Perception method, device and system and storage medium

Abstract

The invention relates to a sensing method, device and system and a storage medium. The method comprises the steps that a first sensing reference signal reflected by first equipment is received, a corresponding sensing action is executed according to the first sensing reference signal, and the sensing action is used for determining sensing result information of the first equipment. Therefore, the sensing action of the sensing target is standardized, different sensing actions are executed based on different received sensing reference signals, and the sensing accuracy of the sensing target is improved.

Description

Perception method, device, system and storage medium Technical Field

[0001] The present disclosure relates to the field of communication technologies, and in particular to a sensing method, device, system, and storage medium. Background Art

[0002] In existing perception systems, the perception receiver (Receiver / Reception) obtains information such as the time delay, angle, and Doppler of the perception signal, and then calculates information such as the position and distance of the perception target. The larger the perception signal bandwidth, the smaller the distance resolution and the higher the positioning accuracy. Large bandwidth requires the use of higher frequency bands, such as millimeter wave bands and sub-THz (sub-terahertz, Asia-Pacific Gigahertz) bands. According to the electromagnetic wave spatial path loss model, high-frequency perception signals have higher free space path loss, and the same transmission power results in a shorter radiation distance. Therefore, large-scale MIMO (Multiple-Input Multiple-Output) beamforming is needed to solve the problem of short transmission distance.

[0003] Summary of the Invention

[0004] In order to overcome the technical problem of inaccurate target perception in related technologies, the present disclosure provides a perception method, device, system and storage medium.

[0005] According to a first aspect of an embodiment of the present disclosure, a sensing method is proposed, which is performed by a receiving device. The method includes:

[0006] receiving a first sensing reference signal reflected by a first device;

[0007] A corresponding sensing action is performed according to the first sensing reference signal, where the sensing action is used to determine sensing result information of the first device.

[0008] According to a second aspect of an embodiment of the present disclosure, a sensing method is proposed, which is performed by a transmitting device. The method includes:

[0009] A third perception reference signal is sent to a first device, where the third perception reference signal is used by the first device to reflect a first perception reference signal to a receiving device based on the third perception reference signal. The first perception reference signal is used by the receiving device to perform a corresponding perception action based on the first perception reference signal, where the perception action is used to determine perception result information of the first device.

[0010] According to a third aspect of an embodiment of the present disclosure, a sensing method is provided, which is performed by a first device. The method includes:

[0011] Based on the third perception reference signal sent by the transmitting device, the first perception reference signal is reflected to the receiving device, where the first perception reference signal is used by the receiving device to perform a corresponding perception action based on the first perception reference signal, where the perception action is used to determine perception result information of the first device.

[0012] According to a fourth aspect of the embodiments of the present disclosure, a perception method is proposed, the method comprising:

[0013] The transmitting device sends a third perception reference signal to the first device;

[0014] The first device reflects the first perception reference signal to the receiving device according to the third perception reference signal;

[0015] The receiving device performs a corresponding sensing action according to the first sensing reference signal, where the sensing action is used to determine sensing result information of the first device.

[0016] According to a fifth aspect of an embodiment of the present disclosure, a receiving device is provided, including:

[0017] a first transceiver module, configured to receive a first sensing reference signal reflected by a first device;

[0018] The processing module is configured to perform a corresponding sensing action according to the first sensing reference signal, where the sensing action is used to determine sensing result information of the first device.

[0019] According to a sixth aspect of an embodiment of the present disclosure, a transmitting end device is provided, including:

[0020] The second transceiver module is configured to send a third perception reference signal to the first device, where the third perception reference signal is used by the first device to reflect the first perception reference signal to the receiving device based on the third perception reference signal. The first perception reference signal is used by the receiving device to perform a corresponding perception action based on the first perception reference signal, where the perception action is used to determine perception result information of the first device.

[0021] According to a seventh aspect of the embodiments of the present disclosure, a first device is provided, including:

[0022] The third transceiver module is configured to reflect the first perception reference signal to the receiving device based on the third perception reference signal sent by the transmitting device, where the first perception reference signal is used by the receiving device to perform a corresponding perception action based on the first perception reference signal, where the perception action is used to determine perception result information of the first device.

[0023] According to an eighth aspect of the embodiments of the present disclosure, a receiving end device is provided, including:

[0024] one or more processors;

[0025] The receiving device is used to execute the perception method described in any one of the first aspects of this disclosure.

[0026] According to a ninth aspect of an embodiment of the present disclosure, a transmitting end device is provided, including:

[0027] one or more processors;

[0028] The sending end device is used to execute the communication method described in any one of the second aspects of this disclosure.

[0029] According to a tenth aspect of the embodiments of the present disclosure, a first device is provided, including:

[0030] one or more processors;

[0031] The first device is used to execute the perception method described in any one of the third aspects of this disclosure.

[0032] According to the eleventh aspect of an embodiment of the present disclosure, a communication system is proposed, comprising a transmitting device, a first device and a receiving device, wherein the receiving device is configured to implement the perception method described in any one of the first aspects of the present disclosure, the transmitting device is configured to implement the perception method described in any one of the second aspects of the present disclosure, and the first device is configured to implement the perception method described in any one of the third aspects of the present disclosure.

[0033] According to the twelfth aspect of an embodiment of the present disclosure, a storage medium is proposed, which stores instructions. When the instructions are executed on a communication device, the communication device executes the perception method as described in any one of the first aspect of the present disclosure, or the communication device executes the perception method as described in any one of the second aspect of the present disclosure, or the communication device executes the perception method as described in any one of the third aspect of the present disclosure.

[0034] According to the thirteenth aspect of an embodiment of the present disclosure, a computer program product is proposed, comprising a computer program and / or instructions, wherein when the computer program and / or instructions are executed by a communication device, the computer program and / or instructions implement the perception method as described in any one of the first aspects of the present disclosure, or when the computer program and / or instructions are executed by a communication device, the computer program and / or instructions implement the perception method as described in any one of the second aspects of the present disclosure, or when the computer program and / or instructions are executed by a communication device, the computer program and / or instructions implement the perception method as described in any one of the third aspects of the present disclosure.

[0035] In the above solution, a first sensing reference signal reflected by a first device is received and a corresponding sensing action is performed based on the first sensing reference signal. The sensing action is used to determine the sensing result information of the first device. This standardizes the sensing action for the sensing target and performs different sensing actions based on different received sensing reference signals, thereby improving the accuracy of sensing the sensing target. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following drawings required for describing the embodiments are introduced. The following drawings are merely some embodiments of the present disclosure and do not impose specific limitations on the protection scope of the present disclosure.

[0037] FIG1A is an exemplary schematic diagram of the architecture of a communication system provided according to an embodiment of the present disclosure.

[0038] FIG1B is a schematic diagram illustrating a sensing method according to an embodiment of the present disclosure.

[0039] FIG2A is an interactive schematic diagram of a perception method according to an embodiment of the present disclosure.

[0040] FIG2B is an interactive schematic diagram of a perception method according to an embodiment of the present disclosure.

[0041] FIG3A is a flow chart of a sensing method according to an embodiment of the present disclosure.

[0042] FIG3B is a flow chart of a sensing method according to an embodiment of the present disclosure.

[0043] FIG4A is a flow chart of a sensing method according to an embodiment of the present disclosure.

[0044] FIG4B is a flow chart of a sensing method according to an embodiment of the present disclosure.

[0045] FIG5A is a flow chart of a sensing method according to an embodiment of the present disclosure.

[0046] FIG5B is a flow chart of a sensing method according to an embodiment of the present disclosure.

[0047] FIG6A is a schematic diagram illustrating a beam squint-based perception method according to an embodiment of the present disclosure.

[0048] FIG6B is a schematic diagram illustrating a beam squint-based perception method according to an embodiment of the present disclosure.

[0049] FIG6C is a schematic diagram illustrating a beam squint-based perception method according to an embodiment of the present disclosure.

[0050] FIG7 is a schematic structural diagram of a receiving device proposed in an embodiment of the present disclosure.

[0051] FIG8 is a schematic structural diagram of a transmitting end device proposed in an embodiment of the present disclosure.

[0052] FIG9 is a schematic structural diagram of a first device proposed in an embodiment of the present disclosure.

[0053] FIG10 is a schematic structural diagram of a communication device 10100 according to an embodiment of the present disclosure.

[0054] FIG11 is a schematic structural diagram of a chip 10200 according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0055] The embodiments of the present disclosure provide a sensing method, device, system, and storage medium.

[0056] In a first aspect, an embodiment of the present disclosure provides a sensing method, which is performed by a receiving device. The method includes:

[0057] receiving a first sensing reference signal reflected by a first device;

[0058] A corresponding sensing action is performed according to the first sensing reference signal, where the sensing action is used to determine sensing result information of the first device.

[0059] In conjunction with some embodiments of the first aspect, the sensing action includes: a first sensing action or a second sensing action;

[0060] The first sensing action includes: determining the sensing result information of the first device according to the first sensing reference signal;

[0061] The second perception action includes: sending first information to a transmitting device, where the first information is used to indicate that the first perception reference signal is missing; receiving a second perception reference signal reflected by the first device; and determining the perception result information of the first device based on the second perception reference signal.

[0062] With reference to some embodiments of the first aspect, performing a corresponding sensing action according to the first sensing reference signal includes:

[0063] Determine whether the first perception reference signal is missing, and perform the first perception action.

[0064] With reference to some embodiments of the first aspect, performing a corresponding sensing action according to the first sensing reference signal includes:

[0065] Determine that the first perception reference signal is missing, and perform the second perception action.

[0066] In conjunction with some embodiments of the first aspect, the first information includes at least one of the following:

[0067] frequency domain position information of the first perception reference signal;

[0068] subcarrier index information of the first perception reference signal;

[0069] frequency domain index information of the first perception reference signal.

[0070] In conjunction with some embodiments of the first aspect, the perception result information includes at least one of the following:

[0071] location information of the first device;

[0072] direction information of the first device;

[0073] angle information of the first device;

[0074] size information of the first device;

[0075] Speed ​​information of the first device.

