alternately transmit and receive sensed signals to sense the same or multiple sensed targets. The main process includes:

[0331] 1. The first device sends a sensed signal in time-domain resource 1; the second device receives the sensed signal in time-domain resource 2; the sensed signal is sent or received in time-domain resource 1 to sense the sensed target.

[0332] Optionally, the second device determines transmission parameter 1 according to the sensed signal received in time-domain resource 1.

[0333] Optionally, the second device determines reception parameter 1 according to the sensed signal received in time-domain resource 1.

[0334] 2. The second device sends a sensed signal using transmission parameter 1 in time-domain resource 2; the first device receives the sensed signal in time-domain resource 2; the sensed signal is sent or received in time-domain resource 2 to sense the sensed target.

[0335] Optionally, the first device determines transmission parameter 2 according to the sensed signal received in time-domain resource 2.

[0336] Optionally, the first device determines reception parameter 2 according to the sensed signal received in time-domain resource 2.

[0337] Optionally, the time-domain resource 2 may include time-domain resources for transmitting or receiving the sensing signal one or more times. The transmission parameter 1 may include parameters for transmitting the sensing signal one or more times. In the case where the time-domain resource 2 includes time-domain resources for transmitting the sensing signal multiple times, the transmission parameter 1 for transmitting the sensing signal multiple times may be the same or different.

[0338] 3. The first device transmits the sensing signal using the transmission parameter 2 in the time-domain resource 3; the second device receives the sensing signal in the time-domain resource 3; the transmission or reception of the sensing signal in the time-domain resource 3 is used to sense the sensing target.

[0339] Optionally, the second device receives the sensing signal using the reception parameter 1 in the time-domain resource 3.

[0340] Optionally, the second device determines the transmission parameter 3 based on the reception of the sensing signal in the time-domain resource 3.

[0341] Optionally, the second device determines the reception parameter 3 based on the reception of the sensing signal in the time-domain resource 3.

[0342] Optionally, the time-domain resource 3 may include time-domain resources for transmitting or receiving the sensing signal one or more times. The reception parameter 1 may include parameters for receiving the sensing signal one or more times. In the case where the time-domain resource 3 includes time-domain resources for receiving the sensing signal multiple times, the reception parameter 1 for receiving the sensing signal multiple times may be the same or different.

[0343] 4. The second device transmits the sensing signal using the transmission parameter 3 in the time-domain resource 4; the first device receives the sensing signal in the time-domain resource 4; the transmission or reception of the sensing signal in the time-domain resource 4 is used to sense the sensing target.

[0344] Optionally, the first device receives the sensing signal using the reception parameter 2 in the time-domain resource 4.

[0345] Optionally, the time-domain resource 4 may include time-domain resources for transmitting or receiving the sensing signal one or more times. The reception parameter 2 may include parameters for receiving the sensing signal one or more times. In the case where the time-domain resource 4 includes time-domain resources for receiving the sensing signal multiple times, the reception parameter 2 for receiving the sensing signal multiple times may be the same or different.

[0346] Example 2: Determine the time-domain resources for transmitting and receiving the sensing signal according to the semi-static configuration. The main process includes:

[0347] 1. The first device receives the first time-domain resource indication information 1, and the first device determines that the time-domain resources 1 and 3 are used for transmitting the sensing signal, and the time-domain resources 2 and 4 are used for receiving the sensing signal according to the first time-domain resource indication information 1.

[0348] and / or,

[0349] The second device receives the first time-domain resource indication information 2, and the second device determines that time-domain resource 2 and time-domain resource 4 are used for transmitting the sensing signal according to the first time-domain resource indication information 2, and time-domain resource 1 and time-domain resource 3 are used for receiving the sensing signal.

[0350] 2. The first device transmits the sensing signal in time-domain resource 1; the second device receives the sensing signal in time-domain resource 2; transmitting or receiving the sensing signal in time-domain resource 1 is used to sense the sensing target.

[0351] Optionally, the second device determines transmission parameter 1 according to receiving the sensing signal in time-domain resource 1.

[0352] Optionally, the second device determines reception parameter 1 according to receiving the sensing signal in time-domain resource 1.

[0353] 3. The second device transmits the sensing signal with transmission parameter 1 in time-domain resource 2; the first device receives the sensing signal in time-domain resource 2; transmitting or receiving the sensing signal in time-domain resource 2 is used to sense the sensing target.

[0354] Optionally, the first device determines transmission parameter 2 according to receiving the sensing signal in time-domain resource 2.

[0355] Optionally, the first device determines reception parameter 2 according to receiving the sensing signal in time-domain resource 2.

[0356] 4. The first device transmits the sensing signal with transmission parameter 2 in time-domain resource 3; the second device receives the sensing signal in time-domain resource 3; transmitting or receiving the sensing signal in time-domain resource 3 is used to sense the sensing target.

[0357] Optionally, the second device receives the sensing signal with reception parameter 1 in time-domain resource 3.

[0358] Optionally, the second device determines transmission parameter 3 according to receiving the sensing signal in time-domain resource 3.

[0359] Optionally, the second device determines reception parameter 3 according to receiving the sensing signal in time-domain resource 3.

[0360] 5. The second device transmits the sensing signal with transmission parameter 3 in time-domain resource 4; the first device receives the sensing signal in time-domain resource 4; transmitting or receiving the sensing signal in time-domain resource 4 is used to sense the sensing target.

[0361] Optionally, the first device receives the sensing signal with reception parameter 2 in time-domain resource 4.

