Method and apparatus for perceived multiple access

Abstract

According to the present invention, a transmitter device may transmit a perceptual signal comprising a sequence of ordered linear frequency modulation signals (LFMs), in which each of the LFMs of the sequence of ordered LFMs has a slope specified by a corresponding rate in a perceptual code. Since different transmitter devices can be assigned different perceptual codes, in turn, perceptual signals, a receiver device can distinguish the perceptual signals transmitted by the different transmitter devices even if these signals arrive at the same time and / or at the same frequency.

Description

Technical Field

[0001] The present application relates to sensing, and more particularly to multiple access for sensing. Background Art

[0002] In the sixth generation (6 th In 6G (6th Generation) wireless systems, various types of sensing are expected to be implemented. In these systems, sensing not only helps improve the quality of other services such as data communication, but can also be defined as a separate service. Summary of the Invention

[0003] Future wireless communication systems are expected to consist of networks of nodes, most of which are capable of performing sensing. However, the wireless channel in a communication network is a shared medium with limited resources. Enabling sensing services for multiple sensing nodes using the limited number of time-frequency resources that may be available in the wireless communication channel can be challenging.

[0004] According to various aspects of the present invention, different sensing codes can be assigned to different transmitter devices, wherein each sensing code includes an ordered rate sequence. Each transmitter device transmits a corresponding sensing signal based on the sensing code assigned to it, wherein the sensing signal is formed by an ordered linear frequency modulated signal (LFM) sequence having a slope specified by the sensing code. Since each transmitter device is assigned a different sensing code, and thus a sensing signal, a receiver device can distinguish between sensing signals transmitted by different transmitter devices, even if these signals arrive at the same time and / or at the same frequency. This can reduce the time-frequency resources required to achieve sensing. Since a large number of different signals can be constructed based on LFM, a large number of degrees of freedom are provided for multiple access. In addition, LFM can be processed by a low-complexity and low-power receiver device, allowing a wider range of devices to be used to achieve sensing.

[0005] In one aspect, a method is provided. The method includes obtaining a perception code and transmitting a perception signal based on the perception code. The perception code includes an ordered rate sequence. The perception signal includes an ordered LFM sequence. Each LFM in the ordered LFM sequence has a slope specified by a corresponding rate in the ordered rate sequence.

[0006] Obtaining the perception code may include receiving an indication of the perception code. Alternatively, obtaining the perception code may include selecting the perception code from a plurality of perception codes, wherein each perception code in the plurality of perception codes includes a corresponding ordered rate sequence.

[0007] The method may further include receiving an indication of one or more configuration parameters, wherein the one or more configuration parameters characterize a configuration of the perception signal based on the ordered rate sequence. Transmitting the perception signal according to the perception code may include transmitting the perception signal according to the one or more configuration parameters and the perception code.

[0008] The one or more configuration parameters may include one or more of the following: a start time of a first LFM in the ordered LFM sequence; a starting frequency of at least one LFM in the ordered LFM sequence; and a bandwidth of the perception signal.

[0009] The perceptual signal may include a repetition of the ordered LFM sequence in at least one of time and frequency. The repetition may be performed in a repetition pattern. The one or more configuration parameters may include characteristics of the repetition pattern.

[0010] The method may further include receiving a signal from a first target including a reflection of the perception signal.The method may further include determining a perception estimate of the first target based on the received signal and the plurality of perception codes including the perception code.

[0011] In another aspect, an apparatus for performing the above-described method is also provided. The apparatus may include a processor and a memory (e.g., a non-transitory processor-readable medium). The memory stores instructions (e.g., processor-readable instructions) that, when executed by the apparatus's processor, cause the apparatus to perform the above-described method. In yet another aspect, a memory may be provided (e.g., separate from the apparatus).

[0012] In yet another aspect, another method is provided. The method includes receiving a signal comprising a first perception signal of a first target. The first perception signal comprises a first ordered LFM sequence. The method further includes determining a first perception estimate of the first target based on the received signal and a plurality of perception codes. A first perception code of the plurality of perception codes comprises a first ordered rate sequence. Each LFM in the LFMs of the first ordered LFM sequence has a slope specified by a corresponding rate in the first ordered rate sequence.

[0013] Each perception code of the plurality of perception codes may correspond to a respective transmitter device.

[0014] The plurality of perception codes may further include a second ordered sequence of rates. The received signal may further include a second perception signal of a second target. The second perception signal may include a second ordered sequence of LFMs, each LFM in the LFMs of the second ordered sequence of LFMs having a slope specified by a corresponding rate in the second ordered sequence of rates. The method may further include determining a second perception estimate of the second target based on the second perception signal and the plurality of perception codes.

[0015] The first perception signal and the second perception signal may have been sent by different transmitter devices. Alternatively, the first perception signal and the second perception signal may have been sent by the same transmitter device, and the first target is different from the second target.

[0016] The first perception signal may have been transmitted by the first target. Determining the first perception estimate may include identifying the first target based on detecting the first perception signal in the received signal and determining the first perception estimate based on the identification of the first target. Identifying the first target based on detecting the first perception signal in the received signal may include associating a first perception code with the first perception signal in the received signal and identifying the first target device based on the first perception code.

[0017] The first perception signal may be received after having been transmitted by a specific transmitter device and reflected by the first target. Determining the first perception estimate may include identifying the specific transmitter device based on detection of the first perception signal in the received signal, and determining the first perception estimate based on the identification of the specific transmitter device. Identifying the specific transmitter device based on detection of the first perception signal in the received signal may include associating the first perception code with the first perception signal in the received signal, and identifying the specific transmitter device based on the first perception code.

[0018] The method may further include receiving a plurality of perception codes.

[0019] In another aspect, an apparatus for performing the above-described method is also provided. The apparatus may include a processor and a memory (e.g., a non-transitory processor-readable medium). The memory stores instructions (e.g., processor-readable instructions) that, when executed by the apparatus's processor, cause the apparatus to perform the above-described method. In yet another aspect, a memory may be provided (e.g., separate from the apparatus).

[0020] In yet another aspect, an apparatus is provided. The apparatus includes a processor and a memory. The memory stores instructions that, when executed by the processor, cause the apparatus to: obtain a perception code and transmit a perception signal based on the perception code. The perception code includes an ordered rate sequence. The perception signal includes an ordered LFM sequence, each LFM in the LFM sequence having a slope specified by a corresponding rate in the ordered rate sequence.

[0021] The apparatus may be configured to obtain the perception code by receiving an indication of the perception code.

[0022] The apparatus may be configured to obtain the perception code by selecting the perception code from a plurality of perception codes, wherein each perception code of the plurality of perception codes comprises a corresponding ordered rate sequence.

[0023] The apparatus may also be configured to receive an indication of one or more configuration parameters, wherein the one or more configuration parameters characterize a configuration of the perception signal based on the ordered rate sequence. The apparatus may be configured to transmit the perception signal in accordance with the perception code by transmitting the perception signal in accordance with the one or more configuration parameters and the perception code.

[0024] The one or more configuration parameters may include one or more of the following: a start time of a first LFM in the ordered LFM sequence; a starting frequency of at least one LFM in the ordered LFM sequence; and a bandwidth of the perception signal.

[0025] The perceptual signal may include a repetition of the ordered LFM sequence in at least one of time and frequency. The repetition may be performed in a repetition pattern. The one or more configuration parameters may include characteristics of the repetition pattern.

[0026] The apparatus may also be configured to receive a signal comprising a reflection of the perception signal from a first target, and determine a perception estimate of the first target based on the received signal and the plurality of perception codes comprising the perception code.

[0027] In yet another aspect, another apparatus is provided. The apparatus includes a processor and a memory. The memory stores instructions that, when executed by the processor, cause the apparatus to: receive a signal including a first perception signal of a first target, and determine a first perception estimate of the first target based on the received signal and a plurality of perception codes. The first perception signal includes a first ordered LFM sequence. A first perception code among the plurality of perception codes includes a first ordered rate sequence. Each LFM in the LFMs of the first ordered LFM sequence has a slope specified by a corresponding rate in the first ordered rate sequence.

[0028] Each perception code of the plurality of perception codes may correspond to a respective transmitter device.

[0029] The plurality of perception codes may further include a second ordered rate sequence. The received signal may further include a second perception signal of a second target. The second perception signal may include a second ordered LFM sequence, each LFM in the LFMs of the second ordered LFM sequence having a slope specified by a corresponding rate in the second ordered rate sequence. The apparatus may also be configured to determine a second perception estimate of the second target based on the second perception signal and the plurality of perception codes.

[0030] The first perception signal and the second perception signal may have been sent by different transmitter devices. Alternatively, the first perception signal and the second perception signal may have been sent by the same transmitter device, and the first target is different from the second target.

[0031] The first perception signal may have been transmitted by the first target. The apparatus may be configured to determine the first perception estimate by identifying the first target based on detection of the first perception signal in the received signal and determining the first perception estimate based on the identification of the first target. The apparatus may be configured to identify the first target based on detection of the first perception signal in the received signal by associating a first perception code with the first perception signal in the received signal and identifying the first target device based on the first perception code.

[0032] The first perception signal may be received after having been transmitted by a specific transmitter device and reflected by the first target. The apparatus may be further configured to determine the first perception estimate by identifying the specific transmitter device based on detection of the first perception signal in the received signal, and determining the first perception estimate based on the identification of the specific transmitter device. The apparatus may also be configured to identify the specific transmitter device based on the detection of the first perception signal in the received signal by associating the first perception code with the first perception signal in the received signal, and identifying the specific transmitter device based on the first perception code.

[0033] The apparatus may also be configured to receive the plurality of perception codes. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] For a more complete understanding of the embodiments of the present invention and its advantages, the following description is given below with reference to the accompanying drawings, by way of example, in which:

[0035] Figure 1is a schematic diagram of a communication system in which embodiments of the present invention may be implemented.

[0036] Figure 2 is another schematic diagram of a communication system in which embodiments of the present invention may be implemented.

[0037] Figure 3 is a block diagram illustrating units or modules of a device in which embodiments of the present invention may be implemented.

[0038] Figure 4 is a block diagram illustrating units or modules of a device in which embodiments of the present invention may be implemented.

[0039] Figure 5 An example of a frequency modulated continuous waveform is shown.

[0040] Figure 6 An example of a triangular waveform is shown.

[0041] Figure 7 An example of an LFM-based waveform according to an embodiment of the present invention is shown.

[0042] Figure 8 A system according to an embodiment of the present invention is shown.

[0043] Figure 9 The first perception signal and the second perception signal according to an embodiment of the present invention are shown.

[0044] Figures 10 to 13 A method according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0045] The operation and structure of the present exemplary embodiments are discussed in detail below. However, it should be understood that the present invention provides many applicable inventive concepts that can be embodied in a variety of specific contexts. The specific embodiments discussed are merely illustrative of the specific structure of the invention and the specific ways to use the invention, and do not limit the scope of the invention.

[0046] refer to Figure 1, a simplified schematic diagram of a communication system is provided as an illustrative, non-limiting example. The communication system 100 includes a radio access network 120. The radio access network 120 can be a next-generation (e.g., sixth generation (6G) or higher) radio access network, or a traditional (e.g., 5G, 4G, 3G, or 2G) radio access network. One or more communication electronic devices (EDs) 110a to 120j (generally referred to as 110) can be interconnected with each other or connected to one or more network nodes (170a, 170b, generally referred to as 170) in the radio access network 120. The core network 130 can be part of the communication system and can be dependent on or independent of the radio access technology used in the communication system 100. In addition, the communication system 100 includes a public switched telephone network (PSTN) 140, the Internet 150, and other networks 160.

[0047] Figure 2 An exemplary communication system 100 is shown. Generally, the communication system 100 enables multiple wireless or wired elements to transmit data and other content. The purpose of the communication system 100 may be to provide content such as voice, data, video, and / or text through broadcast, multicast, and unicast. The communication system 100 may operate by sharing resources such as carrier spectrum bandwidth among its component elements. The communication system 100 may include a terrestrial communication system and / or a non-terrestrial communication system. The communication system 100 may provide a wide range of communication services and applications (e.g., earth monitoring, remote sensing, passive sensing and positioning, navigation and tracking, autonomous delivery and mobility, etc.). The communication system 100 may provide high availability and robustness through the joint operation of terrestrial and non-terrestrial communication systems. For example, integrating a non-terrestrial communication system (or its components) into a terrestrial communication system can produce a heterogeneous network that can be considered to include multiple layers. Compared to traditional communication networks, heterogeneous networks can achieve better overall performance through efficient multi-link joint operation, more flexible function sharing, and faster physical layer link switching between terrestrial and non-terrestrial networks.

[0048] Terrestrial and non-terrestrial communication systems can be considered subsystems of a communication system. In the illustrated example, the communication system 100 includes electronic devices (EDs) 110a to 110d (generally referred to as EDs 110), radio access networks (RANs) 120a and 120b, a non-terrestrial communication network 120c, a core network 130, a public switched telephone network (PSTN) 140, the Internet 150, and other networks 160. RANs 120a and 120b include respective base stations (BSs) 170a and 170b, which can be generally referred to as terrestrial transmit and receive points (T-TRPs) 170a and 170b. Non-terrestrial communication network 120c includes access node 120c, which can be generally referred to as non-terrestrial transmit and receive point (NT-TRP) 172.