[0076] In a second aspect, an embodiment of the present disclosure provides a sensing method, which is performed by a transmitting device. The method includes:

[0077] A third perception reference signal is sent to a first device, where the third perception reference signal is used by the first device to reflect a first perception reference signal to a receiving device based on the third perception reference signal. The first perception reference signal is used by the receiving device to perform a corresponding perception action based on the first perception reference signal, where the perception action is used to determine perception result information of the first device.

[0078] In conjunction with some embodiments of the second aspect, the position sensing action includes: a first sensing action or a second sensing action,

[0079] The first sensing action includes: the receiving end device determining the sensing result information of the first device according to the first sensing reference signal;

[0080] The second perception action includes: the receiving device sending first information to the transmitting device, where the first information is used to indicate that the first reference perception signal is missing; receiving a second perception reference signal reflected by the first device; and determining the perception result information of the first device based on the second perception reference signal.

[0081] In conjunction with some embodiments of the second aspect, the method further includes:

[0082] receiving first information sent by the receiving end device, where the first information is used to indicate that the first perception signal is missing;

[0083] determining, according to the first information, a beam squint compensation coefficient of the third perception reference signal;

[0084] A fourth perception reference signal is generated according to the beam squint compensation coefficient and the third perception reference signal and is sent to the first device, where the fourth perception reference signal is used to instruct the first device to reflect the second perception reference signal to the receiving device according to the fourth perception reference signal.

[0085] In conjunction with some embodiments of the second aspect, the first information includes at least one of the following:

[0086] frequency domain position information of the first perception reference signal;

[0087] subcarrier index information of the first perception reference signal;

[0088] frequency domain index information of the first perception reference signal.

[0089] With reference to some embodiments of the second aspect, the third perception reference signal and the fourth perception reference signal are multiple-input multiple-output (MIMO) beam signals.

[0090] In conjunction with some embodiments of the second aspect, the perception result information includes at least one of the following:

[0091] location information of the first device;

[0092] direction information of the first device;

[0093] angle information of the first device;

[0094] size information of the first device;

[0095] Speed ​​information of the first device.

[0096] In a third aspect, an embodiment of the present disclosure provides a sensing method, which is performed by a first device. The method includes:

[0097] Based on the third perception reference signal sent by the transmitting device, the first perception reference signal is reflected to the receiving device, where the first perception reference signal is used by the receiving device to perform a corresponding perception action based on the first perception reference signal, where the perception action is used to determine perception result information of the first device.

[0098] In conjunction with some embodiments of the third aspect, the sensing action includes: a first sensing action or a second sensing action;

[0099] The first sensing action includes: determining the sensing result information of the first device according to the first sensing reference signal;

[0100] The second perception action includes: sending first information to a transmitting device, where the first information is used to indicate that the first reference perception signal is missing; receiving a second perception reference signal sent by the first device; and determining the location information of the first device based on the second perception reference signal.

[0101] In conjunction with some embodiments of the third aspect, the first information includes at least one of the following:

[0102] frequency domain position information of the first perception reference signal;

[0103] subcarrier index information of the first perception reference signal;

[0104] frequency domain index information of the first perception reference signal.

[0105] In conjunction with some embodiments of the third aspect, the method further includes:

[0106] receiving a fourth perception reference signal sent by a transmitting end device;

[0107] According to the fourth perception reference signal, a second perception reference signal is reflected to the receiving end device, and the second perception reference signal is used by the receiving end device to determine the perception result information of the first device according to the second perception reference signal.

[0108] With reference to some embodiments of the third aspect, the third perception reference signal is a MIMO beam signal.

[0109] In conjunction with some embodiments of the third aspect, the perception result information includes at least one of the following:

[0110] location information of the first device;

[0111] direction information of the first device;

[0112] angle information of the first device;

[0113] size information of the first device;

[0114] Speed ​​information of the first device.

[0115] In a fourth aspect, an embodiment of the present disclosure provides a perception method, the method comprising:

[0116] The transmitting device sends a third perception reference signal to the first device;

[0117] The first device reflects the first perception reference signal to the receiving device according to the third perception reference signal;

[0118] The receiving device performs a corresponding sensing action according to the first sensing reference signal, where the sensing action is used to determine sensing result information of the first device.

[0119] In a fifth aspect, an embodiment of the present disclosure provides a receiving device, including:

[0120] a first transceiver module, configured to receive a first sensing reference signal reflected by a first device;

[0121] The processing module is configured to perform a corresponding sensing action according to the first sensing reference signal, where the sensing action is used to determine sensing result information of the first device.

[0122] In a sixth aspect, an embodiment of the present disclosure provides a transmitting end device, including:

[0123] The second transceiver module is configured to send a third perception reference signal to the first device, where the third perception reference signal is used by the first device to reflect the first perception reference signal to the receiving device based on the third perception reference signal. The first perception reference signal is used by the receiving device to perform a corresponding perception action based on the first perception reference signal, where the perception action is used to determine perception result information of the first device.

[0124] In a seventh aspect, an embodiment of the present disclosure provides a first device, including:

[0125] The third transceiver module is configured to reflect the first perception reference signal to the receiving device based on the third perception reference signal sent by the transmitting device, where the first perception reference signal is used by the receiving device to perform a corresponding perception action based on the first perception reference signal, where the perception action is used to determine perception result information of the first device.

[0126] In an eighth aspect, an embodiment of the present disclosure provides a receiving device, including:

[0127] one or more processors;

[0128] The receiving device is used to execute the perception method described in any one of the first aspects of this disclosure.

[0129] In a ninth aspect, an embodiment of the present disclosure provides a transmitting end device, including:

[0130] one or more processors;

[0131] The sending end device is used to execute the perception method described in any one of the second aspects of this disclosure.

[0132] In a tenth aspect, an embodiment of the present disclosure provides a first device, including:

[0133] one or more processors;

[0134] The first device is used to execute the perception method described in any one of the third aspects of this disclosure.

[0135] In the eleventh aspect, an embodiment of the present disclosure proposes a communication system, including a transmitting device, a first device and a receiving device, wherein the receiving device is configured to implement the perception method described in any one of the first aspects of the present disclosure, the transmitting device is configured to implement the perception method described in any one of the second aspects of the present disclosure, and the first device is configured to implement the perception method described in any one of the third aspects of the present disclosure.

[0136] In the twelfth aspect, an embodiment of the present disclosure proposes a storage medium, which stores instructions. When the instructions are executed on a communication device, the communication device executes the perception method as described in any one of the first aspect of the present disclosure, or the communication device executes the perception method as described in any one of the second aspect of the present disclosure, or the communication device executes the perception method as described in any one of the third aspect of the present disclosure.

[0137] In aspect 13, an embodiment of the present disclosure proposes a computer program product, comprising a computer program and / or instructions, which, when executed by a communication device, implement the perception method as described in any one of the first aspects of the present disclosure, or, when executed by a communication device, implement the perception method as described in any one of the second aspects of the present disclosure, or, when executed by a communication device, implement the perception method as described in any one of the third aspects of the present disclosure.

[0138] Through the above method, a first sensing reference signal reflected by a first device is received, and a corresponding sensing action is performed based on the first sensing reference signal. The sensing action is used to determine the sensing result information of the first device. This standardizes the sensing action for the sensing target, and different sensing actions are performed based on different received sensing reference signals, thereby improving the perception accuracy of the sensing target.

[0139] It is understandable that the aforementioned receiving device, transmitting device, first device, communication system, storage medium, program product, computer program, chip, or chip system are all used to perform the methods proposed in the embodiments of the present disclosure. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects of the corresponding methods and will not be repeated here.

[0140] The present disclosure provides a sensing method, device, system, and storage medium. In some embodiments, the terms sensing method, information processing method, and communication method are interchangeable; the terms sensing device, information processing device, and communication device are interchangeable; and the terms information processing system, communication system, and so on are interchangeable.

[0141] The embodiments of the present disclosure are not exhaustive and are merely illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined. For example, some or all steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0142] In each embodiment of the present disclosure, unless otherwise specified or provided for by logic, the terms and / or descriptions between the embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form a new embodiment based on their inherent logical relationships.

[0143] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0144] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular, such as "a", "an", "the", "above", "said", "the", "the", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun following the article may be understood as a singular expression or a plural expression.

[0145] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0146] In some embodiments, the terms "at least one," "one or more," "a plurality of," "multiple," etc. may be used interchangeably.

[0147] In some embodiments, descriptions such as "at least one of A and B," "A and / or B," "A in one case, B in another case," or "in response to one case A, in response to another case B" may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); and in some embodiments, A and B (both A and B are executed). The above is also applicable when there are more branches such as A, B, and C.

[0148] In some embodiments, "A or B" and other descriptions may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). The above is also applicable when there are more branches such as A, B, C, etc.

[0149] The prefixes such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different description objects and do not constitute any restriction on the position, order, priority, quantity or content of the description objects. For the statement of the description object, please refer to the description in the context of the claims or embodiments, and no unnecessary restriction should be constituted due to the use of prefixes. For example, if the description object is a "field", the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields". "First" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the description object is a "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the number of description objects is not limited by the ordinal number and can be one or more. Taking "first device" as an example, the number of "devices" can be one or more. In addition, the objects modified by different prefixes can be the same or different. For example, if the description object is "device", then the "first device" and the "second device" can be the same device or different devices, and their types can be the same or different; for another example, if the description object is "information", then the "first information" and the "second information" can be the same information or different information, and their contents can be the same or different.

[0150] In some embodiments, “including A,” “comprising A,” “used to indicate A,” and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0151] In some embodiments, terms such as "time / frequency" and "time / frequency domain" refer to the time domain and / or the frequency domain.

[0152] In some embodiments, terms such as "in response to...", "in response to determining...", "in the case of...", "at the time of...", "when...", "if...", "if...", etc. can be used interchangeably.

[0153] In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not less than", and "above" can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", and "below" can be replaced with each other.

[0154] In some embodiments, devices, etc. can be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. Terms such as "device", "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", and "subject" can be used interchangeably.

[0155] In some embodiments, "network" can be interpreted as devices included in the network (eg, access network equipment, core network equipment, etc.).

[0156] In some embodiments, the terms "access network device (AN device)", "radio access network device (RAN device)", "base station (BS)", "radio base station" "fixed station", "node", "access point", "transmission point (TP)", "reception point (RP)", "transmission / reception point (TRP)" "panel", "antenna panel", "antenna array", "cell", "macro cell", "small cell", "femto cell", "pico cell", "sector", "cell group", "serving cell", "carrier", "component carrier", "bandwidth part (BWP)" and the like may be used interchangeably.