[0362] Example 3: Determine the time-domain resources for transmitting and receiving the sensing signal according to dynamic configuration. The main process includes:

[0363] 1. The first device receives third time-domain resource indication information (indication information 1), and determines that time-domain resource 1 is used to send a sensing signal according to indication information 1.

[0364] And / or,

[0365] The second device receives second time-domain resource indication information (indication information 5), and determines that time-domain resource 1 is used to receive a sensing signal according to indication information 5.

[0366] 2. The first device sends a sensing signal in time-domain resource 1; the second device receives a sensing signal in time-domain resource 2; sending or receiving a sensing signal in time-domain resource 1 is used to sense the sensing target.

[0367] Optionally, the second device determines transmission parameter 1 according to the sensing signal received in time-domain resource 1.

[0368] Optionally, the second device determines reception parameter 1 according to the sensing signal received in time-domain resource 1.

[0369] 3. The first device receives second time-domain resource indication information (indication information 2), and determines that time-domain resource 2 is used to receive a sensing signal according to indication information 2.

[0370] And / or,

[0371] The second device receives third time-domain resource indication information (indication information 6), and determines that time-domain resource 2 is used to send a sensing signal according to indication information 6.

[0372] 4. The second device sends a sensing signal in time-domain resource 2 using transmission parameter 1; the first device receives a sensing signal in time-domain resource 2; sending or receiving a sensing signal in time-domain resource 2 is used to sense the sensing target.

[0373] Optionally, the first device determines transmission parameter 2 according to the sensing signal received in time-domain resource 2.

[0374] Optionally, the first device determines reception parameter 2 according to the sensing signal received in time-domain resource 2.

[0375] 5. The first device receives third time-domain resource indication information (indication information 3), and determines that time-domain resource 3 is used to send a sensing signal according to indication information 3.

[0376] And / or,

[0377] The second device receives second time-domain resource indication information (indication information 7), and determines that time-domain resource 3 is used to receive a sensing signal according to indication information 7.

[0378] 6. The first device sends a sensing signal using transmission parameter 2 in time domain resource 3; the second device receives the sensing signal in time domain resource 3; sending or receiving the sensing signal in time domain resource 3 is used to sense the sensing target.

[0379] Optionally, the second device receives the sensing signal using reception parameter 1 in time domain resource 3.

[0380] Optionally, the second device determines transmission parameter 3 based on the sensing signal received in time domain resource 3.

[0381] Optionally, the second device determines reception parameter 3 based on the sensing signal received in time domain resource 3.

[0382] 7. The first device receives second time domain resource indication information (indication information 4), and determines time domain resource 4 for receiving the sensing signal according to the fourth indication information.

[0383] And / or

[0384] The second device receives third time domain resource indication information (indication information 8), and determines time domain resource 4 for sending the sensing signal according to indication information 8.

[0385] 8. The second device sends a sensing signal using transmission parameter 3 in time domain resource 4; the first device receives the sensing signal in time domain resource 4; sending or receiving the sensing signal in time domain resource 4 is used to sense the sensing target.

[0386] Optionally, the first device receives the sensing signal using reception parameter 2 in time domain resource 4.

[0387] Optionally, the indication information received by the first device or the second device can be sent by the other party.

[0388] Example 4: Judgment of starting or ending alternate transmission and reception. The main process includes:

[0389] 1. The first device or the second device determines that the criterion is met, and sends indication information to the other party for indicating to start alternate transmission and reception of sensing signals.

[0390] Among them, the specific method for the first device or the second device to determine that the criterion is met can be as described above, based on the speed of the sensing target and / or sensing performance to start alternately sending and receiving sensing signals, which will not be elaborated here.

[0391] 2. The first device sends a sensing signal in time domain resource 1; the second device receives the sensing signal in time domain resource 2; sending or receiving the sensing signal in time domain resource 1 is used to sense the sensing target.

[0392] Optionally, the second device determines transmission parameter 1 based on the sensing signal received in time domain resource 1.

[0393] Optionally, the second device determines reception parameter 1 based on the sensed signal received in time domain resource 1.

[0394] 3. The second device transmits the sensed signal using transmission parameter 1 in time domain resource 2; the first device receives the sensed signal in time domain resource 2; transmitting or receiving the sensed signal in time domain resource 2 is used to sense the sensing target.

[0395] Optionally, the first device determines transmission parameter 2 based on the sensed signal received in time domain resource 2.

[0396] Optionally, the first device determines reception parameter 2 based on the sensed signal received in time domain resource 2.

[0397] 4. Optionally, when the first device determines that the criterion is met, it sends indication information to the second device to indicate the end of the alternating transmission and reception of the sensed signal.

[0398] Wherein, the specific method for the first device to determine that the criterion is met can be to end the alternating transmission and reception of the sensed signal based on the speed and / or sensing performance of the sensing target as described above, which will not be elaborated here.

[0399] Or,

[0400] 1. When the first device or the second device determines that the criterion is met, it sends indication information to the other party to indicate the start of the alternating transmission and reception of the sensed signal.

[0401] Wherein, the specific method for the first device or the second device to determine that the criterion is met can be to start the alternating transmission and reception of the sensed signal based on the speed and / or sensing performance of the sensing target as described above, which will not be elaborated here.

[0402] 2. The first device transmits the sensed signal in time domain resource 1; the second device receives the sensed signal in time domain resource 2; transmitting or receiving the sensed signal in time domain resource 1 is used to sense the sensing target.

