Perception method and device, communication equipment, storage medium and communication system

Abstract

The present disclosure proposes a sensing method and apparatus, a communication device, a storage medium and a communication system, the method being executed by a first device, the method comprising: sending a first signal to a second device and one or more third devices, the first signal being used for the second device to sense first information of a fourth device, the third device is used for assisting the second device in sensing the first information of the fourth device.

Description

Perception method, device, communication equipment, storage medium and communication system Technical Field

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

[0002] In communication systems, Integrated Sensing and Communications (ISAC) technology can be divided into active sensing mode and passive sensing mode according to whether the sending and receiving devices are of the same origin. The active sensing mode is used when the receiving and sending devices are the same device, and the passive sensing mode is used when the receiving and sending devices are different devices.

[0003] Summary of the Invention

[0004] The present disclosure proposes a perception method, apparatus, communication equipment, storage medium and communication system, which can be used in the field of communication technology to obtain information such as the distance, coordinates and speed of a perceived target in a passive perception mode.

[0005] According to a first aspect of an embodiment of the present disclosure, a communication method is proposed. The method is performed by a first device, and the method includes: sending a first signal to a second device, where the first signal is used for the second device to perceive first information of a third device.

[0006] In the above method, a first signal is sent by a first device to a second device, so that the second device can determine the second information of the fourth device based on the information carried in the first signal.

[0007] According to a second aspect of an embodiment of the present disclosure, a communication method is proposed. The method is executed by a second device and includes: receiving a first signal, where the first signal is used by the second device to perceive first information of a third device.

[0008] In the above method, the second device receives the first signal sent by the first device and uses the information carried in the first signal to determine the first information of the third device.

[0009] According to a third aspect of an embodiment of the present disclosure, a first device is proposed. The first device includes a transceiver module for sending a first signal to a second device, where the first signal is used for the second device to perceive first information of a third device.

[0010] According to a fourth aspect of an embodiment of the present disclosure, a second device is proposed. The second device includes a transceiver module for receiving a first signal, where the first signal is used by the second device to perceive first information of a third device.

[0011] According to the fifth aspect of an embodiment of the present disclosure, a communication device is proposed, comprising: a transceiver; a memory; and a processor, which is connected to the transceiver and the memory, respectively, and is configured to control the wireless signal reception and transmission of the transceiver by executing computer-executable instructions on the memory, and is capable of implementing any of the methods described in the first and second aspects above.

[0012] According to a sixth aspect of an embodiment of the present disclosure, a communication system is proposed, including: a first device and a second device, wherein the first device is used to execute the method described in the first aspect, and the second device is used to execute the method described in the second aspect.

[0013] According to the seventh aspect of the embodiments of the present disclosure, a computer storage medium is proposed, wherein the computer storage medium stores computer-executable instructions; after the computer-executable instructions are executed by a processor, the method described in any one of the first and second aspects above can be implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The above and / or additional aspects and advantages of the present disclosure will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0015] FIG1 is a schematic diagram of the architecture of a communication system provided by an embodiment of the present disclosure;

[0016] FIG2 is an interactive diagram of some perception methods provided by an embodiment of the present disclosure;

[0017] Figures 3a-3c are schematic diagrams of scenarios of some perception methods provided by embodiments of the present disclosure

[0018] 4a-4c are flowcharts of some sensing methods provided by embodiments of the present disclosure;

[0019] 5a-5c are flowcharts of another sensing method provided by an embodiment of the present disclosure;

[0020] FIG6 is an interactive diagram of a perception method provided by an embodiment of the present disclosure;

[0021] FIG7a is a schematic structural diagram of a first device provided by an embodiment of the present disclosure;

[0022] FIG7b is a schematic structural diagram of a second device provided by an embodiment of the present disclosure;

[0023] FIG8a is a schematic structural diagram of a communication device provided by an embodiment of the present disclosure;

[0024] FIG8 b is a schematic structural diagram of a chip provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] The embodiments of the present disclosure provide a communication method and device, a communication system, a communication device, and a storage medium.