[0157] In some embodiments, the terms "terminal", "terminal device", "user equipment (UE)", "user terminal", "mobile station (MS)", "mobile terminal (MT)", subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, handset, user agent, mobile client, client, etc. can be used interchangeably.

[0158] In some embodiments, the access network device, the core network device, or the network device can be replaced by a terminal. For example, the various embodiments of the present disclosure can also be applied to a structure in which the communication between the access network device, the core network device, or the network device and the terminal is replaced by communication between multiple terminals (for example, device-to-device (D2D), vehicle-to-everything (V2X), etc.). In this case, it is also possible to set the structure in which the terminal has all or part of the functions of the access network device. In addition, terms such as "uplink" and "downlink" can also be replaced by terms corresponding to communication between terminals (for example, "side"). For example, uplink channels, downlink channels, etc. can be replaced by side channels, and uplinks, downlinks, etc. can be replaced by side links.

[0159] In some embodiments, the terminal may be replaced by an access network device, a core network device, or a network device. In this case, the access network device, the core network device, or the network device may have a structure that has all or part of the functions of the terminal.

[0160] In some embodiments, obtaining data, information, etc. may comply with the laws and regulations of the country where the data is obtained.

[0161] In some embodiments, data, information, etc. may be obtained with the user's consent.

[0162] In addition, each element, each row, or each column in the table of the embodiment of the present disclosure can be implemented as an independent embodiment, and the combination of any elements, any rows, and any columns can also be implemented as an independent embodiment.

[0163] FIG1A is a schematic diagram illustrating the architecture of a communication system according to an embodiment of the present disclosure. As shown in FIG1 , a communication system 100 includes a transmitting end device (TX) 101 , a receiving end device (RX) 102 , and a first device 103 .

[0164] In some embodiments, the transmitting device 101 is, for example, a node or device that accesses the terminal to a wireless network, and the receiving device may include an evolved NodeB (eNB), a next generation evolved NodeB (ng-eNB), a next generation NodeB (gNB), a node B (NB), a home node B (HNB), a home evolved nodeB (HeNB), a wireless backhaul device, a radio network controller (RNC), a base station controller (BSC), a base transceiver station (BTS), a base band unit (BBU), a mobile switching center, a base station in a 6G communication system, an open base station (Open RAN), a cloud base station (Cloud RAN), a base station in other communication systems, and at least one of an access node in a Wi-Fi system, but is not limited thereto.

[0165] In some embodiments, the receiving device 102 includes, for example, a mobile phone, a wearable device, an Internet of Things device, a car with communication capabilities, a smart car, a tablet computer, a computer with wireless transceiver capabilities, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, and at least one of a wireless terminal device in a smart home, but is not limited thereto.

[0166] In some embodiments, the first device 103 includes, for example, a mobile phone, a wearable device, an Internet of Things device, a car with communication function, a smart car, a tablet computer, a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, and at least one of a wireless terminal device in a smart home, but is not limited thereto.

[0167] In some embodiments, the technical solution of the present disclosure can be applied to the Open RAN architecture. In this case, the interfaces between or within the access network devices involved in the embodiments of the present disclosure can be transformed into internal interfaces of the Open RAN, and the processes and information interactions between these internal interfaces can be implemented through software or programs.

[0168] In some embodiments, the transmitting end device may be composed of a centralized unit (CU) and a distributed unit (DU), where the CU may also be referred to as a control unit. The CU-DU structure may be used to separate the protocol layers of the access network device, with some of the functions of the protocol layers being centrally controlled by the CU, and the remaining part or all of the functions of the protocol layers being distributed in the DU, which is centrally controlled by the CU, but is not limited thereto.

[0169] In some embodiments, the transmitting end device 101 may be a single device including a first network element 1031, a second network element 1032, etc., or may be a plurality of devices or a group of devices, each including all or part of the first network element 1031, the second network element 1032, etc. The network element may be virtual or physical. The core network may include, for example, at least one of an evolved packet core (EPC), a 5G core network (5GCN), and a next generation core (NGC).

[0170] It can be understood that the communication system described in the embodiment of the present disclosure is for the purpose of more clearly illustrating the technical solution of the embodiment of the present disclosure, and does not constitute a limitation on the technical solution proposed in the embodiment of the present disclosure. Ordinary technicians in this field can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution proposed in the embodiment of the present disclosure is also applicable to similar technical problems.

[0171] The following embodiments of the present disclosure may be applied to the communication system 100 shown in FIG1A , or a portion thereof, but are not limited thereto. The entities shown in FIG1A are illustrative only. The communication system may include all or part of the entities shown in FIG1A , or may include other entities other than those shown in FIG1A . The number and form of the entities may be arbitrary, and the entities may be physical or virtual. The connection relationships between the entities are illustrative only. The entities may be connected or disconnected, and the connection may be in any manner, including direct or indirect, wired or wireless.

[0172] The embodiments of the present disclosure can be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3G, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G new radio (NR), future radio access (FRA), new radio access technology (RAT), new radio (NR), new radio access (NX), future generation radio access (FX), Global System for Mobile communications (GSM (registered trademark)), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.20, Ultra-WideBand (UWB), Bluetooth (registered trademark), Public Land Mobile Network (PLMN) networks, Device-to-Device (D2D) systems, Machine-to-Machine (M2M) systems, Internet of Things (IoT) systems, Vehicle-to-Everything (V2X), systems utilizing other communication methods, and next-generation systems based on and extending these methods. Furthermore, multiple systems may be combined (for example, a combination of LTE or LTE-A with 5G).

[0173] FIG1B is a schematic diagram of a perception method according to an embodiment of the present disclosure. As shown in FIG1B , in a high-frequency perception system, the bandwidth is large. Due to the large wavelength difference between different subcarriers, a beam squint phenomenon will occur under the action of the same analog beamforming vector, that is, the aggregated beam will deviate from the line of sight and spread to other directions like the dispersion of light, and the angle at which the beam deviates from the line of sight changes with the change of the signal frequency. This phenomenon will cause the gain loss of the antenna array in the transmitting device, and the original narrow beam will be converted into a wide beam related to the frequency. For example, the transmitting device sends a carrier signal with a large bandwidth to the first device. The carrier signal is used to be reflected by the first device to the receiving device. The receiving device determines the perception result of the first device based on the perceived carrier signal through a relevant perception algorithm. The perception result may include the position information, distance information, size information, orientation information and speed information of the first device.

[0174] During the transmission of the carrier signal, the carrier signal is affected by the beam squint and dispersed into f h 、f c 、f l The subcarrier beam of which the subcarrier beam f h 、f l Beam deviation will occur, and the line of sight emitted by the transmitting device will shift in other directions, resulting in the first device only being able to receive subcarrier beam f c , and f h 、f l The first device sends subcarrier beam f c When reflected to the receiving device, the receiving device is based on f c The inability to accurately perceive the sensing result information of the first device results in a sensing failure of the first device. Therefore, the receiving device needs to provide feedback to the transmitting device, indicating that the current sensing action has failed, so that the transmitting device can compensate for the sensing reference signal and resend the sensing reference signal.

[0175] In some embodiments, when using a wide-bandwidth sensing reference signal for sensing, for smaller sensing targets, due to the smaller signal reception angle and signal range of the sensing target, when affected by beam squint, only sensing signals in certain frequency bands will be reflected from the sensing target to the receiving end, causing the energy of the sensing signal received by the receiving end to decrease, which may result in insufficient sensing accuracy or erroneous judgment of the sensing results. For example, if all broadband sensing signals are compensated to make the sensing signal beam a narrow beam, more sensing beams will be required to scan the same area. Moreover, for some larger sensing targets, if their shape needs to be sensed, the narrow beam needs to be sensed multiple times, increasing the communication overhead during the sensing process.

[0176] FIG2A is an interactive diagram of a perception method according to an embodiment of the present disclosure. As shown in FIG2A , the present disclosure embodiment relates to a perception method, which is performed by a receiving device, a transmitting device, and a first device. The method includes:

[0177] In step S2101, a transmitting device sends a third perception reference signal to a first device.

[0178] In some embodiments, the third perception reference signal is used to sense relevant information of the first device, including location information, orientation information, size information, speed information, angle information, etc. A transmitting device transmits the third perception reference signal to the first device, which is then reflected by the first device to a receiving device. The receiving device then determines relevant information of the first device based on the reflected third perception reference signal.

[0179] In some embodiments, the name of the third perception reference signal is not limited, and may be, for example, "perception signal", "perception beam", "perception beam signal", etc.

[0180] In some embodiments, the transmitting device is a perception transmitting device that can actively perceive surrounding environmental information. This perception transmitting device can achieve perception of the surrounding environment based on a sensing device configured in the device, and can perceive relevant information of the first device by transmitting a perception reference signal. For example, the perception transmitting device can be a base station, a terminal device, or other network node device, and this is not limited in this embodiment.

[0181] In some embodiments, the name of the transmitting end device is not limited, and it may be, for example, a "perception transmitting end device", a "perception initiating end device", a "TX (Transmitter) device", etc.

[0182] In some embodiments, the transmitting device is used to achieve high-precision perception of the first device. To achieve the perception accuracy requirements of the first device, the third perception reference signal sent by the transmitting device has a larger bandwidth, a smaller distance resolution, and a higher positioning accuracy. Therefore, in this embodiment, the third perception reference signal uses a higher frequency beam, such as a millimeter wave or sub-THz frequency band beam. According to the electromagnetic wave spatial path loss model, the free space path loss of high-frequency perception reference signals is higher, resulting in a shorter radiation distance at the same transmission power. Therefore, in this embodiment, large-scale MIMO beamforming is used to solve the problem of short transmission distance of the perception reference signal.

[0183] In some embodiments, the third perception reference signal is a multiple-input multiple-output (MIMO) beam signal.