[0049] Alternatively or additionally, any ED 110 can be configured to connect, access, or communicate with any other T-TRP 170a and 170b, NT-TRP 172, the Internet 150, core network 130, PSTN 140, other network 160, or any combination thereof. In some examples, ED 110a can communicate uplink and / or downlink with T-TRP 170a via interface 190a. In some examples, EDs 110a, 110b, and 110d can also communicate directly with each other via one or more sidelink air interfaces 190b. In some examples, ED 110d can communicate uplink and / or downlink with NT-TRP 172 via interface 190c.

[0050] The air interfaces 190a and 190b may utilize similar communication technologies, such as any suitable radio access technology. For example, the communication system 100 may implement one or more channel access methods, such as code division multiple access (CDMA), time division multiple access (TDMA), frequency division multiple access (FDMA), orthogonal FDMA (OFDMA), or single-carrier FDMA (SC-FDMA), in the air interfaces 190a and 190b. The air interfaces 190a and 190b may utilize other higher-dimensional signal spaces, which may include a combination of orthogonal and / or non-orthogonal dimensions.

[0051] Air interface 190c enables communication between ED 110d and one or more NT-TRPs 172 via a wireless link or a simple link. In some examples, the link is a dedicated connection for unicast transmission, a connection for broadcast transmission, or a connection between a group of EDs and one or more NT-TRPs for multicast transmission.

[0052] The RANs 120a and 120b communicate with the core network 130 to provide various services, such as voice, data, and other services, to the EDs 110a, 110b, and 110c. The RANs 120a and 120b and / or the core network 130 may communicate directly or indirectly with one or more other RANs (not shown), which may or may not be directly served by the core network 130 and may or may not employ the same radio access technology as the RANs 120a, 120b, or both. The core network 130 may also serve as a gateway access between (i) the RANs 120a and 120b or the EDs 110a, 110b, and 110c, or both, and (ii) other networks, such as the PSTN 140, the Internet 150, and other networks 160. Furthermore, some or all of the EDs 110a, 110b, and 110c may include functionality to communicate with different wireless networks over different radio links using different radio technologies and / or protocols. EDs 110a, 110b, and 110c may communicate with a service provider or switch (not shown) and with the Internet 150 via wired communication channels, rather than wireless communication (or in addition to wireless communication). PSTN 140 may include a circuit-switched telephone network for providing plain old telephone service (POTS). Internet 150 may include computer networks and / or subnets (intranets) and may include protocols such as the Internet Protocol (IP), Transmission Control Protocol (TCP), and User Datagram Protocol (UDP). EDs 110a, 110b, and 110c may be multimode devices capable of operating in accordance with a variety of wireless access technologies and include multiple transceivers required to support these technologies.

[0053] Figure 3Another example of an ED 110 and base stations 170a, 170b, and / or 170c is shown. ED 110 is used to connect people, objects, machines, and the like. ED 110 can be used in a wide variety of scenarios, such as cellular communications, device-to-device (D2D), vehicle-to-everything (V2X), peer-to-peer (P2P), machine-to-machine (M2M), machine-type communication (MTC), the Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, drones, robotics, remote sensing, passive sensing, positioning, navigation and tracking, autonomous delivery, and mobility.

[0054] Each ED 110 represents any end-user device suitable for wireless operation and may include (or may be referred to as): user equipment / device (UE), wireless transmit / receive unit (WTRU), mobile station, fixed or mobile user unit, cellular phone, station (STA), machine type communication (MTC) device, personal digital assistant (PDA), smartphone, portable computer, computer, tablet computer, wireless sensor, consumer electronic device, smart book, vehicle, car, truck, bus, train or IoT device, industrial equipment or devices in the aforementioned equipment (e.g., communication module, modem or chip), etc. The next generation ED 110 may be referred to using other terms. Base stations 170a and 170b are T-TRPs, hereinafter referred to as T-TRP 170. Also as Figure 3 As shown, the NT-TRP is hereinafter referred to as NT-TRP 172. Each ED 110 connected to T-TRP 170 and / or NT-TRP 172 may be dynamically or semi-statically enabled (i.e., established, activated, or enabled), disabled (i.e., released, deactivated, or disabled), and / or configured in response to one or more of connection availability and connection necessity.

[0055] ED 110 includes a transmitter 201 and a receiver 203 coupled to one or more antennas 204. Only one antenna 204 is shown. Alternatively, one, some, or all of the antennas may be panels. Transmitter 201 and receiver 203 may be integrated into a transceiver, etc. A transceiver is used to modulate data or other content for transmission via at least one antenna 204 or a network interface controller (NIC). The transceiver is also used to demodulate data or other content received via at least one antenna 204. Each transceiver includes any suitable structure for generating signals for wireless or wired transmission and / or for processing signals received via wireless or wired means. Each antenna 204 includes any suitable structure for transmitting and / or receiving wireless or wired signals.

[0056] ED 110 includes at least one memory 208. Memory 208 stores instructions and data used, generated, or collected by ED 110. For example, memory 208 may store software instructions or modules that implement some or all of the functionality and / or embodiments described herein and are executed by one or more processing units 210. Each memory 208 includes any suitable one or more volatile and / or non-volatile storage and retrieval devices. Any suitable type of memory may be used, such as random access memory (RAM), read-only memory (ROM), a hard disk, an optical disk, a subscriber identity module (SIM) card, a memory stick, a secure digital (SD) memory card, an on-processor cache, and the like.

[0057] ED 110 may also include one or more input / output devices (not shown) or interfaces (e.g., Figure 1 The input / output devices support interaction with a user or other devices in the network. Each input / output device includes any suitable structure for providing information to or receiving information from a user, such as a speaker, microphone, keypad, keyboard, display, or touch screen, including network interface communications.

[0058] ED 110 also includes a processor 210 for performing operations related to preparing uplink transmissions to be sent to NT-TRP 172 and / or T-TRP 170, processing downlink transmissions received from NT-TRP 172 and / or T-TRP 170, and processing sidelink transmissions to and from another ED 110. Processing operations related to preparing uplink transmissions may include encoding, modulation, transmit beamforming, and generating symbols for transmission. Processing operations related to processing downlink transmissions may include receive beamforming, demodulating, and decoding received symbols. Depending on the embodiment, the downlink transmission may be received by receiver 203 using receive beamforming, and processor 210 may extract signaling from the downlink transmission (e.g., by detecting and / or decoding the signaling). An example of signaling may be a reference signal transmitted by NT-TRP 172 and / or T-TRP 170. In some embodiments, processor 276 implements transmit beamforming and / or receive beamforming based on a beam direction indication (e.g., beam angle information (BAI)) received from T-TRP 170. In some embodiments, processor 210 may perform operations related to network access (e.g., initial access) and / or downlink synchronization, such as operations related to detecting synchronization sequences, decoding, and acquiring system information. In some embodiments, for example, processor 210 may perform channel estimation using reference signals received from NT-TRP 172 and / or T-TRP 170.

[0059] Although not shown, the processor 210 may constitute a part of the transmitter 201 and / or the receiver 203. Although not shown, the memory 208 may constitute a part of the processor 210.

[0060] The processor 210 and the processing components of the transmitter 201 and the receiver 203 may be implemented by the same or different one or more processors, which are configured to execute instructions stored in a memory (e.g., the memory 208). Alternatively, the processor 210 and some or all of the processing components of the transmitter 201 and the receiver 203 may be implemented using a dedicated circuit such as a programmed field-programmable gate array (FPGA), a graphics processing unit (GPU), or an application-specific integrated circuit (ASIC).

[0061] In some implementations, the T-TRP 170 may be referred to by other names, such as a base station, a base transceiver station (BTS), a wireless base station, a network node, a network device, a network-side device, a transmission receiving node, a NodeB, an evolved NodeB (eNodeB or eNB), a Home eNodeB, a next-generation NodeB (gNB), a transmission point (TP), a site controller, an access point (AP) or a wireless router, a relay station, a remote radio head (RRH), a ground node, a ground network device, or a ground base station, a baseband unit (BBU), a remote radio unit (RRU), an active antenna unit (AAU), a remote radio head (RRH), a central unit (CU), a distributed unit (DU), a positioning node, etc. The T-TRP 170 may be a macro BS, a pico BS, a relay node, a donor node, etc., or a combination thereof. The T-TRP 170 may refer to the aforementioned device or a means in the aforementioned device (eg, a communication module, a modem, or a chip).

[0062] In some embodiments, the various parts of the T-TRP 170 can be distributed. For example, some modules in the T-TRP 170 can be remote from the device that houses the antenna of the T-TRP 170 and can be coupled to the device that houses the antenna via a communication link (not shown) sometimes called a fronthaul (e.g., a common public radio interface (CPRI)). Therefore, in some embodiments, the term "T-TRP 170" can also refer to the modules on the network side that perform processing operations such as ED 110 location determination, resource allocation (scheduling), message generation, and encoding / decoding, and these modules are not necessarily part of the device that houses the antenna of the T-TRP 170. These modules can also be coupled to other T-TRPs. In some embodiments, the T-TRP 170 can actually operate together to serve multiple T-TRPs of the ED 110 through coordinated multi-point transmission, etc.

[0063] T-TRP 170 includes at least one transmitter 252 and at least one receiver 254 coupled to one or more antennas 256. Only one antenna 256 is shown. Alternatively, one, some, or all of the antennas may be panels. Transmitter 252 and receiver 254 may be integrated into a transceiver. T-TRP 170 also includes a processor 260 for performing operations related to preparing downlink transmissions to ED 110, processing uplink transmissions received from ED 110, preparing backhaul transmissions to NT-TRP 172, and processing transmissions received from NT-TRP 172 via the backhaul. Processing operations related to preparing downlink or backhaul transmissions may include encoding, modulation, precoding (e.g., MIMO precoding), transmit beamforming, and generating symbols for transmission. Processing operations related to processing received transmissions in the uplink or on the backhaul may include receive beamforming, demodulating, and decoding received symbols. The processor 260 may also perform operations related to network access (e.g., initial access) and / or downlink synchronization, such as generating the content of a synchronization signal block (SSB), generating system information, etc. In some embodiments, the processor 260 may also generate a beam direction indication, such as a BAI, that the scheduler 253 may schedule for transmission. The processor 260 may also perform other network-side processing operations described herein, such as determining the location of the ED 110, determining the location at which to deploy the NT-TRP 172, etc. In some embodiments, the processor 260 may generate signaling to configure one or more parameters of the ED 110 and / or one or more parameters of the NT-TRP 172, etc. Any signaling generated by the processor 260 is transmitted by the transmitter 252. Note that "signaling" as used herein may also be referred to as control signaling. Dynamic signaling can be transmitted in a control channel such as the physical downlink control channel (PDCCH), while static or semi-static higher-layer signaling can be included in a data packet transmitted in a data channel such as the physical downlink shared channel (PDSCH).

[0064] The scheduler 253 may be coupled to the processor 260. The scheduler 253 may be included within the T-TRP 170 or may operate separately from the T-TRP 170, which may schedule uplink, downlink, and / or backhaul transmissions, including issuing scheduling grants and / or configuring scheduling-free ("configuration grants") resources. The T-TRP 170 also includes a memory 258 for storing information and data. The memory 258 stores instructions and data used, generated, or collected by the T-TRP 170. For example, the memory 258 may store software instructions or modules that implement some or all of the functionality and / or embodiments described herein and are executed by the processor 260.

[0065] Although not shown, the processor 260 may constitute a part of the transmitter 252 and / or the receiver 254. In addition, although not shown, the processor 260 may implement the scheduler 253. Although not shown, the memory 258 may constitute a part of the processor 260.

[0066] The processor 260, the scheduler 253, and the processing components of the transmitter 252 and the receiver 254 may be implemented by the same or different one or more processors, which are configured to execute instructions stored in a memory (e.g., the memory 258). Alternatively, some or all of the processor 260, the scheduler 253, and the processing components of the transmitter 252 and the receiver 254 may be implemented using dedicated circuits such as FPGAs, GPUs, or ASICs.

[0067] Although the NT-TRP 172 is shown as a drone for example only, the NT-TRP 172 can be implemented in any suitable non-ground form. In addition, in some implementations, the NT-TRP 172 may have other names, such as a non-ground node, a non-ground network device, or a non-ground base station. The NT-TRP 172 includes a transmitter 272 and a receiver 274 coupled to one or more antennas 280. Only one antenna 280 is shown in the figure. Alternatively, one, some, or all of the antennas can be panels. The transmitter 272 and the receiver 274 can be integrated into a transceiver. The NT-TRP 172 also includes a processor 276 for performing operations related to preparing downlink transmissions to the ED 110, processing uplink transmissions received from the ED 110, preparing backhaul transmissions to the T-TRP 170, and processing transmissions received from the T-TRP 170 via the backhaul. Processing operations associated with preparing to transmit a downlink transmission or a backhaul transmission may include operations such as encoding, modulation, precoding (e.g., MIMO precoding), transmit beamforming, and generating symbols for transmission. Processing operations associated with processing received transmissions in the uplink or on the backhaul may include operations such as receive beamforming, demodulation, and decoding of received symbols. In some embodiments, the processor 276 implements transmit beamforming and / or receive beamforming based on beam direction information (e.g., BAI) received from the T-TRP 170. In some embodiments, the processor 276 may generate signaling to configure one or more parameters of the ED 110, etc. In some embodiments, the NT-TRP 172 implements physical layer processing but does not implement higher-layer functions, such as those of the medium access control (MAC) or radio link control (RLC) layers. Since this is merely an example, in general, the NT-TRP 172 may also implement higher-layer functions in addition to physical layer processing.