[0026] In a first aspect, an embodiment of the present disclosure proposes a communication method, which is executed by a first device and includes: sending a first signal to a second device and one or more third devices, where the first signal is used for the second device to perceive first information of the third device.

[0027] In the above method, the first device sends a first signal to the second device, so that the second device can perceive the first information of the fourth device based on the received first signal, thereby realizing perception of relevant information of the target device.

[0028] In combination with some embodiments of the first aspect, in some embodiments, the first signal includes: a non-line of sight (NLOS) path signal between the first device and the second device, the NLOS path signal passes through a third device, and the third device is used to assist the second device in perceiving the first information of the fourth device.

[0029] In the above method, by stipulating that the first signal includes an NLOS path signal, that is, the first signal can be transmitted directly from the first device to the second device without passing through a straight path, it is ensured that when there is an obstacle between the first device and the second device, the first signal is forwarded through the third device, thereby ensuring that the first signal can still be transmitted normally, thereby expanding the scope of application of the present disclosure.

[0030] In combination with some embodiments of the first aspect, in some embodiments, the NLOS path signal is any one of the following signals: a preset signal that is not the first received by the second device; a signal that is not the strongest signal strength received by the second device; a signal whose signal change received by the second device is greater than or equal to a preset value.

[0031] In combination with some embodiments of the first aspect, in some embodiments, the first signal includes at least one of the following: transmission duration of the first signal; arrival angle of the first signal; reception time of the first signal; sending time of the first signal; coordinate information of the first device; coordinate information of the second device; coordinate information of the third device; transmission distance of the first signal; preset receiving frequency of the first signal.

[0032] In the above method, multiple information is carried by the first signal, so that the second device can flexibly use one or more information in the first signal to perceive the first information of the fourth device, thereby improving the flexibility of the second device in perceiving the first information and expanding the scope of application of the present disclosure.

[0033] In combination with some embodiments of the first aspect, in some embodiments, the first information includes at least one of the following: distance information of the fourth device; speed information of the fourth device; angle information of the fourth device; coordinate information of the fourth device.

[0034] In combination with some embodiments of the first aspect, in some embodiments, the method also includes: determining the existence of a first path, the first path including at least one of the following: a line-of-sight LOS path between the first device and the second device; a LOS path between the first device and the third device; and a LOS path between the second device and the third device.

[0035] In the above method, by determining the existence of the first path, the straight-line distance between the first device and the second device, or the first device and the third device, or the second device and the third device is utilized to assist the second device in determining the first information of the fourth device, thereby laying the foundation for implementing the method disclosed herein.

[0036] In combination with some embodiments of the first aspect, in some embodiments, the method also includes: determining that the second device and / or the third device can receive second information, the second information being used to identify the distance information of the first device and / or the third device; and sending the second information to the second device and / or the third device.

[0037] In the above embodiments, by determining that the second device and / or the third device has the ability to receive the second information, the second information is directly sent to the second device, and / or the second information is forwarded to the second device through the third device, which expands the scope of application of the present disclosure.

[0038] In combination with some embodiments of the first aspect, in some embodiments, the second information includes at least one of the following: the time advance TA of signal transmission between the first device and the third device; the coordinate information of the first device; the coordinate information of the third device; the signal transmission time of the first device; the signal transmission and reception time difference information of the first device; the signal transmission and reception time difference information of the third device.

[0039] In the above embodiment, by stipulating that the second information includes multiple information, the second device can flexibly use one or more information in the second information to perceive the first information of the fourth device, thereby improving the flexibility of the second device in perceiving the first information and expanding the scope of application of the present disclosure.

[0040] In combination with some embodiments of the first aspect, in some embodiments, the method further includes: determining that third information exists between the second device and the third device, and the third information is used to identify the association relationship between the second device and the third device.