[0184] For example, in this embodiment, to meet the high-precision sensing requirements of the first device, the sensing reference signal emitted by the transmitting device is a high-frequency sensing reference signal. To overcome the short radiation range of high-frequency sensing reference signals during transmission, the sensing reference signal emitted by the transmitting device uses a MIMO beam signal. MIMO technology utilizes multiple antennas on both the transmitting and receiving devices, increasing capacity and improving performance by leveraging inter-antenna path differences. The MIMO beam signal is transmitted through multiple transmitting antennas to form a spatial beam signal, achieving selective coverage of the sensing beam.

[0185] For example, by adjusting the phase and amplitude of different antennas, multiple independent sensing channels can be formed in the MIMO system, thereby improving the spectrum efficiency of the sensing beam and realizing long-distance radiation transmission of the sensing reference signal during the transmission process.

[0186] In some embodiments, the first device is a device whose relevant information is perceived. The transmitting device sends a perception reference signal to the first device. The first device reflects the perception reference signal to the receiving device. The receiving device obtains the delay, angle, Doppler and other information of the reflected perception reference signal to determine the relevant information of the first device. The relevant information includes the position, distance, size, speed and other information of the first device.

[0187] In some embodiments, the name of the first device is not limited, and it can be, for example, a "sensing target device", a "sensed device", a "target sensing device", etc.

[0188] In step S2102 , the first device reflects the first perception reference signal to the receiving device based on the third perception reference signal.

[0189] For example, in this embodiment, the first device reflects the third perception reference signal transmitted by the transmitting device, the third perception reference signal is converted into the first perception reference signal after passing through the first device, and the first perception reference signal is reflected to the receiving device.

[0190] In a communication system that transmits high-frequency signals, when the bandwidth of the transmission beam is large, the wavelengths of the corresponding subcarriers vary significantly. This results in beam squint under the action of the same analog beamforming vector. This means that the beam will deviate from the line of sight and spread in other directions, just like the dispersion of light. Furthermore, the angle at which the beam deviates from the line of sight varies with the signal frequency. This phenomenon can cause a loss in the gain of the transmitting antenna array, converting the original narrow beam into a frequency-dependent wide beam. Therefore, in this embodiment, the third perception reference signal sent by the transmitting device will be spread along the line of sight during transmission into multiple subcarrier beams of different frequencies, which are then transmitted to the first device. Different first devices have different signal reception ranges for the subcarrier beams, and accordingly, the first perception reference signal reflected based on the third perception reference signal will be different.

[0191] In some embodiments, in this implementation, the first device is a device with a large signal reception range, such as a vehicle. The diffusion angle of the subcarrier beam corresponding to the third perception reference signal, when within the signal reception range of the first device, the subcarrier beam diffused by the third perception reference signal can be completely received by the first device, and the first perception reference signal reflected to the receiving end device is the same as the third perception reference signal.

[0192] In step S2103, the receiving device determines that the first perception reference signal is not missing, and determines perception result information of the first device according to the first perception reference signal.

[0193] For example, in this embodiment, the first device is a larger device, and the third perception reference signal sent by the transmitting device can be completely reflected by the first device to the receiving device, that is, the third perception reference signal is the same as the first perception reference signal. The receiving device can determine the perception result information of the first device based on the delay, angle, Doppler and other information of the first perception reference signal.

[0194] In some embodiments, the perception result information includes at least one of the following:

[0195] location information of the first device;

[0196] direction information of the first device;

[0197] angle information of the first device;

[0198] size information of the first device;

[0199] Speed ​​information of the first device.

[0200] For example, after receiving the first perception reference signal, the receiving device first determines the first perception reference signal. In this embodiment, the receiving device is configured with a relevant perception reference signal missing determination algorithm. Based on the determination algorithm, it is determined that the first perception reference signal is not missing, that is, when the first perception reference signal matches the third perception reference signal transmitted by the transmitting device, the first perception reference signal can be calculated based on the perception algorithm to determine the position information, direction information, angle information, size information, speed information, etc. of the first device.

[0201] In some embodiments, the names of information, etc. are not limited to the names described in the embodiments, and terms such as "information", "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "domain", "field", "symbol", "symbol", "codeword", "codebook", "codeword", "codepoint", "bit", "data", "program", and "chip" can be used interchangeably.

[0202] In some embodiments, the terms "codebook," "codeword," and "precoding matrix" may be used interchangeably. For example, a codebook may be a collection of one or more codewords / precoding matrices.

[0203] In some embodiments, terms such as "uplink", "uplink", "physical uplink" can be interchangeable with each other, and terms such as "downlink", "downlink", "physical downlink" can be interchangeable with each other, and terms such as "side", "sidelink", "side communication", "sidelink communication", "direct connection", "direct link", "direct communication", "direct link communication" can be interchangeable with each other.

[0204] In some embodiments, the terms "downlink control information (DCI)", "downlink (DL) assignment", "DL DCI", "uplink (UL) grant", "UL DCI" and the like may be used interchangeably.

[0205] In some embodiments, terms such as "physical downlink shared channel (PDSCH)" and "DL data" can be used interchangeably, and terms such as "physical uplink shared channel (PUSCH)" and "UL data" can be used interchangeably.

[0206] In some embodiments, the terms "radio", "wireless", "radio access network (RAN)", "access network (AN)", "RAN-based" and the like may be used interchangeably.

[0207] In some embodiments, the terms "search space", "search space set", "search space configuration", "search space set configuration", "control resource set (CORESET)", "CORESET configuration" and the like may be used interchangeably.

[0208] In some embodiments, terms such as "synchronization signal (SS)", "synchronization signal block (SSB)", "reference signal (RS)", "pilot", and "pilot signal" can be used interchangeably.

[0209] In some embodiments, terms such as "moment", "time point", "time", and "time position" can be replaced with each other, and terms such as "duration", "period", "time window", "window", and "time" can be replaced with each other.

[0210] In some embodiments, the terms "component carrier (CC)", "cell", "frequency carrier", "carrier frequency" and the like can be used interchangeably.

[0211] In some embodiments, terms such as "resource block (RB)", "physical resource block (PRB)", "sub-carrier group (SCG)", "resource element group (REG)", "PRB pair", "RB pair", "resource element (RE)", and "sub-carrier" can be used interchangeably.

[0212] In some embodiments, terms such as wireless access scheme and waveform may be used interchangeably.

[0213] In some embodiments, the terms "precoding", "precoder", "weight", "precoding weight", "quasi-co-location (QCL)", "transmission configuration indication (TCI) state", "spatial relation", "spatial domain filter", "transmission power", "phase rotation", "antenna port", "antenna port group", "layer", "the number of layers", "rank", "resource", "resource set", "resource group", "beam", "beam width", "beam angular degree", "antenna", "antenna element", "panel" and the like can be used interchangeably.

[0214] In some embodiments, terms such as "frame", "radio frame", "subframe", "slot", "sub-slot", "mini-slot", "symbol", "symbol", and "transmission time interval (TTI)" can be used interchangeably.

[0215] In some embodiments, "obtain", "get", "get", "receive", "transmit", "bidirectional transmission", "send and / or receive" can be interchangeable, and can be interpreted as receiving from other entities, obtaining from protocols, obtaining from higher layers, obtaining by self-processing, autonomous implementation, etc.

[0216] In some embodiments, terms such as "send", "transmit", "report", "download", "transmit", "bidirectional transmission", "send and / or receive" can be used interchangeably.

[0217] In some embodiments, terms such as "certain", "preset", "preset", "setting", "indicated", "some", "any", and "first" can be interchangeable. "Specific A", "preset A", "preset A", "setting A", "indicated A", "some A", "any A", and "first A" can be interpreted as A pre-specified in a protocol, etc., or as A obtained through setting, configuration, or indication, etc., or as specific A, some A, any A, or first A, etc., but not limited to this.

[0218] In some embodiments, the determination or judgment can be performed by a value represented by 1 bit (0 or 1), or by a true or false value (Boolean value) represented by true or false, or by comparison of numerical values ​​(for example, comparison with a predetermined value), but is not limited thereto.

[0219] In some embodiments, "not expecting to receive" can be interpreted as not receiving on time domain resources and / or frequency domain resources, or as not performing subsequent processing on the data after receiving it; "not expecting to send" can be interpreted as not sending, or as sending but not expecting the recipient to respond to the content sent.

[0220] In this manner, the transmitting device transmits the third perception reference signal to the first device. The first device, based on the third perception reference signal, reflects the first perception reference signal to the receiving device. The receiving device determines that the first perception reference signal is not missing and determines the first device's perception result information based on the first perception reference signal. This standardizes the sensing action for the perception target. When it is determined that the perception reference signal is not missing, the device senses the perception result information based on the perception reference signal, thereby improving the accuracy of the perception of the perception target.

[0221] The perception method involved in the embodiments of the present disclosure may include at least one of steps S2101 to S2103. For example, step S2101 may be implemented as an independent embodiment, step S2102 may be implemented as an independent embodiment, step S2103 may be implemented as an independent embodiment, and steps S2101+S2102+S2103 may be implemented as independent embodiments, but are not limited thereto.

[0222] In some embodiments, reference may be made to other optional implementations described before or after the description corresponding to FIG. 2A .

[0223] FIG2B is an interactive diagram of a perception method according to an embodiment of the present disclosure. As shown in FIG2B , the present disclosure embodiment relates to a perception method, which is performed by a receiving device, a transmitting device, and a first device. The method includes:

[0224] In step S2201, a transmitting device sends a third perception reference signal to a first device.

[0225] In some embodiments, the third perception reference signal is a multiple-input multiple-output (MIMO) beam signal.

[0226] The optional implementation of step S2201 can refer to the optional implementation of step S2101 in Figure 2A and other related parts in the embodiment involved in Figure 2A, which will not be repeated here.

[0227] In step S2202 , the first device reflects the first perception reference signal to the receiving device based on the third perception reference signal.

[0228] In some embodiments, the first device in this embodiment is a device with a small signal reception range, such as a mobile terminal or a wearable device. The diffusion angle of a portion of the subcarrier beam corresponding to the third perception reference signal can be reflected by the first device, reflecting the portion of the subcarrier beam to the receiving device. That is, due to the influence of beam squint, the perception reference signal of a portion of the frequency band of the third perception reference signal is not received and reflected by the first device, and the first device can only reflect a portion of the perception reference signal to the receiving device. The first perception reference signal is the portion of the perception reference signal received and reflected by the first device, that is, the first perception reference signal is a portion of the subcarrier signal of the third perception reference signal.

