Method and communication node

Abstract

A method of communication aware integration performed by a first communication node of a wireless communication network is provided. The method includes receiving a first instance of a wireless communication signal transmitted by a second communication node of the wireless communication network. The method includes receiving a second instance of the wireless communication signal transmitted by the second communication node. The second instance of the wireless communication signal is a reflection of the wireless communication signal transmitted by the second communication node from the perceived target object. The method comprises determining that a second instance of the wireless communication signal is received by the first communication node within a predefined time window after receiving the first instance of the wireless communication signal, and / or determining that the second instance of the wireless communication signal is received by the first communication node within a predefined angular reception range after receiving the first instance of the wireless communication signal. In response, the method includes determining that the first instance and the second instance of the wireless communication signal are instances of the same wireless communication signal based on a comparison between the first instance of the wireless communication signal and the second instance of the wireless communication signal. The method includes detecting a perceived target object based on the first instance and the second instance of the wireless communication signal.

Description

Background Technical Field

[0002] The present disclosure relates to communication nodes and methods for integrated communication and sensing.

[0003] This application claims the Paris Convention priority of European Patent Application No. EP22213239.1, the entire content of which is incorporated herein by reference. Background Art

[0004] The "Background" description provided herein is for the purpose of presenting the context of the present disclosure generally. The work of the presently named inventors to the extent it is described in this background art section and aspects of the description that may not constitute prior art at the time of filing are neither expressly nor impliedly admitted to be prior art against the present invention.

[0005] Previous generation mobile telecommunications systems (e.g., mobile telecommunications systems based on the UMTS and Long Term Evolution (LTE) architectures defined by 3GPP) are capable of supporting a wider range of services than the simple voice and messaging services provided by previous generations of mobile telecommunications systems. For example, with the improved radio interface and enhanced data rates provided by the LTE system, users can enjoy high data rate applications such as mobile video streaming and mobile video conferencing, which were previously only available via fixed line data connections. Accordingly, there is a strong demand to deploy such networks, and the coverage areas of these networks (i.e., the geographical locations where the network can be accessed) are expected to continue to increase rapidly.

[0006] It is expected that current and future wireless communication networks will routinely and effectively support communication with an increasingly broad range of devices, which are associated with a wider range of data traffic characteristics and types than those for which existing systems are optimized to support. For example, future wireless communication networks are expected to effectively support communication with devices, including reduced-complexity devices, machine-type communication (MTC) devices, high-resolution video displays, virtual reality headsets, extended reality (XR), etc. Some of these different types of devices can be deployed in large numbers, e.g., low-complexity devices for supporting the "Internet of Things", and typically can be associated with the transmission of relatively small amounts of data with relatively high latency tolerance. Other types of devices, such as those supporting high-definition video streaming, can be associated with the transmission of relatively large amounts of data with relatively low latency tolerance. Other types of devices, such as those for autonomous vehicle communication and for other critical applications, can be characterized by data that should be transmitted over the network with low latency and high reliability. Depending on the application being run, a single device type may also be associated with different traffic characteristics / attributes. For example, different considerations can be applied to effectively support data exchange with a smartphone when it is running a video streaming application (high downlink data) compared to when it is running an Internet browsing application (intermittent uplink and downlink data) or being used for voice communication by an emergency responder in an emergency scenario (data subject to strict reliability and latency requirements).

[0007] In view of this, it is expected that current wireless communication networks (e.g., those that can be referred to as 5G or New Radio (NR) systems / New Radio Access Technology (RAT) systems), or indeed future 6G wireless communication and future iterations / releases of existing systems, are expected to effectively support the connectivity of a wide range of devices associated with different applications and different characterized data traffic characteristics and requirements.

[0008] An example of a new service is referred to as ultra-reliable low-latency communication (URLLC) service, which, as the name implies, requires data units or packets to be communicated with high reliability and low communication latency. Another example of a new service is extended reality (XR), which can be provided by various user devices (e.g., wearable devices). XR combines the real world and virtual environments, integrating aspects such as augmented reality (AR), mixed reality (MR), and virtual reality (VR), and thus requires high quality and minimized interaction latency. Therefore, services such as URLLC and XR represent challenging examples for LTE-type communication systems and 5G / NR communication systems as well as for next-generation communication systems.

[0009] With the expected growth of VR and XR services, and in particular with the expected increase in the deployment of technologies in areas such as vehicle-to-everything (V2X), coordinated sensing is expected to become necessary and will become increasingly possible with the development of the Internet of Things (IoT) and MTC devices. SUMMARY OF THE INVENTION

[0010] The present disclosure may help solve or mitigate at least some of the above problems.

[0011] An example embodiment may provide a method for communication and sensing integration performed by a first communication node of a wireless communication network. The method includes receiving a first instance of a wireless communication signal transmitted by a second communication node of the wireless communication network. The method includes receiving a second instance of the wireless communication signal transmitted by the second communication node. The second instance of the wireless communication signal is a reflection of the wireless communication signal transmitted by the second communication node from a sensed target object. The method includes determining that the second instance of the wireless communication signal is received by the first communication node within a predefined time window after the first communication node receives the first instance of the wireless communication signal, and / or determining that the second instance of the wireless communication signal is received by the first communication node within a predefined angular reception range after the first communication node receives the first instance of the wireless communication signal. In response, the method includes determining, based on a comparison between the first instance of the wireless communication signal and the second instance of the wireless communication signal, that the first instance and the second instance of the wireless communication signal are instances of the same wireless communication signal. The method includes detecting the sensed target object based on the first instance and the second instance of the wireless communication signal.

[0012] An example embodiment may also provide a method for communication and sensing integration performed by a second communication node of a wireless communication network. The method includes determining a predefined time window of a first communication node of the wireless communication network. The predefined time window is after the first communication node receives the first instance of the wireless communication signal. The predefined time window is used by the first communication node to determine that the second instance of the wireless communication signal is received by the first communication node within the predefined time window. The second instance of the wireless communication signal is a reflection of the wireless communication signal from a sensed target object. Instead of determining the predefined time window, or in addition to determining the predefined time window, the method includes determining a predefined angular reception range of the first communication node. The predefined angular range is used by the first communication node to determine that the second instance of the wireless communication signal is received by the first communication node within the predefined angular range after the first communication node receives the first instance of the wireless communication signal. The method includes transmitting an indication of the predefined time window and / or the predefined angular range to the first communication node.

[0013] As will be explained with reference to the following detailed description, determining that a second instance of a wireless communication signal has been received within a predefined time window after a first instance of the wireless communication signal and / or within a predefined angular reception range can improve the computational resource usage efficiency in the context of communication-sensing integration while maintaining a low risk of undesired missed detections.

[0014] The various aspects and features of the present disclosure are defined in the appended claims.

[0015] It should be understood that the foregoing general description and the following detailed description are both exemplary and non-limiting of the present technology. The described embodiments and further advantages will be best understood by reference to the following detailed description in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Since the present disclosure and many of its attendant advantages become better understood when considered in conjunction with the accompanying drawings, a more complete appreciation of the present disclosure and many of its attendant advantages will be readily obtained, wherein like reference numerals refer to like or corresponding parts throughout the several views, and wherein:

[0017] Figure 1 Schematically depicts some aspects of an LTE-type radio telecommunications system that can be configured to operate in accordance with a particular embodiment of the present disclosure;

[0018] Figure 2 Schematically depicts some aspects of a new radio access technology (RAT) radio telecommunications system that can be configured to operate in accordance with a particular embodiment of the present disclosure;

[0019] Figure 3 is a schematic block diagram of an example infrastructure device and communication device that can be configured to operate in accordance with a particular embodiment of the present disclosure;

[0020] Figure 4 Schematically illustrates an example of communication-sensing integration;

[0021] Figure 5 is a flowchart showing a method of communication-sensing integration performed by a communication node according to an example embodiment;

[0022] Figure 6 Schematically illustrates an example of communication-sensing integration according to an example embodiment;

[0023] Figure 7 Schematically illustrates an example of communication-sensing integration according to an example embodiment;

[0024] Figure 8Schematically shows an example of communication and sensing integration according to an example embodiment. Detailed implementation

[0025] Long Term Evolution Advanced Radio Access Technology (4G)

[0026] Figure 1 Provides a schematic diagram showing some basic functions of a mobile telecommunications network / system 6, which generally operates according to LTE principles, but can also support other radio access technologies and can be adapted to implement the embodiments of the present disclosure described herein. Figure 1 Specific aspects of the various elements and their corresponding operating modes are well known and defined in the relevant standards managed by the 3GPP (RTM) organization and are also described in many books on the subject, such as Holma H. and Toskala A [1]. It should be understood that the operating aspects of the telecommunications network not specifically described herein (e.g., regarding the specific communication protocols and physical channels used for communication between different elements) can be implemented according to any known technology, e.g., according to the relevant standards and known proposed modifications and additions to the relevant standards.

[0027] Network 6 includes a plurality of base stations 1 connected to the core network 2. Each base station provides a coverage area 3 (i.e., a cell) within which data can be communicated with a communication device 4. Although each base station 1 is Figure 1 shown as a single entity in the figure, those skilled in the art should understand that some functions of the base station can be performed by different, interconnected elements, such as an antenna (or antennae), a remote radio head, an amplifier, etc. Generally, one or more base stations can form a radio access network.