[0041] In combination with some embodiments of the first aspect, in some embodiments, the third information includes at least one of the following: distance information between the second device and the third device; directional angle information of the third device relative to the second device; the direction of the LOS path between the first device and the second device; the angle between the LOS path between the first device and the second device and the LOS path between the second device and the third device; the angle between the LOS path between the first device and the third device and the LOS path between the second device and the third device; the angle between the LOS path between the first device and the second device and the LOS path between the second device and the third device.

[0042] In the above embodiment, by stipulating that the third information includes multiple information, the second device can flexibly use one or more information in the third information to perceive the first information of the fourth device, thereby improving the flexibility of the second device in perceiving the first information and expanding the scope of application of the present disclosure.

[0043] In a second aspect, an embodiment of the present disclosure proposes a communication method, which is executed by a second device. The method includes: receiving a first signal, where the first signal is used by the second device to perceive first information of a fourth device.

[0044] In the above method, the second device receives the first signal sent by the second device or forwarded by the third device, so that the second device can perceive the first information of the fourth device based on the received first signal, thereby realizing perception of relevant information of the target device.

[0045] In combination with some embodiments of the second aspect, in some embodiments, the first signal includes: a non-line-of-sight NLOS path signal between the first device and the second device, the NLOS path signal passes through a third device, and the third device is used to assist the second device in determining the first information of the fourth device.

[0046] In the above method, by stipulating that the first signal includes an NLOS path signal, that is, the first signal can be transmitted directly from the first device to the second device without passing through a straight path, it is ensured that when there is an obstacle between the first device and the second device, the first signal is forwarded through the third device, thereby ensuring that the first signal can still be transmitted normally, thereby expanding the scope of application of the present disclosure.

[0047] In combination with some embodiments of the second aspect, in some embodiments, the NLOS signal includes: the NLOS path signal is any one of the following signals: a preset signal that is not the first received by the second device; a signal that is not the strongest signal strength received by the second device; a signal whose signal change received by the second device is greater than or equal to a preset value.

[0048] In combination with some embodiments of the second aspect, in some embodiments, the first signal includes at least one of the following: transmission duration of the first signal; arrival angle of the first signal; reception time of the first signal; sending time of the first signal; coordinate information of the first device; coordinate information of the second device; coordinate information of the third device; transmission distance of the first signal; preset receiving frequency of the first signal.

[0049] In the above method, multiple information is carried by the first signal, so that the second device can flexibly use one or more information in the first signal to perceive the first information of the fourth device, thereby improving the flexibility of the second device in perceiving the first information and expanding the scope of application of the present disclosure.

[0050] In combination with some embodiments of the second aspect, in some embodiments, the first information includes at least one of the following: distance information of the fourth device; speed information of the fourth device; angle information of the fourth device; coordinate information of the fourth device.

[0051] In combination with some embodiments of the second aspect, in some embodiments, the method further includes: receiving second information sent by the first device or the third device, where the second information is used to identify distance information of the first device and / or the third device.

[0052] In the above method, the second device receives the second information and combines the second information with the information carried in the first signal to determine the first information of the fourth device, further expanding the way of determining the first information.

[0053] In combination with some embodiments of the second aspect, in some embodiments, the second information includes at least one of the following: the time advance TA of signal transmission between the first device and the third device; the coordinate information of the first device; the coordinate information of the third device; the signal transmission time information of the first device; the signal transmission and reception time difference information of the first device; the signal transmission and reception time difference information of the third device.

[0054] In the above method, by stipulating that the second information includes multiple information, the second device can flexibly use one or more information in the second information to perceive the first information of the fourth device, thereby improving the flexibility of the second device in perceiving the first information and expanding the scope of application of the present disclosure.

[0055] In combination with some embodiments of the second aspect, in some embodiments, the method further includes: acquiring third information, where the third information is used to identify the association relationship between the second device and the third device.

[0056] In the above method, by obtaining the third information, the second device can combine the third information with the information carried in the second signal and / or the first signal to further determine the first information of the fourth device, thereby further expanding the scope of application of the present disclosure.

