Method and apparatus for perception

Abstract

The invention provides a communication method and a communication device. The method comprises the following steps: sending a first sensing signal by using a first sending beam configuration; first sensing information is received, the first sensing information is used for determining second sending beam configuration, the second sending beam configuration comprises a sending beam scanning area position set, the sending beam scanning area position set is related to the complexity of a sensing target, or the second sending beam configuration comprises spatial entropy, and the spatial entropy is related to the complexity of the sensing target. The spatial entropy is related to a sensing result corresponding to the first sensing signal, and the spatial entropy indicates the complexity of the sensing target; and sending a second sensing signal with the second sending beam configuration. According to the scheme, the spatial entropy is used as an evaluation and adjustment standard of sensing beam management, and a new beam scanning area position set is determined according to the complexity of the sensing target, so that the comprehensive sensing quality is improved.

Description

Technical Field

[0001] This application relates to the field of communications, and in particular, to methods and apparatuses for sensing. Background Art

[0002] With the development and progress of communication technologies, in future cellular networks, base stations will not only be able to achieve the interconnection of people and things, but also have sensing capabilities. The enabling technology that enables the coexistence, mutual assistance, and mutual benefit of communication and sensing functions is called integrated sensing and communication (ISAC).

[0003] Feedback based on metrics such as signal strength can be used as a basis for beam adjustment. However, there is no necessary connection between the signal strength received by the receiving antenna in the sensing function and the sensing quality, and it cannot be used as an index for sensing beam adjustment. Therefore, existing metrics cannot cover the management of sensing beams. Summary of the Invention

[0004] This application provides a method and an apparatus for sensing, which are used to improve sensing quality.

[0005] In a first aspect, a method for sensing is provided. This method can be executed by a sending node, or can also be executed by a module (such as a chip or a circuit) of the sending node, which is not limited herein. The sending node can be a terminal device or a network device, which is not limited herein.

[0006] The method may include: sending a first sensing signal with a first transmission beam configuration; receiving first sensing information, where the first sensing information is used to determine a second transmission beam configuration. The second transmission beam configuration includes a set of positions of a transmission beam scanning area, and the set of positions of the transmission beam scanning area is related to the complexity of the sensing target, or the second transmission beam configuration includes spatial entropy, and the spatial entropy is related to the sensing result corresponding to the first sensing signal, and the spatial entropy indicates the complexity of the sensing target; sending a second sensing signal with the second transmission beam configuration.

[0007] Through the above solution, the sending node scans the sensing target with the second transmission beam configuration, and the second transmission beam configuration is determined based on the complexity of the sensing target. The complexity of the sensing target is determined according to the sensing result of the first sensing signal. Using the complexity of the sensing target or spatial entropy as the evaluation and adjustment criterion for sensing beam management, a new beam scanning configuration is determined according to the complexity of the sensing target, thereby improving the comprehensive sensing quality.

[0008] In combination with the first aspect, in some implementation manners of the first aspect, the sensing result corresponding to the first sensing signal is one of the sensing results of N measurement links. Each of the N measurement links is composed of a transmitting node and a receiving node. The N measurement links correspond to N sensing signals. The N measurement links include a first measurement link, and the first measurement link corresponds to the first sensing signal. N is an integer greater than 1. The spatial entropy is further related to the sensing results of the N - 1 measurement links other than the first measurement link among the N measurement links.

[0009] Through the above solution, the beam scanning parameters are adjusted according to the sensing results of multiple measurement links, so as to achieve fine sensing for key areas while reducing the beam scanning overhead, and improve the comprehensive sensing quality.

[0010] In combination with the first aspect, in some implementation manners of the first aspect, the second transmission beam configuration further includes at least one of a transmission beam width and a beam scanning period.

[0011] Through the above solution, using the complexity or spatial entropy of the sensing target as the evaluation and adjustment criterion for sensing beam management, new beam width and beam scanning period are determined according to the complexity of the sensing target, so as to improve the comprehensive sensing quality.

[0012] In combination with the first aspect, in some implementation manners of the first aspect, the spatial entropy H α has a value of:

[0013]

[0014] where n is the serial number of the measurement link, p(n) is the pseudo - probability corresponding to the measurement link, and R(n) is the sensing result of the nth measurement link.

[0015] In combination with the first aspect, in some implementation manners of the first aspect, the set P2 of the positions of the transmission beam scanning regions corresponding to the second transmission beam configuration is smaller than the set P1 of the positions of the transmission beam scanning regions corresponding to the first transmission beam configuration, and / or, the transmission beam width W2 corresponding to the second transmission beam configuration is smaller than the transmission beam width W2 corresponding to the first transmission beam configuration.

[0016] Through the above solution, on the basis of the first transmission beam configuration, the transmission beam configuration is changed, so as to perform more fine - grained sensing on the sensing target, achieve fine sensing for key areas while reducing the beam scanning overhead, and improve the comprehensive sensing quality.

[0017] In combination with the first aspect, in some implementation manners of the first aspect, P2 is determined according to the spatial entropy H α , a preset threshold h, and P1, and P2 satisfies the following formula:

[0018] P2 = P1(H α <h).

[0019] In combination with the first aspect, in some implementation manners of the first aspect, W2 is positively correlated with the spatial entropy.

[0020] In combination with the first aspect, in some implementation manners of the first aspect, W2 satisfies the following formula:

[0021] W2 = f(H α ).

[0022] where f is a positive correlation function.

[0023] In a second aspect, a method for sensing is provided. This method can be executed by a receiving node, or can be executed by a sending node and a receiving node (collectively referred to as measurement nodes) in a self-sensing link, or can be executed by a module (such as a chip or a circuit) of the receiving node or the measurement node. There is no limitation in this regard. The receiving node or the measurement node can be a terminal device or a network device, and there is no limitation in this regard.

[0024] The method may include: receiving an echo signal of a first sensing signal with a first receiving beam configuration; determining first sensing data according to the echo signal of the first sensing signal, where the first sensing data is used to determine a first sensing result; sending the first sensing data or the first sensing result; receiving second sensing information, where the second sensing information is used to determine a second receiving beam configuration, and the second receiving beam configuration includes a set of positions of a receiving beam scanning area, and the set of positions of the receiving beam scanning area is related to the complexity of the sensing target, or the second receiving beam configuration includes spatial entropy, and the spatial entropy is related to the first sensing result, and the spatial entropy indicates the complexity of the sensing target; receiving an echo signal of a second sensing signal with a second beam receiving configuration.

[0025] Through the above solution, the receiving node scans the sensing target with the second receiving beam configuration, and the second receiving beam configuration is determined based on the complexity of the sensing target, and the complexity of the sensing target is determined according to the sensing result of the first sensing signal. Using the complexity of the sensing target or the spatial entropy as the evaluation and adjustment criterion for sensing beam management, a new beam scanning configuration is determined according to the complexity of the sensing target, thereby improving the comprehensive sensing quality.

[0026] In combination with the second aspect, in some implementation manners of the second aspect, the first sensing result is one of the sensing results of N measurement links. Each of the N measurement links is composed of a sending node and a receiving node. The N measurement links correspond to N sensing signals. The N measurement links include a first measurement link, and the first measurement link corresponds to a first sensing signal. N is an integer greater than 1. The spatial entropy is further related to the sensing results of the N - 1 measurement links other than the first measurement link among the N measurement links.

[0027] Through the above solution, the beam scanning parameters are adjusted according to the sensing results of multiple measurement links, so as to achieve fine sensing for key areas while reducing the beam scanning overhead and improve the comprehensive sensing quality.

[0028] In combination with the second aspect, in some implementation manners of the second aspect, the second receive beam configuration further includes at least one of a receive beam width and a beam scanning period.

[0029] Through the above solution, using the complexity or spatial entropy of the sensing target as the evaluation and adjustment criterion for sensing beam management, new beam width and beam scanning period are determined according to the complexity of the sensing target, so as to improve the comprehensive sensing quality.

[0030] In combination with the second aspect, in some implementation manners of the second aspect, the spatial entropy H α has a value of:

[0031]

[0032] where n is the serial number of the measurement link, p(n) is the pseudo probability corresponding to the measurement link, and R(n) is the sensing result of the nth measurement link.

[0033] In combination with the second aspect, in some implementation manners of the second aspect, the set P′2 of the positions of the receive beam scanning areas corresponding to the second receive beam configuration is smaller than the set P′1 of the positions of the receive beam scanning areas corresponding to the first receive beam configuration, and / or, the receive beam width W′2 corresponding to the second receive beam configuration is smaller than the receive beam width W′1 corresponding to the first receive beam configuration.

[0034] Through the above solution, on the basis of the first receive beam configuration, the receive beam configuration is changed, so as to perform more fine sensing on the sensing target, achieve fine sensing for key areas while reducing the beam scanning overhead, and improve the comprehensive sensing quality.

[0035] In combination with the second aspect, in some implementation manners of the second aspect, P′2 is determined according to the spatial entropy H α , a preset threshold h, and P′1, and P′2 satisfies the following formula:

[0036] P'2 = P'1(H α <h).

[0037] Combined with the second aspect, in some implementation manners of the second aspect, W'2 is positively correlated with the spatial entropy.

[0038] Combined with the second aspect, in some implementation manners of the second aspect, W'2 satisfies the following formula:

[0039] W'2 = f(H α ).

[0040] Wherein, f is a positive correlation function.

[0041] Combined with the second aspect, in some implementation manners of the second aspect, the method further includes: sending a first sensing signal with a first transmission beam configuration; receiving first sensing information, where the first sensing information is used to determine a second transmission beam configuration, the second transmission beam configuration includes a set of positions of a transmission beam scanning area, the set of positions of the transmission beam scanning area is related to the complexity of the sensing target, or the second transmission beam configuration includes a spatial entropy, the spatial entropy is related to the sensing result corresponding to the first sensing signal, and the spatial entropy indicates the complexity of the sensing target; sending a second sensing signal with the second transmission beam configuration.