[0068] The NT-TRP 172 also includes a memory 278 for storing information and data. Although not shown, the processor 276 may constitute a part of the transmitter 272 and / or the receiver 274. Although not shown, the memory 278 may constitute a part of the processor 276.

[0069] Processor 276 and the processing components of transmitter 272 and receiver 274 can be implemented by the same or different one or more processors, which are configured to execute instructions stored in a memory (e.g., memory 278). Alternatively, processor 276 and some or all of the processing components of transmitter 272 and receiver 274 can be implemented using a dedicated circuit such as a programmed FPGA, GPU, or ASIC. In some embodiments, NT-TRP 172 can actually operate together to serve multiple NT-TRPs of ED 110 through coordinated multi-point transmission or other means.

[0070] The T-TRP 170 , NT-TRP 172 , and / or ED 110 may include other components, but these have been omitted for clarity.

[0071] One or more steps of the example methods provided herein may be performed by Figure 4 Provided corresponding unit or module execution. Figure 4 The units or modules in a device such as ED 110, T-TRP 170, or NT-TRP 172 are shown. For example, a signal can be sent by a sending unit or a sending module. For example, a signal can be sent by a sending unit or a sending module. A signal can be received by a receiving unit or a receiving module. A signal can be processed by a processing unit or a processing module. Other steps can be performed by an artificial intelligence (AI) or machine learning (ML) module. The corresponding units or modules can be implemented using hardware, one or more components or devices that execute software, or a combination thereof. For example, one or more units or modules can be programmed integrated circuits such as FPGAs, GPUs, or ASICs. It should be understood that if these modules are implemented using software for execution by a processor, etc., these modules can be retrieved by the processor in whole or in part as needed, retrieved individually or collectively for processing, retrieved in one or more instances, and these modules themselves can include instructions for further deployment and instantiation.

[0072] Other details about ED 110, T-TRP 170, and NT-TRP 172 are known to those skilled in the art. Therefore, these details are omitted here.

[0073] The perception system can be used to help collect position information of a specific object (e.g., a device). For example, the position information may include one or more of the following: the relative position of the specific object (e.g., relative to a reference point or other device), the position in the global coordinate system, the movement of the object (relative to the global coordinate system or in the global coordinate system), orientation information, and wireless environment information. "Location" is also called "position," and the two terms are used interchangeably herein. The relative position of an object may include the distance to the object and / or the direction to the object. For example, the movement of an object may include the speed, direction of movement, and / or acceleration of the object.

[0074] Perception systems are particularly useful for acquiring position information about electronic devices, referred to as ED position information. ED position information can be used within cellular communication networks to improve various network performance metrics. These performance metrics can include, for example, capacity, flexibility, and / or efficiency. Improvements can be achieved when network elements leverage the ED's location, behavior, mobility patterns, and other information within the context of prior information describing the wireless environment in which the ED operates.

[0075] Examples of well-known perception systems include Radio Detection and Ranging (RADAR) and Light Detection and Ranging (LIDAR). Although perception systems are typically separate from communication systems, using an integrated system to gather information has the advantage of reducing the hardware (and cost) in the system as well as the time, frequency, or space resources required to perform both functions. However, using communication system hardware to perform perception of ED pose and environmental information is a challenging problem. The difficulty of this problem is related to factors such as the limited resolution of the communication system, the dynamic nature of the environment, and the large number of objects whose electromagnetic properties and orientation need to be estimated.

[0076] Therefore, integrated sensing and communication (also called integrated communication and perception) is a desirable function for existing and future communication systems.

[0077] Any or all of ED 110 and TRP 170 may be sensing nodes in system 100. A sensing node is a network entity that performs sensing by sending and receiving sensing signals. Some sensing nodes are communication devices that perform both communication and sensing. However, some sensing nodes may not perform communication but are dedicated to performing sensing. For example, system 100 may also include a dedicated sensing agent, which is an example of a sensing node dedicated to sensing. Unlike ED 110 and TRP 170, a dedicated sensing agent does not send or receive communication signals. However, a dedicated sensing agent may transmit configuration information, sensing information, signaling information, or other information within the communication system 100. In some cases, multiple dedicated sensing agents may be implemented that can communicate with each other to jointly perform sensing tasks. The dedicated sensing agents may communicate with the core network 130 to transmit information with the rest of the communication system 100. For example, a dedicated sensing agent may determine the location of ED 110a and send that information to base station 170a via the core network 130. Although Figure 2 Dedicated perceptual agents are not shown, but any number of perceptual agents may be implemented in the communication system 100. In some embodiments, one or more dedicated perceptual agents may be implemented at one or more RANs 120.

[0078] The sensing node can combine sensing-based techniques with reference signal-based techniques to enhance UE pose determination. Reference signal-based techniques can be considered a dual-base (or multi-base) sensing, especially when the measurement values of the reference signal are used for pose estimation. This type of sensing node can also be referred to as a node that implements a sensing management function (SMF). In some networks, the SMF can also be referred to as a node that implements a location management function (LMF). The SMF can be implemented as a physically independent entity located at a core network 130, which is connected to multiple TRPs 170. In other aspects of the present application, the SMF can be implemented as a logical entity co-located inside a TRP (e.g., T-TRP 170) through logic executed by a processor in the TRP (e.g., processor 260).

[0079] In one example, the SMF can be implemented as a physically independent entity that includes at least one processor, at least one transmitter, at least one receiver, one or more antennas, and at least one memory. A transceiver can be used instead of the transmitter and receiver. A scheduler can be coupled to the processor of the SMF. The scheduler can be included in the SMF or run separately from the SMF. The processor implements various processing operations of the SMF, such as signal encoding, data processing, power control, input / output processing, or any other functions. The processor can also be used to implement some or all of the functions and / or embodiments described in more detail above. The processor includes any suitable processing or computing device for performing one or more operations. For example, the processor may include a microprocessor, a microcontroller, a digital signal processor, a field programmable gate array, or an application-specific integrated circuit.

[0080] The pose determination technology based on reference signals belongs to the "active" pose estimation paradigm. In the active pose estimation paradigm, the inquirer of pose information (e.g., electronic device 110) participates in the process of determining the pose of the inquirer. The inquirer can send or receive and process (or both send and receive / process) signals specific to the pose determination process. Positioning technology based on global navigation satellite systems (GNSS) such as the known global positioning system (GPS) is another example of the active pose estimation paradigm. Various positioning technologies are also well known in NR systems and LTE systems.

[0081] In contrast, perception technologies based on radar and / or lidar can be considered to belong to the “passive” pose determination paradigm, where the target is not affected by the pose determination process.

[0082] By integrating perception and communication into one system, the system does not need to operate according to a single paradigm. Therefore, the combination of perception-based techniques and reference signal-based techniques can lead to enhanced pose determination.

[0083] For example, enhanced pose determination can include obtaining ED channel subspace information, which is particularly useful for ED channel reconstruction at the sensing node, especially for beam-based operation and communication. The ED channel subspace is a subset of the entire algebraic space defined in the spatial domain, in which the entire channel from TP to ED lies. Therefore, the ED channel subspace defines the channel from TRP to ED with very high accuracy. The impact of signals sent through other subspaces on the ED channel is negligible. Understanding the ED channel subspace helps reduce the workload required for channel measurement at the ED and channel reconstruction on the network side. Therefore, compared with traditional methods, the combination of sensing-based techniques and reference signal-based techniques can achieve ED channel reconstruction with less overhead. Subspace information can also facilitate subspace-based sensing to reduce sensing complexity and improve sensing accuracy.

[0084] In some embodiments of integrated sensing and communication, the same radio access technology (RAT) is used for both sensing and communication, thus avoiding the need to reuse two different RATs on one carrier spectrum or to use two different carrier spectrums for the two different RATs.

[0085] In an embodiment of integrating sensing and communication under one RAT, a first set of channels may be used to transmit sensing signals, and a second set of channels may be used to transmit communication signals. In some embodiments, each channel in the first set of channels and each channel in the second set of channels is a logical channel, a transport channel, or a physical channel.

[0086] At the physical layer, communication and sensing can be performed via separate physical channels. For example, a first physical downlink shared channel (PDSCH-C) is defined for data communication, while a second physical downlink shared channel (PDSCH-S) is defined for sensing. Similarly, separate physical uplink shared channels (PUSCH) (PUSCH-C and PUSCH-S) can be defined for uplink communication and sensing.

[0087] In another example, the same channel (e.g., the same PDSCH and PUSCH) can be used for communication and sensing. Separate logical layer channels and / or transport layer channels can be defined for communication and sensing. It should also be noted that one or more control channels and one or more data channels used for sensing can have the same or different channel structures (formats) and occupy the same or different frequency bands or bandwidth portions.

[0088] In another example, a common physical downlink control channel (PDCCH) and a common physical uplink control channel (PUCCH) can be used to carry control information for sensing and communication. Alternatively, separate physical layer control channels can be used to carry separate control information for communication and sensing. For example, uplink control for sensing and communication can be performed using PUCCH-S and PUCCH-C, respectively, and downlink control for sensing and communication can be performed using PDCCH-S and PDCCH-C, respectively.

[0089] At each of the physical, transport, and logical layers, sensing and communication can be performed using different combinations of shared and dedicated channels.

[0090] The term "RADAR" originates from the phrase "radio detection and ranging"; however, expressions with different capitalizations (for example, Radar and radar) are equally valid and are now more common. Radar is generally used to detect the presence and location of objects. A radar system radiates radio frequency energy and receives echoes of energy reflected from one or more targets. The system determines the position of a given target based on the echoes (also called reflections) returned from the given target. The radiated energy can be in the form of energy pulses or continuous waves, which can be represented or defined by a specific waveform. Examples of waveforms used in radar include frequency modulated continuous wave (FMCW) and ultra-wideband (UWB) waveforms.

[0091] Radar systems can be monostatic, bistatic, or multistatic. In a monostatic radar system, the radar signal transmitter and receiver are co-located, for example, integrated into the transceiver. In a bistatic radar system, the transmitter and receiver are spatially separated. The separation distance is typically comparable to or greater than the expected target distance (often called range). In a multistatic radar system, two or more radar components are spatially separated but have a shared coverage area. Multistatic radar is also called multistation or mesh radar.

[0092] Ground-based radar applications face challenges such as multipath propagation and shadowing. Another challenge is identifiability, as ground targets have similar physical properties. Integrating sensing into communications systems is likely to face similar challenges, if not more so.

[0093] Communication nodes can be half-duplex or full-duplex. Half-duplex nodes cannot use the same physical resources (time, frequency, etc.) to transmit and receive at the same time; in contrast, full-duplex nodes can use the same physical resources to transmit and receive. Existing commercial wireless communication networks are all half-duplex. Even if full-duplex communication networks become practical in the future, it is expected that at least some nodes in the network will still be half-duplex nodes because half-duplex devices have lower complexity, cost, and power consumption. In particular, full-duplex implementation is more challenging at higher frequencies (for example, in the millimeter wave bands) and is very challenging for small, low-cost devices (for example, femtocell base stations and UEs).

[0094] The limitations of half-duplex nodes in communication networks pose further challenges for integrating sensing and communication into devices and systems. For example, both half-duplex and full-duplex nodes can perform bistatic or multistatic sensing, but monostatic sensing typically requires full-duplex capabilities. Half-duplex nodes can perform monostatic sensing under certain constraints, such as in pulsed radars with specific duty cycles and ranging capabilities.

[0095] The properties of a sensory signal, or a signal used for both sensing and communication, include its waveform and its frame structure. The frame structure defines the signal's temporal boundaries. The waveform describes the shape of the signal as a function of time and frequency.

[0096] It is foreseeable that most nodes in future wireless networks will be able to perform sensing. However, network resources in wireless networks are limited. Technologies are needed to effectively and efficiently share wireless channels among multiple nodes to prevent sensing performance from being limited by wireless resource availability.

[0097] The technology of sharing a wireless channel among multiple sensing nodes is called cognitive multiple access (CMA). CMA aims to enable cognitive services for multiple sensing nodes using the limited time-frequency resources of the shared medium (i.e., the wireless channel). Efficient CMA technology should minimize interference between different sensing nodes. For example, interference may occur when sensing nodes in close proximity transmit on the same time-frequency resources.

[0098] One approach to sharing wireless channels among multiple sensing nodes is to schedule different sensing nodes in different time-frequency resources to reduce the risk of interference when the nodes perform sensing. However, this can lead to a significant increase in the demand for time-frequency resources to achieve cross-network sensing, potentially compromising the performance of other services, such as communication services.

[0099] Another approach is to provide orthogonal or semi-orthogonal sensing waveforms to the sensing nodes to reduce the demand on time-frequency resources. The receiver of the sensing signal can use post-processing (eg, by using a correlator) to distinguish different sensing signals.