[0403] Optionally, the second device determines transmission parameter 1 based on the sensed signal received in time domain resource 1.

[0404] Optionally, the second device determines reception parameter 1 based on the sensed signal received in time domain resource 1.

[0405] 3. The second device transmits the sensed signal using transmission parameter 1 in time domain resource 2; the first device receives the sensed signal in time domain resource 2; transmitting or receiving the sensed signal in time domain resource 2 is used to sense the sensing target.

[0406] Optionally, the first device determines transmission parameter 2 based on the sensed signal received in time domain resource 2.

[0407] Optionally, the first device determines reception parameter 2 based on the sensed signal received in time domain resource 2.

[0408] 4. The first device sends a sensing signal using transmission parameter 2 in time domain resource 3; the second device receives the sensing signal in time domain resource 3; sending or receiving the sensing signal in time domain resource 3 is used to sense the sensing target.

[0409] Optionally, the second device receives the sensing signal using reception parameter 1 in time domain resource 3.

[0410] Optionally, the second device determines transmission parameter 3 based on receiving the sensing signal in time domain resource 3.

[0411] Optionally, the second device determines reception parameter 3 based on receiving the sensing signal in time domain resource 3.

[0412] 5. Optionally, when the second device determines that the criterion is met, it sends indication information to the first device to indicate the end of alternating transmission and reception of the sensing signal.

[0413] Among them, the specific method for the second device to determine that the criterion is met can be as described above, ending the alternating transmission and reception of the sensing signal based on the speed of the sensing target and / or sensing performance, which will not be elaborated here.

[0414] Example 5: Adjusting transmission parameters with the assistance of signaling. Its main process includes:

[0415] 1. The first device sends a sensing signal in time domain resource 1; the second device receives the sensing signal in time domain resource 2; sending or receiving the sensing signal in time domain resource 1 is used to sense the sensing target.

[0416] Optionally, the second device determines transmission parameter 1 based on receiving the sensing signal in time domain resource 1.

[0417] Optionally, the second device determines reception parameter 1 based on receiving the sensing signal in time domain resource 1.

[0418] 2. The second device sends a sensing signal using transmission parameter 1 in time domain resource 2; the first device receives the sensing signal in time domain resource 2; sending or receiving the sensing signal in time domain resource 2 is used to sense the sensing target.

[0419] Optionally, the first device determines transmission parameter 2 based on receiving the sensing signal in time domain resource 2.

[0420] Optionally, the first device determines reception parameter 2 based on receiving the sensing signal in time domain resource 2.

[0421] 3. The first device sends indication information to the second device to indicate sensing data related to the sensing target or parameter information related to transmission parameters; the second device receives the indication information and determines reception parameter 1' based on the indication information.

[0422] Optionally, if the first device determines that the criterion is met, it sends indication information to the second device.

[0423] 4. The first device sends a sensing signal using transmission parameter 2 in time domain resource 3; the second device receives the sensing signal using reception parameter 1' in time domain resource 3; sending or receiving the sensing signal in time domain resource 3 is used to sense the sensing target.

[0424] Optionally, the second device determines transmission parameter 3 based on the received sensing signal in time domain resource 3.

[0425] Optionally, the second device determines reception parameter 3 based on the received sensing signal in time domain resource 3.

[0426] 5. Optionally, the second device sends indication information to the first device, which is used to indicate sensing data related to the sensing target or parameter information related to transmission parameters; the first device receives the indication information and determines reception parameter 2' based on the indication information.

[0427] Optionally, if the second device determines that the criterion is met, it sends indication information to the first device. The specific method for the second device to determine that the criterion is met can be, for example, the second device determines that the third condition is met as described above, which will not be elaborated here.

[0428] 6. The second device sends a sensing signal using transmission parameter 3 in time domain resource 4; the first device receives the sensing signal using reception parameter 2' in time domain resource 4; sending or receiving the sensing signal in time domain resource 4 is used to sense the sensing target.

[0429] It should be noted that Example 1, Example 2, Example 3, Example 4, and Example 5 can be combined with each other. Each step in each example is not mandatory, and other steps can also be included between steps. The steps in each example are not limited to being executed in the written order. Some steps in each example can be executed in parallel.

[0430] The methods and apparatuses provided in the embodiments of the present application are based on the same application concept. Since the principles for the methods and apparatuses to solve problems are similar, the implementations of the apparatuses and methods can be referred to each other, and the repeated parts will not be elaborated.

[0431] Figure 4 This is a schematic structural diagram of a communication device provided in an embodiment of the present application, as Figure 4 shown, the communication device includes a memory 420, a transceiver 410, and a processor 400; among them, the processor 400 and the memory 420 can also be physically separated.

[0432] The memory 420 is used to store computer programs; the transceiver 410 is used to transmit and receive data under the control of the processor 400.

[0433] Specifically, the transceiver 410 is used to receive and transmit data under the control of the processor 400.

[0434] Among them, in Figure 4 , the bus architecture may include any number of interconnected buses and bridges, specifically, various circuits represented by one or more processors represented by the processor 400 and the memory represented by the memory 420 are linked together. The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, so this application will not further describe them. The bus interface provides an interface. The transceiver 410 may be multiple elements, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on a transmission medium, and these transmission mediums include wireless channels, wired channels, optical fiber cables, and other transmission mediums.

[0435] The processor 400 is responsible for managing the bus architecture and general processing, and the memory 420 can store the data used by the processor 400 when executing operations.