[0042] Combined with the second aspect, in some implementation manners of the second aspect, the sensing result corresponding to the first sensing signal is one of the sensing results of N measurement links, each of the N measurement links is composed of a transmitting node and a receiving node, the N measurement links correspond to N sensing signals, the N measurement links include a first measurement link, the first measurement link corresponds to the first sensing signal, and N is an integer greater than 1.

[0043] Combined with the second aspect, in some implementation manners of the second aspect, the second transmission beam configuration further includes at least one of a transmission beam width and a beam scanning period.

[0044] Combined with the second aspect, in some implementation manners of the second aspect, the set of positions of the transmission beam scanning area P2 corresponding to the second transmission beam configuration is smaller than the set of positions of the transmission beam scanning area P1 corresponding to the first transmission beam configuration, and / or, the transmission beam width W2 corresponding to the second transmission beam configuration is smaller than the transmission beam width W2 corresponding to the first transmission beam configuration.

[0045] Combined with the second aspect, in some implementation manners of the second aspect, P2 is determined according to the spatial entropy H α , a preset threshold h, and P1, and P2 satisfies the following formula:

[0046] P2 = P1(H α <h).

[0047] In combination with the second aspect, in some implementation manners of the second aspect, W2 is positively correlated with the spatial entropy.

[0048] In combination with the second aspect, in some implementation manners of the second aspect, W2 satisfies the following formula:

[0049] W2 = f(H α )

[0050] where f is a positive correlation function.

[0051] In a third aspect, a method for sensing is provided. This method can be executed by a processing node, or can be executed by a processing node and a receiving node (collectively referred to as processing / receiving nodes), or can be executed by a processing node, a receiving node, and a sending node (collectively referred to as processing / measuring nodes), or can be executed by a processing node and a sending node (collectively referred to as processing / sending nodes), or can be executed by a module (such as a chip or a circuit) of a processing node or a processing / receiving node or a processing / measuring node or a processing / sending node. There is no limitation in this regard. The processing node or the processing / receiving node or the processing / measuring node or the processing / sending node can be a terminal device or a network device, and there is no limitation in this regard.

[0052] The method may include: obtaining N sensing results of N measurement links. Each of the N measurement links of the N measurement links is composed of a sending node and a receiving node. The N measurement links correspond to N sensing signals. The N measurement links include a first measurement link, and the first measurement link corresponds to a first sensing signal. The N sensing results include a first sensing result, and the first sensing result is determined according to the echo signal of the first sensing signal. N is an integer greater than 1; determining a second transmission beam configuration and a second reception beam configuration according to the N sensing results. The second transmission beam configuration is used to transmit a second sensing signal. The second transmission beam configuration includes a set of positions of a transmission beam scanning area. The set of positions of the transmission beam scanning area is related to the complexity of the sensing target, or the second transmission beam configuration includes spatial entropy, and the spatial entropy is related to the sensing result corresponding to the first sensing signal. The spatial entropy indicates the complexity of the sensing target. The second reception beam configuration is used to receive the echo signal of the second sensing signal. The second reception beam configuration includes a set of positions of a reception beam scanning area. The set of positions of the reception beam scanning area is related to the complexity of the sensing target, or the second reception beam configuration includes spatial entropy.

[0053] Through the above solution, using the complexity or spatial entropy of the sensing target as the evaluation and adjustment criterion for sensing beam management, determining the complexity of the sensing target according to the N sensing results of the N links, and determining a new beam scanning configuration, thereby improving the comprehensive sensing quality.

[0054] In combination with the third aspect, in some implementation manners of the third aspect, the second transmission beam configuration further includes at least one of a transmission beam width and a beam scanning period, and / or, the second reception beam configuration further includes at least one of a reception beam width and a beam scanning period.

[0055] Through the above solution, using the complexity or spatial entropy of the sensing target as the evaluation and adjustment criterion for sensing beam management, determining a new beam width and beam scanning period according to the complexity of the sensing target, thereby improving the comprehensive sensing quality.

[0056] In combination with the third aspect, in some implementation manners of the third aspect, the spatial entropy is determined by the sensing results of N measurement links, and the spatial entropy H α has the value of:

[0057]

[0058] where n is the serial number of the measurement link, p(n) is the pseudo probability corresponding to the measurement link, and R(n) is the sensing result of the nth measurement link.

[0059] In combination with the third aspect, in some implementation manners of the third aspect, the set P2 of the positions of the transmission beam scanning regions corresponding to the second transmission beam configuration is smaller than the set P1 of the positions of the transmission beam scanning regions corresponding to the first transmission beam configuration, and / or, the transmission beam width W2 corresponding to the second transmission beam configuration is smaller than the transmission beam width W2 corresponding to the first transmission beam configuration; and / or, the set P'2 of the positions of the reception beam scanning regions corresponding to the second reception beam configuration is smaller than the set P'1 of the positions of the reception beam scanning regions corresponding to the first reception beam configuration, and / or, the reception beam width W'2 corresponding to the second reception beam configuration is smaller than the reception beam width W'1 corresponding to the first reception beam configuration.

[0060] Through the above solution, changing the transmission and / or reception beam configuration, thereby performing more refined sensing on the sensing target, achieving refined sensing for key regions while reducing the beam scanning overhead, and improving the comprehensive sensing quality.

[0061] In combination with the third aspect, in some implementation manners of the third aspect, P2 is determined according to the spatial entropy Hβ, a preset threshold h, and P1, and P2 satisfies the following formula:

[0062] P2 = P1(H α < h)

[0063] P'2 is determined according to the spatial entropy H α a preset threshold h, and P'1, and P'2 satisfies the following formula:

[0064] P'2 = P'1(H α<h).

[0065] In combination with the third aspect, in some implementation manners of the third aspect, W2 or W'2 is positively correlated with the spatial entropy.

[0066] In combination with the third aspect, in some implementation manners of the third aspect, W2 satisfies the following formula:

[0067] W2 = f(H α )

[0068] W'2 satisfies the following formula:

[0069] W'2 = f(H α )

[0070] where f is a positive correlation function.

[0071] In combination with the third aspect, in some implementation manners of the third aspect, the method further includes: sending first sensing information and second sensing information, where the first sensing information is used to determine a second transmission beam configuration, and the second sensing information is used to determine a second reception beam configuration.

[0072] In combination with the third aspect, in some implementation manners of the third aspect, obtaining N sensing results of N measurement links includes: receiving a first sensing result; or, receiving first sensing data and determining the first sensing result according to the first sensing data.

[0073] In combination with the third aspect, in some implementation manners of the third aspect, the method further includes: receiving an echo signal of the first sensing signal with a first reception beam configuration; receiving an echo signal of the second sensing signal with a second beam reception configuration.

[0074] In combination with the third aspect, in some implementation manners of the third aspect, obtaining N sensing results of N measurement links includes: determining first sensing data according to the echo signal of the first sensing signal, and determining the first sensing result according to the first sensing data.

[0075] In combination with the third aspect, in some implementation manners of the third aspect, the method further includes: sending first sensing information, where the first sensing information is used to determine a second transmission beam configuration.

[0076] In combination with the third aspect, in some implementation manners of the third aspect, the method further includes: sending a first sensing signal with a first transmission beam configuration; sending a second sensing signal with a second transmission beam configuration.

[0077] In combination with the third aspect, in some implementation manners of the third aspect, the method further includes: sending a first sensing signal with a first transmission beam configuration; sending a second sensing signal with a second transmission beam configuration.

[0078] In combination with the third aspect, in some implementation manners of the third aspect, obtaining N sensing results of N measurement links includes: receiving a first sensing result; or, receiving first sensing data and determining the first sensing result according to the first sensing data.

[0079] In combination with the third aspect, in some implementation manners of the third aspect, the method further includes: sending second sensing information, where the second sensing information is used to determine a second receiving beam configuration.

[0080] In a fourth aspect, a wireless communication device is provided, including various modules or units for performing the method in the first aspect or any possible implementation manner in the first aspect.

[0081] In a fifth aspect, a wireless communication device is provided, including various modules or units for performing the method in the second aspect or any possible implementation manner in the second aspect.

[0082] In a sixth aspect, a wireless communication device is provided, including various modules or units for performing the method in the third aspect or any possible implementation manner in the third aspect.

[0083] In a seventh aspect, a communication device is provided, including a processor, where the processor is coupled to a memory and can be used to perform the method in any possible implementation manner of the first aspect. In a possible implementation manner, the memory is included in the communication device. In a possible implementation manner, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0084] In one implementation manner, the communication device is a sending node. When the communication device is a sending node, the communication interface can be a transceiver, or an input / output interface. In a possible implementation manner, the transceiver can be a transceiver circuit. In a possible implementation manner, the input / output interface can be an input / output circuit.

[0085] In another implementation manner, the communication device is a chip or a chip system. When the communication device is a chip or a chip system, the communication interface can be an input / output interface, an interface circuit, an output circuit, an input circuit, a pin, or a related circuit, etc. on the chip or the chip system. The processor can also be embodied as a processing circuit or a logic circuit.

[0086] In an eighth aspect, a communication device is provided, including a processor, where the processor is coupled to a memory and can be used to perform the method in any possible implementation manner of the second aspect. In a possible implementation manner, the memory is included in the communication device. In a possible implementation manner, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0087] In one implementation, the communication device is a receiving node or a measuring node. When the communication device is a receiving node or a measuring node, the communication interface can be a transceiver, or an input / output interface. In one possible implementation, the transceiver can be a transceiver circuit. In one possible implementation, the input / output interface can be an input / output circuit.

[0088] In another implementation, the communication device is a chip or a chip system. When the communication device is a chip or a chip system, the communication interface can be an input / output interface, an interface circuit, an output circuit, an input circuit, a pin, or a related circuit, etc. on the chip or chip system. The processor can also be embodied as a processing circuit or a logic circuit.