[0229] Step S2203: The receiving device determines that the first perception reference signal is missing, and sends first information to the transmitting device.

[0230] For example, the receiving device is configured with a perception reference signal determination algorithm, which can determine whether the first perception reference signal reflected by the first device is missing, and send first information to the transmitting device when the first perception reference signal is missing.

[0231] In some embodiments, the first information is used to indicate that the first perception reference signal is missing.

[0232] For example, the first perception reference signal may include location information of the transmitting device and device ID information of the transmitting device. When the receiving device determines that the first perception reference signal is missing, it may send first information to the transmitting device based on the location information and device ID information, and indicate that the first perception reference signal is missing through the first information.

[0233] In some embodiments, the first information includes at least one of the following:

[0234] frequency domain position information of the first perception reference signal;

[0235] subcarrier index information of the first perception reference signal;

[0236] Frequency domain index information of the first perceptual reference signal.

[0237] For example, a receiving device may indicate a received first perception reference signal using first information, where the first information may include at least one of frequency domain location information, subcarrier index information, or frequency domain index information of the first perception reference signal. When the first information indicates that the corresponding first perception reference signal is missing, the transmitting device may determine a compensation coefficient for the corresponding perception reference signal based on relevant information such as the frequency domain location information, subcarrier index information, or frequency domain index information of the first perception reference signal carried in the first information, and compensate the third perception reference signal based on the compensation coefficient.

[0238] In some embodiments, the name of the first information is not limited, and it can be, for example, "reference signal missing indication information", "indication information", "perceptual reference signal ID information", "perceptual reference signal frequency domain information", etc.

[0239] Step S2204: The transmitting device determines a beam squint compensation coefficient of the third perception reference signal according to the first information;

[0240] For example, after the transmitting device obtains the first information sent by the receiving device, it determines the third perception reference signal initially sent based on the first information, and compares the third perception reference signal with the first perception reference signal received by the receiving device to determine the beam squint compensation coefficient. The beam squint compensation coefficient is used to compensate the third perception reference signal to offset the beam squint phenomenon during the transmission process.

[0241] In step S2205 , the transmitting device generates a fourth perception reference signal according to the beam squint compensation coefficient and the third perception reference signal, and sends the fourth perception reference signal to the first device.

[0242] For example, in this embodiment, the transmitting device compensates the third perception reference signal based on the beam squint compensation coefficient to generate a fourth perception reference signal, which is then transmitted to the first device. Based on the beam squint compensation coefficient, multiple subcarrier signals of the fourth perception reference signal are reflected by the first device and transformed into a second perception reference signal, which is then transmitted to the receiving device.

[0243] In some embodiments, the fourth perception reference signal is a multiple-input multiple-output (MIMO) beam signal.

[0244] In step S2206 , the first device reflects the second perception reference signal to the receiving device according to the fourth perception reference signal.

[0245] For example, the first device reflects the received fourth perception reference signal into a second perception reference signal and sends the second perception reference signal to the receiving device.

[0246] Step S2207: The receiving device determines the perception result information of the first device according to the second perception reference signal.

[0247] For example, the second perception reference signal received by the receiving device at this time is not missing, and therefore the perception result information of the first device can be determined based on the second perception reference signal.

[0248] The optional implementation of step S2207 can refer to the optional implementation of step S2103 in Figure 2A and other related parts in the embodiment involved in Figure 2A, which will not be repeated here.

[0249] For example, the first device is a small device. To achieve the high-precision perception requirement of the perception receiving device on the first device, the perception reference signal bandwidth sent by the perception transmitting device is large, and the perception transmitting device is configured with a large-scale MIMO array. The perception reference signal is beamformed by the perception transmitting device. Due to the influence of the beam squint phenomenon, during the perception process, the perception reference signal f sent by the perception transmitting device is at a high frequency f. h and low frequency f l Some corresponding sensing reference signals are not reflected by the sensing target, resulting in only subcarrier f c The sensing reference signal of the partial bandwidth and its vicinity is reflected by the sensing target and reaches the sensing receiving device. The sensing receiving device only obtains the sensing reference signal of the partial bandwidth. Since the power of the sensing reference signal obtained by the sensing receiving device is low, it cannot meet the requirements of high-precision positioning. After analysis, the sensing receiving device can determine that the frequency domain position of the sensing signal reflected by the sensing target is f c , the perception receiving end device feeds back the subcarrier index or frequency domain index of the received perception reference signal to the perception sending end device.

[0250] Based on the information fed back by the sensing receiving device, the sensing transmitting device compensates the sensing reference signal f through TTD (Time Delay And Sum) / DPP (Digital Predistortion) or sub-band precoding, evaluates the beam squint compensation coefficient of the sensing reference signal, and adjusts the width of the sensing beam so that the sensing beam converges in the direction of the sensing target, thereby increasing the received power of the sensing signal at the sensing receiving segment device to meet the sensing performance requirements. The compensated beam is aligned with the actual direction of the sensing target (subcarrier f c The sensing receiving device receives the sensing signal re-reflected by the sensing target and then senses it again to evaluate the sensing result information of the sensing target.

[0251] In some embodiments, the names of information, etc. are not limited to the names described in the embodiments, and terms such as "information", "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "domain", "field", "symbol", "symbol", "codeword", "codebook", "codeword", "codepoint", "bit", "data", "program", and "chip" can be used interchangeably.

[0252] In some embodiments, the terms "codebook," "codeword," and "precoding matrix" may be used interchangeably. For example, a codebook may be a collection of one or more codewords / precoding matrices.

[0253] In some embodiments, terms such as "uplink", "uplink", "physical uplink" can be interchangeable with each other, and terms such as "downlink", "downlink", "physical downlink" can be interchangeable with each other, and terms such as "side", "sidelink", "side communication", "sidelink communication", "direct connection", "direct link", "direct communication", "direct link communication" can be interchangeable with each other.

[0254] In some embodiments, the terms "downlink control information (DCI)", "downlink (DL) assignment", "DL DCI", "uplink (UL) grant", "UL DCI" and the like may be used interchangeably.

[0255] In some embodiments, terms such as "physical downlink shared channel (PDSCH)" and "DL data" can be used interchangeably, and terms such as "physical uplink shared channel (PUSCH)" and "UL data" can be used interchangeably.

[0256] In some embodiments, the terms "radio", "wireless", "radio access network (RAN)", "access network (AN)", "RAN-based" and the like may be used interchangeably.

[0257] In some embodiments, the terms "search space", "search space set", "search space configuration", "search space set configuration", "control resource set (CORESET)", "CORESET configuration" and the like may be used interchangeably.

[0258] In some embodiments, terms such as "synchronization signal (SS)", "synchronization signal block (SSB)", "reference signal (RS)", "pilot", and "pilot signal" can be used interchangeably.

[0259] In some embodiments, terms such as "moment", "time point", "time", and "time position" can be replaced with each other, and terms such as "duration", "period", "time window", "window", and "time" can be replaced with each other.

[0260] In some embodiments, the terms "component carrier (CC)", "cell", "frequency carrier", "carrier frequency" and the like can be used interchangeably.

[0261] In some embodiments, terms such as "resource block (RB)", "physical resource block (PRB)", "sub-carrier group (SCG)", "resource element group (REG)", "PRB pair", "RB pair", "resource element (RE)", and "sub-carrier" can be used interchangeably.

[0262] In some embodiments, terms such as wireless access scheme and waveform may be used interchangeably.

[0263] In some embodiments, the terms "precoding", "precoder", "weight", "precoding weight", "quasi-co-location (QCL)", "transmission configuration indication (TCI) state", "spatial relation", "spatial domain filter", "transmission power", "phase rotation", "antenna port", "antenna port group", "layer", "the number of layers", "rank", "resource", "resource set", "resource group", "beam", "beam width", "beam angular degree", "antenna", "antenna element", "panel" and the like can be used interchangeably.

[0264] In some embodiments, terms such as "frame", "radio frame", "subframe", "slot", "sub-slot", "mini-slot", "symbol", "symbol", and "transmission time interval (TTI)" can be used interchangeably.

[0265] In some embodiments, "obtain", "get", "get", "receive", "transmit", "bidirectional transmission", "send and / or receive" can be interchangeable, and can be interpreted as receiving from other entities, obtaining from protocols, obtaining from higher layers, obtaining by self-processing, autonomous implementation, etc.

[0266] In some embodiments, terms such as "send", "transmit", "report", "download", "transmit", "bidirectional transmission", "send and / or receive" can be used interchangeably.

[0267] In some embodiments, terms such as "certain", "preset", "preset", "setting", "indicated", "some", "any", and "first" can be interchangeable. "Specific A", "preset A", "preset A", "setting A", "indicated A", "some A", "any A", and "first A" can be interpreted as A pre-specified in a protocol, etc., or as A obtained through setting, configuration, or indication, etc., or as specific A, some A, any A, or first A, etc., but not limited to this.

[0268] In some embodiments, the determination or judgment can be performed by a value represented by 1 bit (0 or 1), or by a true or false value (Boolean value) represented by true or false, or by comparison of numerical values ​​(for example, comparison with a predetermined value), but is not limited thereto.

[0269] In some embodiments, "not expecting to receive" can be interpreted as not receiving on time domain resources and / or frequency domain resources, or as not performing subsequent processing on the data after receiving it; "not expecting to send" can be interpreted as not sending, or as sending but not expecting the recipient to respond to the content sent.

[0270] In the above manner, a transmitting device transmits a third perception reference signal to a first device. The first device reflects the first perception reference signal to a receiving device based on the third perception reference signal. The receiving device determines that the first perception reference signal is missing and transmits first information to the transmitting device. The transmitting device determines a beam squint compensation coefficient for the third perception reference signal based on the first information. The transmitting device generates a fourth perception reference signal based on the beam squint compensation coefficient and the third perception reference signal and transmits it to the first device. The first device reflects the second perception reference signal to the receiving device based on the fourth perception reference signal. The receiving device determines the perception result information of the first device based on the second perception reference signal. This standardizes the perception action of the perception target. When it is determined that the perception reference signal is missing, relevant information is fed back to the transmitting device, allowing the transmitting device to supplement the perception reference signal and resend the perception reference signal, thereby improving the perception accuracy of the perception target.