[0100] A combination of these two approaches can be used. For example, the fifth generation (5 th The 5G New Radio (NR) standard defines OFDM-modulated Zadoff-Chu sequences for the uplink sounding reference signal (UL-SRS). UL-SRS can be used in communication networks for tasks such as channel sounding, timing control for uplink transmission, and reciprocity-based multi-user downlink precoding. For multiple access in 5G NR networks, different devices (e.g., different user equipment) can be assigned different time-frequency resources and / or different Zadoff-Chu sequence parameters.

[0101] For example, the downlink positioning reference signal (DL-PRS) in the 5G NR network can be based on the Gold sequence, so that different devices (for example, different TRPs) can be multiplexed in the time-frequency domain and according to the parameters of the Gold sequence.

[0102] In 5G NR networks, the waveforms of UL-SRS and DL-PRS are defined as sequences in the digital baseband domain. While this digitally defined signal provides flexibility in multiple access, the processing sequence at the receiver can be complex and power-intensive because digital baseband processing is required to achieve acceptable performance.

[0103] While the 5G NR standard defines digital sequences for communication, radar, as an example of sensing, typically uses waveforms based on linear frequency modulation (LFM), which are represented in the radio frequency (RF) analog domain. The frequency of a linear frequency modulation (LFM) signal is a linear function of time. LFM can also be called a chirp. The slope of the LFM signal can be called the LFM rate or chirp rate.

[0104] Figure 5 and Figure 6 Two examples of LFM-based waveforms that have been used in radar are shown. Both waveforms are combinations of LFM.

[0105] Figure 5 Shows the duration T senAn example of a frequency modulated continuous waveform (FMCW) is shown in Figure 1. The FMCW signal includes multiple LFMs. Each LFM has the same starting frequency f0, ending frequency f0-B (and therefore the same bandwidth B), and rate -α. Therefore, the FMCW effectively includes a sequence of identical LFMs. This can also be described as multiple parallel LFMs being time-multiplexed, where each of these LFMs has the same rate. In this example, each LFM spans one symbol. In general, the LFMs can have any suitable duration. The duration of each LFM in the FMCW signal is the same because these LFMs have the same rate and bandwidth.

[0106] Figure 6 An example of a triangular waveform is shown. A triangular waveform consists of a sequence of LFMs with the same absolute rate but alternating signs. In the example shown, the first LFM has a rate of -α, and the second has a rate of α. This sequence repeats until the waveform ends. This creates a symmetrical triangle in the time-frequency domain.

[0107] Both FMCW and triangular waveforms are represented in the RF analog domain and can be processed by low-complexity receivers. Due to their time-correlated properties, FMCW and triangular waveforms can also be used to achieve high sensing performance. However, due to phase discontinuities between subsequent LFMs, FMCW waveforms can result in significant out-of-band emissions. Furthermore, triangular and FMCW waveforms offer limited flexibility for multiple access, as they only provide a limited number of degrees of freedom. For example, an FMCW waveform includes parallel LFMs at the same rate. This limits the degrees of freedom available for multiple access. Triangular waveforms also suffer from similar drawbacks. The LFMs in a triangular waveform have rates of α or -α, which does not provide an appropriate number of degrees of freedom for multiple access. With limited degrees of freedom for multiple access, multiple sensing transmitters need to be separated in the time and / or frequency domains to avoid significant interference. Interference degrades sensing performance and can make it difficult for the receiver to distinguish sensing signals from different transmitters. Separating transmitters in the time and / or frequency domains can reduce efficiency, as the demand on network resources for sensing increases with the number of sensing transmitters.

[0108] According to various aspects of the present invention, a generalized LFM-based waveform can be used for sensing to increase the degree of freedom of the sensing scheme. Thus, the generalized LFM-based waveform can enable practical sensing multiple access techniques. For example, the generalized LFM-based waveform can provide a high degree of flexibility when multiplexing sensing transmitters while still allowing the sensing signals to be processed by low-complexity and low-power receivers.

[0109] Figure 7An example of such a generalized LFM-based waveform is shown in FIG. A generalized LFM-based waveform comprises an ordered sequence of LFMs i=1, 2, ... N, where each LFM i has a corresponding rate α i Each LFM in the ordered sequence occurs after (e.g., immediately after) another LFM in time. The LFMs are efficiently multiplexed in the time domain to form a waveform. Each LFM has the same maximum frequency f0 and minimum frequency f0-B, and therefore has the same bandwidth B. Each LFM has a corresponding rate α i , so that the waveform can be identified by the rate of the LFM that forms the waveform. The rate of the LFM that forms the waveform can be expressed as a rate sequence (α1, α2, α3, α4, ... αN-1, αN).

[0110] It should be understood that Figure 7 The waveforms shown are merely examples of generalized LFM-based waveforms according to embodiments of the present invention. In general, the generalized LFM-based waveforms described herein may include any ordered LFM sequence with corresponding rates. Therefore, the FMCW waveform may be understood as a special case of a generalized LFM-based waveform with all rates being the same (e.g., α i =α). A triangular waveform is another special case where each of the LFM rates in the sequence alternates between α and -α (e.g., for even i, α i =α, otherwise α i =-α). Another special example of the generalized LFM-based waveform may be a waveform in which at least two LFMs among the LFMs of the generalized LFM-based waveform may have different absolute rates.

[0111] A particular instance of a generalized LFM-based waveform may be specified by some or all of the following parameters: the number of LFMs included in the waveform, N i ; The start time t of the first LFM in the waveform i ;The starting frequency f of the first LFM in the waveform i ;Bandwidth of the waveform i ; Ordered rate sequence of LFM in the waveform (If the waveform comprises the repetition of an ordered sequence of rates (in time and / or frequency)) the repetitive pattern, e.g., and / or frequency It will be appreciated that some of these parameters are interdependent, meaning that a particular waveform may be defined using only some of these parameters. It will also be appreciated that other parameters may be used to define the same attributes in different ways. For example, the duration and rate sequence of a waveform may be used to define the bandwidth of the waveform (because for each LFM, time and frequency are linearly related, and for each LFM, the slope of the linear relationship is the rate defined by the rate sequence). As described in more detail below, in some examples, a particular instance of a waveform based on a generalized LFM may be associated with a particular entity (e.g., a particular transmitter device, a particular target, etc.). In these examples, the index i may be associated with an identification or identifier of the entity. In some examples, the index i may be associated with an identification or identifier of a perception session.

[0112] Because generalized LFM-based waveforms are LFM-based, they can be processed by low-complexity and low-power receivers. Furthermore, the lack of symmetry in certain LFM-based waveforms does not appear to affect out-of-band emissions (e.g., does not appear to result in any increase in out-of-band emissions), meaning that generalized LFM-based waveforms do not need to be constrained by the symmetry of triangular waveforms. Furthermore, because generalized LFM-based waveforms can include LFMs with different absolute rates, a large number of different waveforms can be constructed using different rate sequences.

[0113] According to various aspects of the present invention, different transmitter devices can use different waveforms for sensing, where each waveform is based on the generalized LFM-based waveform described above. That is, each transmitter device can be assigned a waveform formed by an ordered LFM sequence with a corresponding rate. This allows for differentiating perception signals transmitted by different transmitter devices based on the perception signal waveform, meaning that different transmitter devices can use the same or overlapping network resources (e.g., time-frequency resources) for sensing. Because a large number of different waveforms can be constructed based on the generalized LFM waveform, a large number of degrees of freedom are provided for facilitating perception multiple access.

[0114] Because a waveform assigned to a particular transmitter device is formed from an ordered sequence of LFMs having corresponding rates, the waveform can be identified by its particular rate sequence. According to various aspects of the present invention, a particular waveform (e.g., for a particular transmitter device) can be identified by a code or perception code that includes an ordered rate sequence. Thus, for example, Figure 7 The waveform based on generalized LFM shown can be represented by the perceptual code (α1, α2, α3, α4, ... α N-1 ,α N ) to identify the waveform of a specific transmitter device.

[0115] Thus, various aspects of the present invention enable highly flexible multiple access for sensing while minimizing power consumption and complexity of receiver devices.

[0116] Figure 8 A system 800 according to an embodiment of the present invention is shown.

[0117] The system 800 includes a first transmitter device 802a , a second transmitter device 802b , a receiver device 804 , and a sensing coordinator 806 .

[0118] The first transmitter device 802a and the second transmitter device 802b may be collectively referred to as a transmitter device 802. In general, the system 800 may include two or more transmitter devices 802.

[0119] Each transmitter device in transmitter apparatus 802 includes a processor, a transmitter, an antenna, and memory. One or more transmitter devices in transmitter apparatus 802 may also include a receiver. Alternatively, one or more transmitter devices in transmitter apparatus 802 may include a transceiver rather than a transmitter and a receiver. The processor implements various operations of the corresponding transmitter apparatus 802, including the operations described below, as well as other operations such as signal encoding, data processing, power control, or any other functions. The processor comprises any suitable processing or computing device for performing one or more operations. For example, the processor may include a microprocessor, a microcontroller, a digital signal processor, a field programmable gate array, or an application-specific integrated circuit.

[0120] In the illustrated embodiment, each of the transmitter devices 802 includes an electronic device. Thus, each of the transmitter devices 802 may be a combination of the above Figures 1 to 4 In other embodiments, one or more of the transmitter devices 802 may not be electronic devices. For example, one or more of the transmitter devices 802 may include a TRP (e.g., a network node or base station), as described above in conjunction with Figures 1 to 4 Any TRP 170 described herein. In general, each of the transmitter devices 802 can be any device (e.g., a device or node) capable of transmitting a sensory signal. The transmitter devices 802 can include sensory nodes or agents (e.g., the sensory agents described above). In certain examples, one or more of the transmitter devices 802 can additionally transmit and / or receive communication signals. For example, one or more of the transmitter devices 802 can include an ISAC device.

[0121] Receiver device 804 includes a processor, a receiver, an antenna, and a memory. Receiver device 804 may also include a transmitter. Alternatively, receiver device 804 may include a transceiver rather than a transmitter and receiver. The processor implements various operations of receiver device 804, including the operations described below, as well as other operations such as signal encoding, data processing, power control, or any other functions. The processor includes any suitable processing or computing device for performing one or more operations. For example, the processor may include a microprocessor, a microcontroller, a digital signal processor, a field programmable gate array, or an application-specific integrated circuit.

[0122] In the illustrated embodiment, the receiver device 804 is a TRP. The receiver device 804 may include any suitable TRP (e.g., a network node or a base station), as described above in conjunction with Figures 1 to 4 In certain examples, the receiver device 804 may include a base station that serves the cell to which the transmitter device 802 is connected. In other embodiments, the receiver device 804 may not be a TRP. In some examples, the receiver device 804 may be an electronic device, such as the one described above in conjunction with Figures 1 to 4 Any electronic device 110 described herein. In general, the receiver device 804 can be any device (e.g., a device or node) capable of receiving a sensing signal or a reflection of a sensing signal. For example, the receiver device 804 can include a sensing node or a sensing agent (e.g., the sensing agent described above). In certain examples, the receiver device 804 can additionally send and / or receive communication signals. For example, the receiver device 804 can include an ISAC device.

[0123] The perception coordinator 806 includes a processor, a transmitter, an antenna, and a memory. The perception coordinator 806 may also include a receiver. Alternatively, the perception coordinator 806 may include a transceiver instead of a transmitter and a receiver. The processor implements various operations of the perception coordinator 806, including the operations described below and other suitable operations. The processor includes any suitable processing or computing device for performing the operations described below. For example, the processor may include a microprocessor, a microcontroller, a digital signal processor, a field programmable gate array, or an application-specific integrated circuit.

[0124] For example, the awareness coordinator 806 may include a TRP (eg, a network node or a base station), as described above in conjunction with Figures 1 to 4 Any TRP 170 described above. The perception coordinator 806 may include an electronic device, for example, Figures 1 to 4Any electronic device 110 described. In some embodiments, the perception coordinator 806 may include a node in a core network (e.g., a communication network including the system 800). That is, the perception coordinator 806 may be a core network node. For example, the perception coordinator 806 may be a core network node, and the transmitter device 802 may be a base station connected to the perception coordinator 806 (e.g., via a backhaul network). In some embodiments, the perception coordinator 806 may include a perception management function, such as the SMF described above. In general, the perception coordinator 806 may include any device (e.g., a node or device) capable of performing the operations of the perception coordinator 806 discussed below.

[0125] In some embodiments, the awareness coordinator 806 and the receiver device 804 may be the same. That is, one device may implement the operations of the awareness coordinator 806 and the receiver device 804 as described herein. In other embodiments, for example, Figure 8 In the illustrated embodiment, the sensing coordinator 806 and the receiver device 804 may be implemented in different devices.

[0126] Perception Code

[0127] According to various aspects of the present invention, the first transmitter device 802a and the second transmitter device 802b may be assigned respective perception codes, which define, for each of the first transmitter device 802a and the second transmitter device 802b, respective perception signals formed by an ordered LFM sequence. LFM may also be referred to as a chirp.