[0089] In a ninth aspect, a communication device is provided, including a processor. The processor is coupled to a memory and can be used to execute the method in any possible implementation of the third aspect. In one possible implementation, the memory is included in the communication device. In one possible implementation, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0090] In one implementation, the communication device is a processing node, or a processing / receiving node, or a processing / measuring node, or a processing / sending node. When the communication device is a processing node, or a processing / receiving node, or a processing / measuring node, or a processing / sending node, the communication interface can be a transceiver, or an input / output interface. In one possible implementation, the transceiver can be a transceiver circuit. In one possible implementation, the input / output interface can be an input / output circuit.

[0091] In another implementation, the communication device is a chip or a chip system. When the communication device is a chip or a chip system, the communication interface can be an input / output interface, an interface circuit, an output circuit, an input circuit, a pin, or a related circuit, etc. on the chip or chip system. The processor can also be embodied as a processing circuit or a logic circuit.

[0092] In a tenth aspect, a communication device is provided, including: an input circuit, an output circuit, and a processing circuit. The processing circuit is used to receive a signal through the input circuit and transmit the signal through the output circuit, so that any one of the first aspect to the third aspect, and the method in any possible implementation of the above aspects is implemented.

[0093] In the specific implementation process, the above-mentioned communication device can be a chip, the input circuit can be an input pin, the output circuit can be an output pin, and the processing circuit can be transistors, gate circuits, flip-flops, and various logic circuits, etc. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver. The signal output by the output circuit can be output to, for example, but not limited to, a transmitter and transmitted by the transmitter. Moreover, the input circuit and the output circuit can be different circuits or the same circuit. In this case, the circuit serves as the input circuit and the output circuit at different times respectively. The embodiments of the present application do not limit the specific implementation manners of the processor and various circuits.

[0094] In the eleventh aspect, a processing device is provided, including a processor and a memory. The processor is used to read the instructions stored in the memory, and can receive signals through a receiver and transmit signals through a transmitter to execute any one of the first aspect to the third aspect, and the methods in any possible implementation manner of the above aspects.

[0095] In a possible implementation manner, the processor is one or more, and the memory is one or more.

[0096] In a possible implementation manner, the memory can be integrated with the processor, or the memory is separately arranged from the processor.

[0097] In the specific implementation process, the memory can be a non-transitory memory, such as a read only memory (ROM). It can be integrated with the processor on the same chip or separately arranged on different chips. The embodiments of the present application do not limit the type of the memory and the setting manner of the memory and the processor.

[0098] It should be understood that relevant data interaction processes, such as sending indication information, can be a process of outputting indication information from the processor, and receiving capability information can be a process of the processor receiving input capability information. Specifically, the data processed and output can be output to the transmitter, and the input data received by the processor can come from the receiver. Among them, the transmitter and the receiver can be collectively referred to as a transceiver.

[0099] The processor in the above aspects can be a chip. The processor can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc.; when implemented by software, the processor can be a general-purpose processor, which is implemented by reading the software code stored in the memory. The memory can be integrated in the processor or can be located outside the processor and exist independently.

[0100] In a twelfth aspect, there is provided a computer program product, which includes a computer program (which may also be referred to as code or instructions). When the computer program is run, it causes a computer to execute any one of the first to third aspects, and the methods in any possible implementation manner of the above aspects.

[0101] In a thirteenth aspect, there is provided a computer-readable storage medium storing a computer program (which may also be referred to as code or instructions). When it runs on a computer, it causes the computer to execute any one of the first to third aspects, and the methods in any possible implementation manner of the above aspects.

[0102] In a fourteenth aspect, there is provided a chip system including a memory and a processor. The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that a communication device equipped with the chip system executes any one of the first to third aspects, and the methods in any possible implementation manner of the above aspects.

[0103] Wherein, the chip system may include an input circuit or interface for sending information or data, and an output circuit or interface for receiving information or data.

[0104] In a fifteenth aspect, there is provided a communication system including at least one of the foregoing sending node, receiving node, and processing node. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] Figure 1 FIG. is a schematic diagram of an example of a communication system to which the present application is applicable.

[0106] Figure 2 FIG. is a schematic flowchart of a communication method provided by an embodiment of the present application.

[0107] Figure 3 FIG. is a schematic diagram of a communication system provided by an embodiment of the present application.

[0108] Figure 4 FIG. is a schematic diagram of a communication system provided by an embodiment of the present application.

[0109] Figure 5 FIG. is a schematic flowchart of a communication method provided by an embodiment of the present application.

[0110] Figure 6 FIG. is a schematic flowchart of a communication method provided by an embodiment of the present application.

[0111] Figure 7 FIG. is a schematic flowchart of a communication method provided by an embodiment of the present application.

[0112] Figure 8 Schematic block diagram of a communication device provided by an embodiment of the present application.

[0113] Figure 9 Schematic block diagram of a communication device provided by an embodiment of the present application. Detailed implementation manners

[0114] The technical solutions in the present application will be described below in conjunction with the accompanying drawings.

[0115] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as: Long Term Evolution (LTE) system, LTE Frequency Division Duplex (FDD) system, LTE Time Division Duplex (TDD), Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication system, 5th generation (5G) system or New Radio (NR) and future communication systems, Vehicle-to-Everything (V2X), where V2X can include Vehicle-to-Network (V2N), Vehicle-to-Vehicle (V2V), Vehicle-to-Infrastructure (V2I), Vehicle-to-Pedestrian (V2P), etc., Long Term Evolution-Vehicle (LTE-V), Internet of Vehicles, Machine Type Communication (MTC), Internet of Things (IoT), Long Term Evolution-Machine (LTE-M), Machine-to-Machine (M2M), etc.

[0116] Figure 1 Is a schematic diagram of the communication system applicable to the embodiments of the present application. As Figure 1As shown, the communication system includes a radio access network (RAN) 100 and a core network (CN) 200. The RAN 100 includes at least one RAN node (such as 110a and 110b, collectively referred to as 110) and at least one terminal device (such as 120a - 120j, collectively referred to as 120). Other RAN nodes may also be included in the RAN 100, for example, wireless relay devices and / or wireless backhaul devices ( Figure 1 not shown) and the like. The terminal device 120 is connected to the RAN node 110 wirelessly. The RAN node 110 is connected to the core network 200 wirelessly or by wire. The core network devices in the core network 200 and the RAN nodes 110 in the RAN 100 may be different physical devices respectively, or the same physical device integrating the core network logic function and the radio access network logic function.

[0117] The RAN 100 can be a 3GPP-related cellular system, for example, a 4G or 5G mobile communication system, or an evolved system for the future (such as a 6G mobile communication system). The RAN 100 can also be an open RAN (O-RAN or ORAN), a cloud RAN (CRAN), or a wireless fidelity (WiFi) system. The RAN 100 can also be a communication system that is a fusion of two or more of the above systems.

[0118] The RAN node 110, sometimes also referred to as an access network device, a RAN entity, or an access node, etc., forms part of the communication system to help the terminal device achieve wireless access. The multiple RAN nodes 110 in this communication system can be of the same type of node or different types of nodes. In some scenarios, the roles of the RAN node 110 and the terminal device 120 are relative. For example, the network element 120i can be a helicopter or a drone, which can be configured as a mobile base station. For the terminal devices 120j that access the RAN 100 through the network element 120i, the network element 120i is a base station; but for the base station 110a, the network element 120i is a terminal device. The RAN node 110 and the terminal 120 are sometimes both referred to as communication devices. For example, the network elements 110a and 110b can be understood as communication devices with base station functions, and the network elements 120a - 120j can be understood as communication devices with terminal functions.

[0119] In a possible scenario, the RAN node may be a BS, eNodeB, access point (AP), TRP, gNB, next-generation base station in a 6G mobile communication system, base station in a future mobile communication system, or access node in a WiFi system, etc. The RAN node may be a macro base station (such as Figure 1 110a in Figure 1 ), micro base station or indoor station (such as

[0120] 110b in

[0121] ), relay node or donor node, or a radio controller in a CRAN scenario. In another possible scenario, multiple RAN nodes cooperate to assist the terminal device to achieve wireless access, and different RAN nodes respectively implement partial functions of the base station. For example, the RAN node may be a centralized unit (CU), distributed unit (DU), CU-control plane (CP), CU-user plane (UP), or radio unit (RU), etc. The CU and DU may be set separately, or may also be included in the same network element, such as the baseband unit (BBU). The RU may be included in the radio frequency device or radio frequency unit, such as included in the remote radio unit (RRU), active antenna unit (AAU) or remote radio head (RRH).

[0122] In different communication systems, the CU (or CU-CP and CU-UP), DU, or RU may also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, the CU may also be referred to as O-CU (Open CU), the DU may also be referred to as O-DU, the CU-CP may also be referred to as O-CU-CP, the CU-UP may also be referred to as O-CU-UP, and the RU may also be referred to as O-RU. For the convenience of description, in this application, the CU, CU-CP, CU-UP, DU, and RU are used as examples for description. Any one of the CU (or CU-CP, CU-UP), DU, and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0123] It should be understood that the number of each device in the above communication system is only for illustration and is not limited thereto. In actual applications, the communication system may further include more terminal devices, more RAN devices, and may also include other devices.

[0124] It should be understood that Figure 1 For the simplified schematic diagram given for ease of understanding, the communication system may further include a greater number of network devices or terminal devices. In addition, the embodiments of this application may be applicable to any communication scenario for communication between a sending device and a receiving device.