[0057] In combination with some embodiments of the second aspect, in some embodiments, the method further includes: determining the first information based on at least one of the first signal, the second information, and the third information.

[0058] In the above method, the first information is determined by at least one of the first signal, the second information and the third information, thereby determining the target device perception information.

[0059] In combination with some embodiments of the second aspect, in some embodiments, based on at least one of the first signal, the second information, and the third information, determining the first information includes at least one of the following: determining the speed information of the fourth device based on at least one of the first signal, the second information, and the third information; determining the angle information of the fourth device based on at least one of the first signal, the second information, and the third information; determining the coordinate information of the fourth device based on at least one of the first signal, the second information, and the third information.

[0060] In combination with some embodiments of the second aspect, in some embodiments, determining the angle information of the fourth device based on at least one of the first signal, the second information and the third information includes at least one of the following: determining the angle information of the fourth device based on the angle of arrival of the first signal; determining the angle information of the fourth device based on the angle between the LOS path between the first device and the second device and the angle between the LOS path between the second device and the third device; determining the angle information of the fourth device based on the angle of arrival of the first signal and the direction of the LOS path between the first device and the second device.

[0061] In the above method, the angle information of the fourth device is determined by multiple methods, so that the second device can determine the angle information of the fourth device under different conditions, which expands the scope of application of the present disclosure.

[0062] In combination with some embodiments of the second aspect, in some embodiments, the method further includes: determining distance information between the first device and the second device based on at least one of the first signal, the second information, and the third information.

[0063] In the above method, by determining the distance information between the first device and the second device, a foundation is laid for determining the distance information of the fourth device.

[0064] In combination with some embodiments of the second aspect, in some embodiments, determining the distance information of the fourth device based on at least one of the first signal, the second information, and the third information includes: determining the distance information of the fourth device based on the distance information between the first device and the second device, and at least one of the first signal, the second information, and the third information.

[0065] In the above method, the distance information of the fourth device is determined by the distance information between the first device and the second device, and at least one of the first signal, the second information and the third information, so that the distance information of the fourth device can be determined by multiple methods, thereby expanding the scope of application of the present disclosure.

[0066] In combination with some embodiments of the second aspect, in some embodiments, determining the distance information of the fourth device based on the distance information between the first device and the second device, and at least one item of the first signal, the second information and the third information includes at least one of the following: determining the distance information of the fourth device based on the distance information between the first device and the second device, the sending time of the first signal, the receiving time of the first signal, the LOS path between the first device and the second device, and the angle between the LOS path between the second device and the fourth device; determining the distance information of the fourth device based on the distance information between the first device and the second device, the sending time of the first signal, the receiving time of the first signal, the LOS path between the first device and the second device, and the angle between the LOS path between the second device and the third device.

[0067] In the above method, two methods are used to determine the distance information of the fourth device, so that the second device can choose the above method to determine the distance information of the fourth device in different situations, thereby improving the flexibility of the method disclosed herein and expanding the scope of application of the method disclosed herein.

[0068] In combination with some embodiments of the second aspect, in some embodiments, determining the coordinate information of the fourth device based on at least one of the first signal, the second information, and the third information includes: determining the coordinate information of the fourth device based on the angle information of the fourth device and the distance information of the fourth device.

[0069] In combination with some embodiments of the second aspect, in some embodiments, the method further includes: determining a receiving frequency of the first signal based on the first signal; and determining a frequency offset of the first signal based on the receiving frequency of the first signal and a preset receiving frequency of the first signal.

[0070] In the above method, by determining the frequency offset of the first signal, a foundation is laid for determining the speed information of the fourth device.

[0071] In combination with some embodiments of the second aspect, in some embodiments, determining the speed information of the fourth device based on at least one of the first signal, the second information, and the third information includes at least one of the following: determining the speed information of the fourth device based on the sending time of multiple first signals and the coordinate information of multiple fourth devices; determining the speed information of the fourth device based on the frequency offset of the first signal.