[0436] The processor 400 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or a Complex Programmable Logic Device (CPLD), and the processor may also adopt a multi-core architecture.

[0437] The processor 400 is used to execute any of the methods provided in the embodiments of the present application by calling the computer program stored in the memory 420 according to the obtained executable instructions. For example: alternately sending and receiving sensing signals with the peer device for sensing the sensing target; alternately sending and receiving sensing signals with the peer device includes: receiving a sensing signal from the peer device on a first time-domain resource; determining transmission parameters based on the sensing signal received on the first time-domain resource, and the transmission parameters include transmission parameters for sending sensing signals; sending a sensing signal using the transmission parameters on a second time-domain resource.

[0438] In some embodiments, determining transmission parameters based on the sensing signal received on the first time-domain resource includes:

[0439] Determining sensing data related to the sensing target based on the sensing signal received on the first time-domain resource;

[0440] Determining transmission parameters based on the sensing data related to the sensing target.

[0441] In some embodiments, the transmission parameters further include reception parameters for receiving sensing signals, and alternately transmit and receive sensing signals with the peer device, further including:

[0442] Receive the sensing signal from the peer device using the reception parameters on the third time-domain resource.

[0443] In some embodiments, the method further includes:

[0444] Receive time-domain resource indication information;

[0445] Based on the time-domain resource indication information, determine the time-domain resource for transmitting the sensing signal and / or the time-domain resource for receiving the sensing signal; the time-domain resource for receiving the sensing signal includes a first time-domain resource, and the time-domain resource for transmitting the sensing signal includes a second time-domain resource.

[0446] In some embodiments, the method further includes:

[0447] Receive time-domain resource indication information;

[0448] Based on the time-domain resource indication information, determine the time-domain resource for transmitting the sensing signal and / or the time-domain resource for receiving the sensing signal; the time-domain resource for receiving the sensing signal includes a first time-domain resource and / or a third time-domain resource, and the time-domain resource for transmitting the sensing signal includes a second time-domain resource.

[0449] In some embodiments, the time-domain resource indication information includes first time-domain resource indication information, and the first time-domain resource indication information is used to indicate the time-domain resource for transmitting the sensing signal and / or the time-domain resource for receiving the sensing signal.

[0450] In some embodiments, the time-domain resource indication information includes second time-domain resource indication information and / or third time-domain resource indication information. The second time-domain resource indication information is used to indicate the next or next group of time-domain resources for receiving the sensing signal, and the third time-domain resource indication information is used to indicate the next or next group of time-domain resources for transmitting the sensing signal.

[0451] In some embodiments, the time-domain resource indication information includes the resource configuration or resource identifier of the indicated time-domain resource.

[0452] In some embodiments, the next or next group of time-domain resources for receiving the sensing signal are one or more time-domain resources at a first time interval after the transmission time of the second time-domain resource indication information, and the next or next group of time-domain resources for transmitting the sensing signal are one or more time-domain resources at a second time interval after the transmission time of the third time-domain resource indication information.

[0453] In some embodiments, receiving time-domain resource indication information includes:

[0454] Receiving time-domain resource indication information sent by a peer device.

[0455] In some embodiments, the method further includes:

[0456] Based on the speed and / or sensing performance of the sensing target, starting or ending the alternating transmission and reception of sensing signals with the peer device.

[0457] In some embodiments, based on the speed and / or sensing performance of the sensing target, starting or ending the alternating transmission and reception of sensing signals with the peer device includes:

[0458] When a first condition is met, starting the alternating transmission and reception of sensing signals with the peer device;

[0459] The first condition includes one or more of the following:

[0460] The speed of the sensing target is lower than or equal to a first threshold;

[0461] The received power of the sensing signal is higher than or equal to a second threshold.

[0462] In some embodiments, based on the speed and / or sensing performance of the sensing target, starting or ending the alternating transmission and reception of sensing signals with the peer device includes:

[0463] When a second condition is met, ending the alternating transmission and reception of sensing signals with the peer device;

[0464] The second condition includes one or more of the following:

[0465] The speed of the sensing target is higher than or equal to a third threshold;

[0466] The received power of the sensing signal is lower than or equal to a fourth threshold.

[0467] In some embodiments, the method further includes:

[0468] Sending first indication information to the peer device, where the first indication information is used to indicate starting or ending the alternating transmission and reception of sensing signals.

[0469] In some embodiments, the method further includes:

[0470] Receiving second indication information sent by the peer device;

[0471] Based on the second indication information, starting or ending the alternating transmission and reception of sensing signals with the peer device.

[0472] In some embodiments, the method further includes:

[0473] Receive third indication information sent by a peer device, where the third indication information is used to indicate sensing data related to a sensing target and / or parameter information related to transmission parameters;

[0474] Based on the third indication information, determine the transmission parameters to be used for the next or next set of sensing signal transmissions.

[0475] In some embodiments, the method further includes:

[0476] Send fourth indication information to the peer device, where the fourth indication information is used to indicate sensing data related to a sensing target and / or parameter information related to transmission parameters.

[0477] In some embodiments, sending the fourth indication information to the peer device includes:

[0478] Send the fourth indication information to the peer device when a third condition is met;

[0479] The third condition includes one or more of the following:

[0480] The speed of the sensing target is higher than or equal to a fifth threshold;

[0481] The received power of the sensing signal is lower than or equal to a sixth threshold.