[0125] A network device is a network-side device with wireless transceiver capabilities. The network device can be a device in a radio access network (RAN) that provides wireless communication capabilities for terminal devices, referred to as a RAN device. For example, the network device can be a base station, an evolved NodeB (eNodeB), a next generation NodeB (gNB) in a 5G mobile communication system, a base station evolved by 3GPP subsequently, a transmission reception point (TRP), an access node in a WiFi system, a wireless relay node, a wireless backhaul node, etc. In communication systems using different radio access technologies (RATs), the names of devices with base station functions may vary. For example, in an LTE system, it can be called an eNB or eNodeB, and in a 5G system or an NR system, it can be called a gNB. The specific name of the base station is not limited in this application. The network device can include one or more co-located or non-co-located transmission reception points. Additionally, for example, the network device can include at least one of the following items: one or more central units (CUs), one or more distributed units (DUs), one or more radio units (RUs). In different systems, the CU (or CU-CP and CU-UP), DU, or RU may also have different names, but those skilled in the art can understand their meanings. For example, the radio access network can also be an open radio access network (O-RAN) architecture. In an ORAN system, the CU can also be called an O-CU (open CU), the DU can also be called an O-DU, the CU-CP can also be called an O-CU-CP, the CU-UP can also be called an O-CU-UP, and the RU can also be called an O-RU. Any of the CUs (or CU-CP, CU-UP), DUs, and RUs in this application can be implemented through software modules, hardware modules, or a combination of software modules and hardware modules. Exemplarily, the functions of the CU can be implemented by one entity or different entities. For example, the functions of the CU are further split, that is, the control plane and the user plane are separated and implemented by different entities, namely the control plane CU entity (i.e., the CU-CP entity) and the user plane CU entity (i.e., the CU-UP entity). The CU-CP entity and the CU-UP entity can be coupled to the DU to jointly complete the functions of the access network device.For example, the CU is responsible for processing non-real-time protocols and services and implementing the functions of the radio resource control (RRC) layer and the packet data convergence protocol (PDCP) layer. The DU is responsible for processing physical layer protocols and real-time services and implementing the functions of the radio link control (RLC) layer, the media access control (MAC) layer, and the physical (PHY) layer. In this way, some functions of the radio access network device can be implemented through multiple network function entities. These network function entities can be network elements in hardware devices, software functions running on dedicated hardware, or virtualized functions instantiated on a platform (e.g., a cloud platform). The network device may also include an active antenna unit (AAU for short). The AAU implements some physical layer processing functions, radio frequency processing, and functions related to active antennas. Since the information in the RRC layer will ultimately become the information in the PHY layer, or vice versa, in this architecture, high-layer signaling, such as RRC layer signaling, can also be considered to be sent by the DU, or by the DU + AAU. It can be understood that the network device can be a device including one or more of the CU node, the DU node, and the AAU node. In addition, the CU can be classified as a network device in the radio access network (RAN), or the CU can be classified as a network device in the core network (CN), which is not limited in this application. Another example is in vehicle to everything (V2X) technology, where the radio access network device can be a road side unit (RSU). Multiple radio access network devices in a communication system can be of the same type of base station or different types of base stations. The base station can communicate with the terminal device or communicate with the terminal device through a relay station. In the embodiments of this application, the device for implementing the functions of the network device can be the network device itself or a device capable of supporting the network device to implement such functions, such as a chip system or a combined device or component that can implement the functions of the radio access network device, and this device can be installed in the network device. In the embodiments of this application, the chip system can be composed of chips or can include chips and other discrete devices.

[0126] A terminal device is a user-side device with wireless transceiver functions. It can be a fixed device, a mobile device, a handheld device (such as a mobile phone), a wearable device, a vehicle-mounted device, or a wireless device (such as a communication module, a modem, or a chip system, etc.) built into the above devices. The terminal device is used to connect people, things, machines, etc., and can be widely used in various scenarios, such as: cellular communication, device-to-device (D2D) communication, V2X communication, machine-to-machine / machine-type communications (M2M / MTC) communication, Internet of Things, virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical, smart grid, smart furniture, smart office, smart wearables, smart transportation, smart city, drones, robots, and other scenarios. Exemplarily, the terminal device can be a handheld terminal in cellular communication, a communication device in D2D, an IoT device in MTC, a surveillance camera in smart transportation and smart city, or a communication device on a drone, etc. The terminal device is sometimes referred to as user equipment (UE), user terminal, user device, user unit, user station, terminal, access terminal, access station, UE station, remote station, mobile device, or wireless communication device, etc. The terminal device can also be a terminal device in an IoT system. IoT is an important part of the future development of information technology. Its main technical feature is to connect items to the network through communication technology, so as to realize an intelligent network of human-machine interconnection and thing-thing interconnection. In the embodiments of the present application, IoT technology can achieve massive connection, deep coverage, and power saving of the terminal through, for example, narrow band (NB) technology. In the embodiments of the present application, the device for implementing the functions of the terminal device can be the terminal device itself, or a device capable of supporting the terminal device to implement such functions, such as a chip system or a combined device or component that can implement the functions of the terminal device. This device can be installed in the terminal device.

[0127] The network device and the terminal device can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on the water surface; they can also be deployed on airplanes, balloons, and satellites in the air. In the embodiments of the present application, the scenarios where the network device and the terminal device are located are not limited.

[0128] Exemplarily, the communication system 100 may further include an Application Function (AF) network element, which is a control plane network function provided by the operator network and is used to provide application layer information; the communication system 100 may further include a Session Management Function (SMF) network element, which is a control plane network function provided by the operator network. In the embodiments of the present application, when the AF network element and the SMF network element are included in the communication system 100, the AF may send service-related information to the network device through the SMF.

[0129] Next, the technical problems to be solved and the technical solutions adopted in the present application will be introduced.

[0130] With the development and progress of communication technologies, in future cellular networks, base stations will not only be able to achieve the interconnection of people and things but also possess sensing capabilities. The enabling technology that realizes the coexistence, mutual assistance, and mutual benefit of communication and sensing functions is called communication-sensing integration. Communication-sensing integration enables a single base station system to integrate communication and sensing functions, and communication and sensing will share the same hardware resources. Taking antenna resources as an example, the number of array elements of a MIMO array antenna can reach 32×32, and the antenna resources can be allocated for communication and sensing.

[0131] In communication-sensing integration, sensing refers to obtaining information about the surrounding environment through a sensing network, such as target positioning, target imaging, target detection, etc. This sensing information can be used for the optimization and improvement of communication systems, such as avoiding obstacles and improving communication quality. Sensing can also be used for channel modeling and signal analysis in wireless communication systems, so as to better understand and optimize communication performance. It should be emphasized that the sensing services mentioned in the present application, unless otherwise specified, generally include single or multiple services such as ranging, angle measurement, speed measurement, frequency measurement (Doppler), and imaging.

[0132] In one implementation, a communication device can achieve sensing measurement of a sensing target by receiving the sensing signal emitted by itself. In the present application, this self-sensing method of spontaneous emission and self-reception is called self-sensing. Exemplarily, the transmitting end emits a sensing signal, and after being reflected by the sensing target, the sensing signal is received by the transmitting end. The transmitting end can obtain information such as the distance or surface characteristics of the sensing target based on the echo signal of the sensing signal.

[0133] In another implementation, the receiving and transmitting functions are performed independently, which is referred to as transceiver separation awareness in this application. Transceiver separation can achieve better signal receiving and transmitting effects, and at the same time, it can also reduce system complexity and improve system stability. For example, the transceiver separation awareness system includes a transmitting end and a receiving end. The transmitting end is responsible for transmitting the sensing signal, and after being reflected by the sensing target, the sensing signal is received by the receiving end, and the receiving end processes the sensing signal to obtain information about the sensing target.

[0134] Whether for communication or sensing, antenna beamforming is an important research direction and will directly affect the quality of communication and sensing. For communication, appropriate beamforming can not only improve the communication rate but also reduce the scanning overhead and communication latency; for sensing, its resolution is related to the beam width, and the interference of sidelobes / grating lobes is related to the beam direction and width. Therefore, in the context of integrated communication and sensing, how to perform beam management is an important topic.

[0135] Existing beam management mainly serves the communication function. Specifically, the gNB scans the TPR beam (wide beam, large range), and the UE scans the UE beam (wide beam, large range); then the UE selects the best UE beam and TRP beam based on indicators such as signal strength and reports them to the gNB; then beam refinement is performed on the transmitting antenna (gNB antenna), that is, the gNB scans in a smaller range using a narrower beam, and then the UE selects the highest beam and reports it to the gNB; then beam refinement is performed on the receiving antenna (UE antenna), the gNB uses the highest beam reported by the UE, and the UE scans in a narrower range using a finer beam to select the best UE beam.

[0136] The above beam management does not consider the beam management requirements of the sensing function and has the following disadvantages:

[0137] (1) The report feedback based on indicators such as signal strength is used as the basis for beam adjustment. However, in the sensing function, there is no necessary connection between the signal strength received by the receiving antenna and the sensing quality, so it cannot be used as an indicator for sensing beam adjustment. Therefore, the existing indicators cannot cover the management of sensing beams.

[0138] (2) The scanning of existing communication beams is mostly periodic, aperiodic, or semi-persistent, and the signaling required for transmission is relatively simple. In the sensing beam, since the sensing targets are discretely distributed in space, the beam scanning is often irregular. Therefore, the signaling for beam scanning that needs to be defined is more complex, and the existing communication beam signaling cannot cover the situation of sensing beam scanning.

[0139] In addition, in existing sensing tasks, beams often perform scanning of sensing beams according to pre-set parameters, such as pre-defining the resolution or beam set (Beam Set), and performing beam scanning in ways such as using a combination of wide and narrow beams or a combination of two-way narrow beams. For example, using a wide beam for transmission and a narrow beam for reception (such as 1 transmission and 32×32 receptions) or a narrow beam for both transmission and reception (32×32 transmissions and 32×32 receptions). This results in problems such as more antenna resources being occupied, large beam scanning overhead, and large amounts of data.

[0140] To address the above problems, the present application proposes a method for sensing beam management. Specifically, the present application uses the concept of spatial entropy as an evaluation index to manage sensing beams, defines the relationship between beam configuration parameters and spatial entropy, calculates the adjustment direction of the beam according to the spatial entropy for phased scanning, first performs a large-range, wide-beam rough scan, and then gradually changes the beam width and scanning range until the cut-off condition is met, thereby achieving a reduction in beam scanning overhead while achieving fine sensing for areas with drastic surface changes and improving the comprehensive sensing quality.

[0141] The following describes the sensing method, communication device, and system of the embodiments of the present application in conjunction with the accompanying drawings.