[0028] Data is transmitted from the base station 1 to the communication device 4 within its corresponding coverage area 3 via a wireless downlink. Data is transmitted from the communication device 4 to the base station 1 via a wireless uplink. The core network 2 routes data to and from the communication device 4 via the corresponding base station 1 and provides functions such as authentication, mobility management, charging, etc. The terminal device can also be referred to as a mobile station, a user equipment (UE), a user terminal, a mobile radio device, a communication device, etc. The services provided by the core network 2 can include connectivity to the Internet or to an external telephone service. The core network 2 can further track the location of the communication device 4 such that it can effectively contact (i.e., page) the communication device 4 for transmitting downlink data to the communication device 4.

[0029] A base station is an example of network infrastructure equipment and may also be referred to as a transceiver station, nodeB, e-nodeB, eNB, g-nodeB, gNB, etc. In this regard, different terms are typically associated with different generations of radio telecommunication systems for elements that provide generally equivalent functionality. However, particular embodiments of the present disclosure may be equivalently implemented in different generations of radio telecommunication systems, and for simplicity, a particular term may be used regardless of the underlying network architecture. That is, the use of a particular term associated with a particular example embodiment is not intended to indicate that these implementations are limited to a particular generation of network most associated with that particular term.

[0030] New Radio Access Technology (5G)

[0031] It is expected that systems employing NR technology will support different services (or service types), which may be characterized by different requirements for latency, data rate, and / or reliability. For example, enhanced mobile broadband (eMBB) services are characterized by high capacity and are required to support up to 20 Gb / s. Ultra-reliable low-latency communication (URLLC) services require that the one-way transmission of a 32-byte data packet from the radio protocol layer 2 / 3 SDU entry point to the radio protocol layer 2 / 3 SDU exit point of the radio interface be within 1 ms, and the reliability be 1 - 10 -5 (99.999%) or higher (99.9999%) [2].

[0032] Massive machine type communication (mMTC) is another example of a service that may be supported by an NR-based communication network. Additionally, it is expected that the system will support further enhancements related to the industrial Internet of Things (IIoT) in order to support new requirements for high availability, high reliability, low latency, and in certain cases, high-precision positioning.

[0033] Figure 2 An exemplary configuration of a wireless communication network using some of the terms proposed for and used in NR and 5G is shown. In Figure 2In this example, multiple transmit and receive points (TRPs) 10 are connected to distributed control units (DUs) 41, 42 via a connection interface represented as line 16. Each of the TRPs 10 is arranged to transmit and receive signals via a radio access interface within the radio frequency bandwidth available to the wireless communication network. Thus, within the scope of performing wireless communication via the radio access interface, each of the TRPs 10 forms a cell of the wireless communication network represented by circle 12. In this way, a wireless communication device 14 within the wireless communication range provided by cell 12 can transmit signals to and receive signals from the TRP 10 via the radio access interface. Each of the distributed units 41, 42 is connected to a central unit (CU) 40 (which may be referred to as a control node) via an interface 46. The central unit 40 is then connected to a core network 20, which may include all other functions required to transmit data for communicating with the wireless communication device, and the core network 20 may be connected to other networks 30.

[0034] Figure 2 The elements of the wireless access network shown can operate in a manner similar to the corresponding elements of the LTE network described in the example with respect to Figure 1 It should be understood that the aspects of operation of the telecommunication network represented by and other networks discussed herein according to embodiments of the present disclosure (e.g., with respect to the specific communication protocols and physical channels used for communication between different elements) can be implemented according to any known technique, e.g., according to currently used methods for implementing such aspects of operation of a radio telecommunication system, e.g., according to relevant standards. Figure 2 The TRP 10 of

[0035] Figure 2 may partially have functions corresponding to those of a base station or eNodeB of an LTE network. Similarly, the communication device 14 may have functions corresponding to those of a UE device 4 known for operation in an LTE network. Thus, it should be understood that the aspects of operation of the new RAT network (e.g., with respect to the specific communication protocols and physical channels used for communication between different elements) may be different from those known from LTE or other known mobile telecommunication standards. However, it should also be understood that each of the core network components, base stations, and communication devices in the new RAT network will functionally be similar to the core network components, base stations, and communication devices of an LTE wireless communication network, respectively.

[0036] In terms of broad top-level functions, Figure 2 the core network 20 connected to the new RAT telecommunication system shown can be broadly considered to correspond to Figure 1 the core network 2 represented by, and the corresponding central unit 40 and its associated distributed unit / TRP 10 can be broadly considered to provide functionality corresponding to Figure 1The functions corresponding to base station 1. The term network infrastructure device / access node can be used to encompass these elements of a radio telecommunications system and more conventional base station type elements. Depending on the application to be used, the responsibility for scheduling transmissions on the radio interface between the respective distributed unit and the communication device can lie with the control node / central unit and / or the distributed unit / TRP. In Figure 2 it represents the communication device 14 within the coverage area of the first communication cell 12. This communication device 14 can thus exchange signaling with the first central unit 40 in the first communication cell 12 via one of the distributed units / TRPs 10 associated with the first communication cell 12.

[0037] It should also be understood that Figure 2 merely represents an example of a proposed architecture for a new RAT-based telecommunications system, where methods according to the principles described herein can be adopted, and the functions disclosed herein can also be applied to radio telecommunications systems with different architectures.

[0038] Therefore, the specific embodiments of the present disclosure discussed herein can be implemented in a radio telecommunications system / network according to various different architectures (e.g., Figure 1 and 2 the example architectures shown). Thus, it should be understood that the specific radio telecommunications architecture in any given implementation is not of primary significance for the principles described herein. In this regard, the specific embodiments of the present disclosure can be generally described in the context of communication between a network infrastructure device / access node and a communication device, where the specific nature of the network infrastructure device / access node and the communication device will depend on the network infrastructure to be used. For example, in some scenarios, the network infrastructure device / access node can include a base station, e.g., Figure 1 the LTE-type base station 1 shown, which is adapted to provide functions according to the principles described herein, and in other examples, the network infrastructure device can include Figure 2 the control unit / control node 40 and / or the TRP 10 of the type shown, which is adapted to provide functions according to the principles described herein.

[0039] Figure 3 A more detailed illustration of some of the network components shown in Figure 2 is provided. In Figure 3 as shown in Figure 2 the TRP10 includes a radio transmitter 30, a radio receiver 32, and a controller or control processor 34 shown as a simplified representation, which can operate to control the transmitter 30 and the radio receiver 32 to transmit and receive radio signals for one or more UEs 14 within the cell 12 formed by the TRP 10. As shown in Figure 3As shown, the example UE 14 is shown as including a corresponding transmitter 49, a receiver 48, and a controller 44, which is configured to control the transmitter 49 and the receiver 48 to transmit a signal representing uplink data to a wireless communication network via a radio access interface formed by the TRP 10, and receive downlink data as a signal transmitted by the transmitter 30 and received by the receiver 48 according to normal operations.

[0040] The transmitters 30, 49 and the receivers 32, 48 (and other transmitters, receivers, and transceivers described in the examples and embodiments of the present disclosure) may include radio frequency filters and amplifiers as well as signal processing components and devices to transmit and receive wireless signals according to, for example, the 5G / NR standard. The controllers 34, 44 (and other controllers described in the examples and embodiments of the present disclosure) may be, for example, a microprocessor, a CPU, or a dedicated chipset, etc., configured to execute instructions stored on a computer-readable medium (such as non-volatile memory). The processing steps described herein may be executed by, for example, a microprocessor in combination with a random access memory operating according to instructions stored on a computer-readable medium. For ease of representation, the transmitters, receivers, and controllers are schematically shown as independent elements in Figure 3 However, it should be understood that the functions of these elements may be provided in various different ways, for example, using one or more appropriately programmed programmable computers or one or more appropriately configured application specific integrated circuits / circuit systems / chips / chip sets. It should be understood that infrastructure devices / TRPs / base stations and UEs / communication devices will generally include various other elements associated with their operating functions.

[0041] As Figure 3 shown, the TRP 10 also includes a network interface 50 connected to the DU 42 via a physical interface 16. Therefore, the network interface 50 provides a communication link for data and signaling traffic from the TRP 10 via the DU 42 and the CU 40 to the core network 20.

[0042] The interface 46 between the DU 42 and the CU 40 is known as the F1 interface, which may be a physical interface or a logical interface. The F1 interface 46 between the CU and the DU may operate according to the specifications 3GPP TS 38.470 and 3GPP TS 38.473, and may be formed by an optical fiber or other wired or wireless high-bandwidth connection. In one example, the connection 16 from the TRP 10 to the DU 42 is via an optical fiber. The connection between the TRP 10 and the core network 20 is generally referred to as a backhaul, which includes the interface 16 from the network interface 50 of the TRP 10 to the DU 42 and the F1 interface 46 from the DU 42 to the CU 40.

[0043] Communication Sensing Integration

[0044] A recent area of interest in this field relates to the integration of communication and sensing [3], particularly wireless sensing and its potential applications in future technologies related to transportation vehicles and vehicle-based technical systems.