[0482] In some embodiments, the time domain resource indication information is a radio resource control (RRC) message, an RRC information element, a media access control layer control element (MAC CE), or physical layer indication information.

[0483] In some embodiments, the transmission parameters include one or more of a transmission beam parameter and a transmission power.

[0484] In some embodiments, the reception parameters include a reception beam parameter.

[0485] In some embodiments, the sensing data related to the sensing target includes one or more of the following:

[0486] The speed of the sensing target, the distance from the sensing target, the direction of the sensing target, the position of the sensing target, the sensing measurement quantity related to the sensing target, the speed offset of the sensing target, the distance offset of the sensing target, the direction offset of the sensing target, the sensing measurement quantity offset of the sensing target, the speed range of the sensing target, the distance range of the sensing target, and the direction range of the sensing target.

[0487] It should be noted here that the communication device provided in the embodiments of the present application can implement all the method steps implemented in the above method embodiments and can achieve the same technical effects. Therefore, the same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0488] Figure 5 This is a schematic structural diagram of the dual - base sensing device provided by the embodiments of the present application. As Figure 5 shown, the device includes:

[0489] A transmission unit 500, configured to alternately send and receive sensing signals with a peer device, and used to sense a sensing target;

[0490] Alternately sending and receiving sensing signals with a peer device includes:

[0491] Receiving a sensing signal from a peer device on a first time - domain resource;

[0492] Determining transmission parameters based on the sensing signal received on the first time - domain resource, where the transmission parameters include transmission parameters for sending sensing signals;

[0493] Sending a sensing signal using the transmission parameters on a second time - domain resource.

[0494] In some embodiments, determining transmission parameters based on the sensing signal received on the first time - domain resource includes:

[0495] Determining sensing data related to the sensing target based on the sensing signal received on the first time - domain resource;

[0496] Determining transmission parameters based on the sensing data related to the sensing target.

[0497] In some embodiments, the transmission parameters further include receiving parameters for receiving sensing signals. Alternately sending and receiving sensing signals with a peer device further includes:

[0498] Receiving a sensing signal from a peer device on a third time - domain resource using the receiving parameters.

[0499] In some embodiments, the device further includes:

[0500] A first receiving unit, configured to receive time - domain resource indication information;

[0501] A first determining unit, configured to determine, based on the time - domain resource indication information, the time - domain resource for sending sensing signals and / or the time - domain resource for receiving sensing signals; the time - domain resource for receiving sensing signals includes the first time - domain resource, and the time - domain resource for sending sensing signals includes the second time - domain resource.

[0502] In some embodiments, the device further includes:

[0503] A second receiving unit, configured to receive time - domain resource indication information;

[0504] A second determination unit, configured to determine a time-domain resource for sending a sensing signal and / or a time-domain resource for receiving a sensing signal based on time-domain resource indication information; the time-domain resource for receiving a sensing signal includes a first time-domain resource and / or a third time-domain resource, and the time-domain resource for sending a sensing signal includes a second time-domain resource.

[0505] In some embodiments, the time-domain resource indication information includes first time-domain resource indication information, and the first time-domain resource indication information is used to indicate a time-domain resource for sending a sensing signal and / or a time-domain resource for receiving a sensing signal.

[0506] In some embodiments, the time-domain resource indication information includes second time-domain resource indication information and / or third time-domain resource indication information, the second time-domain resource indication information is used to indicate the next or next group of time-domain resources for receiving a sensing signal, and the third time-domain resource indication information is used to indicate the next or next group of time-domain resources for sending a sensing signal.

[0507] In some embodiments, the time-domain resource indication information includes a resource configuration or a resource identifier of the indicated time-domain resource.

[0508] In some embodiments, the next or next group of time-domain resources for receiving a sensing signal is one or more time-domain resources after a first time period from the sending time of the second time-domain resource indication information, and the next or next group of time-domain resources for sending a sensing signal is one or more time-domain resources after a second time period from the sending time of the third time-domain resource indication information.

[0509] In some embodiments, receiving the time-domain resource indication information includes:

[0510] Receiving the time-domain resource indication information sent by the peer device.

[0511] In some embodiments, the apparatus further includes:

[0512] A first control unit, configured to start or end alternately sending and receiving sensing signals with the peer device based on the speed and / or sensing performance of the sensing target.

[0513] In some embodiments, starting or ending alternately sending and receiving sensing signals with the peer device based on the speed and / or sensing performance of the sensing target includes:

[0514] Starting to alternately send and receive sensing signals with the peer device when a first condition is met;

[0515] The first condition includes one or more of the following:

[0516] The speed of the sensing target is lower than or equal to a first threshold;

[0517] The received power of the sensing signal is higher than or equal to a second threshold value.

[0518] In some embodiments, based on the speed and / or sensing performance of the sensing target, starting or ending the alternating transmission and reception of sensing signals with the peer device includes:

[0519] When a second condition is satisfied, ending the alternating transmission and reception of sensing signals with the peer device;

[0520] The second condition includes one or more of the following:

[0521] The speed of the sensing target is higher than or equal to a third threshold value;

[0522] The received power of the sensing signal is lower than or equal to a fourth threshold value.

[0523] In some embodiments, the device further includes:

[0524] A first sending unit, configured to send first indication information to the peer device, where the first indication information is used to indicate starting or ending the alternating transmission and reception of sensing signals.

[0525] In some embodiments, the device further includes:

[0526] A third receiving unit, configured to receive second indication information sent by the peer device;

[0527] A second control unit, configured to start or end the alternating transmission and reception of sensing signals with the peer device based on the second indication information.