[0128] Each of the perception codes includes a corresponding ordered sequence of rates (e.g., may be composed of an ordered sequence of rates). These rates may be referred to as chirp rates, slopes, or gradients. Each rate indicates the slope or gradient of a corresponding LFM, such that a particular ordered sequence of rates specifies (e.g., defines) a perceived signal formed by a sequence of LFMs having a specified rate. That is, each perception code may have a one-to-one correspondence with a perceived waveform based on generalized LFM, wherein the rate of a continuous LFM in the waveform is specified by the perception code. For example, the above-described Figure 7 The signal shown may correspond to the perceptual code (α1, α2, α3, α4, ..., α N ).

[0129] The perception codes used for the first transmitter device 802a and the second transmitter device 802b can be selected from a plurality of perception codes. The perception codes can also be referred to as perception codewords or perception signal indicators. Each of the plurality of perception codes can be different. Thus, each of the perception codes can define a different perception signal. For example, the plurality of perception codes can be referred to as a perception code set, a codebook, a dictionary, a perception codebook, or a perception dictionary.

[0130] A plurality of perception codes including perception codes for the first transmitter device 802a and the second transmitter device 802b may be formed using a rate set Φ. This may be referred to as Figure 9 To illustrate, the figure shows a first perception signal for a first transmitter device 802a (labeled "perception signal of TX 1") defined by a first perception code and a second perception signal for a second transmitter device 802b (labeled "perception signal of TX 2") defined by a second perception code. In this example, the first and second perception codes are created using a rate set Φ = {α1, -α1, α2, -α2, α3, -α3}, and each of the perception signals is formed by five LFMs. The first perception code is (α1, -α2, -α3, -α3, α1), so that the slope of the first LFM in the first perception signal is α1, the slope of the second LFM is -α2, the slope of the third LFM is -α3, and so on. The second perception code is (-α1, α2, -α3, α3, -α1), so that the slope of the first LFM in the second perception signal is -α1, the slope of the second LFM is α2, the slope of the third LFM is -α3, and so on.

[0131] In general, multiple perception codes (e.g., including perception codes for the first transmitter device 802a and the second transmitter device 802b) can be based on a rate set Φ. This set Φ can effectively define an alphabet of perception codes. In other words, each of the rates used in each perception code can belong to the set Φ. The number of possible perception codes may depend on the size of the rate set Φ. Therefore, the number of possible perception codes can be increased by increasing the size of the rate set Φ. Since each transmitter device should be assigned a unique perception code, the number of perception codes may limit the number of transmitter devices that can be supported. Therefore, a large Φ and therefore a large number of possible perception codes may be particularly advantageous because more transmitter devices can be supported. Having a large number of perception codes can also enable the assignment of perception codes to specific transmitter devices to reduce interference between transmitter devices. This can improve perception performance.

[0132] However, increasing the size of the set Φ may increase complexity at the receiver device 804 because the receiver device 804 may be required to process more rates. Thus, there may be a trade-off between performance and complexity, which can be achieved by appropriately designing the set Φ and the associated plurality of perception codes. In some examples, the rate set Φ (e.g., the cardinality of the set) and / or the plurality of perception codes (e.g., the length of each perception code) may be generated based on one or more of: the number of perception codes required, the correlation between the perception codes (based on a desired perception KPI), and other possible constraints, such as out-of-band emissions of the perception signal. The number of perception codes required may be based on statistics of the number of active sensing transmitter devices in a particular area (e.g., the expected or actual number of transmitter devices performing sensing in a particular area). The correlation between the perception codes may be determined based on a desired (e.g., desired or target) perception performance indicator (e.g., a key performance indicator (KPI)). An example of a perception performance indicator may be the ability to detect a perception transmitter identity based on a received signal. Additionally or alternatively, the correlation between the perception codes may depend on the type of receiver device 804. For example, a radio frequency master receiver device may experience higher correlation between the perception codes.

[0133] It should be understood that Figure 9 The rate set Φ, first and second perceptual codes, and associated perceptual signals shown are examples of rate sets, perceptual codes, and perceptual signals that may be used. In general, any suitable rate set and perceptual code (and perceptual signal) may be used.

[0134] Thus, the first transmitter device 802a and the second transmitter device 802b can be assigned respective perception codes that define respective perception signals formed from the ordered LFM sequence. Each of the first transmitter device 802a and the second transmitter device 802b can transmit a perception signal according to its respective perception code. Each of the perception signals can be reflected from a target (not shown), such that a reflected signal (not shown) is received by the receiver device 804. The receiver device 804 can determine a perception estimate of the target based on the reflected signal and the plurality of perception codes.

[0135] Combine Figure 10 Describing an exemplary implementation thereof in greater detail, the figure illustrates a method 1000 performed by the perception coordinator 806 , the first transmitter device 802 , and the receiver device 804 .

[0136] For ease of reference, Figure 10, the first transmitter device 802a and the second transmitter device are represented by a single entity, namely, the transmitter device 802. However, it should be understood that the operations described below with respect to the transmitter device 802 may be performed separately by (e.g., for and / or by) the first transmitter device 802a and the second transmitter device 802b, and vice versa.

[0137] Method 1000 may begin with the sensing coordinator 806 determining a rate set Φ. The sensing coordinator 806 may determine the rate set based on one or more of the following: the number of desired sensing codes (e.g., the number of transmitter devices 802), the correlation between the sensing codes (e.g., based on a target sensing performance), and the expected out-of-band emissions of sensing signals formed based on the sensing codes of the rate set. It should be understood that the rate set can be designed in a variety of ways. A particular design can reduce the complexity of the algorithms and architecture at the receiver device 804. In a specific example, rates can be selected such that the correlation between LFMs corresponding to the rates in the set Φ is low. This can be referred to as selecting rates to minimize the correlation between the LFMs. The resulting LFM set can be referred to as a semi-orthogonal LFM set. A semi-orthogonal LFM set can result in a simpler architecture at the receiver device 804. Thus, each sensing code can include (e.g., consist of) an ordered sequence of rates, each of which belongs to the set Φ.

[0138] The sensing coordinator 806 may determine a plurality of sensing codes based on the rate set. Each sensing code may be different. The sensing coordinator 806 may map the rate set Φ to a subset of a real alphabet (e.g., where the alphabet or perception code belongs to set C). In a specific example, each of the rates may be an integer. Thus, the perception coordinator 806 may map the rate set Φ to an integer alphabet (e.g., ) is a subset of .

[0139] The perception coordinator 806 may determine the number of perception codes based on one or more of the following: the number of transmitter devices, the duration of the perception signal (e.g., the number of symbols that each perception signal should occupy), a target number of discontinuities in the perception signal, a target out-of-band emission, etc. Because reducing the number of discontinuities in the time-frequency representation of the perception signal can reduce out-of-band emissions, determining the number of perception codes based on the target number of discontinuities (e.g., by seeking to minimize the number of discontinuities in each perception signal corresponding to the perception code) may be particularly advantageous. This may expand the potential for multiple access while minimizing out-of-band emissions.

[0140] Thus, the perception coordinator 806 may determine a rate set and a plurality of perception codes. In embodiments where the perception coordinator 806 comprises a TRP or a core network node, this may be referred to as a network-created perception codebook.

[0141] In other examples, the perception coordinator 806 may not need to determine the rate set and / or the plurality of perception codes. For example, the rate set and / or the plurality of perception codes may be preconfigured. Thus, the plurality of perception codes may be retrieved from a memory of the perception coordinator 806.

[0142] The perception coordinator 806 may select a corresponding perception code for the transmitter device 802 from a plurality of perception codes. Thus, the perception coordinator 806 may assign a perception code to each of the transmitter devices 802. That is, the perception coordinator 806 may select a first perception code for the first transmitter device 802a and a second perception code for the second transmitter device 802b. Alternatively, the perception coordinator 806 may not select a perception code for one or both of the first transmitter device 802a and the second transmitter device 802b from the plurality of perception codes. For example, the first transmitter device 802a may already have been assigned a particular perception code. For example, the perception coordinator 806 may receive the perception code for the first transmitter device 802a from another device (e.g., from a base station previously connected to the first transmitter device 802a).

[0143] Step 1002: The perception coordinator 806 sends an indication of a corresponding perception code to each transmitter device in the transmitter device 802. The indication may be sent via dynamic signaling. For example, the indication may be sent in downlink control information (DCI). The indication may be sent via semi-static signaling. The indication may be sent in a Radio Resource Control (RRC) message or a Media Access Control (MAC) message, for example, in a MAC Control Element (MAC-CE). This may be particularly applicable to examples where the transmitter device 802 includes an electronic device. In other examples, the indication may be sent via a backhaul signal. This may be particularly applicable to examples where the transmitter device 802 includes a TRP.

[0144] In step 1002, the perception coordinator 806 may send a perception code to the transmitter device 802. Alternatively, the perception coordinator 806 may indicate the perception code to the transmitter device 802 instead of explicitly sending the perception code.

[0145] In a specific example, each of the plurality of perception codes may be assigned a unique identifier or index. Thus, the perception coordinator 806 may send a corresponding unique identifier for the corresponding perception code in step 1002 to each of the transmitter devices 802. In one example, each perception code may be assigned an integer (e.g., a natural number) that uniquely identifies the particular perception code. In step 1002, the perception coordinator 806 may send the corresponding integer to each of the transmitter devices 802. For example, the perception coordinator 806 may send the number 1 to the first transmitter device 802a to indicate a first perception code to the first transmitter device 802a, and the perception coordinator 806 may send the number 2 to the second transmitter device 802b to indicate a second perception code to the second transmitter device 802b.

[0146] In some examples, one or more of the transmitter devices 802 may obtain their corresponding perception codes using a mathematical formula or a lookup table (LUT). For example, the lookup table may include an identifier of each transmitter device in the transmitter devices 802 and may indicate a corresponding perception code for each of the identified transmitter devices 802. The formula may include a relationship between characteristics of the corresponding transmitter device 802 (e.g., an identifier of the transmitter device or an identifier of the perception session) and the corresponding perception code. In step 1002, the perception coordinator 806 may send the formula and / or the lookup table to the transmitter device 802. For example, the perception coordinator 806 may broadcast the formula and / or the lookup table. The broadcast may be received by each of the transmitter devices 802. Each of the transmitter devices 802 may determine its assigned perception code based on the received formula and / or lookup table.

[0147] Step 1004: The perception coordinator 806 sends an indication of a plurality of perception codes to the receiver device 804. The plurality of perception codes may be specific to a particular region (e.g., the plurality of perception codes may include only perception codes for transmitter devices in a particular region). In some examples, the plurality of perception codes may be a subset of a larger set of perception codes. That is, the perception coordinator 806 may indicate only a portion of the larger set of perception codes that are specific to transmitter devices in a given region. The plurality of perception codes may indicate (e.g., may include) a mapping (or assignment) of perception codes to transmitter devices. For example, in step 1004, the perception coordinator 806 may send a lookup table to the receiver device 804, the lookup table indicating the perception codes for each transmitter device in the transmitter devices 802. For example, the lookup table may map an identifier of each transmitter device in the transmitter devices 802 (or a perception session of the transmitter device 802, etc.) to its corresponding perception code. In another example, in step 1004 , the perception coordinator 806 may send a formula and an identifier of each of the transmitter devices 802 to the receiver device 804 , where the formula and the identifier may be used to determine a perception code of each of the transmitter devices 802 .

[0148] The perception coordinator 806 may send an indication of multiple perception codes via semi-static signaling. This may be particularly applicable when the perception coordinator 806 indicates only a portion of a larger set of perception codes. The perception coordinator 806 may send an indication of multiple perception codes in an RRC message or a MAC message (e.g., in a MAC-CE). This may be particularly applicable in examples where the receiver device 804 includes an electronic device. In other examples, the indication may be sent via a backhaul signal or an integrated access and backhaul (IAB) signal. This may be particularly applicable in examples where the receiver device 804 includes a TRP.

[0149] In some examples, step 1004 may be omitted. For example, receiver device 804 may retrieve the plurality of perception codes and / or mappings from memory.

[0150] Step 1006: Each transmitter device in the transmitter device 802 transmits a corresponding perception signal according to its corresponding perception code. Thus, the first transmitter device 802a may transmit a first perception signal according to the first perception code, and the second transmitter device 802b may transmit a second perception signal according to the second perception code. Each perception signal comprises an ordered LFM sequence (e.g., consists of an ordered LFM sequence), wherein each LFM in the LFM has a slope specified by a corresponding rate specified in the perception code. Thus, each perception signal may be as described above (e.g., in combination with Figure 7), wherein the rate of the LFM forming the waveform is specified by the perception code. Therefore, the first transmitter device 802a and the second transmitter device 802b transmit different perception signals according to their respective perception codes.

[0151] It should be understood that in some examples, there may be a one-to-one correspondence between the rate in the perception code and the LFM in the perception signal. For example, a perception code of (α1, α2) may correspond to a perception signal consisting of a first LFM with a slope of α1 followed by a second LFM with a slope of α2. In other examples, there may not be a one-to-one correspondence between the rate in the perception code and the LFM in the perception signal. This may be particularly applicable when the perception signal includes repetitions of one or more LFMs (e.g., according to a repetition pattern), as described in more detail below. For example, a perception code of (α1, -α1) associated with a repetition pattern having a repetition period of 2 symbols and 4 repetitions may correspond to a perception code formed by four triangle waves, each of which is formed by a first chirp with a slope of α1 and a duration of one symbol and a second chirp with a slope of -α1 and a duration of one symbol.