[0045] Wireless sensing is the acquisition of information related to a remote object and its characteristics without any physical contact with the remote object itself. Such an object can be referred to as a "sensed target object". Data related to the sensing of the object and its surrounding environment can be analyzed by a communication device, and the characteristics of the object can be determined from this analysis process. For example, a common form of wireless sensing is radar, which can use radio waves to at least determine the distance to a remote object, the angle of the remote object, and / or the instantaneous speed of the remote object without any physical contact between the object and the sensing device (e.g., a radar gun). In addition to non-radio frequency (RF) sensing technologies such as time-of-flight cameras, accelerometers, gyroscopes, and lidar, other RF sensing technologies can also be used.

[0046] The integration of communication and sensing includes at least two scenarios, which can be roughly divided into communication-assisted sensing and sensing-assisted communication. Communication-assisted sensing can be considered, for example, as a communication system that provides sensing services and its operation. Sensing-assisted communication can be considered, for example, as the situation when sensing information related to a communication channel or environment is used to improve the communication services of the communication system itself. For example, sensing information can be used to assist in wireless resource management, interference mitigation, beam management, mobility, etc. of a communication system (e.g., a 5G wireless communication network).

[0047] Regarding the first scenario, i.e., communication-assisted sensing, there are many services that may adopt this technology. One example includes the real-time monitoring of the environment of a communication system. That is, wireless signals can be used to reconstruct a local environmental map, with the aim of further improving positioning accuracy and enabling environment-related applications. Such environment-related applications can include the creation and maintenance of dynamic 3D maps for driving assistance, pedestrian flow statistics, intrusion detection, etc. Another example can include applying communication-assisted sensing to autonomous vehicles or unmanned aerial vehicles, which, although different, have some common functional requirements and are therefore combined here for the sake of brevity. For example, both autonomous vehicles and UAVs can support a detect-and-avoid DAA procedure to avoid obstacles and collisions. In addition, both can have the ability to monitor path information, such as traffic monitoring, route selection, compliance with traffic rules, etc.

[0048] Another example of using communication-assisted sensing could be monitoring air pollution. The quality of the received wireless signals exhibits different attenuation characteristics and coefficients according to air humidity, airborne particulate matter (PM) concentration, carrier frequency, etc. It is expected that this can be used for weather and air quality monitoring and detection. The last example related to communication-assisted sensing is the application of this technology in indoor healthcare and intrusion detection. Using this technology, many medical and healthcare purposes can be achieved, such as estimating the breathing rate, estimating the breathing depth, apnea detection, monitoring the vital signs of the elderly and infants, and indoor intrusion detection.

[0049] Sense-assisted communication also has many potential applications, and the sensing of the wireless communication channel and the surrounding environment can further improve the performance of the communication system. Due to sensing the location and channel environment of the sensing user equipment / communication device, some examples of sense-assisted communication include reducing the beam scanning range and shortening the beam training time. The benefits that this can have are reducing the time required to establish a connection between the communication device and the wireless communication network, and thereby reducing the interference and power consumption of the signals on the wireless access interface. Another application involves prediction. By sensing the location, speed, movement trajectory, and channel environment of the communication device either as an independent process or as part of the above beamforming process, the communication overhead related to beam measurement and the latency of beam tracking can be reduced. In addition, the sensing of the attributes of the communication device and the channel environment can allow for an improvement in the channel estimation of the communication between the communication device and the wireless access network.

[0050] Figure 4 An example of communication-sensing integration is schematically shown. As Figure 4 shown, the second communication node 404 transmits a wireless communication signal 408. The wireless communication signal 408 is used to convey information from the second communication node 404 to the first communication node 402. As Figure 4 shown, the first communication node 402 directly receives the wireless communication signal 408 from the second communication node 404. In other words, the first communication node 402 receives a first instance of the wireless communication signal 408 transmitted by the second wireless communication node 404. In addition, as Figure 4 shown, the wireless communication signal 408 transmitted by the second communication node 404 is also reflected from the sensing target object 406. The first communication node 402 also receives the reflected wireless communication signal 410. In other words, the first communication node 402 receives a second instance of the wireless communication signal 408 transmitted by the second communication node 404. As will be appreciated by those skilled in the art, the reflection of the wireless communication signal 408 can follow substantially the same physical principles as the reflection of radar signals.

[0051] The first communication node 402 determines that the first instance and the second instance of the wireless communication signal 408 are instances of the same wireless communication signal 408 based on a comparison between the first instance and the second instance of the wireless communication signal 408. For example, the first communication node 402 may perform cross-correlation on the first instance and the second instance of the wireless communication signal 408 and identify a correlation peak based on the cross-correlation. If the correlation peak is higher than a predefined threshold level, the first communication node 402 determines that the first instance and the second instance of the wireless communication signal 408 are instances of the same wireless communication signal 408. Thus, the first communication node 402 determines that it can use the first instance and the second instance of the wireless communication signal 408 to detect the sensed target object 406. In addition to cross-correlation, other methods of comparing the first instance and the second instance of the wireless communication signal 408 to determine that they are instances of the same wireless communication signal 408 are known to those skilled in the art.

[0052] As used herein, the term "communication node" refers to an entity capable of wireless communication. For example, a communication node may be a communication device (e.g., a UE or a relay UE) or an infrastructure device of a wireless communication network (e.g., a gNB).

[0053] In Figure 4 In the example shown, the first communication node 402 is included in a vehicle, and the second communication node 404 is included in another vehicle. For example, the vehicle may be a road, sea, or air vehicle. The first and second communication nodes 402, 404 may be communication circuitry embedded in the respective vehicles or communication devices mounted in the respective vehicles. In Figure 4In the example shown, the sensed target object 406 is a cyclist. In this example, the detection of the sensed target object 406 can include determining the moving speed, moving direction, and / or position of the sensed target object 406 relative to the first communication node 402. For example, by comparing the arrival time of a first instance of the wireless communication signal 408 and the arrival time of a second instance of the wireless communication signal 408, the moving speed, moving direction, and / or position of the sensed target object 406 relative to the first communication node 402 is determined. In some examples, the second communication node 404 can transmit auxiliary information to the first communication node 402 for the first communication node 402 to detect the sensed target object 406 based on the auxiliary information, the first instance of the wireless communication signal 408, and the second instance of the wireless communication signal 408. The auxiliary information can include one or more of the transmission time of the wireless communication signal 408 and the angle at which the wireless communication signal 408 leaves the second communication node 404. In some embodiments, the first communication node 402 determines the distance between the first communication node 402 and the second communication node 404 based on the time when the first instance of the wireless communication signal 408 arrives at the first communication node 402 and the transmission time of the wireless communication signal 408 in the auxiliary information. In some embodiments, the distance between the first communication node 402 and the second communication node 404 is included in the auxiliary information. In some embodiments, the auxiliary information can be included in the wireless communication signal 408. In some embodiments, the auxiliary information is transmitted to the first communication node via LIDAR or radar. In some embodiments, when the first communication node is included in a vehicle, the auxiliary information is provided to the first communication node by a sensor of the vehicle, such as a revolutions per minute (RPM) sensor.

[0054] Accordingly, the first communication node 402 can determine whether there is a risk of collision with the sensed target object 406. In other words, the first communication node 402 can determine whether the sensed target object 406 is a potential collision hazard. For example, if the first communication node 404 determines that the sensed target object 406 is below a predefined threshold distance from the first communication node 402, the first communication node can determine that the sensed target object 406 is a potential collision hazard. In response to detecting that the sensed target object 406 is a potential collision hazard, the first communication node 402 can be configured to take corrective measures. For example, the first communication node 402 can be configured to display a warning on a screen of the vehicle, warning the driver of the potential collision hazard. In another example, the first communication node 402 can be configured to convey an indication of the potential collision hazard to a braking circuit system in the vehicle, which causes the vehicle to brake in response.

[0055] In another example, the first communication node may be configured to convey an indication of a potential collision hazard to a warning sound circuitry in a vehicle, which causes the vehicle to emit a warning sound (as a vehicle horn) to warn of an impending collision with a sensed target object 406.

[0056] As explained above, the first communication node 402 compares a first instance and a second instance of the wireless communication signal 408 (e.g., by performing cross-correlation) to determine that the first instance and the second instance are instances of the same wireless communication signal 408. However, the inventors have recognized that it is inefficient to utilize the computing resources in the first communication node 402 if, after receiving the wireless communication signal 408, the first communication node 402 performs cross-correlation (or compares the first instance and the second instance of the wireless communication signal 408) on each received instance of the wireless communication signal 408 after the first instance of the wireless communication signal 408. For example, in the case of a complex scenario, such as in a busy area of a city where there may be a large number of potential hazards, the number of reflected signals is expected to be very high. Comparing each reflected signal received at the first communication node 402 with the first instance of the wireless communication signal 408 would require a large amount of computing resources. On the other hand, if cross-correlation is not performed on the subsequently received instances of the wireless communication signal 408 (or the first instance and the second instance of the wireless communication signal 408 are not compared), a sensed target object (e.g., a potential hazard) may be missed.

[0057] Therefore, there is a need for a communication node and method for communication and sensing integration that improves the efficiency of computing resource utilization.

[0058] Figure 5 A method for communication and sensing integration performed by a first communication node of a wireless communication network is shown. The method begins at step S1.