[0142] For ease of understanding and description, the following describes the sensing method of the embodiments of the present application by taking the interaction between a sending node, a receiving node, and a processing node as an example, but this should not impose any limitation on the execution entity of the sensing method of the embodiments of the present application. For example, the method executed by the sending node can also be executed by a module of the sending node (such as a circuit, a chip, or a chip system, etc.), and can also be implemented by a logical node, a logical module, or software that can implement all or part of the functions of the first device. The method executed by the receiving node can also be executed by a module of the receiving node (such as a circuit, a chip, or a chip system, etc.), and can also be implemented by a logical node, a logical module, or software that can implement all or part of the functions of the receiving node. The method executed by the processing node can also be executed by a module of the processing node (such as a circuit, a chip, or a chip system, etc.), and can also be implemented by a logical node, a logical module, or software that can implement all or part of the functions of the processing node.

[0143] Among them, the sending node, the receiving node, and the processing node can be terminal devices or network devices, or modules of terminal devices or network devices (such as circuits, chips, or chip systems, etc.).

[0144] In summary, the following describes the sensing method of the embodiments of the present application by taking the sending node, the receiving node, and the processing node as examples, but does not limit the devices or apparatuses (such as terminal devices or network devices, etc.) corresponding to the sending node, the receiving node, and the processing node respectively.

[0145] Figure 2A communication method 200 provided by the present application is shown. The method 200 at least includes the partial methods as follows Figure 2 as shown.

[0146] S210. The sending nodes of N measurement links (which can be referred to as a sending node group) send N sensing signals with a first sending beam configuration.

[0147] S220. The receiving nodes of N measurement links (which can be referred to as a receiving node group) receive the echo signals of the N sensing signals with a first receiving beam configuration.

[0148] S230. The receiving nodes of N measurement links determine N sensing data according to the echo signals of the N sensing signals.

[0149] S240. The processing node obtains the N sensing results of N measurement links.

[0150] S250. The processing node determines a second sending beam configuration and a second receiving beam configuration according to the N sensing results.

[0151] S260. The sending nodes of N measurement links send N sensing signals with a second sending beam configuration.

[0152] S270. The receiving nodes of N measurement links receive the echo signals of the N sensing signals with a second receiving beam configuration.

[0153] The following gives a detailed introduction to steps S210 to S260.

[0154] S210. The sending nodes of N measurement links send N sensing signals with a first sending beam configuration. S220. The receiving nodes of N measurement links receive the echo signals of the N sensing signals with a first receiving beam configuration.

[0155] Before step S210, it is necessary to determine a suitable measurement node group and pair them to form N measurement links.

[0156] It should be noted that in the above N measurement links, the sending node and the receiving node of each measurement link can be two separate nodes (as Figure 3 shown in (b) of [reference] is a schematic diagram of a measurement link, and this kind of link is called a transceiver-separated / bistatic sensing link), or can be the same node (as Figure 3 shown in (a) of [reference] is a schematic diagram of another measurement link, and this kind of link is called a self / monostatic sensing link). The present application does not make any limitations in this regard. For example, the first sending node and the first receiving node can be the same node or two separate nodes. Some of the N measurement links can be transceiver-separated sensing links, and the other part can be self-sensing links; or all of the N measurement links can be self-sensing links or transceiver-separated links.

[0157] As shown Figure 4 in the figure, it is a schematic diagram of an example of N measurement links. Each of the N measurement links includes a transmitting node and a receiving node. The N measurement links include a first measurement link, and the first measurement link includes a first transmitting node and a first receiving node. The sensing signal transmitted by the first transmitting node is a first sensing signal. That is to say, the first measurement link corresponds to the first sensing signal.

[0158] It should be noted that Figure 4 the first measurement link shown in is a bistatic sensing link, but this application does not limit this. The first sensing link can also be a monostatic sensing link.

[0159] The transmitting nodes of the N measurement links transmit N sensing signals with a first transmitting beam configuration. The transmitted sensing signals reach the sensing target, and after being reflected by the sensing target, echo signals are formed and received by the receiving nodes of the N measurement links. The first transmitting beam configuration is used to determine the beam configuration of the transmitting nodes of the N measurement links, and the first receiving beam configuration is used to determine the beam configuration of the receiving nodes of the N measurement links. N is an integer greater than 1.

[0160] It should be understood that the first transmitting beam configuration includes the beam configurations of the transmitting nodes of the N measurement links. That is to say, the first transmitting beam configuration is a general term for the beam configurations of the transmitting nodes of the N measurement links. Similarly, the first receiving beam configuration is a general term for the beam configurations of the receiving nodes of the N measurement links.

[0161] For example, the transmitting nodes of the N measurement links transmit N sensing signals with a first transmitting beam configuration, including: the first transmitting node transmits the first sensing signal with a first transmitting beam configuration. The receiving nodes of the N measurement links receive the echo signals of the N sensing signals with a first receiving beam configuration, including: the first receiving node receives the echo signal of the first sensing signal with a first receiving beam configuration. It should be understood that the first transmitting node and the first receiving node are the measurement nodes of the same measurement link (i.e., the first measurement link) among the N measurement links. The N measurement links correspond to N sensing signals, and the N sensing signals include the first sensing signal.

[0162] S230. The receiving nodes of the N measurement links determine N sensing data according to the echo signals of the N sensing signals.

[0163] For example, the first receiving node may determine first sensing data based on the echo signal of the first sensing signal. The first sensing data includes at least one of the following information: the data of the echo signal received by the first receiving node (such as the intensity or phase of the echo signal), the position information of the first receiving node and the first transmitting node, and the position information of the beam scanning area; or, the first sensing data includes at least one of the following information: the pulse compression data obtained by performing pulse compression processing on the data of the echo signal by the first receiving node, the position information of the first receiving node and the first transmitting node, and the position information of the beam scanning area.

[0164] Optionally, the receiving nodes of the N measurement links may determine N sensing results based on the N sensing data, and the sensing result is an imaging result, an angle measurement or a distance measurement result of the sensing area. For example, the first receiving node determines the first sensing result of the first measurement link according to the first sensing data.

[0165] Among them, determining the first sensing result according to the first sensing data can be understood as: the first receiving node or the processing node can use a sensing algorithm, such as the back-projection algorithm, to process the first sensing data to obtain the sensing result.

[0166] S240, the processing node obtains the N sensing results of the N measurement links.

[0167] In one implementation, the processing node is a separate node. Then the processing node receives the N sensing results of the N measurement links sent by the N receiving nodes; or, receives the N sensing data of the N measurement links sent by the N receiving nodes and determines the N sensing results according to the N sensing data.

[0168] For example, the processing node receives the first sensing result sent by the first receiving node; or, the processing node receives the first sensing data sent by the first receiving node and determines the first sensing result according to the first sensing data. Correspondingly, the first receiving node sends the first sensing data or the first sensing result to the processing node.

[0169] In another implementation, the processing node is one of the receiving nodes in the N measurement links, that is, the processing node and one of the receiving nodes in the N measurement links are the same node. In this case, the processing node only needs to obtain the sensing results of the other N - 1 links.

[0170] For example, if the processing node and the first receiving node are the same node, then the processing node receives the N - 1 sensing results of the N - 1 measurement links; or, receives the N - 1 sensing data of the N - 1 measurement links sent by the N - 1 receiving nodes and determines the N - 1 sensing results according to the N - 1 sensing data. Among them, the N - 1 measurement links are the measurement links except the first measurement link among the N measurement links.

[0171] S250: The processing node determines a second transmit beam configuration and a second receive beam configuration according to the N sensing results.

[0172] It should be understood that the second transmit beam configuration and the second receive beam configuration are used to perform a fine scan of the perceived target, and the fine scan is relative to the first transmit beam configuration and the first receive beam configuration. That is, relative to the first transmit beam configuration and the first receive beam configuration, the beam scans corresponding to the second transmit beam configuration and the second receive beam configuration are more refined.

[0173] Optionally, before S250, the processing node determines whether the N perception results meet a cutoff condition, where the cutoff condition is a condition that the perception quality meets the requirement. When the perception quality meets the requirement, the perception of the perception target can be stopped. When the perception quality does not meet the requirement, the following steps can be performed.

[0174] Optionally, the processing node determines the complexity of the perceived target based on the N perception results. The complexity of the perceived target refers to the complexity of the target's scattering characteristics, which is related to factors such as the target's material and geometry. Generally speaking, the more details and the more dramatic the changes in the target's geometry, the more complex the scattering characteristics, the more anisotropic it is, and the smaller its spatial entropy. For example, a corner reflector with drastic changes in its geometry is a typical anisotropic perception target. In this application, the physical quantity that measures the complexity of the perceived target is defined as spatial entropy, which is a measure of the complexity of each target point in the perception area.

[0175] It should be understood that the spatial entropy is determined based on N perception results, that is, the spatial entropy is related to the first perception result.

[0176] Space entropy H α The definition is

[0177]

[0178] Where n is the serial number of the measurement link, p(n) is the pseudo probability corresponding to the measurement link, R(n) is the perception result of the nth measurement link (for example, the modulus of the measurement value obtained by the nth measurement link performing perception measurement on the perception target).

[0179] Its essence is to use the fact that the more complex the surface of the target point is, the stronger the anisotropy of its scattering characteristics is. The greater the difference in the perception results R(n) of the same target point observed by observation links in different directions, the greater the fluctuation of its p(n) pseudo-probability is, and H α The smaller it is, in extreme cases, the target point is isotropic, then H α= 1. Therefore, the spatial entropy can also be regarded as a measure of the scattering characteristics of the target point. The spatial entropy can also be called angular entropy, perspective entropy, scattering (characteristics) entropy, imaging entropy, etc., and the present application does not limit this. The spatial entropy is a scalar, and its range is 0 to 1. The smaller the spatial entropy, the more complex the surface of the target point, or in other words, there are more details, and the target point needs to be observed finely. Therefore, the spatial entropy can be used as an evaluation index to screen out the area where the key perception target is located as an index for adjusting the sensing beam.