[0271] The sensing method according to the embodiments of the present disclosure may include at least one of steps S2201 to S2207. For example, step S2203 may be implemented as an independent embodiment, step S2204 may be implemented as an independent embodiment, step S2205 may be implemented as an independent embodiment, and steps S2201+S2202+S2203 may be implemented as independent embodiments, but are not limited thereto.

[0272] In some embodiments, reference may be made to other optional implementations described before or after the description corresponding to FIG. 2B .

[0273] FIG3A is a flow chart of a perception method according to an embodiment of the present disclosure. As shown in FIG3A , the present disclosure embodiment relates to a perception method, which is executed by a receiving device and includes:

[0274] Step S3101: Receive a first perception reference signal reflected by a first device.

[0275] The optional implementation of step S3101 can refer to the optional implementation of step S2102 in Figure 2A and other related parts in the embodiment involved in Figure 2A, which will not be repeated here.

[0276] Step S3102: Determine whether the first perception reference signal is missing, and determine the perception result information of the first device according to the first perception reference signal.

[0277] In some embodiments, the perception result information includes at least one of the following:

[0278] location information of the first device;

[0279] direction information of the first device;

[0280] angle information of the first device;

[0281] size information of the first device;

[0282] Speed ​​information of the first device.

[0283] The optional implementation of step S3102 can refer to the optional implementation of step S2103 in Figure 2A and other related parts in the embodiment involved in Figure 2A, which will not be repeated here.

[0284] Through the above method, the perception action of the perception target is standardized, and when it is determined that there is no missing perception reference signal, the perception result information of the perception device is based on the perception reference signal to improve the perception accuracy of the perception target.

[0285] FIG3B is a flow chart of a sensing method according to an embodiment of the present disclosure. As shown in FIG3B , the embodiment of the present disclosure relates to a sensing method, which is executed by a receiving device. The method includes:

[0286] Step S3201: Receive a first perception reference signal reflected by a first device.

[0287] The optional implementation of step S3201 can refer to the optional implementation of step S2202 in Figure 2B and other related parts in the embodiment involved in Figure 2B, which will not be repeated here.

[0288] Step S3202: Determine that a first perception reference signal is missing, and send first information to a transmitting end device.

[0289] In some embodiments, the first information includes at least one of the following:

[0290] frequency domain position information of the first perception reference signal;

[0291] subcarrier index information of the first perception reference signal;

[0292] Frequency domain index information of the first perceptual reference signal.

[0293] The optional implementation of step S3202 can refer to the optional implementation of step S2203 in Figure 2B and other related parts in the embodiment involved in Figure 2B, which will not be repeated here.

[0294] Step S3203: Receive a second perception reference signal reflected by the first device.

[0295] The optional implementation of step S3203 can refer to the optional implementation of step S2206 in Figure 2B and other related parts in the embodiment involved in Figure 2B, which will not be repeated here.

[0296] Step S3204: Determine perception result information of the first device according to the second perception reference signal.

[0297] In some embodiments, the perception result information includes at least one of the following:

[0298] location information of the first device;

[0299] direction information of the first device;

[0300] angle information of the first device;

[0301] size information of the first device;

[0302] Speed ​​information of the first device.

[0303] The optional implementation of step S3204 can refer to the optional implementation of step S2207 in Figure 2B and other related parts in the embodiment involved in Figure 2B, which will not be repeated here.

[0304] Through the above method, the perception action of the perception target is standardized. When it is determined that the perception reference signal is missing, relevant information is fed back to the transmitting device, so that the transmitting device can supplement the perception reference signal and resend the perception reference signal, thereby improving the perception accuracy of the perception target.

[0305] FIG4A is a flow chart of a sensing method according to an embodiment of the present disclosure. As shown in FIG4A , the embodiment of the present disclosure relates to a sensing method, which is executed by a transmitting device and includes:

[0306] Step S4101: Send a third perception reference signal to a first device.

[0307] In some embodiments, the third perception reference signal is used by the first device to reflect the first perception reference signal to the receiving device based on the third perception reference signal.

[0308] In some embodiments, the first perception reference signal is used by the receiving device to determine the perception result information of the first device based on the first perception reference signal.

[0309] In some embodiments, the perception result information includes at least one of the following:

[0310] location information of the first device;

[0311] direction information of the first device;

[0312] angle information of the first device;

[0313] size information of the first device;

[0314] Speed ​​information of the first device.

[0315] In some embodiments, the third perception reference signal is a multiple-input multiple-output (MIMO) beam signal.

[0316] The optional implementation of step S4101 can refer to the optional implementation of step S2101 in Figure 2A and other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0317] In this manner, the transmitting device transmits the third sensing reference signal to the first device, causing the first device to reflect the first sensing reference signal to the receiving device. The receiving device then senses the first device based on the first sensing reference signal. This standardizes the sensing action for the sensing target. When it is determined that there are no missing sensing reference signals, the device senses the sensing result information based on the sensing reference signal, thereby improving the accuracy of the sensing target.

[0318] FIG4B is a flow chart of a sensing method according to an embodiment of the present disclosure. As shown in FIG4B , the embodiment of the present disclosure relates to a sensing method, which is executed by a transmitting device and includes:

[0319] Step S4201: Send a third perception reference signal to the first device.

[0320] In some embodiments, the third perception reference signal is a multiple-input multiple-output (MIMO) beam signal.

[0321] The optional implementation of step S4201 can refer to the optional implementation of step S2201 in Figure 2B and other related parts in the embodiment involved in Figure 2B, which will not be repeated here.

[0322] Step S4202: Determine a beam squint compensation coefficient of a third perception reference signal according to the first information sent by the receiving device.

[0323] In some embodiments, the first information includes at least one of the following:

[0324] frequency domain position information of the first perception reference signal;

[0325] subcarrier index information of the first perception reference signal;

[0326] Frequency domain index information of the first perceptual reference signal.

[0327] The optional implementation of step S4202 can refer to the optional implementation of step S2204 in Figure 2B and other related parts in the embodiment involved in Figure 2B, which will not be repeated here.

[0328] Step S4203: Generate a fourth perception reference signal according to the beam squint compensation coefficient and the third perception reference signal, and send the fourth perception reference signal to the first device.

[0329] The optional implementation of step S4203 can refer to the optional implementation of step S2205 in Figure 2B and other related parts in the embodiment involved in Figure 2B, which will not be repeated here.

[0330] Through the above method, the perception action of the perception target is standardized. When it is determined that the perception reference signal is missing, relevant information is fed back to the transmitting device, so that the transmitting device can supplement the perception reference signal and resend the perception reference signal, thereby improving the perception accuracy of the perception target.

[0331] FIG5A is a flow chart of a sensing method according to an embodiment of the present disclosure. As shown in FIG5A , the embodiment of the present disclosure relates to a sensing method, which is executed by a first device and includes:

[0332] Step S5101: Receive a third perception reference signal sent by a transmitting device.

[0333] In some embodiments, the third perception reference signal is a multiple-input multiple-output (MIMO) beam signal.

[0334] The optional implementation of step S5101 can refer to the optional implementation of step S2101 in Figure 2A and other related parts in the embodiment involved in Figure 2A, which will not be repeated here.

[0335] Step S5102: Reflect the first perception reference signal to a receiving device according to the third perception reference signal.

[0336] The optional implementation of step S5102 can refer to the optional implementation of step S2102 in Figure 2A and other related parts in the embodiment involved in Figure 2A, which will not be repeated here.

[0337] In the above manner, the first device reflects the perception reference signal to the receiving device, so that the receiving device determines relevant perception result information of the first device based on the perception reference signal.

[0338] FIG5B is a flow chart of a sensing method according to an embodiment of the present disclosure. As shown in FIG5B , the embodiment of the present disclosure relates to a sensing method, which is performed by a first device. The method includes:

[0339] Step S5201: Receive a third perception reference signal sent by a transmitting device.

[0340] The optional implementation of step S5201 can refer to the optional implementation of step S2201 in Figure 2B and other related parts in the embodiment involved in Figure 2B, which will not be repeated here.

[0341] Step S5202: Reflect the first perception reference signal to the receiving end device according to the third perception reference signal.

[0342] The optional implementation of step S5202 can refer to the optional implementation of step S2202 in Figure 2B and other related parts in the embodiment involved in Figure 2B, which will not be repeated here.

[0343] Step S5203: Receive a fourth perception reference signal sent by the transmitting device.

[0344] The optional implementation of step S5203 can refer to the optional implementation of step S2205 in Figure 2B and other related parts in the embodiment involved in Figure 2B, which will not be repeated here.

[0345] Step S5204: reflect the second perception reference signal to the receiving end device according to the fourth perception reference signal.

[0346] The optional implementation of step S5204 can refer to the optional implementation of step S2206 in Figure 2B and other related parts in the embodiment involved in Figure 2B, which will not be repeated here.

[0347] By using the above method, when it is determined that the perception reference signal is missing, relevant information is fed back to the transmitting end device, so that the transmitting end device supplements the perception reference signal and resends the perception reference signal, thereby improving the perception accuracy of the perception target.

[0348] FIG6A is a schematic diagram illustrating a beam squint-based perception method according to an embodiment of the present disclosure. As shown in FIG6A , the embodiment of the present disclosure relates to a beam squint-based perception method, which is performed by a transmitting device, a receiving device, and a first device. The method includes:

[0349] Step S6101: The transmitting device sends an initial sensing reference signal to the first device.

[0350] For example, in this embodiment, the initial perception reference signal is a perception reference signal with a larger bandwidth, the transmitting device is a transmitter of a large-scale MIMO array, and the initial perception reference signal is beamformed by the transmitting device and is used to perceive a perception target in the perception environment, which is the first device.

[0351] In some embodiments, the initial sensing reference signal is used to sense the first device, the initial sensing reference signal is reflected by the first device, and the reflected sensing reference signal is sent to the receiving device.

[0352] Step S6102: The first device reflects an initial sensing reference signal to a receiving device.

[0353] In an example, the first device is a target sensing device, the transmitting device sends an initial sensing reference signal, the initial sensing reference signal is reflected by the first device, and the receiving device senses the first device according to the reflected initial sensing reference signal.