[0059] After step S1, in step S2, the method includes receiving a first instance of a wireless communication signal transmitted by a second communication node of the wireless communication network. For example, the first communication node may directly receive the wireless communication signal from the second communication node. In some embodiments, the first instance of the wireless communication signal is received indirectly from the second communication node. For example, the first instance of the wireless communication signal may be a reflection or refraction of the wireless communication signal transmitted by the second communication node.

[0060] After step S2, in step S3, the method includes receiving a second instance of a wireless communication signal transmitted by a second communication node. The second instance of the wireless communication signal is a reflection of the wireless communication signal transmitted by the second communication node from a sensed target object. For example, the wireless communication signal may be reflected from the sensed target object and then travel directly to the first communication node 402 to be received as the second instance of the wireless communication signal. In some examples, the second instance of the wireless communication signal may be reflected from the sensed target object and also reflected from or refracted through one or more other objects before reaching the first communication node. It will be understood that the first communication node receives the second instance of the wireless communication signal after the first instance of the wireless communication signal. In some embodiments, the sensed target object may be a communication node.

[0061] After step S3, in step S4, the method includes determining that the second instance of the wireless communication signal is received by the first communication node within a predefined time window after receiving the first instance of the wireless communication signal, and / or determining that the second instance of the wireless communication signal is received by the first communication node within a predefined angular reception range after receiving the first instance of the wireless communication signal. In some embodiments, both the start point and the end point of the predefined time window are time points after receiving the first instance of the wireless communication signal. In other embodiments, the start point is defined by the time of receiving the first instance of the wireless communication signal, and the end point is a time point after receiving the first instance of the wireless communication signal. In some embodiments, the method includes determining that the second instance of the wireless communication signal is received by the first communication node within a predefined time window after receiving the first instance of the wireless communication signal. In some embodiments, the method includes determining that the second instance of the wireless communication signal is received by the first communication node within a predefined angular reception range after receiving the first instance of the wireless communication signal. In some embodiments, the method includes determining that the second instance of the wireless communication signal is received by the first communication node within a predefined time window after receiving the first instance of the wireless communication signal, and that the second instance of the wireless communication signal is received by the first communication node within a predefined angular reception range after receiving the first instance of the wireless communication signal.

[0062] A predefined time window and / or a predefined angular reception range can be configured by the first communication node itself. Alternatively, the first communication node can receive an indication of the predefined time window and / or the predefined angular reception range from a second communication node or a third communication node of the wireless communication network. In some embodiments, the first communication node configures the predefined time window itself, but receives an indication of the predefined angular reception range from the second or third communication node. In some embodiments, the first communication node configures the predefined angular reception range itself, but receives an indication of the predefined time window from the second or third communication node. In some embodiments, the first communication node includes a first directional antenna for receiving a first instance of a wireless communication signal and a second directional antenna for receiving a second instance of the wireless communication signal. In such an embodiment, the first communication node can determine that the second instance of the wireless communication signal is received within the predefined angular reception range because the second instance is received by the second directional antenna.

[0063] After step S4, in step S5, the method includes, in response, determining that the first instance and the second instance of the wireless communication signal are instances of the same wireless communication signal based on a comparison between the first instance of the wireless communication signal and the second instance of the wireless communication signal. For example, performing a cross-correlation on the first instance and the second instance of the wireless communication signal, identifying a correlation peak based on the cross-correlation, and determining that the amplitude of the correlation peak is higher than a predefined threshold level. As will be understood by those skilled in the art, cross-correlation is a measure of the similarity of two sequences based on the displacement of one sequence relative to the other. This is also known as a sliding dot product or a sliding inner product. Cross-correlation is widely used in telecommunications (e.g., synchronization signal detection), and the principle of cross-correlation is well known to those skilled in the art.

[0064] After step S5, in step S6, the method includes detecting a perceived target object based on a first instance and a second instance of a wireless communication signal. For example, in an embodiment where the first communication node and the perceived target object are in motion relative to each other, the first communication node may determine the moving speed, moving direction, and / or position of the perceived target object relative to the first communication node based on the first instance and the second instance of the wireless communication signal. In some embodiments, the first communication signal receives one or more other instances of the wireless communication signal reflected from one or more other perceived target objects. In such an embodiment, the first communication node repeats steps S4 to S6 based on the one or more other instances of the wireless communication signal to detect the corresponding one or more other perceived target objects. Specifically, by comparing each of the one or more other instances with the first instance in turn, each of the one or more other instances of the wireless communication signal is determined to be an instance of the same wireless communication signal as the first instance. In addition, one or more other perceived target objects are detected in turn based on the first instance of the wireless communication signal and each of the one or more other instances of the wireless communication signal. In some embodiments, the first communication node may receive a second wireless communication signal from a second communication node and repeat steps S2 to S6 based on the second wireless communication signal.

[0065] The method ends at step S7.

[0066] Although described in a specific order of steps Figure 5 , those skilled in the art will understand that these steps can be interchanged or combined in any logical manner.

[0067] Reference Figure 5 The described method can improve the usage efficiency of computing resources in the context of communication-perception integration. Specifically, Figure 5The method described in confirms that by determining that the second instance of the wireless communication signal is received within a predefined time window after the first instance of the wireless communication signal is received and / or within a predefined angular reception range, the computational efficiency can be improved while maintaining a low risk of undesired missed detections (e.g., potentially dangerous missed detections). This is because only the second instances of the wireless communication signals that may lead to the detection of the sensed target object of interest to the first communication node (i.e., those instances that fall within the predefined time window and / or angular reception range) are processed for comparison with the first instance of the wireless communication signal and then processed for sensed target object detection. For example, in the above example of the downtown area, although there may be a large number of reflected signals from the sensed target object, the first communication node 402 only focuses on a subset of the sensed target objects because, for example, only a subset of the sensed target objects is a potential source of emergency danger to the first communication node 402. The above method can filter out the signals that the first communication node 402 does not focus on before processing the signals from the sensed target object for comparison with the first instance of the wireless communication signal, thereby improving the communication efficiency. In other examples, the sensed target object of interest may be an object in the target area to be reconstructed by the first communication node into a real-time 3D map or reconstructed by the first communication node in augmented reality (AR) or virtual reality (VR). Since only the wireless communication signals reflected from the sensed target objects in the area of interest are processed for comparison with the first instance of the wireless communication signal and then processed for sensed target object detection, the communication efficiency is improved. In some embodiments, the computational efficiency is further improved by requiring that the second instance of the wireless communication signal is received within a predefined time window and within a predefined angular range. In other words, step S4 includes determining that the second instance of the wireless communication signal is received by the first communication node within a predefined time window after the first instance of the wireless communication signal is received, and that the second instance of the wireless communication signal is received by the first communication node within a predefined angular reception range after the first instance of the wireless communication signal is received.

[0068] In some embodiments, the predefined time window may be based on a predefined sensing distance range within which the sensed target object poses a potential collision danger to the first communication node. In such embodiments, the first communication node may only focus on detecting the sensed target objects within the predefined sensing distance range. The computational efficiency is improved because the first communication node does not need to process the instances of the wireless communication signals received outside the predefined time window for comparison with the first instance of the wireless communication signal and thus does not need to perform the processing for sensed target object detection based on those signals. Additionally, since the first communication node only focuses on detecting the sensed target objects within the sensing distance range, there is no risk of undesired missed detections.

[0069] In some embodiments, when the first communication node is included in a vehicle, the predefined angular reception range is limited to wireless communication signals received from the blind spot of the vehicle. Computational efficiency is improved because the first communication node does not need to process instances of wireless communication signals received outside the predefined angular reception range for comparison with the first instance of the wireless communication signal, and thus does not need to perform processing for sensing target object detection based on those signals. Additionally, since the user of the vehicle can visually detect the sensed target object that is not in the blind spot of the vehicle, there is no risk of an undesired missed detection.

[0070] In some embodiments, computational efficiency can be further improved by requiring determination of a second instance of a wireless communication signal received within a time window based on a sensed distance range and within an angular reception range limited to wireless communication signals received from the blind spot of the vehicle.

[0071] Figure 6 An example of communication and sensing integration according to an example embodiment is schematically illustrated. As Figure 6 shown, the second communication node 404 transmits a wireless communication signal 408 at time t1. At time t2, a first instance of the wireless communication signal 408 is received at the first communication node 402. At time t3, the wireless communication signal 408 is reflected from the sensed target object 406. Although Figure 6 the embodiment is shown where a first instance of the wireless communication signal 408 is received at the first communication node 402 before the wireless communication 408 is reflected from the sensed target object 406, it should be understood that in other embodiments, a first instance of the wireless communication signal 408 may be received at the first communication node 402 after or simultaneously with the wireless communication signal 408 being reflected from the sensed target object 406. As Figure 6 shown, at t4, a reflected wireless communication signal 410 is received at the first communication node. In other words, the first communication node 402 receives a second instance of the wireless communication signal 408 at t4. As Figure 6 shown, the first communication device 402 is configured with a predefined time window 412. As Figure 6 shown, the lower limit of the predefined time window 412 is after the time t2 when the first instance of the wireless communication signal 408 is received at the first communication node 402, such that the first communication node 402 can distinguish between the first instance and the second instance of the wireless communication signal 408.

[0072] In some embodiments, the first communication device 402 configures a predefined time window. In some embodiments, the second communication node 404 or a third communication node (not shown) transmits an indication of the predefined time window 412 to the first communication node 402. In some embodiments, the predefined time window 412 is fixed in a predefined specification and thus preconfigured in the first communication node 402.