[0152] The transmitter apparatus 802 may transmit perception signals using overlapping time-frequency resources. For example, the first transmitter apparatus 802a and the second transmitter apparatus 802b may transmit corresponding perception signals using the same time-frequency resources. In other examples, each transmitter apparatus in the transmitter apparatus 802 may transmit perception signals using different time-frequency resources. Therefore, the techniques described herein may replace or be used in conjunction with multiplexing in the time and / or frequency domains.

[0153] The transmitter device 802 may transmit a sensing signal to one or more targets to be sensed (for simplicity, in Figure 8 and Figure 10 ). The first transmitter device 802a and the second transmitter device 802b can send perception signals to the same one or more targets or to different one or more targets. The one or more targets can be anything that can be detected by perception (for example, can be detected by perception based on wireless signals). The one or more targets can be referred to as one or more objects. For example, the one or more targets can include one or more of the following: vehicles (for example, cars, buses, trains, etc.), communication devices, people, etc. The communication device can include a network node (for example, a base station or a TRP, such as any of the TRPs 170a and 170b described above) or an electronic device (for example, any of the electronic devices 110 described above).

[0154] One or more (e.g., both) of the transmitter devices 802 may transmit their respective perception signals using one or more beams, where the one or more beams are based on (e.g., determined or selected based on) the estimated (e.g., predicted) positions of the one or more targets. In another example, one or more (e.g., both) of the transmitter devices 802 may broadcast their respective perception signals.

[0155] The perception signal is reflected from one or more targets. Receiver device 804 receives a signal including reflections of the perception signal. That is, receiver device 804 receives a signal including a first reflection of the first perception signal transmitted by first transmitter device 802a and a second reflection of the second perception signal transmitted by second transmitter device 802b. When the first and second perception signals are received at receiver device 804, their reflections may overlap in time and / or frequency. Because the received signal includes multiple reflections, it can be referred to as a combined signal. Therefore, receiver device 804 can receive echoes of the perception signals transmitted by first transmitter device 802a and second transmitter device 802b, where the echoes are reflected from one or more targets.

[0156] Step 1008: The receiver device 804 determines a perception estimate of one or more targets based on the plurality of perception codes and the received signal (e.g., based on reflections of the received perception signal). Because the received signal includes reflections of signals transmitted by multiple transmitter devices, the receiver device 804 can use the plurality of perception codes to demultiplex (e.g., distinguish) the perception signals transmitted by the different transmitter devices.

[0157] For example, the perception estimate of a particular target may include one or more of the following: the target's location (e.g., the distance or range between the target and the receiver device 804 and / or the transmitter device 802), the target's direction (e.g., the angle to the receiver device 804), the target's orientation, and the target's movement (e.g., any movement relative to the receiver device 804), such as speed, direction of movement, and / or acceleration.

[0158] To determine a perception estimate based on one or more received reflection signals, the receiver device 804 can detect a specific reflection of a specific perception signal in the received signal and, based on the perception code of the specific perception signal, identify which transmitter device sent the specific perception signal. The perception estimate can be determined based on an identification of a specific transmitter device. For example, the identification of a specific transmitter device can be used to determine, for example, the location of the transmitter device, the movement of the transmitter device, etc., which can then be used to determine the perception estimate. It should be understood that the receiver device 804 can isolate a specific reflection from the received signal and identify the associated transmitter device in a variety of ways. Figure 11 An exemplary method 1100 is described.

[0159] Step 1010: The receiver device 804 transmits the perception estimate to the corresponding transmitter device 802. That is, the receiver device 804 may transmit the perception estimate of the first perception signal transmitted by the first transmitter device 802a to the first transmitter device 802a, and / or the receiver device 804 may transmit the perception estimate of the second perception signal transmitted by the second transmitter device 802b to the second transmitter device 802b. In some embodiments, step 1010 may be omitted.

[0160] Step 1012: The receiver device 804 sends a perception estimate to the perception coordinator 806. That is, the receiver device 804 may send a perception estimate of the first perception signal sent by the first transmitter device 802a to the perception coordinator 806, and / or the receiver device 804 may send a perception estimate of the second perception signal sent by the second transmitter device 802b to the perception coordinator 806. In some embodiments, step 1012 may be omitted.

[0161] According to method 1000, each transmitter device can be assigned a different ordered rate sequence (referred to as a perception code or perception codeword) to form its perception signal. Thus, different transmitter devices can be distinguished by the rate sequence assigned to them (e.g., by their perception codes). This allows perceptual transmitter devices to transmit signals over the same or overlapping time-frequency resources, as a receiver device can separate reflections of the perception signals transmitted by different transmitter devices based on their corresponding perception codes. This provides a significant degree of freedom for facilitating perceptual multiple access.

[0162] Single-base sensing

[0163] In method 1000, a sensing signal is transmitted by transmitter device 802, and a reflection of the sensing signal is received by a different device (i.e., receiver device 804). This is one example of multistatic sensing or bistatic sensing. In other embodiments, monostatic sensing may be used, such that the same device transmits the sensing signal and receives the reflection of the sensing signal. Thus, in some examples, the operations described above in conjunction with receiver device 804 may be performed by transmitter device 802, or the operations described above in conjunction with one of transmitter devices 802 may be performed by receiver device 804. In these examples, steps 1002 and 1004 may be performed as a single step. For example, a device performing monostatic sensing may receive multiple sensing codes from coordinator 806, along with an indication of which sensing code to use in a single message.

[0164] In some embodiments, a combination of monostatic and bistatic sensing may be used. For example, the first transmitter device 802a may receive reflections of sensing signals transmitted by both the first transmitter device 802a and the second transmitter device 802b. In other words, the first transmitter device 802a may perform both monostatic sensing (for the sensing signal transmitted by the first transmitter device 802a) and bistatic sensing (for the sensing signal transmitted by the second transmitter device 802b).

[0165] Get the perception code

[0166] In the description of method 1000 above, each of transmitter devices 802 receives an indication of its perception code from perception coordinator 806. In other embodiments, one or more of transmitter devices 802 may obtain its perception code through other means. For example, at least one of transmitter devices 802 may retrieve its perception code from memory. In another example, at least one of transmitter devices 802 may select its perception code from a plurality of perception codes. A particular transmitter device 802 may receive the plurality of perception codes (e.g., from perception coordinator 806) or may retrieve the plurality of perception codes, for example, from memory. The particular transmitter device 802 may indicate its selected perception code to one or more other devices (e.g., to receiver device 804 and / or another transmitter device).

[0167] Configuration parameters

[0168] In step 1002, the sensing coordinator 806 may additionally indicate one or more configuration parameters to the transmitter device 802. The indication may be sent via semi-static signaling. The indication may be sent in an RRC message or a MAC message (e.g., in a MAC-CE). The indication of the one or more configuration parameters and the indication of the sensing code may be sent to the transmitter device 802 in the same message or in different messages.

[0169] Additionally or alternatively, in step 1004, the sensing coordinator 806 may indicate one or more configuration parameters to the receiver device 804. The indication may be sent in an RRC message or a MAC message (e.g., in a MAC-CE). The indication of the one or more configuration parameters and the indication of the plurality of sensing codes may be sent to the receiver device 804 in the same message or in different messages.

[0170] In step 1006 , the transmitter device may transmit a perception signal according to one or more configuration parameters and a perception code.

[0171] The one or more configuration parameters may characterize the construction of a specific perception signal based on the perception code indicated in step 1002. That is, the one or more configuration parameters may indicate to the transmitter device 802 and / or the receiver device 804 how to construct (e.g., form) a specific perception signal based on the perception code. The indication of the one or more configuration parameters may be sent in one or more of the same messages described above in conjunction with steps 1002 and / or 1004, or in different messages.

[0172] The one or more configuration parameters may include one or more of the following: a start time of a first LFM in the ordered LFM sequence; a starting frequency of at least one LFM in the ordered LFM sequence; and a bandwidth of the perception signal.

[0173] In some examples, the perception signal can include repetitions of an ordered LFM sequence in time and / or frequency. Thus, for example, a perception signal having a perception code (α1, α2, α3) that repeats once in time can include an LFM sequence of corresponding rates (α1, α2, α3, α1, α2, α3). The repetition of the ordered LFM sequence can be performed according to any suitable repetition pattern. For example, the repetition pattern can specify an interval or gap between repetitions (e.g., in time and / or frequency), a number of repetitions, etc. In a specific example, one or more configuration parameters can include characteristics of the repetition pattern (e.g., an interval between repetitions, a number of repetitions, etc.).

[0174] In other embodiments, the indication of the configuration parameters of the transmitter device 802 and / or the receiver device 804 may be omitted. For example, the transmitter device 802 and / or the receiver device 804 may retrieve the configuration parameters from a memory. In another example, the transmitter device 802 may determine the configuration parameters and indicate the configuration parameters to the receiver device 804.

[0175] Receive perception signals

[0176] In the above-described method 1000, each transmitter device in transmitter devices 802 transmits a corresponding perception signal, and these perception signals are reflected from one or more targets before being received at receiver device 804. In other embodiments, each transmitter device in transmitter devices 802 may transmit a corresponding perception signal directly to receiver device 804. Transmission of the perception signal may be performed in accordance with step 1006 described above, except that the perception signal may be transmitted to receiver device 804 rather than to one or more targets. In step 1008, receiver device 804 may determine its perception estimate based on the corresponding perception signal from each transmitter device in transmitter devices 802. In other words, transmitter device 802 may be a target to be perceived by receiver device 804. This may be used, for example, to estimate the range between one or more transmitter devices in transmitter devices 802 and a receiver and / or the velocity of one or more transmitter devices in transmitter devices 802.

[0177] Generally, in step 1006, the receiver device 804 may receive a perception signal of a target, where the perception signal may have been transmitted by the target (e.g., the transmitter device 802 may be the target), or the perception signal may have been transmitted by a transmitter device (e.g., the transmitter device 802) and reflected by one or more targets.

[0178] Methods for perceiving multiple objects

[0179] In the above method 1000, the receiver device 804 determines a perception estimate of one or more targets based on reflections of a perception signal from the one or more targets. In some embodiments, the receiver device 804 may receive only one reflection of a particular perception signal. Therefore, in step 1008, the receiver device 804 may determine a perception estimate of the target that reflected the particular perception signal.

[0180] In other embodiments, a particular perception signal may be reflected from more than one target, or may be reflected multiple times from a single target (e.g., in the case of a large target). Thus, for example, in step 1006, the first transmitter device 802 may transmit a first perception signal, and the receiver device 804 may receive a first reflection of the first perception signal and a second reflection of the first perception signal. The first reflection and the second reflection may have been reflected from the same target (e.g., different portions of the same target). Thus, in step 1008, the receiver device 804 may determine a perception estimate of the same target based on the first reflection and the second reflection. Alternatively, the first reflection may have been reflected from the first target, while the second reflection may have been reflected from a second target different from the first target. Thus, in step 1008, the receiver device 804 may determine a perception estimate of the first target based on the first reflection, and a perception estimate of the second target based on the second reflection.

[0181] It should be understood that when received at the receiver device 804, multiple reflections may interfere with each other in time and frequency. In some embodiments, such interference can be eliminated by one or more processes (e.g., algorithms). Such interference can be referred to as multipath interference or multi-target interference. In one example, the receiver device 804 can iteratively detect, estimate, and eliminate multipath components from the received signal by using a space-alternating generalized expectation-maximization (SAGE) process.

[0182] Determining Perception Estimates

[0183] Figure 11 is a block diagram illustrating an exemplary method 1100 performed by a receiver device for determining a perceptual estimate based on a received signal and a plurality of perceptual codes. For example, the receiver device may be the receiver device 804. The plurality of perceptual codes are as described above in conjunction with Figure 8 and Figure 9 The received signal includes reflections of a perception signal from a target, where the perception signal was transmitted by a transmitter device. For example, the transmitter device may be the first transmitter device 802a or the second transmitter device 802b. In some examples, the received signal may include more than one reflection (e.g., multiple reflections of the same perception signal from multiple targets, etc., and / or reflections of different perception signals from the same or different targets).

[0184] As described above, the plurality of sensing codes are based on a rate set Φ comprising N unique rates. That is, the plurality of sensing codes comprises N different rates. In method 1100, the receiver device 804 uses one branch for each of the available rates in the set Φ. Figure 11 As shown, each branch i (i=1, 2, ..., N) includes a corresponding matched filtering step 1102-i and an envelope peak detection step 1104-i.

[0185] In each matched filtering step 1102-i, the receiver device 804 matches the received signal with a corresponding rate α from the rate set Φ. i The received signal may be correlated with an LFM at a rate of α1 to obtain a filtered signal. Thus, for example, in the first matched filtering step 1102-1, the received signal may be correlated with an LFM at a rate of α1, and in the second matched filtering step 1102-2, the received signal may be correlated with an LFM at a rate of α2. This may also be referred to as pulse compression.

[0186] In each peak detection step 1104-i, receiver device 804 identifies any peaks in the filtered signal. Matched filtering steps 1102-1, 1102-2, ..., 1102-N and peak detection steps 1104-1, 1104-2, ..., 1104-N can be used to detect specific LFM in the received signal. Thus, for example, the peak detected by the first peak detection step 1104-1 can indicate the presence of LFM at rate α1 in the received signal. Thus, the presence of LFM in the signal received at receiver device 804 can be revealed by matched filtering and peak detection.