[0528] In some embodiments, the device further includes:

[0529] A fourth receiving unit, configured to receive third indication information sent by the peer device, where the third indication information is used to indicate sensing data related to the sensing target and / or parameter information related to transmission parameters;

[0530] A third determination unit, configured to determine transmission parameters to be used for the next or next set of sensing signal transmissions based on the third indication information.

[0531] In some embodiments, the device further includes:

[0532] A second sending unit, configured to send fourth indication information to the peer device, where the fourth indication information is used to indicate sensing data related to the sensing target and / or parameter information related to transmission parameters.

[0533] In some embodiments, sending the fourth indication information to the peer device includes:

[0534] When a third condition is satisfied, sending the fourth indication information to the peer device;

[0535] The third condition includes one or more of the following:

[0536] The speed of the sensed target is higher than or equal to a fifth threshold;

[0537] The received power of the sensed signal is lower than or equal to a sixth threshold.

[0538] In some embodiments, the time-domain resource indication information is a radio resource control (RRC) message, an RRC information element, a media access control layer control element (MAC CE), or physical layer indication information.

[0539] In some embodiments, the transmission parameters include one or more of a transmission beam parameter and a transmission power.

[0540] In some embodiments, the reception parameters include a reception beam parameter.

[0541] In some embodiments, the sensed data related to the sensed target includes one or more of the following:

[0542] The speed of the sensed target, the distance to the sensed target, the direction of the sensed target, the position of the sensed target, the sensed measurement quantity related to the sensed target, the speed offset of the sensed target, the distance offset of the sensed target, the direction offset of the sensed target, the sensed measurement quantity offset of the sensed target, the speed range of the sensed target, the distance range of the sensed target, and the direction range of the sensed target.

[0543] It should be noted that the division of units in the embodiments of the present application is illustrative, merely a logical function division, and there may be other division methods in actual implementation. Additionally, in each embodiment of the present application, the functional units may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit. The above integrated units may be implemented in the form of hardware or in the form of software functional units.

[0544] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0545] It should be noted here that the above-mentioned device provided in the embodiments of the present application can implement all the method steps implemented by the above-mentioned method embodiments and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0546] On the other hand, the embodiments of the present application also provide a non-transitory readable storage medium. The non-transitory readable storage medium stores a computer program, and the computer program is used to cause a processor to execute the dual-base perception method provided in the above-mentioned various embodiments.

[0547] It should be noted here that the non-transitory readable storage medium provided in the embodiments of the present application can implement all the method steps implemented by the above-mentioned method embodiments and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0548] The non-transitory readable storage medium can be any available medium or data storage device accessible by a computer, including but not limited to magnetic memories (such as floppy disks, hard disks, magnetic tapes, magneto-optical discs (MO), etc.), optical memories (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor memories (such as ROM, EPROM, EEPROM, non-volatile memories (NANDFLASH), solid-state drives (SSD)).

[0549] The technical solutions provided by the embodiments of the present application can be applied to a variety of systems, especially 5G systems. For example, the applicable systems can be global system of mobile communication (GSM) systems, code division multiple access (CDMA) systems, Wideband Code Division Multiple Access (WCDMA) general packet radio service (GPRS) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, long term evolution advanced (LTE-A) systems, universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) systems, 5G New Radio (NR) systems, etc. Both terminal devices and network devices are included in these various systems. The system may also include a core network part, such as an evolved packet system (EPS), a 5G system (5GS), etc.

[0550] The terminal involved in the embodiments of the present application may be a device that provides voice and / or data connectivity to users, such as a handheld device with wireless connection capabilities, or other processing devices connected to a wireless modem, etc. In different systems, the name of the terminal may also be different. For example, in a 5G system, the terminal may be referred to as a User Equipment (UE). The wireless terminal device can communicate with one or more core networks (CN) via a Radio Access Network (RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or a "cellular" phone) and a computer with a mobile terminal device. For example, it can be a portable, pocket-sized, handheld, computer-integrated, or vehicle-mounted mobile device that exchanges voice and / or data with the wireless access network. For example, devices such as Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, and Personal Digital Assistants (PDAs). The wireless terminal device can also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile, a remote station, an access point, a remote terminal device, an access terminal device, a user terminal device, a user agent, or a user device, which is not limited in the embodiments of the present application.

[0551] The network device involved in the embodiments of this application can be a base station, which can include multiple cells that provide services to terminals. Depending on the specific application scenarios, the base station can also be referred to as an access point, or can be a device in the access network that communicates with wireless terminal devices through one or more sectors over the air interface, or other names. The network device can be used to mutually replace the received air frames and Internet Protocol (IP) packets, and act as a router between the wireless terminal device and the rest of the access network, where the rest of the access network can include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network device involved in the embodiments of this application can be a network device (Base Transceiver Station, BTS) in a Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA), or can be a network device (NodeB) in a Wide-band Code Division Multiple Access (WCDMA), or can also be an evolved network device (evolutional Node B, eNB or e-NodeB) in a Long Term Evolution (LTE) system, a 5G base station (gNB) in a 5G network architecture (next generation system), or can be a Home evolved Node B (HeNB), a relay node, a femto, a pico, etc. The embodiments of this application do not limit this. In some network architectures, the network device can include a centralized unit (centralized unit, CU) node and a distributed unit (distributed unit, DU) node, and the centralized unit and the distributed unit can also be arranged separately geographically.