[0073] In Figure 6 the example shown, the time t4 at which the first communication node 402 receives the second instance of the wireless communication signal 408 is within the predefined window 412. Thus, in response to determining that the second instance of the wireless communication signal 408 received by the first communication node 402 is within the predefined window 412, the first communication node 402 compares the first instance of the wireless communication signal 408 and the second instance of the wireless communication signal 408 to determine whether the first instance and the second instance are instances of the same wireless communication signal 408 (e.g., by performing cross-correlation as described above). If the first communication node 402 determines that the first instance and the second instance are instances of the same wireless communication signal 408, the first communication node 402 continues to detect the sensed target object 406 based on the first instance and the second instance of the wireless communication signal 408.

[0074] In reference Figure 6 to the example described, if the time t4 at which the first communication node 402 receives the second instance of the wireless communication signal 408 is not within the predefined window 412, the first communication node 402 does not compare the second instance of the wireless communication signal 408 with the first instance of the wireless communication signal 408 and thus does not detect the sensed target object 406 based on the first instance and the second instance of the wireless communication signal 408. Thus, if the second instance is received within the predefined time window 412, the computational resource efficiency is improved by detecting the sensed target object using only the second instance of the wireless communication signal 408.

[0075] Figure 7 FIG. shows another example of communication and sensing integration according to an example embodiment. In Figure 7 the example shown, the predefined time window 412 is based on a predefined sensing distance range 414 within which the sensed target object 406 is of interest. For example, the predefined sensing distance range 414 can be such a distance range within which the sensed target object 406 poses a potential collision risk to the first communication node 402. As Figure 7As shown, the upper limit t6 of the predefined time window 412 is based on the distance x2 from the first communication node 402, beyond which the sensed target object 406 is not of concern. For example, the distance x2 from the first communication node 402 can be such a distance that beyond it, the sensed target object 406 does not pose a potential collision risk to the first communication node 402. As Figure 7 As shown, the lower limit t5 of the predefined time window 412 is based on the distance x1 from the first communication node 402, below which the sensed target object 406 is not of concern. For example, the distance x1 from the first communication node 402 can be such a distance that below it, the sensed target object 406 is too close to the sensed target object 406, making a collision inevitable.

[0076] Figure 8 Another example of communication-sensing integration according to an example embodiment is shown. Specifically, Figure 8 An example embodiment is shown in which the first communication node 402 determines that a second instance of the wireless communication signal 408 is received by the first communication node 402 within a predefined angular reception range after receiving the first instance of the wireless communication signal 408. As Figure 8 As shown, the predefined angular reception range is limited to signals received from the blind spot 416 of the vehicle containing the first communication node 402.

[0077] As Figure 8 As shown, one blind spot of the vehicle is defined by an angular reception range represented by Formula 1:

[0078]

[0079] As Figure 8 As shown, another blind spot 416 of the vehicle is defined by an angular reception range represented by Equation 2:

[0080]

[0081] In Figure 8 In the example shown, the first communication node 402 determines that the reflected wireless communication signal 410 is within the predefined angular range represented by Formula 1 or 2. In other words, the first communication node 402 determines that the second instance of the wireless communication signal 408 is within the predefined angular range expressed in Equation 1 or 2.

[0082] Thus, in response to determining that a second instance of the wireless communication signal 408 received by the first communication node 402 is within a predefined angular reception range, the first communication node 402 compares the first instance of the wireless communication signal 408 and the second instance of the wireless communication signal 408 to determine whether the first instance and the second instance are instances of the same wireless communication signal 408 (e.g., by performing cross - correlation as described above). If the first communication node 402 determines that the first instance and the second instance are instances of the same wireless communication signal 408, the first communication node 402 continues to detect the sensed target object 406 based on the first instance and the second instance of the wireless communication signal 408.

[0083] In the example described in Figure 8 if the first communication node 402 determines that it has received a second instance of the wireless communication signal 408 outside the predefined angular reception range, the first communication node 402 does not compare the second instance of the wireless communication signal 408 with the first instance of the wireless communication signal 408 and, thus, does not detect the sensed target object 406 based on the first instance and the second instance of the wireless communication signal 408. Thus, if a second instance is received within the angular reception range, computational resource efficiency is improved by detecting the sensed target object 406 using only the second instance of the wireless communication signal.

[0084] As described above, in some embodiments, the first communication node 402 receives an indication of a predefined time window and / or a predefined angular reception range from a second communication node or a third communication node of the wireless communication network. In some embodiments, the first communication node 402 is a communication device (e.g., a UE), and the communication node from which the indication is received (i.e., the second communication node 404 or the third communication node) is an infrastructure device of the wireless communication network (e.g., a gNB or a roadside communication node). In such an embodiment, the infrastructure device from which the indication is received determines the predefined time window and / or angular reception range for the first communication node 402. This can result in a time window and / or angular reception range with even higher computational efficiency because the infrastructure device has an overview of the wireless communication network and can thus make a more balanced decision on the time window and / or angular reception range considering various factors (e.g., the positions of the first and second communication nodes 402, 404 and the computational limitations of the first communication node 402). Under the control of the infrastructure device, the infrastructure device can determine different time windows and / or angular reception ranges for different communication devices or groups of communication devices.

[0085] In one example, the group of communication devices may be located in a cell controlled by an infrastructure device of a wireless communication network. In this example, one of the communication devices transmits a wireless communication signal to another one of the communication devices. In this example, the start time of a predefined time window is the time of the first instance in which a communication device receives the wireless communication signal. The infrastructure device knows that the communication devices are located within approximately 5 meters of each other, and thus the infrastructure device configures a predefined time window for the group of communication devices, the duration of which corresponds to the time it takes for the wireless communication signal to propagate a distance of approximately 5 meters. Similarly, in a cell controlled by an infrastructure device, there may be a communication node included in a vehicle having a braking distance of 100 meters. The wireless communication signal may be transmitted from one communication device to the communication node in the vehicle, and the start time of the predefined time window of the communication node in the vehicle is the time of the first instance in which the communication node included in the vehicle receives the wireless communication. Thus, the infrastructure device configures a predefined time window for the communication node in the vehicle, the duration of which corresponds to the time it takes for the wireless communication signal to propagate approximately 100 meters.

[0086] In another example, a communication node included in a truck and another communication node included in a car may be located in a cell controlled by an infrastructure device. In this example, the infrastructure device knows that the truck and the car have different blind spots and thus configures a predefined angular reception range differently for the communication node included in the truck and the communication node included in the car.

[0087] In some embodiments, an indication of the predefined time window and / or the predefined angular reception range is transmitted in a signal dedicated to a first communication node. For example, the signal may be a UE-dedicated signal.

[0088] In some embodiments, an indication of the predefined time window and / or the predefined angular reception range is transmitted in a signal dedicated to a group of communication nodes including a first communication node 402. For example, the signal may be a UE group-specific signal.

[0089] In some embodiments, an indication of the predefined time window and / or the predefined angular reception range is transmitted in a broadcast signal in a cell provided by an infrastructure device. For example, the infrastructure device may broadcast the indication to all communication devices located within the cell provided by the infrastructure device.

[0090] In some embodiments, the first communication node 402 is a communication device, and the communication node from which the indication of the predefined time window and / or the predefined angular reception range is received is another communication device. For example, the indication may be transmitted as a device-to-device (D2D) communication signal. The D2D signal may be transmitted via a PC-5 radio access interface.

[0091] The following numbered paragraphs provide further example aspects and features of the present technology:

[0092] Paragraph 1. A method for communication perception integration performed by a first communication node of a wireless communication network, the method comprising:

[0093] Receiving a first instance of a wireless communication signal transmitted by a second communication node of the wireless communication network;

[0094] Receiving a second instance of a wireless communication signal transmitted by the second communication node, the second instance of the wireless communication signal being a reflection of the wireless communication signal transmitted by the second communication node from a sensed target object;

[0095] Determining that the second instance of the wireless communication signal is received by the first communication node within a predefined time window after receiving the first instance of the wireless communication signal, and / or determining that the second instance of the wireless communication signal is received by the first communication node within a predefined angular reception range after receiving the first instance of the wireless communication signal; and in response,

[0096] Based on a comparison between the first instance of the wireless communication signal and the second instance of the wireless communication signal, determining that the first instance and the second instance of the wireless communication signal are instances of the same wireless communication signal; and

[0097] Detecting the sensed target object based on the first instance and the second instance of the wireless communication signal.

[0098] Paragraph 2. The method according to Paragraph 1, wherein the method comprises:

[0099] Configuring a predefined time window and / or a predefined angular reception range.

[0100] Paragraph 3. The method according to Paragraph 1, wherein the method comprises:

[0101] Receiving an indication of a predefined time window and / or a predefined angular range from a second communication node or a third communication node of the wireless communication network.

[0102] Paragraph 4. The method according to Paragraph 3, wherein the first communication node is a communication device, and the communication node from which the indication is received is an infrastructure device of the wireless communication network.

[0103] Paragraph 5. The method according to Paragraph 4, wherein the indication is transmitted in a signal dedicated to the first communication node.

[0104] Paragraph 6. The method according to Paragraph 4, wherein the indication is transmitted in a signal dedicated to a group of communication nodes including the first communication node.