[0187] In a peak grouping step 1106, the receiver device 804 groups the detected LFMs into one or more detected signals based on the plurality of perception codes. Because each perception code comprises an ordered sequence of rates defining a particular perception signal, the plurality of perception codes effectively indicates which LFMs belong to which perception signals. Thus, the receiver device 804 can reconstruct each reflection of the perception signal present in the received signal based on the detected LFMs and the plurality of perception codes. In some embodiments, each of the plurality of perception codes can be assigned to a corresponding transmitter device. Thus, the receiver device 804 can identify the transmitter device that transmitted the perception signal based on the one or more detected signals and the plurality of perception codes (e.g., based on a mapping between the perception codes and the one or more transmitter devices).

[0188] In some examples, peak grouping step 1106 can group the detected LFMs into one or more detected signals based on additional information. Any delays and / or Doppler shifts of LFMs transmitted by the same transmitter device (e.g., transmitted as part of the same perception signal) should be identical. Thus, in some embodiments, peak grouping step 1106 can include grouping the detected LFMs into one or more perception signals based on the delay of at least one of the LFMs and / or the Doppler shift (e.g., frequency variation) of one or more of the LFMs. Delay and Doppler shift are examples of perception parameters that can be determined based on the LFMs. Thus, in general, the detected LFMs can be grouped based on one or more perception parameters determined based on the detected LFMs.

[0189] Any suitable technique can be used to determine the delay and / or Doppler shift of a particular LFM. For example, the delay and / or Doppler shift can be determined based on the matched filtering described above. In some examples, the delay and / or Doppler shift of the LFM can be determined based on a measurement of the beat frequency of the filtered signal. Additionally or alternatively, dechirping (also referred to as dechirping) can be performed using the rates in the set Φ to determine the delay and / or Doppler shift. Dechirping involves multiplying a received signal (e.g., a signal that has been transmitted over a wireless channel) by an LFM having a specific rate. Dechirping can be performed with relatively low complexity and has several advantages. For example, it can reduce interference from other LFMs on other rates that may be included in the received signal.

[0190] In some examples, the peak grouping step 1106 may further include grouping the detected LFM into one or more detected signals using some or all of the one or more configuration parameters described above. The receiver device 1106 may retrieve the one or more configuration parameters from a memory and / or may have received the one or more configuration parameters (e.g., using the plurality of codes in step 1004).

[0191] After grouping the detected LFMs into one or more perception signals, the receiver device 804 may identify, for each of the one or more perception signals, the transmitter device that transmitted the corresponding perception signal. The receiver device 804 may identify a specific transmitter device based on its perception code. For example, in step 1106, the receiver device may group the detected LFMs together to detect that the received signal includes a specific perception signal. The receiver device 804 may determine the perception code corresponding to the specific perception signal and, based on the determined perception code, identify the transmitter device that transmitted the specific perception signal. For example, the receiver device 804 may compare the determined perception code with a lookup table (e.g., any of the lookup tables described above) to identify the specific transmitter device. In another example, the receiver device 804 may determine an identifier for the specific transmitter device 802a based on the determined perception code using a mathematical formula. The mathematical formula may be the inverse of the mathematical formula described above for determining the perception code. Thus, the receiver device 804 may use a dictionary of perception codes and corresponding perception transmitter device identifiers in the grouping.

[0192] In a perception estimation step 1108, the receiver device 804 determines a perception estimate based on the one or more perception signals acquired in the peak grouping step 1106. The perception estimate may be defined as described above in conjunction with step 1008. The perception estimate may be determined based on an identification of a transmitter device that transmitted the one or more perception signals (e.g., based on an identifier of the transmitter device or an identifier of a perception session). The identification of the transmitter device may be used by the receiver device 804 to determine, for example, a location of the transmitter device, movement of the transmitter device, etc., which may then be used to determine the perception estimate. For example, the receiver device 804 may retrieve the location of the transmitter device from a memory based on the identification (e.g., identifier) of the transmitter device.

[0193] According to method 1100, a perception estimate can be determined based on a received signal and multiple perception codes. Because the received signal may include reflections of perception signals transmitted by more than one transmitter device, multiple LFMs having different rates can be detected by various branches at the receiver device. The receiver device can then identify which LFMs belong to the same perception signal (e.g., perception signals belonging to the same transmitter device). To this end, the receiver device can group the detected LFMs. This grouping can utilize knowledge of multiple perception codes (e.g., a perception codebook) and, optionally, the knowledge that LFMs transmitted by the same transmitter device may experience the same delay. The delay of a particular LFM can be used to separate the particular LFM from other LFMs belonging to a perception signal transmitted by another transmitter device. After grouping the LFMs, the receiver device can form a perception code for the transmitter device whose perception signal is received by the receiver device. The receiver device can identify the transmitter device using any known mapping between a perception code (or an indication of a perception code) and an identifier of the transmitter device (e.g., based on a lookup table or formula). The receiver device can estimate a perception estimate for each transmitter device. As described in method 1000, a receiver device may transmit one or more perception estimates to a transmitter device and / or other nodes (e.g., perception coordinator 806). Because the exemplary method 1100 is RF-dominant (i.e., performed primarily in the RF domain or RF hardware in addition to the baseband domain or baseband hardware), the complexity and power consumption typically associated with baseband-dominant or full baseband processing approaches may be minimized.

[0194] In a specific example of method 1100, receiver device 804 processes the received signal through matched filtering, peak detection, and peak grouping to determine a perceptual estimate in step 1108. In other embodiments, other techniques may be used in place of some or all of these processing steps. In one example illustrating a variation of method 1100, receiver device 804 may obtain the filtered signal through dechirping and beat frequency detection rather than performing matched filtering step 1102-i. Dechirping and beat frequency detection may be performed as described above. Dechirping may be performed using rates from the set Φ.

[0195] Exemplary Methods

[0196] Figure 12A flowchart of method 1200 according to an embodiment of the present invention is shown. Method 1200 can be performed by an apparatus (e.g., a device, a chip, a processor). Method 1200 can be performed by a transmitter apparatus, such as the first transmitter apparatus 802a and / or the second transmitter apparatus 802b. Method 1200 can be performed by a sensing device or node. Method 1200 can be performed by a communication device, such as a network node or an electronic device. In some embodiments, method 1200 can be performed by a processor, such as a processor of a transmitter apparatus (e.g., any of the transmitter apparatuses 802 described above). In general, method 1200 can be performed by any suitable apparatus or processor of an apparatus. In some embodiments, method 1200 can be distributed across more than one apparatus (e.g., performed by more than one apparatus).

[0197] In step 1202, the method may include obtaining a perception code. The perception code may include an ordered rate sequence. The perception code may also be referred to as a code, codeword, perception codeword, perception signal identifier, etc. The rate may also be referred to as a slope, gradient, etc.

[0198] Step 1202 may include receiving an indication of a sensing code (e.g., from a sensing coordinator such as sensing coordinator 806). The indication may be received via dynamic signaling. For example, the indication may be received in downlink control information (DCI). The indication of the sensing code may be received via semi-static signaling. The indication of the sensing code may be received in an RRC message or a MAC message (e.g., in a MAC-CE). For example, step 1202 may be performed according to step 1002.

[0199] Step 1202 may include selecting a sensing code from a plurality of sensing codes. The plurality of sensing codes may be referred to as a dictionary, a codebook, a sensing dictionary, a sensing codebook, etc. Each of the plurality of sensing codes may include a corresponding ordered rate sequence. Each of the plurality of sensing codes may be unique (e.g., different). For example, the plurality of sensing codes may be retrieved from a memory or received from elsewhere (e.g., as indicated by a sensing coordinator such as sensing coordinator 806). The plurality of sensing codes may be received via semi-static signaling. The plurality of sensing codes may be received in an RRC message or a MAC message (e.g., in a MAC-CE).

[0200] At step 1204, method 1200 may include transmitting a perception signal according to the perception code. The perception signal may include an ordered LFM sequence. The LFM may be referred to as a chirp. The ordered sequence may also be referred to as a series. Each LFM in the ordered LFM sequence may have a slope (e.g., a gradient) specified by a corresponding rate in the ordered rate sequence. Transmitting the perception signal may include, or alternatively, outputting the perception signal. For example, transmitting or outputting the perception signal may include transmitting or outputting the perception signal from a first processor, module, or hardware element in the device to a second downstream processor, module, or hardware element in the device.

[0201] The perceptual signal may comprise a repetition of an ordered LFM sequence in time and / or frequency. The repetition may be performed in a repetitive pattern.

[0202] Method 1200 may also include obtaining one or more configuration parameters. For example, the one or more configuration parameters may be retrieved from a memory. Alternatively, method 1200 may include receiving an indication of one or more configuration parameters. The one or more configuration parameters may be received in the same message as the indication of the perception code or codes, the one or more configuration parameters representing a construction of the perception signal based on the ordered rate sequence.

[0203] The one or more configuration parameters may include one or more of the following: the start time of the first LFM in the ordered LFM sequence (or equivalently, the end time of the last LFM in the ordered LFM sequence), the starting frequency of at least one LFM in the ordered LFM sequence (or equivalently, the end frequency of at least one LFM in the ordered LFM sequence), the bandwidth of the perception signal (or equivalently, the minimum and maximum frequencies of the perception signal), and characteristics of any repetitive pattern. The characteristics of the repetitive pattern may include one or more of the following: the periodicity of the transmission (determined by denoted), the number of repetitions, the gaps or intervals between repetitions (e.g., the time and / or frequency interval between the end of one repetition and the start of the next repetition).

[0204] Method 1200 may also include receiving a signal including a reflection of the perception signal from the first target. Method 1200 may also include determining a perception estimate of the first target based on the received signal and a plurality of perception codes including the perception code. For example, the perception estimate may be determined according to step 1008 and / or method 1100 described above.

[0205] In another aspect, an apparatus for performing method 1200 is also provided. The apparatus may include a processor and a memory (e.g., a non-transitory processor-readable medium). The memory stores instructions (e.g., processor-readable instructions) that, when executed by the apparatus's processor, cause the apparatus to perform method 1200. In another aspect, the memory may be provided (e.g., separate from the apparatus).

[0206] Figure 13 A flowchart of method 1300 according to an embodiment of the present invention is shown. Method 1300 can be performed by an apparatus (e.g., a device, a chip, a processor). Method 1300 can be performed by a receiver apparatus, such as receiver apparatus 804. Method 1300 can be performed by a sensing device or node. Method 1300 can be performed by a communication device, such as a network node or an electronic device. In some embodiments, method 1300 can be performed by a processor, such as a processor of a receiver apparatus (e.g., the above-mentioned receiver apparatus 804). In general, method 1300 can be performed by any suitable apparatus or processor of an apparatus. In some embodiments, method 1300 can be distributed on more than one apparatus (e.g., performed by more than one apparatus).

[0207] At step 1302, method 1300 may include receiving a signal including a first perception signal of a first target. The first target may include any of the one or more targets to be perceived as described above in conjunction with method 1000. The first perception signal may include a first ordered LFM sequence. LFM may be referred to as a chirp. The first perception signal may have been transmitted by a first transmitter device (e.g., first transmitter device 802a).

[0208] The first perception signal may have been transmitted by the first target. That is, the first perception signal may be received from the first target (e.g., directly from the first target). Alternatively, the first perception signal may be received after having been transmitted by a specific transmitter device (e.g., the first transmitter device 802a) and reflected by the first target. This may be the same as or similar to the description of the receiver device 804 receiving a signal including reflections of perception signals from one or more targets in method 1000. Therefore, step 1302 may include receiving a signal including a first reflection of the first perception signal from the first target, wherein the first perception signal was transmitted by the specific transmitter device (e.g., the first transmitter device 802a).

[0209] At step 1304, method 1300 may include determining a first perceptual estimate of the first target. For example, the first perceptual estimate may include one or more of: a location of the target, a direction of the target, an orientation of the target, and a movement of the target.

[0210] A first perceptual estimate may be determined based on the received signal and a plurality of perceptual codes. A first perceptual code in the plurality of perceptual codes may include a first ordered sequence of rates, wherein each LFM in the first ordered sequence of LFMs has a slope specified by a corresponding rate in the first ordered sequence of rates.

[0211] Determining a first perception estimate may include identifying a device that transmitted the first perception signal (e.g., a specific transmitter device or a target device) based on detection of the first perception signal in the received signal, and determining the first perception estimate based on an identification of the device that transmitted the first perception signal. The identification of the device that transmitted the first perception signal may be used to determine, for example, a location, movement, etc. of the device that transmitted the first perception signal, which may then be used to determine the perception estimate. Identifying the device that transmitted the first perception signal (e.g., a specific transmitter device or a target device) may include associating a first perception code with the first perception signal in the received signal, and identifying the device that transmitted the first perception signal based on the first perception code. Because each perception code can be associated (e.g., uniquely associated) with a specific device, each perception code can be used to identify the corresponding device. By associating the first perception code with the first perception signal, any perception parameters (e.g., delay and / or Doppler shift) determined based on the first perception signal can be associated with the device that transmitted the first perception signal, thereby enabling determination of a perception estimate based on the perception parameters.