[0180] In one implementation, after the processing node determines the spatial entropy, it can determine the second transmission beam configuration and the second reception beam configuration according to the spatial entropy.

[0181] In another implementation, the processing node determines the second transmission beam configuration and the second reception beam configuration according to the complexity of the perception target.

[0182] Optionally, the second transmission beam configuration and / or the second reception beam configuration includes the spatial entropy.

[0183] Optionally, the second transmission beam configuration includes a set of positions of the transmission beam scanning area, and the second reception beam configuration includes a set of positions of the reception beam scanning area. Among them, the set of positions of the beam scanning area is a set of coordinates indicating the coordinates of the beam scanning area. Optionally, the coordinates are spatial coordinates (such as x, y, z coordinates) or direction coordinates (such as azimuth angle and elevation angle) or other coordinates.

[0184] Optionally, the set of positions of the beam scanning area can be composed of a set of discrete coordinate points, and the beam scanning is performed on a set of discrete coordinate points. For example, a set of fixed direction coordinates can be used to express the direction or range of the beam scanning.

[0185] Optionally, the set of positions of the beam scanning area can be composed of a set of coordinate ranges, and the direction or area of the beam scanning can be represented by using continuous numerical ranges. For example, the pointing of the antenna can be described by using continuous azimuth angles and elevation angles. In this case, accurate beam pointing and shape can be achieved by adjusting the angle values.

[0186] As mentioned above, the second transmission beam configuration and the second reception beam configuration are used for fine scanning of the perception target, which can be understood as: the set of positions of the beam scanning area P2 corresponding to the second transmission beam configuration is smaller than the set of positions of the transmission beam scanning area P1 corresponding to the first transmission beam configuration.

[0187] Among them, P2 is determined according to the spatial entropy H α , a preset threshold h (0 < h < 1) and P1, and P2 satisfies the following formula:

[0188] P2 = P1(H α < h).

[0189] The above formula can be understood as that is, P2 is a subset of P1, P2 = P1{p1∈P1|H α (p1)<h}, that is, the set P2 of beam scanning area positions is composed of elements p1 in the set P1 of beam scanning area positions that satisfy the condition H α (p1)<h, where the element p1 is a coordinate point in the set of beam scanning area positions.

[0190] Optionally, the second transmission beam configuration includes at least one of the beam width and the beam scanning period in the set of beam scanning area positions. The second reception beam configuration also includes at least one of the beam width and the beam scanning period in the set of beam scanning area positions. Optionally, the beam width W2 corresponding to the second transmission beam configuration is less than the beam width W2 corresponding to the first transmission beam configuration.

[0191] W2 is positively correlated with the spatial entropy, and W2 satisfies the following formula:

[0192] W2 = f(H α ).

[0193] where f is a positive correlation function. For example, if W2 = KH α log(H α ), W2 = H α exp(KH α ), etc., that is, the smaller H α , the smaller the required beam width.

[0194] It should be noted that the second transmission beam configuration is a general term for the N transmission beam configurations of N links. The transmission beam configuration obtained by the transmission node of a single link in the N links is the transmission beam configuration corresponding to that link. Similarly, the second reception beam configuration is a general term for the N reception beam configurations of N links. The reception beam configuration obtained by the reception node of a single link in the N links is the reception beam configuration corresponding to that link.

[0195] S260. The transmission nodes of the N measurement links transmit N sensing signals with the second transmission beam configuration. S270. The reception nodes of the N measurement links receive the echo signals of the N sensing signals with the second reception beam configuration.

[0196] Before step S260, the transmission nodes and reception nodes of the N measurement links need to obtain the second transmission beam configuration and the second reception beam configuration respectively.

[0197] In one implementation, the processing node is a separate node, that is, a different node from the nodes in the N links.

[0198] In this case, the processing node sends a second transmission beam configuration to the sending nodes in the N measurement links and sends a second reception beam configuration to the receiving nodes in the N measurement links.

[0199] It should be understood that the processing node sending the second transmission beam configuration to the N sending nodes in the N measurement links means sending the transmission beam configuration corresponding to each sending node to a single sending node. For example, the processing node sends first sensing information to the first sending node, and this first sensing information is used to determine the second transmission beam configuration, or rather, the first sensing information is used to determine the beam configuration for the first sending node to send sensing signals in the second transmission beam configuration. Similarly, the processing node receiving the second reception beam configuration from the N receiving nodes in the N measurement links means receiving the reception beam configuration corresponding to each receiving node from a single receiving node. For example, the processing node sends second sensing information to the first receiving node, and this second sensing information is used to determine the second reception beam configuration, or rather, the second sensing information is used to determine the beam configuration for the first receiving node to receive the echo signals of the sensing signals in the second reception beam configuration.

[0200] In one implementation, the processing node and the receiving node in a certain measurement link among the N links are the same node.

[0201] In this case, the processing node sends a second transmission beam configuration to the sending nodes in the N measurement links and sends a second reception beam configuration to the receiving nodes in N - 1 measurement links. Among them, the receiving nodes in the N - 1 measurement links do not include the receiving node corresponding to the processing node. For example, if the processing node and the first receiving node are the same node, then the processing node does not need to send the second reception beam configuration to the first receiving node, that is, it does not need to send the second sensing information, but only needs to send the first sensing information to the first sending node.

[0202] In one implementation, the processing node, the receiving node and the sending node in a certain measurement link among the N links are the same node.

[0203] In this case, the processing node sends a second transmission beam configuration to the sending nodes in N - 1 measurement links and sends a second reception beam configuration to the receiving nodes in N - 1 measurement links. Among them, the N - 1 measurement links do not include the measurement link corresponding to the processing node. For example, if the processing node, the first sending node and the first receiving node are the same node, then the processing node does not need to send the second reception beam configuration to the first receiving node, that is, it does not need to send the second sensing information, nor does it need to send the first reception beam configuration to the first sending node, that is, it does not need to send the first sensing information.

[0204] In one implementation, the processing node is the same node as the sending node in a certain measurement link among the N links.

[0205] In this case, the processing node sends a second transmission beam configuration to the sending nodes in N - 1 measurement links, and sends a second reception beam configuration to the receiving nodes in N measurement links. Among them, the sending nodes in the N - 1 measurement links do not include the sending node corresponding to the processing node. For example, if the processing node and the first sending node are the same node, the processing node does not need to send the first transmission beam configuration to the first sending node, that is, does not need to send the first sensing information, but only needs to send the second sensing information to the first receiving node.

[0206] After the sending nodes and receiving nodes in the N measurement links obtain the second transmission beam configuration and the second reception beam configuration, they can perform a fine scan on the sensing target according to the second transmission beam configuration and the second reception beam configuration. For example, the first sending node sends a second sensing signal with the second transmission beam configuration, and the first receiving node receives the echo signal of the second sensing signal with the second beam reception configuration.

[0207] After performing a fine scan on the sensing target, a better-quality sensing result is obtained. If the sensing result after the fine scan still does not meet the requirements, a further fine scan can be performed, that is, the second transmission beam configuration and the second reception beam configuration are used as the new first transmission beam configuration and the first reception beam configuration, and iteration starts from step S250 until the sensing quality meets the requirements.

[0208] Through the above method, using spatial entropy as an index for sensing beam management, defining the relationship between the beam adjustment parameter and spatial entropy, and through the key scanning from coarse scan to fine scan, while reducing the beam scanning overhead, the quality of comprehensive sensing is improved.

[0209] Next, in combination with a specific scenario, the method of the present application will be introduced.

[0210] Figure 5 A communication method 500 provided by the present application is shown. This method 500 is applicable to the case where the processing node, the sending node, and the receiving node are all different nodes. This method 500 is a specific implementation of method 200. Only the flow of method 500 in combination with a specific scenario is simply shown below, and the specific implementation details refer to method 200.

[0211] S510, the sending node group sends N sensing signals with the first transmission beam configuration.

[0212] S520, the receiving node group receives the echo signals of the N sensing signals with the first reception beam configuration.

[0213] S530. The receiving node group determines N pieces of sensing data based on the echo signals of N sensing signals.

[0214] S540. The receiving node group sends the N pieces of sensing data or N sensing results of N measurement links to the processing node.

[0215] S550 (optional step). The processing node determines whether the N sensing results meet the cut-off condition. If so, the sensing is completed; if not, step S560 is executed.

[0216] S560. The processing node determines the second transmission beam configuration and the second reception beam configuration based on the N sensing results.

[0217] S570. The processing node sends the corresponding second transmission beam configuration and the second reception beam configuration to the transmission nodes or reception nodes of N measurement links respectively.

[0218] S580. The transmission node group sends N sensing signals with the second transmission beam configuration.

[0219] S590. The receiving node group receives the echo signals of N sensing signals with the second reception beam configuration.

[0220] Figure 6 A communication method 600 provided by the present application is shown. This method 600 is applicable to the case where the processing node is a separate node and all N links are self / single-base sensing links. Hereinafter, the transmission node group and the corresponding receiving node group are collectively referred to as the measurement node group. This method 600 is a specific implementation manner of method 200. Only the process of method 600 combined with a specific scenario is simply shown below, and the specific implementation manner refers to method 200.

[0221] S610. The measurement node group sends N sensing signals with the first transmission beam configuration.

[0222] S620. The measurement node group receives the echo signals of N sensing signals with the first reception beam configuration.

[0223] S630. The measurement node group determines N pieces of sensing data based on the echo signals of N sensing signals.

[0224] S640. The measurement node group sends the N pieces of sensing data or N sensing results of N measurement links to the processing node.

[0225] S650 (optional step). The processing node determines whether the N sensing results meet the cut-off condition. If so, the sensing is completed; if not, step S660 is executed.

[0226] S660. The processing node determines the second transmission beam configuration and the second reception beam configuration based on the N sensing results.

[0227] S670, the processing node separately sends corresponding second transmission beam configurations and second reception beam configurations to the transmission nodes or reception nodes of N measurement links.

[0228] S680, the measurement node group sends N sensing signals with the second transmission beam configuration.