[0105] Paragraph 7. The method according to paragraph 4, wherein the indication is transmitted in a broadcast signal in a cell provided by infrastructure equipment.

[0106] Paragraph 8. The method according to paragraph 3, wherein the first communication node is a communication device, and the communication node from which the indication is received is another communication device.

[0107] Paragraph 9. The method according to any one of paragraphs 1 to 8, wherein determining that the first instance and the second instance are instances of the same wireless communication signal includes:

[0108] Performing cross - correlation on the first instance and the second instance of the wireless communication signal,

[0109] Identifying a correlation peak based on the cross - correlation, and

[0110] Determining that the amplitude of the correlation peak is higher than a predefined threshold level.

[0111] Paragraph 10. The method according to any one of paragraphs 1 to 9, wherein at least one of the communication node and the sensed target object is in motion.

[0112] Paragraph 11. The method according to paragraph 10, wherein the predefined time window is based on a predefined sensing distance range within which the sensed target object poses a potential collision risk to the first communication node.

[0113] Paragraph 12. The method according to paragraph 11, wherein the upper limit of the predefined time window is based on the distance from the first communication node beyond which the sensed target object does not pose a potential collision risk to the first communication node.

[0114] Paragraph 13. The method according to paragraph 11 or paragraph 12, wherein the lower limit of the predefined time window is based on the distance from the first communication node below which the sensed target object is too close to the first communication node for the first communication node to detect the sensed target object before a collision with the first communication node.

[0115] Paragraph 14. The method according to any one of paragraphs 10 to 13, wherein the first communication node is included in a vehicle, and the predefined angular reception range is limited to signals received from the blind spot of the vehicle.

[0116] Paragraph 15. The method according to any one of paragraphs 10 to 14, wherein detecting the sensed target object based on the first instance and the second instance of the wireless communication signal includes:

[0117] Determining the moving speed, moving direction, and / or position of the sensed target object relative to the first communication node based on the first instance and the second instance of the wireless communication signal.

[0118] Paragraph 16. The method according to any one of paragraphs 1 to 15, wherein receiving a first instance of a wireless communication signal transmitted by a second communication node comprises:

[0119] Receiving a first instance of a wireless communication signal using a first directional receiving antenna of the first communication node, and

[0120] Receiving a second instance of a wireless communication signal transmitted by the second communication node comprises:

[0121] Receiving a second instance of a wireless communication signal using a second directional receiving antenna of the first communication node, and

[0122] Determining that the second instance of the wireless communication signal is received by the first communication node within a predefined angular reception range comprises:

[0123] Determining that the second instance of the wireless communication signal is received by the second directional receiving antenna of the first communication node.

[0124] Paragraph 17. A method for communication-aware integration performed by a second communication node of a wireless communication network, the method comprising:

[0125] Determining a predefined time window of a first communication node of the wireless communication network, the predefined time window being after the first communication node receives a first instance of a wireless communication signal and being used for the first communication node to determine that a second instance of the wireless communication signal is received by the first communication node within the predefined time window, the second instance of the wireless communication signal being a reflection of the wireless communication signal from a sensing target object, and / or

[0126] Determining a predefined angular reception range of the first communication node, the predefined angular range being used for the first communication node to determine that a second instance of the wireless communication signal is received by the first communication node within the predefined angular range after receiving the first instance of the wireless communication signal, and

[0127] Transmitting an indication of the predefined time window and / or the predefined angular range to the first communication node.

[0128] Paragraph 18. The method according to paragraph 17, wherein the wireless communication signal is transmitted by the second communication node.

[0129] Paragraph 19. The method according to paragraph 17 or 18, wherein the first communication node is a communication device and the second communication node is an infrastructure device of the wireless communication network.

[0130] Paragraph 20. The method according to paragraph 19, wherein the indication is transmitted in a signal dedicated to the first communication node.

[0131] Paragraph 21. The method according to paragraph 19, wherein the indication is transmitted in a signal dedicated to a group of communication nodes including the first communication node.

[0132] Paragraph 22. The method according to paragraph 19, wherein the indication is transmitted in a broadcast signal in a cell provided by an infrastructure device.

[0133] Paragraph 23. The method according to paragraph 17 or 18, wherein the first communication node is a communication device and the second communication node is another communication device.

[0134] Paragraph 24. A first communication node for communication awareness integration in a wireless communication network, the first communication node comprising:

[0135] A transmitter configured to transmit a signal,

[0136] A receiver configured to receive a signal, and

[0137] A controller, configured with the transmitter and the receiver to:

[0138] Receive a first instance of a wireless communication signal transmitted by a second communication node of the wireless communication network;

[0139] Receive a second instance of a wireless communication signal transmitted by the second communication node, the second instance of the wireless communication signal being a reflection of the wireless communication signal transmitted by the second communication node from a sensed target object;

[0140] Determine that the second instance of the wireless communication signal is received by the first communication node within a predefined time window after receiving the first instance of the wireless communication signal, and / or determine that the second instance of the wireless communication signal is received by the first communication node within a predefined angular reception range after receiving the first instance of the wireless communication signal; and in response,

[0141] Based on a comparison between the first instance of the wireless communication signal and the second instance of the wireless communication signal, determine that the first instance and the second instance of the wireless communication signal are instances of the same wireless communication signal; and

[0142] Detect a sensed target object based on the first instance and the second instance of the wireless communication signal.

[0143] Paragraph 25. The first communication node according to paragraph 24, wherein the controller is configured with the transmitter and the receiver to:

[0144] Configure a predefined time window and / or a predefined angular reception range.

[0145] Paragraph 26. The first communication node according to paragraph 24, wherein the controller is configured with the transmitter and the receiver to:

[0146] Receive an indication of a predefined time window and / or a predefined angular range from a second communication node or a third communication node of a wireless communication network.

[0147] Paragraph 27. The first communication node according to paragraph 26, wherein the first communication node is a communication device, and the communication node from which the indication is received is an infrastructure device of the wireless communication network.

[0148] Paragraph 28. The first communication node according to paragraph 27, wherein the controller, together with the transmitter and the receiver, is configured to:

[0149] Receive an indication in a signal dedicated to the first communication node.

[0150] Paragraph 29. The first communication node according to paragraph 27, wherein the controller, together with the transmitter and the receiver, is configured to:

[0151] Receive an indication in a signal dedicated to a group of communication nodes including the first communication node.

[0152] Paragraph 30. The first communication node according to paragraph 27, wherein the controller, together with the transmitter and the receiver, is configured to:

[0153] Receive an indication in a broadcast signal in a cell provided by the infrastructure device.

[0154] Paragraph 31. The first communication node according to paragraph 26, wherein the first communication node is a communication device, and the communication node from which the indication is received is another communication device.

[0155] Paragraph 32. The first communication node according to any one of paragraphs 24 to 31, wherein the controller, together with the transmitter and the receiver, is configured to:

[0156] Perform cross-correlation on a first instance and a second instance of a wireless communication signal,

[0157] Identify a correlation peak based on the cross-correlation, and

[0158] Determine that the amplitude of the correlation peak is higher than a predefined threshold level.

[0159] Paragraph 33. The first communication node according to any one of paragraphs 24 to 32, wherein at least one of the communication node and the sensed target object is in motion.

[0160] Paragraph 34. The first communication node according to paragraph 33, wherein the predefined time window is based on a predefined sensing distance range within which the sensed target object poses a potential collision risk to the first communication node.

[0161] Paragraph 35. The first communication node according to paragraph 34, wherein an upper limit of the predefined time window is based on a distance from the first communication node beyond which the sensed target object does not pose a potential collision risk to the first communication node.

[0162] Paragraph 36. The first communication node according to paragraph 34 or paragraph 35, wherein a lower limit of the predefined time window is based on a distance from the first communication node below which the sensed target object is too close to the first communication node, resulting in the first communication node being unable to detect the sensed target object before a collision with the first communication node.

[0163] Paragraph 37. The first communication node according to any one of paragraphs 33 to 37, wherein the first communication node is included in a vehicle, and the predefined angular reception range is limited to signals received from a blind spot of the vehicle.

[0164] Paragraph 38. The first communication node according to any one of paragraphs 33 to 37, wherein the controller, together with the transmitter and the receiver, is configured to:

[0165] Determine a moving speed, a moving direction, and / or a position of the sensed target object relative to the first communication node based on a first instance and a second instance of a wireless communication signal.

[0166] Paragraph 39. The first communication node according to any one of paragraphs 24 to 38, wherein the controller, together with the transmitter and the receiver, is configured to:

[0167] Receive a first instance of a wireless communication signal using a first directional receiving antenna of the first communication node,

[0168] Receive a second instance of the wireless communication signal using a second directional receiving antenna of the first communication node, and

[0169] Determine that the second instance of the wireless communication signal is received by the second directional receiving antenna of the first communication node.