[0212] For example, the first perceptual estimate may be determined according to step 1008 and / or method 1100 described above.

[0213] Each perception code in the plurality of perception codes may correspond to (eg, be assigned to or associated with) a respective transmitter device, such as any of the transmitter devices 802 described above.

[0214] In some examples, the plurality of perception codes may further include a second ordered rate sequence (e.g., a second perception code). The received signal may further include a second perception signal of a second target. The second perception signal may include a second ordered LFM sequence, each LFM in the LFM of the second ordered LFM sequence may have a slope specified by a corresponding rate in the second ordered rate sequence. Method 1300 may further include determining a second perception estimate of the second target based on the second reflection and the plurality of perception codes. For example, the first perception estimate and / or the second perception estimate may be determined by method 1100.

[0215] The first perception signal and the second perception signal may have been transmitted by different transmitter devices. For example, the first perception signal may have been transmitted by the first transmitter device 802a, and the second perception signal may have been transmitted by the second transmitter device 802b. The first perception code may be associated with (e.g., may identify) the first transmitter device 802a (or the perception session at the first transmitter device 802a). The second perception code may be associated with (e.g., may identify) the second transmitter device 802b (or the perception session at the first transmitter device 802a). Thus, the first perception code and the second perception code may be used to distinguish the perception signals transmitted by the first transmitter device 802a from the second transmitter device 802b. The first target may be the same as or different from the second target. Thus, for example, the first transmitter device 802a and the second transmitter device may transmit their respective perception signals to the same target or to different targets.

[0216] The first perception signal and the second perception signal may have been transmitted by the same transmitter device. For example, the first transmitter device 802a may have transmitted two different perception signals, each of which is associated with a specific perception code. The first target may be different from the second target. In some examples, each perception code may be specific to a specific target. This allows for distinguishing perception signals reflected from different targets but transmitted by the same transmitter device.

[0217] Method 1300 may also include receiving multiple perception codes. For example, method 1300 may include receiving multiple perception codes and a mapping of each perception code (e.g., an indication of each perception code) to a corresponding transmitter device. For example, this may be performed according to step 1004 above. The multiple perception codes and / or mappings may be received via semi-static signaling. The multiple perception codes and / or mappings may be received in an RRC message or a MAC message (e.g., in a MAC-CE). The multiple perception codes and / or the mapping may be received in a backhaul signal or an integrated access backhaul (IAB) signal. In some examples, method 1300 may include obtaining the multiple perception codes (and optionally, the mapping) by other means (e.g., determining the multiple perception codes or retrieving the multiple perception codes from a memory).

[0218] In another aspect, an apparatus for performing method 1300 is also provided. The apparatus may include a processor and a memory (e.g., a non-transitory processor-readable medium). The memory stores instructions (e.g., processor-readable instructions) that, when executed by the processor of the apparatus, cause the apparatus to perform method 1300. In another aspect, the memory may be provided (e.g., separate from the apparatus).

[0219] It should be understood that although the steps of the methods provided herein may be described in a particular order, the present invention is not limited thereto. Those skilled in the art will appreciate that the steps of the methods described herein may be performed in any suitable order, including in an order different from that explicitly described herein. For example, step 1004 in method 1000 may be performed before, during, or after step 1002. It should also be understood that in some embodiments, some steps of the methods described herein may be omitted. For example, one or more of steps 1002, 1004, 1010, and 1012 in method 1000 may be omitted.

[0220] Conclusion

[0221] It should be understood that one or more steps of the method embodiments provided herein can be performed by corresponding units or modules. For example, a signal can be sent by a sending unit or a sending module. A signal can be received by a receiving unit or a receiving module. A signal can be processed by a processing unit or a processing module. The corresponding units / modules can be hardware, software, or a combination thereof. For example, one or more units / modules can be integrated circuits, such as field programmable gate arrays (FPGAs) or application specific integrated circuits (ASICs). It should be understood that if these modules are software, these modules can be retrieved in whole or in part by a processor as needed, retrieved individually or collectively for processing, retrieved in one or more instances as needed, and these modules themselves can include instructions for further deployment and instantiation.

[0222] Although combinations of features are shown in the illustrated embodiments, not all features need to be combined to achieve the advantages of the various embodiments of the present invention. In other words, a system or method designed according to an embodiment of the present invention does not necessarily include all features shown in any one of the drawings or in all of the parts schematically shown in the drawings. In addition, selected features of one exemplary embodiment may be combined with selected features of other exemplary embodiments.

[0223] Although the present invention has been described with reference to illustrative embodiments, this description is not to be construed in a limiting sense. Numerous modifications and variations of the present invention may be made in accordance with the foregoing guidance. Therefore, it should be understood that within the scope of the appended claims, the present invention may be practiced in ways other than those specifically described herein.

Claims

1. A method comprising: obtaining a perception code, wherein the perception code comprises an ordered rate sequence; A perception signal is transmitted according to the perception code, wherein the perception signal comprises an ordered sequence of linear frequency modulation signals (LFMs), each of the LFMs in the ordered sequence of LFMs having a slope specified by a corresponding rate in the ordered sequence of rates.

2. The method according to claim 1, characterized in that Obtaining the perception code includes receiving an indication of the perception code.

3. The method according to claim 1, characterized in that Obtaining the perception code includes selecting the perception code from a plurality of perception codes, wherein each perception code in the plurality of perception codes includes a corresponding ordered rate sequence.

4. The method according to any one of claims 1 to 3, further comprising: receiving an indication of one or more configuration parameters, wherein the one or more configuration parameters characterize a construction of the perception signal based on the ordered rate sequence; Sending the perception signal according to the perception code includes sending the perception signal according to the one or more configuration parameters and the perception code.

5. The method according to claim 4, characterized in that The one or more configuration parameters include one or more of the following: The start time of the first LFM in the ordered LFM sequence; a starting frequency of at least one LFM in the ordered LFM sequence; The bandwidth of the sensing signal.

6. The method according to claim 4 or 5, characterized in that The perceptual signal comprises a repetition of the ordered LFM sequence in at least one of time and frequency.

7. The method according to claim 6, characterized in that The repeating occurs according to a repeating pattern, wherein the one or more configuration parameters comprise characteristics of the repeating pattern.

8. The method according to any one of claims 1 to 7, further comprising: receiving a signal including a reflection of the sensing signal from a first target; A perception estimate of the first target is determined based on the received signal and the plurality of perception codes including the perception code.

9. A method comprising: receiving a signal comprising a first perception signal of a first target, wherein the first perception signal comprises a first ordered linear frequency modulation signal (LFM) sequence; A first perceptual estimate of the first target is determined based on the received signal and a plurality of perceptual codes, wherein a first perceptual code in the plurality of perceptual codes comprises a first ordered sequence of rates, each of the LFMs in the first ordered sequence of LFMs having a slope specified by a corresponding rate in the first ordered sequence of rates.

10. The method according to claim 9, characterized in that Each perception code of the plurality of perception codes corresponds to a respective transmitter device.

11. The method according to claim 9, characterized in that The plurality of perception codes further include a second ordered rate sequence, wherein the received signal further includes a second perception signal of a second target, the second perception signal including a second ordered LFM sequence, each LFM in the LFMs of the second ordered LFM sequence having a slope specified by a corresponding rate in the second ordered rate sequence; the method further comprising: A second perceptual estimate of the second target is determined based on the second perceptual signal and the plurality of perceptual codes.

12. The method according to claim 11, characterized in that The first perception signal and the second perception signal have been sent by different transmitter devices.

13. The method according to claim 11, characterized in that The first perception signal and the second perception signal have been transmitted by the same transmitter device, and the first target is different from the second target.

14. The method according to any one of claims 9 to 13, characterized in that The first sensing signal has been sent by the first target.

15. The method according to claim 14, characterized in that Determining the first perceptual estimate includes: identifying the first target based on detecting the first perception signal in the received signal; The first perception estimate is determined based on the identification of the first target.

16. The method according to claim 15, characterized in that Identifying the first target based on the detection of the first perception signal in the received signal includes: associating the first perception code with the first perception signal in the received signal; The first target device is identified based on the first perception code.

17. The method according to any one of claims 9 to 13, characterized in that The first perception signal is received after having been transmitted by a specific transmitter device and reflected by the first target.

18. The method according to claim 17, characterized in that Determining the first perceptual estimate includes: identifying the particular transmitter device based on detection of the first perception signal in the received signal; The first perception estimate is determined based on the identification of the particular sender device.

19. The method according to claim 18, characterized in that Identifying the specific transmitter device based on the detection of the first perception signal in the received signal comprises: associating the first perception code with the first perception signal in the received signal; The specific transmitter device is identified based on the first perception code.

20. The method according to any one of claims 9 to 19, further comprising: The plurality of perception codes are received.

21. An apparatus comprising: processor; a memory storing instructions that, when executed by the processor, cause the apparatus to: obtaining a perception code, wherein the perception code comprises an ordered rate sequence; A perception signal is transmitted according to the perception code, wherein the perception signal comprises an ordered sequence of linear frequency modulation signals (LFMs), each of the LFMs in the ordered sequence of LFMs having a slope specified by a corresponding rate in the ordered sequence of rates.

22. The device according to claim 21, characterized in that The apparatus is configured to obtain the perception code by receiving an indication of the perception code.

23. The device according to claim 21, characterized in that The apparatus is configured to obtain the perception code by selecting the perception code from a plurality of perception codes, wherein each perception code in the plurality of perception codes comprises a corresponding ordered rate sequence.

24. The device according to any one of claims 21 to 23, characterized in that The device is also used for: receiving an indication of one or more configuration parameters, wherein the one or more configuration parameters characterize a construction of the perception signal based on the ordered rate sequence; The apparatus is configured to send the perception signal according to the perception code by sending the perception signal according to the one or more configuration parameters and the perception code.

25. The device according to claim 24, characterized in that The one or more configuration parameters include one or more of the following: The start time of the first LFM in the ordered LFM sequence; a starting frequency of at least one LFM in the ordered LFM sequence; The bandwidth of the sensing signal.

26. The device according to claim 24 or 25, characterized in that The perceptual signal comprises a repetition of the ordered LFM sequence in at least one of time and frequency.

27. The device according to claim 26, characterized in that The repeating occurs according to a repeating pattern, wherein the one or more configuration parameters comprise characteristics of the repeating pattern.

28. The device according to any one of claims 21 to 27, characterized in that The device is also used for: receiving a signal including a reflection of the sensing signal from a first target; A perception estimate of the first target is determined based on the received signal and the plurality of perception codes including the perception code.

29. A device, characterized in that include: processor; a memory storing instructions that, when executed by the processor, cause the apparatus to: receiving a signal comprising a first perception signal of a first target, wherein the first perception signal comprises a first ordered linear frequency modulation signal (LFM) sequence; A first perceptual estimate of the first target is determined based on the received signal and a plurality of perceptual codes, wherein a first perceptual code in the plurality of perceptual codes comprises a first ordered sequence of rates, each of the LFMs in the first ordered sequence of LFMs having a slope specified by a corresponding rate in the first ordered sequence of rates.

30. The device according to claim 29, characterized in that Each perception code of the plurality of perception codes corresponds to a respective transmitter device.

31. The device according to claim 29, characterized in that The plurality of perception codes further include a second ordered rate sequence, wherein the received signal further includes a second perception signal of a second target, the second perception signal including a second ordered LFM sequence, each LFM in the LFMs of the second ordered LFM sequence having a slope specified by a corresponding rate in the second ordered rate sequence; and the apparatus is further configured to: A second perceptual estimate of the second target is determined based on the second perceptual signal and the plurality of perceptual codes.

32. The device according to claim 31, characterized in that The first perception signal and the second perception signal have been sent by different transmitter devices.

33. The device according to claim 31, characterized in that The first perception signal and the second perception signal have been transmitted by the same transmitter device, and the first target is different from the second target.

34. The device according to any one of claims 29 to 33, characterized in that The first sensing signal has been sent by the first target.

35. The device according to claim 34, characterized in that The apparatus is configured to determine the first perception estimate by: identifying the first target based on detecting the first perception signal in the received signal; The first perception estimate is determined based on the identification of the first target.

36. The device according to claim 35, characterized in that The apparatus is configured to identify the first target based on the detection of the first perception signal in the received signal by: associating the first perception code with the first perception signal in the received signal; The first target device is identified based on the first perception code.

37. The device according to any one of claims 29 to 33, characterized in that The first perception signal is received after having been transmitted by a specific transmitter device and reflected by the first target.

38. The device according to claim 37, characterized in that The apparatus is further configured to determine the first perception estimate by: identifying the particular transmitter device based on detection of the first perception signal in the received signal; The first perception estimate is determined based on the identification of the particular sender device.

39. The device according to claim 38, characterized in that The apparatus is further configured to identify the specific transmitter device based on the detection of the first perception signal in the received signal by: associating the first perception code with the first perception signal in the received signal; The specific transmitter device is identified based on the first perception code.

40. The device according to any one of claims 29 to 39, characterized in that The apparatus is further configured to receive the plurality of perception codes.

41. A computer program product comprising instructions which, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 20.

42. An apparatus comprising a processor, the processor being configured to cause the apparatus to perform the method according to any one of claims 1 to 20.

43. A processor of a device, configured to cause the device to perform the method according to any one of claims 1 to 20.

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