[0552] The network device and the terminal can each use one or more antennas for Multi-Input Multi-Output (MIMO) transmission. The MIMO transmission can be Single User MIMO (SU-MIMO) or Multiple User MIMO (MU-MIMO). Depending on the form and quantity of the combined antennas, the MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO or massive-MIMO, or can also be diversity transmission, precoding transmission, beamforming transmission, etc.

[0553] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories and optical memories, etc.) that contain computer-usable program code.

[0554] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0555] These processor-executable instructions can also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the processor-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0556] These processor-executable instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0557] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A dual - base sensing method, characterized in that, Including: Alternately sending and receiving sensing signals with a peer device for sensing a sensing target; The alternately sending and receiving sensing signals with the peer device includes: Receiving a sensing signal from the peer device on a first time-domain resource; Determining transmission parameters based on the sensing signal received on the first time-domain resource, where the transmission parameters include transmission parameters for sending sensing signals; Sending a sensing signal on a second time-domain resource using the transmission parameters.

2. The dual - base sensing method according to claim 1, wherein The determining transmission parameters based on the sensing signal received on the first time-domain resource includes: Determining sensing data related to the sensing target based on the sensing signal received on the first time-domain resource; Determining the transmission parameters based on the sensing data related to the sensing target.

3. The dual - base sensing method according to claim 1 or 2, characterized in that, The transmission parameters further include receiving parameters for receiving sensing signals, and the alternately sending and receiving sensing signals with the peer device further includes: Receiving a sensing signal from the peer device on a third time-domain resource using the receiving parameters.

4. The dual - base sensing method according to claim 1, characterized in that, The method further includes: Receiving time-domain resource indication information; Based on the time-domain resource indication information, determining the time-domain resource for sending a sensing signal and / or the time-domain resource for receiving a sensing signal; the time-domain resource for receiving a sensing signal includes the first time-domain resource, and the time-domain resource for sending a sensing signal includes the second time-domain resource.

5. The dual-mode sensing method according to claim 3, characterized in that, The method further includes: Receiving time-domain resource indication information; Based on the time-domain resource indication information, determining the time-domain resource for sending a sensing signal and / or the time-domain resource for receiving a sensing signal; the time-domain resource for receiving a sensing signal includes the first time-domain resource and / or the third time-domain resource, and the time-domain resource for sending a sensing signal includes the second time-domain resource.

6. The dual-mode sensing method according to claim 4 or 5, characterized in that The time-domain resource indication information includes first time-domain resource indication information for indicating the time-domain resource for sending a sensing signal and / or the time-domain resource for receiving a sensing signal; or, The time-domain resource indication information includes second time-domain resource indication information and / or third time-domain resource indication information, where the second time-domain resource indication information is used to indicate the next or next group of time-domain resources for receiving a sensing signal, and the third time-domain resource indication information is used to indicate the next or next group of time-domain resources for sending a sensing signal.

7. The dual - base sensing method according to claim 4 or 5, characterized in that, The time-domain resource indication information contains the resource configuration or resource identifier of the indicated time-domain resource.

8. The dual - base sensing method according to claim 7, wherein, The next or next group of time-domain resources for receiving a sensing signal are one or more time-domain resources at a first time interval after the sending time of the second time-domain resource indication information, and the next or next group of time-domain resources for sending a sensing signal are one or more time-domain resources at a second time interval after the sending time of the third time-domain resource indication information.

9. The dual - base sensing method according to claim 4 or 5, characterized in that, The receiving time-domain resource indication information includes: Receiving the time-domain resource indication information sent by the peer device.

10. The dual - base sensing method according to claim 1, wherein, The method further includes: When the first condition is met, start alternating with the peer device to send and receive sensing signals; or, when the second condition is met, end alternating with the peer device to send and receive sensing signals; The first condition includes one or more of the following: the speed of the sensing target is lower than or equal to a first threshold; the received power of the sensing signal is higher than or equal to a second threshold; The second condition includes one or more of the following: the speed of the sensing target is higher than or equal to a third threshold; the received power of the sensing signal is lower than or equal to a fourth threshold.

11. The dual - base sensing method according to claim 1, characterized in that, The method further includes: Sending first indication information to the peer device, the first indication information being used to indicate starting or ending alternating transmission and reception of sensing signals; or, Receiving second indication information sent by the peer device; based on the second indication information, starting or ending alternating with the peer device to send and receive sensing signals.

12. The dual-mode sensing method according to claim 1, wherein The method further includes: Receiving third indication information sent by the peer device, the third indication information being used to indicate parameter information related to sensing data and / or transmission parameters related to the sensing target; based on the third indication information, determining transmission parameters to be used for the next or next set of sensing signal transmissions; or, When a third condition is met, sending fourth indication information to the peer device, the fourth indication information being used to indicate parameter information related to sensing data and / or transmission parameters related to the sensing target; the third condition includes one or more of the following: the speed of the sensing target is higher than or equal to a fifth threshold; the received power of the sensing signal is lower than or equal to a sixth threshold.

13. The dual - base sensing method according to claim 1, wherein The transmission parameters include one or more of transmission beam parameters and transmission power.

14. The dual-mode sensing method according to claim 3, wherein The reception parameters include reception beam parameters.