[0072] In the above method, two methods are used to determine the speed information of the fourth device, so that the second device can choose the above method to determine the speed information of the fourth device in different situations, thereby improving the flexibility of the method disclosed herein and expanding the scope of application of the method disclosed herein.

[0073] In combination with some embodiments of the second aspect, in some embodiments, the first signal is at least one of the following signals: a signal sent on a preset time resource; a signal in a preset signal type; a signal in a preset signal format; a signal sent on a preset frequency resource; a signal whose signal bandwidth meets preset conditions.

[0074] In a third aspect, an embodiment of the present disclosure proposes a first device, which includes a transceiver module for sending a first signal to a second device, and the first signal is used for the second device to perceive first information of a fourth device.

[0075] In a fourth aspect, an embodiment of the present disclosure proposes a second device, which includes a transceiver module for receiving a first signal, where the first signal is used by the second device to perceive first information of a fourth device.

[0076] In a fifth aspect, an embodiment of the present disclosure proposes a communication device, which includes: one or more processors; one or more memories for storing instructions; wherein the processor is used to call the instructions so that the communication device executes the method described in the optional implementation methods of the first and second aspects.

[0077] In a sixth aspect, an embodiment of the present disclosure proposes a communication system, which includes: a first device and a second device, wherein the first device is used to execute the method described in the first aspect, and the second device is used to execute the method described in the second aspect.

[0078] In combination with some embodiments of the sixth aspect, in some embodiments, the above-mentioned system also includes a network device for configuring time-frequency domain resources for sending or receiving the first signal to at least one of the first device, the second device, the fourth device and the third device.

[0079] In a seventh aspect, an embodiment of the present disclosure proposes a computer program, which, when executed on a computer, enables the computer to execute optional implementations of the first and second aspects.

[0080] It is understandable that the above-mentioned communication method, first device, second device, communication device, communication system, storage medium, and computer program are all used to perform the method proposed in the embodiment of the present disclosure. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects of the corresponding method and will not be repeated here.

[0081] The embodiments of the present disclosure provide a sensing method, apparatus, communication device, storage medium, and communication system. In some embodiments, the terms communication method, information processing method, communication method, etc. can be used interchangeably, and the terms information processing system, communication system, etc. can be used interchangeably.

[0082] 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 particular 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 particular embodiment can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment can be arbitrarily exchanged. In addition, they can be arbitrarily combined in a particular embodiment; in addition, the embodiments can be arbitrarily combined. For example, some or all steps of different embodiments can be arbitrarily combined, and a particular embodiment can be arbitrarily combined with other embodiments.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0087] In some embodiments, the terms "at least one of", "at least one of", "at least one of", "one or more", "a plurality of", "multiple", etc. can be used interchangeably.

[0088] In the embodiments of the present disclosure, descriptions such as “at least one of A, B, C…”, “A and / or B and / or C…”, etc. include the situation where any one of A, B, C… exists alone, and also include any combination of any multiple of A, B, C…, and each situation can exist alone; for example, “at least one of A, B, C” includes the situation where A exists alone, B exists alone, C exists alone, the combination of A and B, the combination of A and C, the combination of B and C, and the combination of A, B, and C; for example, A and / or B includes the situation where A exists alone, B exists alone, and the combination of A and B.

[0089] In some embodiments, descriptions such as "in one case A, in another case B," or "in response to one case A, in response to another case B," may include the following technical solutions depending on the situation: executing A independently of B (in some embodiments, A); executing B independently of A (in some embodiments, B); selectively executing A and B (in some embodiments, selecting between A and B); and executing both A and B (in some embodiments, A and B). The same applies when there are more branches, such as A, B, and C.

[0090] 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 information, 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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 functional entity", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", and "subject" can be used interchangeably.

[0095] 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.