[0354] In some embodiments, the first device may be a device with a relatively small volume, and the corresponding signal capture angle and signal capture range of the perception reference signal reflected by the first device are relatively small. When the initial perception reference signal undergoes beam squint, it will cause some subcarrier signals to deviate from the signal capture range of the first device and cannot be captured by the first device, resulting in a partial loss of the perception reference signal. The first device may be a device with a relatively large volume, and the corresponding signal capture angle and signal capture range of the perception reference signal received by the first device are relatively large. However, in some application scenarios, the first device will still be affected by beam squint, causing some subcarrier signals to deviate from the signal capture range of the first device, resulting in a partial loss of the perception reference signal.

[0355] Step S6103: The receiving device performs a corresponding sensing action according to the reflected initial sensing reference signal.

[0356] For example, the receiving device is configured with a determination algorithm for determining whether an initial sensing reference signal is missing, and a sensing algorithm for determining sensing result information of the first device based on the reflected initial sensing reference signal. After receiving the reflected initial sensing reference signal, the receiving device determines whether the sensing reference signal is partially missing. Different sensing actions are performed based on different determination results.

[0357] Optionally, in some embodiments, the receiving device determines that the reflected initial perception reference signal is missing, and then sends first information to the transmitting device.

[0358] The transmitting device compensates the initial sensing reference signal according to the first information, and sends the compensated initial sensing reference signal to the first device.

[0359] The first device reflects the compensated initial sensing reference signal to the receiving device.

[0360] The receiving device determines the perception result information of the first device according to the compensated initial perception reference signal.

[0361] For example, the first information is used to indicate that a reflected initial perception reference signal is partially missing. The transmitting device may determine a beam squint compensation coefficient based on the first information, perform beam squint compensation based on the initial perception reference signal to offset the beam squint during transmission, generate a compensated perception reference signal, and send it to the first device, so that the perception reference signal reflected by the first device to the receiving device is not missing. The receiving device may determine perception result information of the first device based on the reflected perception reference signal.

[0362] FIG6B is a schematic diagram of a sensing method based on beam squint according to an embodiment of the present disclosure. As shown in FIG6B , the sensing transmitter TX sends a sensing reference signal f to the sensing target. Due to the influence of beam squint, the sensing reference signal f is dispersed into multiple subcarrier signals f during the transmission process. h 、f c 、f l , where the subcarrier signal f h 、f l Deviating from the line of sight, the target is perceived as having only subcarrier f c The sensing reference signal of the subcarrier fc and its surrounding bandwidth is reflected to the sensing receiver. The sensing receiver evaluates the sensing reference signal and, if it determines that the reflected sensing reference signal is partially missing, feeds back the subcarrier index or frequency domain index of the subcarrier fc to the sensing transmitter. After receiving the frequency domain index and other information fed back by the sensing receiver, the sensing transmitter estimates the beam squint compensation coefficient based on the frequency domain index information and transmits the compensated beam in the actual direction of the sensing target. The sensing target then reflects the compensated beam to the sensing receiver. This allows the sensing receiver to calculate and determine the sensing result information of the sensing target based on the compensated beam.

[0363] It should be noted that the beam squint compensation coefficient is used to offset the perception reference signal dispersion caused by beam squint in the process of sending the perception reference signal from the perception transmitter to the perception target, so that the perception reference signal reflected by the perception target matches the perception reference signal sent by the perception transmitter, so that there is no energy loss in the perception reference signal received by the perception receiver, and the perception receiver can determine the perception result information of the perception target based on the perception reference signal.

[0364] In some embodiments, the sensing action is used to determine sensing result information of the first device.

[0365] In some embodiments, the perception result information includes location information, distance information, speed information, angle information, etc. of the first device.

[0366] Optionally, in some embodiments, the receiving device determines that the reflected initial perception reference signal is not missing, and determines the perception result information of the first device based on the initial perception reference signal.

[0367] For example, in some scenarios, even if the initial perception reference signal sent by the perception transmitting device undergoes beam squint during transmission, causing the initial perception reference signal to be split into subcarrier signals in multiple directions, due to the large signal reception range of the perception target, the split subcarrier signals in multiple directions are still within the signal reception range of the perception target. The perception reference signal reflected to the perception receiving end by the perception target matches the initial perception reference signal sent by the perception transmitting end. The perception receiving end can determine the perception result information of the perception target based on the received perception reference signal.

[0368] FIG6C is a schematic diagram of a sensing method based on beam squint according to an embodiment of the present disclosure. As shown in FIG6C , in this embodiment, the sensing reference signal bandwidth sent by the sensing transmitter TX is relatively large, and the sensing transmitter is a large-scale MIMO array. The sensing reference signal is beamformed by the sensing transmitter RX and sent to the sensing target. The sensing target is relatively large, and the sensing receiver needs to sense the location information or distance information of the sensing target. At this time, due to the effect of beam squint, the sensing reference signal f is expanded into a wide beam f h 、f c 、f l However, due to the large size of the sensing target, the wide beam f h 、f c 、f l All of the signals can be reflected by the sensing target and reach the sensing receiver RX. The sensing receiver RX can obtain the sensing reference signal f on the full bandwidth and determine the sensing result information of the sensing target based on the sensing reference signal f, where the sensing result information includes the position information or distance information of the sensing target.

[0369] FIG7 is a schematic diagram of the structure of the receiving device proposed in an embodiment of the present disclosure. As shown in FIG7 , the receiving device 7100 may include: a first transceiver module 7101 and a processing module 7102. In some embodiments, the first transceiver module 7101 is configured to receive a first perception reference signal reflected by the first device, and the processing module 7102 is configured to perform a corresponding perception action based on the first perception reference signal, and the perception action is used to determine the perception result information of the first device. Optionally, the first transceiver module 7101 and the processing module 7102 are used to perform at least one of the communication steps such as determination and / or acquisition performed by the receiving device 101 in any of the above methods, which will not be repeated here.

[0370] In some embodiments, the first transceiver module 7101 may include a receiving module and a transmitting module. The receiving module and the transmitting module may be separate or integrated. Optionally, the transmitting module may be interchangeable with the transmitter. The receiving module may be interchangeable with the receiver.

[0371] In some embodiments, the processing module 7102 may include an execution module and an acquisition module, which may be separate or integrated. Optionally, the execution module and the executor may be interchangeable.

[0372] Figure 8 is a schematic diagram of the structure of the transmitting device proposed in an embodiment of the present disclosure. As shown in Figure 8, the transmitting device 8100 may include: a second transceiver module 8101. In some embodiments, the second transceiver module 8101 is configured to send a third perception reference signal to the first device, and the third perception reference signal is used for the first device to reflect the first perception reference signal to the receiving device according to the third perception reference signal. The first perception reference signal is used for the receiving device to perform a corresponding perception action according to the first perception reference signal, and the perception action is used to determine the perception result information of the first device. Optionally, the second transceiver module 8101 is used to perform at least one of the communication steps such as receiving and / or acquiring performed by the transmitting device 103 in any of the above methods, which will not be repeated here.

[0373] In some embodiments, the second transceiver module 8101 may include a receiving module and a transmitting module. The receiving module and the transmitting module may be separate or integrated. Optionally, the transmitting module may be interchangeable with the transmitter. The receiving module may be interchangeable with the receiver.

[0374] Figure 9 is a schematic diagram of the structure of the first device proposed in an embodiment of the present disclosure. As shown in Figure 9, the first device 9100 may include: a third transceiver module 9101. In some embodiments, the third transceiver module 9101 is configured to reflect the first perception reference signal to the receiving device based on the third perception reference signal sent by the transmitting device, and the first perception reference signal is used by the receiving device to perform a corresponding perception action based on the first perception reference signal, and the perception action is used to determine the perception result information of the first device. Optionally, the third transceiver module 9101 is used to perform at least one of the communication steps such as receiving and / or acquiring performed by the first device 102 in any of the above methods, which will not be repeated here.

[0375] In some embodiments, the third transceiver module 9101 may include a receiving module and a transmitting module. The receiving module and the transmitting module may be separate or integrated. Optionally, the transmitting module may be interchangeable with the transmitter. The receiving module may be interchangeable with the receiver.

[0376] Figure 10 is a schematic diagram of the structure of a communication device 10100 according to an embodiment of the present disclosure. Communication device 10100 can be a network device (e.g., an access network device, a core network device, etc.), a terminal (e.g., a user device, etc.), a chip, a chip system, or a processor that supports a network device to implement any of the above methods, or a chip, a chip system, or a processor that supports a terminal to implement any of the above methods. Communication device 10100 can be used to implement the methods described in the above method embodiments. For details, please refer to the description of the above method embodiments.

[0377] As shown in Figure 10, the communication device 10100 includes one or more third processors 10101. The third processor 10101 can be a general-purpose processor or a dedicated processor, for example, a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processing unit can be used to control communication devices (such as base stations, baseband chips, terminal devices, terminal device chips, DUs or CUs, etc.), execute programs, and process program data. Optionally, the communication device 10100 is used to perform any of the above methods. Optionally, one or more third processors 10101 are used to call instructions to enable the communication device 10100 to perform any of the above methods.

[0378] In some embodiments, the communication device 10100 further includes one or more third transceivers 10102. When the communication device 10100 includes one or more third transceivers 10102, the third transceiver 10102 performs at least one of the communication steps, such as sending and / or receiving, in the above-described method, and the third processor 10101 performs at least one of the other steps. In an optional embodiment, the transceiver may include a receiver and / or a transmitter, and the receiver and transmitter may be separate or integrated. Optionally, the terms transceiver, transceiver unit, transceiver, transceiver circuit, interface circuit, and interface may be used interchangeably; the terms transmitter, transmitting unit, transmitter, and transmitting circuit may be used interchangeably; and the terms receiver, receiving unit, receiver, and receiving circuit may be used interchangeably.

[0379] In some embodiments, the communication device 10100 further includes one or more third memories 10103 for storing data. Alternatively, all or part of the third memories 10103 may be located outside the communication device 10100. In an alternative embodiment, the communication device 10100 may include one or more first interface circuits 10104. Optionally, the first interface circuit 10104 is connected to the third memory 10103. The first interface circuit 10104 may be configured to receive data from the third memory 10103 or other devices, and to send data to the third processor 10101 or other devices. For example, the first interface circuit 10104 may read data stored in the third memory 10103 and send the data to the third processor 10101.