[0170] Paragraph 40. A second communication node for communication and sensing integration in a wireless communication network, the second communication node comprising:

[0171] A transmitter configured to transmit a signal,

[0172] A receiver configured to receive a signal, and

[0173] A controller configured, together with the transmitter and the receiver, to:

[0174] Determine a predefined time window for a first communication node of a wireless communication network, the predefined time window being after a first instance in which the first communication node receives a wireless communication signal and being for the first communication node to determine that a second instance of the wireless communication signal is received by the first communication node within the predefined time window, the second instance of the wireless communication signal being a reflection of the wireless communication signal from a sensed target object, and / or

[0175] Determine a predefined angular reception range for the first communication node, the predefined angular range being for the first communication node to determine that a second instance of the wireless communication signal is received by the first communication node within the predefined angular range after the first instance of receiving the wireless communication signal, and

[0176] Transmit an indication of the predefined time window and / or the predefined angular range to the first communication node.

[0177] Paragraph 41. The second communication node according to paragraph 40, wherein the controller, together with the transmitter and the receiver, is configured to:

[0178] Transmit a wireless communication signal.

[0179] Paragraph 42. The second communication node according to paragraph 40 or 41, wherein the first communication node is a communication device and the second communication node is an infrastructure device of the wireless communication network.

[0180] Paragraph 43. The second communication node according to paragraph 42, wherein the controller, together with the transmitter and the receiver, is configured to:

[0181] Transmit an indication in a signal dedicated to the first communication node.

[0182] Paragraph 44. The second communication node according to paragraph 42, wherein the controller, together with the transmitter and the receiver, is configured to:

[0183] Transmit an indication in a signal dedicated to a group of communication nodes including the first communication node.

[0184] Paragraph 45. The second communication node according to paragraph 42, wherein the controller, together with the transmitter and the receiver, is configured to:

[0185] Transmit an indication in a broadcast signal in a cell provided by the infrastructure device.

[0186] Paragraph 46. The second communication node according to paragraph 40 or 41, wherein the first communication node is a communication device and the second communication node is another communication device.

[0187] Paragraph 47. Circuitry for a first communication node for communication sensing integration in a wireless communication network, the circuitry comprising:

[0188] A transmitter circuit system configured to transmit a signal,

[0189] A receiver circuit system configured to receive a signal, and

[0190] A controller circuit system configured, together with the transmitter circuit system and the receiver circuit system, to:

[0191] Receive a first instance of a wireless communication signal transmitted by a second communication node of a wireless communication network;

[0192] Receive a second instance of a wireless communication signal transmitted by the second communication node, the second instance of the wireless communication signal being a reflection of the wireless communication signal transmitted by the second communication node from a sensed target object;

[0193] Determine that the second instance of the wireless communication signal is received by the first communication node within a predefined time window after receiving the first instance of the wireless communication signal, and / or determine that the second instance of the wireless communication signal is received by the first communication node within a predefined angular reception range after receiving the first instance of the wireless communication signal; and in response,

[0194] Based on a comparison between the first instance of the wireless communication signal and the second instance of the wireless communication signal, determine that the first instance and the second instance of the wireless communication signal are instances of the same wireless communication signal; and

[0195] Detect the sensed target object based on the first instance and the second instance of the wireless communication signal.

[0196] Paragraph 48. The circuit system of a second communication node for communication and sensing integration in a wireless communication network, the circuit system comprising:

[0197] A transmitter circuit system configured to transmit a signal,

[0198] A receiver circuit system configured to receive a signal, and

[0199] A controller circuit system configured, together with the transmitter circuit system and the receiver circuit system, to:

[0200] Determine a predefined time window of a first communication node of the wireless communication network, the predefined time window being after the first communication node receives a first instance of a wireless communication signal and being used for the first communication node to determine that a second instance of the wireless communication signal is received by the first communication node within the predefined time window, the second instance of the wireless communication signal being a reflection of the wireless communication signal from a sensed target object, and / or

[0201] Determine a predefined angular reception range for a first communication node, the predefined angular range being used by the first communication node to determine that a second instance of a wireless communication signal is received by the first communication node within the predefined angular range after receiving a first instance of the wireless communication signal, and

[0202] Transmit an indication of the predefined time window and / or the predefined angular range to the first communication node.

[0203] Paragraph 49. A wireless communication network comprising a first communication node according to paragraph 24 and a second communication node according to paragraph 40.

[0204] Paragraph 50. A computer program comprising instructions which, when loaded onto a computer, cause the computer to perform the method according to any one of paragraphs 1 to 23.

[0205] Paragraph 51. A non-transitory computer-readable storage medium storing the computer program according to paragraph 50.

[0206] It should be understood that, for clarity, the above description has described embodiments with reference to different functional units, circuitry and / or processors. However, it will be apparent that any suitable functional distribution between different functional units, circuitry and / or processors may be used without departing from the embodiments.

[0207] The described embodiments may be implemented in any suitable form, including hardware, software, firmware, or any combination thereof. The described embodiments may optionally be at least partially implemented as computer software running on one or more data processors and / or digital signal processors. The elements and components of any embodiment may be physically, functionally and logically implemented in any suitable way. In fact, the functions may be implemented in a single unit, multiple units, or as part of other functional units. Thus, the disclosed embodiments may be implemented in a single unit, or may be physically and functionally distributed between different units, circuitry and / or processors.

[0208] Although the present disclosure has been described in connection with some embodiments, the present disclosure is not intended to be limited to the specific forms set forth herein. Furthermore, although one feature may appear to be described in connection with a particular embodiment, those skilled in the art will recognize that the various features of the described embodiments may be combined in any manner suitable for implementing the technology.

[0209] References

[0210] [1] Holma H. and Toskala A, “LTE for UMTS OFDMA and SC-FDMA based radio access”, John Wiley and Sons, 2009.

[0211] [2] TR 38.913, “Study on Scenarios and Requirements for Next Generation Access Technologies (Release 14)”, 3rd Generation Partnership Project, v14.3.0, August 2017.

[0212] [3] S1-220191, “Study on Integrated Sensing and Communication”, 3rd Generation Partnership Project, February 2022

[0213] [4] S1-221091, “Coordinated Sensing Operations”, 3 rd Generation Partnership Project, May 2022

Claims

1. A method for communication and sensing integration performed by a first communication node of a wireless communication network, the method comprising: Receiving a first instance of a wireless communication signal transmitted by a second communication node of the wireless communication network; Receiving a second instance of the wireless communication signal transmitted by the second communication node, the second instance of the wireless communication signal being a reflection of the wireless communication signal transmitted by the second communication node from a sensing target object; Determining that the second instance of the wireless communication signal is received by the first communication node within a predefined time window after receiving the first instance of the wireless communication signal, and / or determining that the second instance of the wireless communication signal is received by the first communication node within a predefined angular reception range after receiving the first instance of the wireless communication signal; and in response, Based on a comparison between the first instance of the wireless communication signal and the second instance of the wireless communication signal, determining that the first instance and the second instance of the wireless communication signal are instances of the same wireless communication signal; and Detecting the sensing target object based on the first instance and the second instance of the wireless communication signal.

2. The method according to claim 1, wherein, The method includes: Configuring the predefined time window and / or the predefined angular reception range.

3. The method according to claim 1, wherein, The method includes: Receiving an indication of the predefined time window and / or the predefined angular range from the second communication node or the third communication node of the wireless communication network.

4. The method according to claim 3, wherein, The first communication node is a communication device, and the communication node from which the indication is received is an infrastructure device of the wireless communication network.

5. The method according to claim 4, wherein The indication is transmitted in a signal dedicated to the first communication node.

6. The method according to claim 4, wherein The indication is transmitted in a signal dedicated to a group of communication nodes including the first communication node.

7. The method according to claim 4, wherein The indication is transmitted in a broadcast signal in a cell provided by the infrastructure device.

8. The method according to claim 3, wherein The first communication node is a communication device, and the communication node from which the indication is received is another communication device.

9. The method according to claim 1, wherein Determining that the first instance and the second instance are instances of the same wireless communication signal includes: Performing cross-correlation on the first instance and the second instance of the wireless communication signal, Identifying a correlation peak based on the cross-correlation, and Determining that the amplitude of the correlation peak is higher than a predefined threshold level.

10. The method according to claim 1, wherein At least one of the communication node and the sensing target object is in motion.

11. The method according to claim 10, wherein, The predefined time window is based on a predefined sensing distance range within which the sensing target object poses a potential collision risk to the first communication node.

12. The method according to claim 11, wherein, The upper limit of the predefined time window is based on the distance from the first communication node beyond which the sensing target object does not pose a potential collision risk to the first communication node.

13. The method according to claim 11, wherein, The lower limit of the predefined time window is based on the distance from the first communication node below which the sensing target object is too close to the first communication node, causing the first communication node to be unable to detect the sensing target object before colliding with the first communication node.

14. The method according to claim 10, wherein, The first communication node is included in a vehicle, and the predefined angular reception range is limited to signals received from a blind spot of the vehicle.

15. The method according to claim 10, wherein, Detecting the sensed target object based on the first instance and the second instance of the wireless communication signal includes: Determining a moving speed, a moving direction, and / or a position of the sensed target object relative to the first communication node based on the first instance and the second instance of the wireless communication signal.

16. The method according to claim 1, wherein Receiving the first instance of the wireless communication signal transmitted by the second communication node includes: Receiving the first instance of the wireless communication signal using a first directional receiving antenna of the first communication node, and Receiving the second instance of the wireless communication signal transmitted by the second communication node includes: Receiving the second instance of the wireless communication signal using a second directional receiving antenna of the first communication node, and Determining that the second instance of the wireless communication signal is received by the first communication node within the predefined angular reception range includes: Determining that the second instance of the wireless communication signal is received by the second directional receiving antenna of the first communication node.