[0229] S690, the measurement node group receives echo signals of the N sensing signals with the second reception beam configuration.

[0230] Figure 7 A communication method 700 provided by the present application is shown. This method 700 is applicable to the case where the processing node and a certain reception node are the same node. This method 700 is a specific implementation manner of method 200. Only the process of method 700 combined with a specific scenario is simply shown below, and the specific implementation manner refers to method 200.

[0231] S710, the transmission node group sends N sensing signals with the first transmission beam configuration.

[0232] S720, the reception node group receives echo signals of the N sensing signals with the first reception beam configuration.

[0233] S730, the reception node group determines N sensing data according to the echo signals of the N sensing signals.

[0234] S740, the reception nodes of N - 1 measurement links send N - 1 sensing data or N - 1 sensing results of the N - 1 measurement links to the processing node.

[0235] S750 (optional step), the processing node determines whether N sensing results meet the cut-off condition. If so, the sensing is completed; if not, step S770 is executed.

[0236] S760, the processing node determines the second transmission beam configuration and the second reception beam configuration according to the N sensing results.

[0237] S770, the processing node separately sends corresponding second transmission beam configurations and second reception beam configurations to the transmission nodes of N measurement links and the reception nodes of N - 1 measurement links.

[0238] S780, the transmission node group sends N sensing signals with the second transmission beam configuration.

[0239] S790, the reception node group receives echo signals of the N sensing signals with the second reception beam configuration.

[0240] As described above in conjunction with Figures 1 to 7 The communication method side embodiments of the present application have been described in detail. Next, in conjunction with Figures 8 to 9Describe in detail the embodiments of the communication device side of the present application. It should be understood that the description of the device embodiments corresponds to the description of the method embodiments. Therefore, for the parts not described in detail, reference can be made to the previous method embodiments.

[0241] Figure 8 is a schematic diagram of a communication device provided by an embodiment of the present application. As Figure 8 shown, the communication device 800 includes a processing module 810 and a communication module 820. The communication device 800 can be a terminal device, or a communication device that is applied to a terminal device or used in conjunction with a terminal device and can implement the methods executed by the terminal device, such as a chip, a chip system, or a circuit; or, the communication device 800 can be a network device, or a communication device that is applied to a network device or used in conjunction with a network device and can implement the methods executed by the network device, such as a chip, a chip system, or a circuit;

[0242] Among them, the communication module can also be referred to as a transceiver module, a transceiver, a transceiver machine, or a transceiver device, etc. The processing module can also be referred to as a processor, a processing board, a processing unit, or a processing device, etc. Optionally, the communication module is used to perform the sending operation and receiving operation of the terminal device and the network device in the above method. The devices used to implement the receiving function in the communication module can be regarded as the receiving unit, and the devices used to implement the sending function in the communication module can be regarded as the sending unit, that is, the communication module includes a receiving unit and a sending unit.

[0243] When the communication device 800 is applied to a terminal device, the processing module 810 can be used to implement the processing function of the terminal device in the above embodiments, and the communication module 820 can be used to implement the transceiver function of the terminal device in the above embodiments.

[0244] When the communication device 800 is applied to a network device, the processing module 810 can be used to implement the processing function of the network device in the above embodiments, and the communication module 820 can be used to implement the transceiver function of the terminal device in the above embodiments.

[0245] In addition, it should be noted that the foregoing communication module and / or processing module can be implemented by a virtual module. For example, the processing module can be implemented by a software functional unit or a virtual device, and the communication module can be implemented by a software function or a virtual device. Or, the processing module or the communication module can also be implemented by an entity device. For example, if the device is implemented by a chip / circuit (such as an integrated circuit or a logic circuit, etc.). The communication module can be an input / output circuit and / or a communication interface, performing input operations (corresponding to the foregoing receiving operations) and output operations (corresponding to the foregoing sending operations); the processing module is an integrated processor or a microprocessor or a circuit (such as an integrated circuit or a logic circuit, etc.).

[0246] The division of modules in this application is illustrative, merely a logical function division. In actual implementation, there may be other division methods. Additionally, in each example of this application, the functional modules can be integrated in a processor, exist separately physically, or two or more modules can be integrated in one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0247] Figure 9 It is a schematic diagram of another communication device provided by an embodiment of this application. As Figure 9 shown, optionally, the communication device 900 can be a chip or a chip system. Optionally, in this application, a chip system can be composed of chips or can include chips and other discrete devices.

[0248] The communication device 900 can be used to implement the functions of any device (such as a terminal device, a network device) in the communication system described in the foregoing examples. The communication device 900 can include at least one processor 910. Optionally, the processor 910 is coupled to a memory. The memory can be within the device, or the memory can be integrated with the processor, or the memory can also be outside the device. For example, the communication device 900 can also include at least one memory 920. The memory 920 stores the necessary computer programs, computer programs or instructions and / or data in implementing any of the foregoing examples; the processor 910 may execute the computer programs stored in the memory 920 to complete the methods in any of the foregoing examples.

[0249] The communication device 900 can also include a communication interface 930. The communication device 900 can interact with other devices through the communication interface 930. Exemplarily, the communication interface 930 can be a transceiver, a circuit, a bus, a module, a pin or other types of communication interfaces. When the communication device 900 is a chip-like device or a circuit, the communication interface 930 in the device 900 can also be an input / output circuit, which can input information (or, receive information) and output information (or, send information). The processor 910 is an integrated processor, a microprocessor, an integrated circuit or a logic circuit, etc. The processor can determine the output information according to the input information.

[0250] The coupling in this application is an indirect coupling or communication connection between devices, units or modules, which can be electrical, mechanical or other forms, and is used for information interaction between devices, units or modules. The processor 910 may cooperate with the memory 920 and the communication interface 930. In this application, the specific connection medium between the above-mentioned processor 910, memory 920 and communication interface 930 is not limited.

[0251] Optionally, as Figure 9As shown, the processor 910, the memory 920, and the communication interface 930 are interconnected via a bus 940. Optionally, the bus may include buses of types such as an address bus, a data bus, a control bus, etc. In addition, for ease of representation, Figure 9 one bus 940 is shown, but it does not mean that there is only one bus or one type of bus.

[0252] It should be understood that the processor mentioned in the embodiments of the present application may be the following device or a partial circuit for processing functions in the following device: a central processing unit (CPU), and may also be other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0253] It should also be understood that the memory mentioned in the embodiments of the present application may be volatile memory and / or non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM). For example, the RAM may be used as an external cache. By way of example and not limitation, the RAM includes the following various forms: static random access memory (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0254] It should be noted that when the processor is a general - purpose processor, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, the memory (storage module) can be integrated in the processor.

[0255] It should also be noted that the memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.

[0256] The embodiments of the present application also provide a computer - readable storage medium, on which computer instructions for implementing the methods executed by the terminal device and the network device in the above - mentioned method embodiments are stored.

[0257] The embodiments of the present application also provide a computer program product, including instructions, which when executed by a computer, implement the methods executed by the terminal device and the network device in the above - mentioned method embodiments.

[0258] The embodiments of the present application also provide a communication system, which includes the terminal device and the network device in the above - mentioned embodiments.

[0259] For the explanations and beneficial effects of the relevant content in any of the above - provided devices, reference can be made to the corresponding method embodiments provided above, and details will not be elaborated here.

[0260] To facilitate the understanding of the above - mentioned embodiments provided by the present application, the following points are explained:

[0261] 1) In the present application, if there is no special explanation and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0262] 2) In the present application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. In the text description of the present application, the character " / " generally represents an "or" relationship between the associated objects before and after. "At least one (item)" or its similar expression refers to any combination of these items, including any combination of single - item (item) or plural - item (items). For example, at least one (item) of a, b, and c can represent: a, or, b, or, c, or, a and b, or, a and c, or, b and c, or, a, b, and c. Where a, b, and c can be single or multiple respectively.

[0263] 3) The ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects, and are not used to limit the size, content, order, time sequence, priority, or importance of multiple objects, etc. For example, the first indication information and the second indication information may be the same information or different information, and such names do not indicate differences in the content, size, application scenario, sender / receiver, priority, or importance of these two messages. In addition, the numbering of steps in each embodiment introduced in this application is only for distinguishing different steps and does not limit the sequence of steps.

[0264] 4) In this application, descriptions such as "when...", "in the case of...", and "if" all refer to the device making corresponding processing under a certain objective situation, not limited to time, and do not require the device to have a judgment action during implementation, nor does it mean there are other limitations.

[0265] 5) In this application, "indicate" or "used to indicate" may include direct indication and indirect indication. When describing that a certain indication information is used to indicate A, it may include the indication information directly indicating A or indirectly indicating A, and does not mean that A must be carried in the indication information.

[0266] The indication methods involved in the embodiments of this application should be understood to cover various methods that can enable the party to be indicated to obtain the indication information. The indication information can be sent as a whole or divided into multiple sub-information and sent separately, and the sending periods and / or sending timings of these sub-information can be the same or different. This application does not limit, for example, the sending method.

[0267] The "indication information" in the embodiments of this application can be explicit indication, that is, directly indicated by signaling, or obtained by combining other rules or other parameters or through derivation according to the parameters indicated by the signaling. It can also be implicit indication, that is, obtained according to rules or relationships, or other parameters, or through derivation. This application does not make specific limitations on this.

[0268] 6) The "protocol" involved in this application may refer to standard protocols in the communication field. For example, it may include fourth-generation (4 th generation, 4G) network, fifth-generation (5 th generation, 5G) network protocol, NR protocol, 5.5G network protocol, sixth-generation (6 th generation, 6G) network protocol, and related protocols applied to future communication systems. This application does not make limitations on this.

[0269] 7) In this application, "communication" can also be described as "data transmission", "information transmission", "data processing", etc. "Transmission" includes "sending" and "receiving".

[0270] 8) In this application, "sending information to XX (device)" can be understood as the destination of the information being the device. It can include sending information to the device directly or indirectly. "Receiving information from XX (device), or receiving information originating from XX (device)" can be understood as the source of the information being the device, and it can include receiving information from the device directly or indirectly. The information may be subject to necessary processing, such as format change, etc., between the source and destination of the information transmission, but the destination can understand the valid information from the source.