[0380] The communication device 10100 described in the above embodiments may be a network device or a terminal, but the scope of the communication device 10100 described in the present disclosure is not limited thereto, and the structure of the communication device 10100 may not be limited by FIG. 10 . The communication device may be an independent device or may be part of a larger device. For example, the communication device may be: 1) an independent integrated circuit IC, or a chip, or a chip system or subsystem; (2) a collection of one or more ICs, optionally, the above IC collection may also include a storage component for storing data or programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal device, an intelligent terminal device, a cellular phone, a wireless device, a handheld device, a mobile unit, an in-vehicle device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

[0381] FIG11 is a schematic diagram of the structure of a chip 10200 according to an embodiment of the present disclosure. If the communication device 10100 can be a chip or a chip system, please refer to the schematic diagram of the structure of the chip 10200 shown in FIG11 , but the present invention is not limited thereto.

[0382] The chip 10200 includes one or more fourth processors 10201. The chip 10200 is configured to execute any one of the above methods.

[0383] In some embodiments, chip 10200 further includes one or more second interface circuits 10202. Terms such as interface circuit, interface, and transceiver pins may be used interchangeably. In some embodiments, chip 10200 further includes one or more fourth memories 10203 for storing data. Optionally, all or part of fourth memories 10203 may be located external to chip 10200. Optionally, second interface circuit 10202 is connected to fourth memory 10203. Second interface circuit 10202 may be configured to receive data from fourth memory 10203 or other devices, or to send data to fourth memory 10203 or other devices. For example, second interface circuit 10202 may read data stored in fourth memory 10203 and send the data to fourth processor 10201.

[0384] In some embodiments, the second interface circuit 10202 performs at least one of the communication steps, such as sending and / or receiving, in the above-described method. For example, the second interface circuit 10202 performing the communication steps, such as sending and / or receiving, in the above-described method means that the second interface circuit 10202 performs data exchange between the fourth processor 10201, the chip 10200, the fourth memory 10203, or a transceiver device. In some embodiments, the fourth processor 10201 performs at least one of the other steps.

[0385] The modules and / or devices described in each embodiment, such as virtual devices, physical devices, chips, etc., can be arbitrarily combined or separated according to the circumstances. Optionally, some or all of the steps can also be performed by multiple modules and / or devices in collaboration, which is not limited here. The present disclosure also proposes a storage medium, on which instructions are stored. When the instructions are run on the communication device 10100, the communication device 10100 executes any of the above methods. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer-readable storage medium, but is not limited to this. It can also be a storage medium readable by other devices. Optionally, the storage medium can be a non-transitory storage medium, but is not limited to this. It can also be a temporary storage medium.

[0386] The present disclosure also provides a program product, which, when executed by the communication device 10100, enables the communication device 10100 to perform any of the above methods. Optionally, the program product is a computer program product.

[0387] The present disclosure also proposes a computer program, which, when executed on a computer, causes the computer to perform any one of the above methods.

Claims

1. A perception method, characterized in that: Executed by a receiving device, the method includes: receiving a first sensing reference signal reflected by a first device; A corresponding sensing action is performed according to the first sensing reference signal, where the sensing action is used to determine sensing result information of the first device.

2. The method according to claim 1, characterized in that The perception action includes: a first perception action or a second perception action; The first sensing action includes: determining the sensing result information of the first device according to the first sensing reference signal; The second perception action includes: sending first information to a transmitting device, where the first information is used to indicate that the first perception reference signal is missing; receiving a second perception reference signal reflected by the first device; and determining the perception result information of the first device based on the second perception reference signal.

3. The method according to claim 2, characterized in that The performing a corresponding sensing action according to the first sensing reference signal includes: Determine whether the first perception reference signal is missing, and perform the first perception action.

4. The method according to claim 2, characterized in that The performing a corresponding sensing action according to the first sensing reference signal includes: Determine that the first perception reference signal is missing, and perform the second perception action.

5. The method according to claim 2 or 4, characterized in that The first information includes at least one of the following: frequency domain position information of the first perception reference signal; subcarrier index information of the first perception reference signal; frequency domain index information of the first perception reference signal.

6. The method according to any one of claims 1 to 5, characterized in that The perception result information includes at least one of the following: location information of the first device; direction information of the first device; angle information of the first device; size information of the first device; Speed ​​information of the first device.

7. A perception method, characterized in that: Executed by a transmitting device, the method includes: A third perception reference signal is sent to a first device, where the third perception reference signal is used by the first device to reflect a first perception reference signal to a receiving device based on the third perception reference signal. The first perception reference signal is used by the receiving device to perform a corresponding perception action based on the first perception reference signal, where the perception action is used to determine perception result information of the first device.

8. The method according to claim 7, characterized in that The position sensing action includes: a first sensing action or a second sensing action, The first sensing action includes: the receiving end device determining the sensing result information of the first device according to the first sensing reference signal; The second perception action includes: the receiving device sending first information to the transmitting device, where the first information is used to indicate that the first reference perception signal is missing; receiving a second perception reference signal reflected by the first device; and determining the perception result information of the first device based on the second perception reference signal.

9. The method according to claim 7, characterized in that The method further comprises: receiving first information sent by the receiving end device, where the first information is used to indicate that the first perception signal is missing; determining, according to the first information, a beam squint compensation coefficient of the third perception reference signal; Generate a fourth perception reference signal according to the beam squint compensation coefficient and the third perception reference signal and send it to the first device, wherein the fourth perception reference signal is used to instruct the first device to reflect the second perception reference signal according to the fourth perception reference signal. signal to the receiving device.

10. The method according to claim 9, characterized in that The first information includes at least one of the following: frequency domain position information of the first perception reference signal; subcarrier index information of the first perception reference signal; frequency domain index information of the first perception reference signal.

11. The method according to any one of claims 7 to 10, characterized in that The third perception reference signal and the fourth perception reference signal are multiple-input multiple-output (MIMO) beam signals.

12. The method according to any one of claims 7 to 10, characterized in that The perception result information includes at least one of the following: location information of the first device; direction information of the first device; angle information of the first device; size information of the first device; Speed ​​information of the first device.

13. A sensing method, characterized in that: Executed by a first device, the method includes: Based on the third perception reference signal sent by the transmitting device, the first perception reference signal is reflected to the receiving device, where the first perception reference signal is used by the receiving device to perform a corresponding perception action based on the first perception reference signal, where the perception action is used to determine perception result information of the first device.

14. The method according to claim 13, characterized in that The perception action includes: a first perception action or a second perception action; The first sensing action includes: determining the sensing result information of the first device according to the first sensing reference signal; The second perception action includes: sending first information to a transmitting device, where the first information is used to indicate that the first reference perception signal is missing; receiving a second perception reference signal sent by the first device; and determining the location information of the first device based on the second perception reference signal.

15. The method according to claim 14, characterized in that The first information includes at least one of the following: frequency domain position information of the first perception reference signal; subcarrier index information of the first perception reference signal; frequency domain index information of the first perception reference signal.

16. The method according to claim 13, characterized in that The method further comprises: receiving a fourth perception reference signal sent by a transmitting end device; According to the fourth perception reference signal, a second perception reference signal is reflected to the receiving end device, and the second perception reference signal is used by the receiving end device to determine the perception result information of the first device according to the second perception reference signal.

17. The method according to any one of claims 13 to 16, characterized in that The third perception reference signal is a MIMO beam signal.

18. The method according to any one of claims 13 to 16, characterized in that The perception result information includes at least one of the following: location information of the first device; direction information of the first device; angle information of the first device; size information of the first device; Speed ​​information of the first device.

19. A sensing method, characterized in that: The method comprises: The transmitting device sends a third perception reference signal to the first device; The first device reflects the first perception reference signal to the receiving device according to the third perception reference signal; The receiving device performs a corresponding sensing action according to the first sensing reference signal, where the sensing action is used to determine sensing result information of the first device.

20. A receiving device, characterized in that: include: a first transceiver module, configured to receive a first sensing reference signal reflected by a first device; The processing module is configured to perform a corresponding sensing action according to the first sensing reference signal, where the sensing action is used to determine sensing result information of the first device.

21. A transmitting end device, characterized in that: include: The second transceiver module is configured to send a third perception reference signal to the first device, where the third perception reference signal is used by the first device to reflect the first perception reference signal to the receiving device based on the third perception reference signal. The first perception reference signal is used by the receiving device to perform a corresponding perception action based on the first perception reference signal, where the perception action is used to determine perception result information of the first device.

22. A first device, characterized in that: include: The third transceiver module is configured to reflect the first perception reference signal to the receiving device based on the third perception reference signal sent by the transmitting device, where the first perception reference signal is used by the receiving device to perform a corresponding perception action based on the first perception reference signal, where the perception action is used to determine perception result information of the first device.

23. A receiving device, characterized in that: include: one or more processors; The receiving device is used to execute the perception method according to any one of claims 1 to 6.

24. A transmitting end device, characterized in that: include: one or more processors; The transmitting device is used to execute the perception method according to any one of claims 7 to 12.

25. A first device, characterized in that: include: one or more processors; The first device is used to execute the perception method according to any one of claims 13 to 18.

26. A communication system, characterized in that: It includes a sending end device, a first device and a receiving end device, wherein the receiving end device is configured to implement the perception method described in any one of claims 1 to 6, the sending end device is configured to implement the perception method described in any one of claims 7 to 12, and the first device is configured to implement the perception method described in any one of claims 13 to 18.

27. A storage medium storing instructions, characterized in that: When the instruction is executed on the communication device, the communication device executes the perception method according to any one of claims 1 to 6, or the communication device executes the perception method according to any one of claims 7 to 12, or the communication device executes the perception method according to any one of claims 13 to 18.

28. A computer program product comprising a computer program and / or instructions, characterized in that When the computer program and / or instructions are executed by a communication device, they implement the perception method described in any one of claims 1 to 6; or when the computer program and / or instructions are executed by a communication device, they implement the perception method described in any one of claims 7 to 12; or when the computer program and / or instructions are executed by a communication device, they implement the perception method described in any one of claims 13 to 18.

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