17. A method for communication perception integration performed by a second communication node of a wireless communication network, the method including: Determining a predefined time window of a first communication node of the wireless communication network, the predefined time window being after the first communication node receives a first instance of a wireless communication signal and being used for the first communication node to determine that a second instance of the wireless communication signal is received by the first communication node within the predefined time window, the second instance of the wireless communication signal being a reflection of the wireless communication signal from a sensed target object, and / or Determining a predefined angular reception range of the first communication node, the predefined angular range being used for the first communication node to determine that a second instance of the wireless communication signal is received by the first communication node within the predefined angular range after receiving the first instance of the wireless communication signal, and Transmitting an indication of the predefined time window and / or the predefined angular range to the first communication node.

18. The method according to claim 17, wherein The wireless communication signal is transmitted by the second communication node.

19. The method according to claim 17, wherein, The first communication node is a communication device, and the second communication node is an infrastructure device of the wireless communication network.

20. The method according to claim 19, wherein, The indication is transmitted in a signal dedicated to the first communication node.

21. The method according to claim 19, wherein, The indication is transmitted in a signal dedicated to a group of communication nodes including the first communication node.

22. The method according to claim 19, wherein, The indication is transmitted in a broadcast signal in a cell provided by the infrastructure device.

23. The method according to claim 17, wherein The first communication node is a communication device, and the second communication node is another communication device.

24. A first communication node for communication perception integration in a wireless communication network, the first communication node including: A transmitter configured to transmit a signal, A receiver configured to receive a signal, and A controller configured, together with the transmitter and the receiver, to: Receive a first instance of a wireless communication signal transmitted by a second communication node of the wireless communication network; Receive a second instance of the wireless communication signal transmitted by the second communication node, where the second instance of the wireless communication signal is a reflection of the wireless communication signal transmitted by the second communication node from a sensed target object; Determine that the second instance of the wireless communication signal is received by the first communication node within a predefined time window after receiving the first instance of the wireless communication signal, and / or determine that the second instance of the wireless communication signal is received by the first communication node within a predefined angular reception range after receiving the first instance of the wireless communication signal; and in response, Based on a comparison between the first instance of the wireless communication signal and the second instance of the wireless communication signal, determine that the first instance and the second instance of the wireless communication signal are instances of the same wireless communication signal; and Detect the sensed target object based on the first instance and the second instance of the wireless communication signal.

25. The first communication node according to claim 24, wherein The controller, together with the transmitter and the receiver, is configured to: Configure the predefined time window and / or the predefined angular reception range.

26. The first communication node according to claim 24, wherein, The controller, together with the transmitter and the receiver, is configured to: Receive an indication of the predefined time window and / or the predefined angular range from the second communication node or the third communication node of the wireless communication network.

27. The first communication node according to claim 26, wherein, The first communication node is a communication device, and the communication node from which the indication is received is an infrastructure device of the wireless communication network.

28. The first communication node according to claim 27, wherein, The controller, together with the transmitter and the receiver, is configured to: Receive the indication in a signal dedicated to the first communication node.

29. The first communication node according to claim 27, wherein, The controller, together with the transmitter and the receiver, is configured to: Receive the indication in a signal dedicated to a group of communication nodes including the first communication node.

30. The first communication node according to claim 27, wherein, The controller, together with the transmitter and the receiver, is configured to: Receive the indication in a broadcast signal in a cell provided by an infrastructure device.

31. The first communication node according to claim 26, wherein, The first communication node is a communication device, and the communication node from which the indication is received is another communication device.

32. The first communication node according to claim 24, wherein, The controller, together with the transmitter and the receiver, is configured to: Perform cross-correlation on the first instance and the second instance of the wireless communication signal, Identify a correlation peak based on the cross-correlation, and Determine that the amplitude of the correlation peak is higher than a predefined threshold level.

33. The first communication node according to claim 24, wherein, At least one of the communication node and the sensed target object is in motion.

34. The first communication node according to claim 33, wherein, The predefined time window is based on a predefined sensing distance range within which the sensed target object poses a potential collision risk to the first communication node.

35. The first communication node according to claim 34, wherein, The upper limit of the predefined time window is based on the distance from the first communication node beyond which the sensed target object does not pose a potential collision risk to the first communication node.

36. The first communication node according to claim 34, wherein, The lower bound of the predefined time window is based on the distance from the first communication node. Below this distance, the sensed target object is too close to the first communication node, causing the first communication node to be unable to detect the sensed target object before a collision with the first communication node.

37. The first communication node according to claim 33, wherein, The first communication node is included in a vehicle, and the predefined angular reception range is limited to signals received from the blind spot of the vehicle.

38. The first communication node according to claim 33, wherein, The controller, together with the transmitter and the receiver, is configured to: Determine the moving speed, moving direction, and / or position of the sensed target object relative to the first communication node based on the first and second instances of the wireless communication signal.

39. The first communication node according to claim 24, wherein, The controller, together with the transmitter and the receiver, is configured to: Receive the first instance of the wireless communication signal using a first directional receiving antenna of the first communication node, Receive the second instance of the wireless communication signal using a second directional receiving antenna of the first communication node, and Determine that the second instance of the wireless communication signal is received by the second directional receiving antenna of the first communication node.

40. A second communication node for communication and sensing integration in a wireless communication network, the second communication node comprising: A transmitter configured to transmit signals, A receiver configured to receive signals, and A controller, together with the transmitter and the receiver, is configured to: Determine a predefined time window of a first communication node of the wireless communication network, the predefined time window being after the first communication node receives a first instance of a wireless communication signal and being used for the first communication node to determine that a second instance of the wireless communication signal is received by the first communication node within the predefined time window, the second instance of the wireless communication signal being a reflection of the wireless communication signal from a sensed target object, and / or Determine a predefined angular reception range of the first communication node, the predefined angular range being used for the first communication node to determine that the second instance of the wireless communication signal is received by the first communication node within the predefined angular range after receiving the first instance of the wireless communication signal, and Transmit an indication of the predefined time window and / or the predefined angular range to the first communication node.

41. The second communication node according to claim 40, wherein, The controller, together with the transmitter and the receiver, is configured to: Transmit the wireless communication signal.

42. The second communication node according to claim 40, wherein, The first communication node is a communication device, and the second communication node is an infrastructure device of the wireless communication network.

43. The second communication node according to claim 42, wherein, The controller, together with the transmitter and the receiver, is configured to: Transmit the indication in a signal dedicated to the first communication node.

44. The second communication node according to claim 42, wherein, The controller, together with the transmitter and the receiver, is configured to: Transmit the indication in a signal dedicated to a group of communication nodes including the first communication node.

45. The second communication node according to claim 42, wherein, The controller, together with the transmitter and the receiver, is configured to: Transmit the indication in a broadcast signal in a cell provided by the infrastructure device.

46. The second communication node according to claim 40, wherein, The first communication node is a communication device, and the second communication node is another communication device.

47. Circuitry for a first communication node for communication-sensing integration in a wireless communication network, the circuitry comprising: Transmitter circuitry configured to transmit a signal, Receiver circuitry configured to receive a signal, and Controller circuitry configured, together with the transmitter circuitry and the receiver circuitry, to: Receive a first instance of a wireless communication signal transmitted by a second communication node of the wireless communication network; Receive a second instance of the wireless communication signal transmitted by the second communication node, the second instance of the wireless communication signal being a reflection of the wireless communication signal transmitted by the second communication node from a sensed target object; Determine that the second instance of the wireless communication signal is received by the first communication node within a predefined time window after the first communication node receives the first instance of the wireless communication signal, and / or determine that the second instance of the wireless communication signal is received by the first communication node within a predefined angular reception range after the first communication node receives the first instance of the wireless communication signal; and in response, Based on a comparison between the first instance of the wireless communication signal and the second instance of the wireless communication signal, determine that the first instance and the second instance of the wireless communication signal are instances of the same wireless communication signal; and Detect the sensed target object based on the first instance and the second instance of the wireless communication signal.

48. Circuitry for a second communication node for communication-sensing integration in a wireless communication network, the circuitry comprising: Transmitter circuitry configured to transmit a signal, Receiver circuitry configured to receive a signal, and Controller circuitry configured, together with the transmitter circuitry and the receiver circuitry, to: Determine a predefined time window of a first communication node of the wireless communication network, the predefined time window being after the first communication node receives a first instance of a wireless communication signal and for the first communication node to determine that a second instance of the wireless communication signal is received by the first communication node within the predefined time window, the second instance of the wireless communication signal being a reflection of the wireless communication signal from a sensed target object, and / or Determine a predefined angular reception range of the first communication node, the predefined angular range being for the first communication node to determine that the second instance of the wireless communication signal is received by the first communication node within the predefined angular range after the first communication node receives the first instance of the wireless communication signal, and Transmit an indication of the predefined time window and / or the predefined angular range to the first communication node.

49. A wireless communication network comprising the first communication node according to claim 24 and the second communication node according to claim 40.

50. A computer program comprising instructions that, when loaded onto a computer, cause the computer to perform the method according to claim 1 or claim 17.

51. A non-transitory computer-readable storage medium storing the computer program according to claim 50.

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