[0271] 9) The terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0272] In various embodiments of this application, the magnitude of the sequence numbers of the above processes does not imply the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0273] In this application, on the premise of no logical contradiction, the examples can reference each other. For example, the methods and / or terms between method embodiments can reference each other, for example, the functions and / or terms between device embodiments can reference each other, for example, the functions and / or terms between device examples and method examples can reference each other.

[0274] It should be understood that in some of the above embodiments, mainly devices in the existing network architecture are used as examples for illustrative purposes, and the specific form of the device is not limited in the embodiments of this application. For example, devices that can achieve the same functions in the future are applicable to the embodiments of this application.

[0275] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A professional technician can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0276] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be described herein again.

[0277] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0278] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0279] In addition, the functional units in each embodiment of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0280] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-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 a part of this technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0281] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application and should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A communication method, characterized in that, Including: Sending a first sensing signal with a first transmission beam configuration; Receiving first sensing information for determining a second transmission beam configuration, where the second transmission beam configuration includes a set of transmission beam scanning area positions related to the complexity of the sensing target, or the second transmission beam configuration includes a spatial entropy related to a first sensing result, the first sensing result being the sensing result corresponding to the first sensing signal, and the spatial entropy indicating the complexity of the sensing target; Sending a second sensing signal with the second transmission beam configuration.

2. A communication method, characterized in that, Including: Receiving an echo signal of the first sensing signal with a first reception beam configuration; Determining first sensing data based on the echo signal of the first sensing signal, the first sensing data being used to determine a first sensing result; Sending the first sensing data or the first sensing result; Receiving second sensing information for determining a second reception beam configuration, where the second reception beam configuration includes a set of reception beam scanning area positions related to the complexity of the sensing target, or the second reception beam configuration includes a spatial entropy related to the first sensing result, the spatial entropy indicating the complexity of the sensing target; Receiving an echo signal of the second sensing signal with the second beam reception configuration.

3. The method according to claim 1 or 2, characterized in that, The first sensing result is one of the sensing results of N measurement links, each of the N measurement links being composed of a transmitting node and a receiving node, the N measurement links corresponding to N sensing signals, the N measurement links including a first measurement link corresponding to the first sensing signal, N being an integer greater than 1, and the spatial entropy is also related to the sensing results of N - 1 measurement links other than the first measurement link among the N measurement links.

4. The method according to claim 3, wherein The spatial entropy H α has a value of: where n is the serial number of the measurement link, and p(n) is the pseudo-probability corresponding to the measurement link, and R(n) is the sensing result of the nth measurement link.

5. The method according to any one of claims 1 to 4, characterized in that, The second transmission beam configuration further includes at least one of a transmission beam width and a beam scanning period, and / or the second reception beam configuration further includes at least one of a reception beam width and a beam scanning period.

6. The method according to claim 5, wherein The set of transmission beam scanning area positions P2 corresponding to the second transmission beam configuration is smaller than the set of transmission beam scanning area positions P1 corresponding to the first transmission beam configuration, and / or the transmission beam width W2 corresponding to the second transmission beam configuration is smaller than the transmission beam width W2 corresponding to the first transmission beam configuration; and / or The set of reception beam scanning area positions P′2 corresponding to the second reception beam configuration is smaller than the set of reception beam scanning area positions P′1 corresponding to the first reception beam configuration, and / or the reception beam width W′2 corresponding to the second reception beam configuration is smaller than the reception beam width W′1 corresponding to the first reception beam configuration.

7. The method according to claim 2, wherein The method further includes: Sending a first sensing signal with a first transmission beam configuration; Receive first sensing information, where the first sensing information is used to determine a second transmission beam configuration, the second transmission beam configuration includes a set of transmission beam scanning area positions, the set of transmission beam scanning area positions is related to the complexity of the sensing target, or the second transmission beam configuration includes spatial entropy, the spatial entropy is related to the sensing result corresponding to the first sensing signal, and the spatial entropy indicates the complexity of the sensing target; Transmit a second sensing signal with the second transmission beam configuration.

8. The method according to claim 7, wherein The first sensing result is one of the sensing results of N measurement links, each of the N measurement links is composed of a transmitting node and a receiving node, the N measurement links correspond to N sensing signals, the N measurement links include a first measurement link, the first measurement link corresponds to the first sensing signal, N is an integer greater than 1, and the spatial entropy is also related to the sensing results of N - 1 measurement links other than the first measurement link among the N measurement links.

9. The method according to claim 8, wherein The spatial entropy H α has a value of: Among them, n is the serial number of the measurement link, and p(n) is the pseudo-probability corresponding to the measurement link. R(n) is the sensing result of the nth measurement link.

10. The method according to any one of claims 7 to 9, characterized in that The second transmission beam configuration further includes at least one of a transmission beam width and a beam scanning period.

11. The method according to claim 10, wherein The set of transmission beam scanning area positions P2 corresponding to the second transmission beam configuration is smaller than the set of transmission beam scanning area positions P1 corresponding to the first transmission beam configuration, and / or the transmission beam width W2 corresponding to the second transmission beam configuration is smaller than the transmission beam width W2 corresponding to the first transmission beam configuration.

12. A communication method, characterized in that, Include: Obtain the sensing results of N measurement links, each of the N measurement links is composed of a transmitting node and a receiving node, the N measurement links correspond to N sensing signals, the N measurement links include a first measurement link, the first measurement link corresponds to the first sensing signal, the N sensing results include a first sensing result, the first sensing result is determined according to the echo signal of the first sensing signal, and N is an integer greater than 1; Determine a second transmission beam configuration and a second reception beam configuration according to the N sensing results, the second transmission beam configuration is used to transmit a second sensing signal, the second transmission beam configuration includes a set of transmission beam scanning area positions, the set of transmission beam scanning area positions is related to the complexity of the sensing target, or the second transmission beam configuration includes spatial entropy, the spatial entropy is determined by the N sensing results, the spatial entropy indicates the complexity of the sensing target, the second reception beam configuration is used to receive the echo signal of the second sensing signal, the second reception beam configuration includes a set of reception beam scanning area positions, the set of reception beam scanning area positions is related to the complexity of the sensing target, or the second reception beam configuration includes the spatial entropy.

13. The method according to claim 12, wherein The second transmission beam configuration further includes at least one of a transmission beam width and a beam scanning period, and / or the second reception beam configuration further includes at least one of a reception beam width and a beam scanning period.

14. The method according to claim 12 or 13, characterized in that, The spatial entropy H α has a value of: Among them, n is the serial number of the measurement link, and p(n) is the pseudo-probability corresponding to the measurement link. R(n) is the sensing result of the nth measurement link.

15. The method according to any one of claims 12 to 14, characterized in that, The set of positions P2 of the transmission beam scanning area corresponding to the second transmission beam configuration is smaller than the set of positions P1 of the transmission beam scanning area corresponding to the first transmission beam configuration, and / or, the transmission beam width W2 corresponding to the second transmission beam configuration is smaller than the transmission beam width W1 corresponding to the first transmission beam configuration; and / or, The set of positions P′2 of the reception beam scanning area corresponding to the second reception beam configuration is smaller than the set of positions P′1 of the reception beam scanning area corresponding to the first reception beam configuration, and / or, the reception beam width W′2 corresponding to the second reception beam configuration is smaller than the reception beam width W′1 corresponding to the first reception beam configuration.

16. The method according to any one of claims 12 to 15, characterized in that, The method further includes: Transmitting first sensing information and second sensing information, where the first sensing information is used to determine the second transmission beam configuration, and the second sensing information is used to determine the second reception beam configuration.

17. The method according to any one of claims 12 to 16, characterized in that, The obtaining of the N sensing results of the N measurement links includes: Receiving the first sensing result; Or, Receiving first sensing data and determining the first sensing result according to the first sensing data.

18. The method according to any one of claims 12 to 15, characterized in that, The method further includes: Receiving the echo signal of the first sensing signal with the first reception beam configuration; Receiving the echo signal of the second sensing signal with the second beam reception configuration.

19. The method according to claim 18, wherein The obtaining of the N sensing results of the N measurement links includes: Determining the first sensing data according to the echo signal of the first sensing signal and determining the first sensing result according to the first sensing data.

20. The method according to claim 18 or 19, characterized in that, The method further includes: Transmitting first sensing information, where the first sensing information is used to determine the second transmission beam configuration.

21. The method according to claim 18 or 19, characterized in that The method further includes: Transmitting the first sensing signal with the first transmission beam configuration; Transmitting the second sensing signal with the second transmission beam configuration.

22. The method according to any one of claims 12 to 15, characterized in that The method further includes: Transmitting the first sensing signal with the first transmission beam configuration; Transmitting the second sensing signal with the second transmission beam configuration.

23. The method according to claim 22, wherein The obtaining of the N sensing results of the N measurement links includes: Receiving the first sensing result; Or, Receiving first sensing data and determining the first sensing result according to the first sensing data.

24. The method according to claim 22 or 23, characterized in that, The method further includes: Transmitting second sensing information, where the second sensing information is used to determine the second reception beam configuration.

25. A communication device, characterized in that, Including: A unit for implementing the method according to any one of claims 1 or 3 to 6; or, a unit for implementing the method according to any one of claims 2 or 3 to 11; or, a unit for implementing the method according to any one of claims 12 to 24.

26. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or instruction, when the computer program or instruction is run, Executing the method according to any one of claims 1 or 3 to 6, or Executing the method according to any one of claims 2 or 3 to 11, or Executing the method according to any one of claims 12 to 24.

27. A communication system, characterized in that, Including at least one of a sending node, a receiving node, and a processing node, the sending node is configured to perform the method according to any one of claims 1 or 3 to 6, the receiving node is configured to perform the method according to any one of claims 2 or 3 to 11, and the processing node is configured to perform the method according to any one of claims 12 to 24.

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