15. The dual-mode sensing method according to claim 2, wherein The sensing data related to the sensing target includes one or more of the following: The speed of the sensing target, the distance to the sensing target, the direction of the sensing target, the position of the sensing target, the sensing measurement quantity related to the sensing target, the speed offset of the sensing target, the distance offset of the sensing target, the direction offset of the sensing target, the sensing measurement quantity offset of the sensing target, the speed range of the sensing target, the distance range of the sensing target, the direction range of the sensing target.

16. A communication device, characterized in that, Including a memory, a transceiver, and a processor; The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations: Alternately sending and receiving sensing signals with a peer device for sensing a sensing target; The alternately sending and receiving sensing signals with the peer device includes: Receiving a sensing signal from the peer device on a first time-domain resource; Determining transmission parameters based on the sensing signal received on the first time-domain resource, the transmission parameters including transmission parameters for sending sensing signals; Sending a sensing signal on a second time-domain resource using the transmission parameters.

17. The communication device according to claim 16, characterized in that, The determining transmission parameters based on the sensing signal received on the first time-domain resource includes: Determine the sensing data related to the sensing target based on the sensing signal received on the first time-domain resource; Determine the transmission parameter based on the sensing data related to the sensing target.

18. The communication device according to claim 16 or 17, characterized in that, The transmission parameter further includes a reception parameter for receiving the sensing signal. The alternating transmission and reception of the sensing signal with the peer device further includes: Receive the sensing signal from the peer device on the third time-domain resource by using the reception parameter.

19. The communication device according to claim 16, wherein, The operation further includes: Receive time-domain resource indication information; Based on the time-domain resource indication information, determine the time-domain resource for sending the sensing signal and / or the time-domain resource for receiving the sensing signal; the time-domain resource for receiving the sensing signal includes the first time-domain resource, and the time-domain resource for sending the sensing signal includes the second time-domain resource.

20. The communication device according to claim 18, characterized in that, The operation further includes: Receive time-domain resource indication information; Based on the time-domain resource indication information, determine the time-domain resource for sending the sensing signal and / or the time-domain resource for receiving the sensing signal; the time-domain resource for receiving the sensing signal includes the first time-domain resource and / or the third time-domain resource, and the time-domain resource for sending the sensing signal includes the second time-domain resource.

21. The communication device according to claim 19 or 20, characterized in that, The time-domain resource indication information includes first time-domain resource indication information, and the first time-domain resource indication information is used to indicate the time-domain resource for sending the sensing signal and / or the time-domain resource for receiving the sensing signal; or, The time-domain resource indication information includes second time-domain resource indication information and / or third time-domain resource indication information. The second time-domain resource indication information is used to indicate the next or next group of time-domain resources for receiving the sensing signal, and the third time-domain resource indication information is used to indicate the next or next group of time-domain resources for sending the sensing signal.

22. The communication device according to claim 19 or 20, characterized in that, The time-domain resource indication information contains the resource configuration or resource identifier of the indicated time-domain resource.

23. The communication device according to claim 22, characterized in that, The next or next group of time-domain resources for receiving the sensing signal is one or more time-domain resources after a first time duration from the sending moment of the second time-domain resource indication information, and the next or next group of time-domain resources for sending the sensing signal is one or more time-domain resources after a second time duration from the sending moment of the third time-domain resource indication information.

24. The communication device according to claim 19 or 20, characterized in that, The receiving of the time-domain resource indication information includes: Receive the time-domain resource indication information sent by the peer device.

25. The communication device according to claim 16, wherein, The operation further includes: Under the condition of meeting the first condition, start the alternating transmission and reception of the sensing signal with the peer device; or, under the condition of meeting the second condition, end the alternating transmission and reception of the sensing signal with the peer device; The first condition includes one or more of the following: the speed of the sensing target is lower than or equal to a first threshold; the reception power of the sensing signal is higher than or equal to a second threshold; The second condition includes one or more of the following: the speed of the sensing target is higher than or equal to a third threshold; the reception power of the sensing signal is lower than or equal to a fourth threshold.

26. The communication device according to claim 16, characterized in that, The operation further includes: Send first indication information to the peer device, where the first indication information is used to indicate starting or ending the alternating transmission and reception of sensing signals; or, Receive second indication information sent by the peer device; based on the second indication information, start or end the alternating transmission and reception of sensing signals with the peer device.

27. The communication device according to claim 16, characterized in that, The operation further includes: Receive third indication information sent by the peer device, where the third indication information is used to indicate sensing data related to the sensing target and / or parameter information related to transmission parameters; based on the third indication information, determine transmission parameters to be used for the next or next set of sensing signal transmissions; or, Under the condition that a third condition is satisfied, send fourth indication information to the peer device, where the fourth indication information is used to indicate sensing data related to the sensing target and / or parameter information related to transmission parameters; the third condition includes one or more of the following: the speed of the sensing target is higher than or equal to a fifth threshold; the received power of the sensing signal is lower than or equal to a sixth threshold.

28. A dual - base sensing device, characterized in that, Includes: A transmission unit, configured to alternately transmit and receive sensing signals with a peer device and sense a sensing target; The alternating transmission and reception of sensing signals with the peer device includes: Receive a sensing signal from the peer device on a first time-domain resource; Determine transmission parameters based on the sensing signal received on the first time-domain resource, where the transmission parameters include transmission parameters for sending sensing signals; Send a sensing signal on a second time-domain resource using the transmission parameters.

29. A non-transitory readable storage medium, characterized in that, The non-transitory readable storage medium stores a computer program, and the computer program is used to cause a processor to execute the method according to any one of claims 1 to 15.

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