[0096] 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, it can also be called device-to-device (D2D), vehicle-to-everything (V2X), etc.). In this case, it can also be set as a structure in which the terminal has all or part of the functions of the access network device. In addition, language such as "uplink" and "downlink" can also be replaced by language 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.

[0097] 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.

[0098] In some embodiments, "network" can be interpreted as devices included in the network (eg, access network equipment, core network equipment, etc.).

[0099] In some embodiments, obtaining data, information, etc. may comply with the laws and regulations of the country where the data is obtained.

[0100] In some embodiments, data, information, etc. may be obtained with the user's consent.

[0101] 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.

[0102] Before describing the solution of the present disclosure, the background technology involved in the present disclosure is first introduced.

[0103] In the communication system, synaesthesia integration technology can be divided into active perception mode and passive perception mode according to whether the sending device and the receiving device are of the same origin. Among them, the active perception mode is used when the receiving device and the sending device are the same device, and the passive perception mode is used when the receiving device and the sending device are different devices.

[0104] In active perception, time of flight (ToF) calculations are typically used to generate a two-dimensional fuzzy function graph using radar to calculate the distance and speed of the perceived target. However, there is relatively little research on methods for calculating distance and speed information in passive perception systems.

[0105] Therefore, the present disclosure proposes a perception method, apparatus, communication equipment, storage medium and communication system, which sends a first signal to a second device through a first device, so that the second device can perceive the first information of a third device based on the received first signal, thereby realizing perception of relevant information of the target device.

[0106] The method proposed in the present disclosure is applicable to various communication systems, including but not limited to 4G, 5G, 5G-advance and subsequent communication technologies (such as 6G, etc.).

[0107] FIG1 is a schematic diagram illustrating an architecture of a communication system according to an embodiment of the present disclosure. As shown in FIG1 , the communication system may include at least one of a first device 101 and a second device 102 .

[0108] In some embodiments, the first device 101 may be a device that sends the first signal.

[0109] In some embodiments, the first device 101 may be a device that sends the second information.

[0110] In some embodiments, the first device 101 may be a device that initiates perception of the fourth device.

[0111] In some embodiments, the name of the first device 101 is not limited, and it can be, for example, a "device that initiates a perception request", a "sending device", etc.

[0112] In some embodiments, the second device 102 may be a device that receives the first signal.

[0113] In some embodiments, the second device 102 may be a device that receives the second information.

[0114] In some embodiments, the second device 102 may be a device that obtains the third information.

[0115] In some embodiments, the name of the second device 102 is not limited, and it can be, for example, a “device that performs perception measurement”, a “receiving device”, etc.

[0116] In some embodiments, the first device 101 may be a terminal or a network device.

[0117] In some embodiments, the second device 102 may be a terminal or a network device.

[0118] In some embodiments, the above-mentioned terminal includes, for example, a mobile phone, a wearable device, an IoT device, a device with communication function,

[0119] The present invention relates to at least one of a car with wireless communication function, a smart car, a tablet computer (Pad), 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 a wireless terminal device in a smart home, but is not limited thereto.

[0120] In some embodiments, the above-mentioned network device is, for example, a node or device that accesses the terminal to a wireless network. The access network device may include: an evolved Node B (eNB), a next generation evolved Node B (ng-eNB), a next generation Node B (gNB), a Node B (NB), a home Node B (HNB), a home evolved Node B (HeNB), a wireless backhaul device, a radio network controller (RNC), a base station controller (BSC), a base transceiver station (BTS), a baseband unit (BBU), a mobile switching center, a base station in a 6G communication system, an open base station (OpenRAN), a cloud base station (CloudRAN), a base station in other communication systems, and at least one of an access node in a wireless fidelity (WiFi) system, but is not limited thereto. 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.

[0121] The following embodiments of the present disclosure may be applied to the communication system 100 shown in Figure 1, or a portion thereof, but are not limited thereto. The entities shown in Figure 1 are illustrative only. The communication system may include all or part of the entities shown in Figure 1, or may include other entities outside of Figure 1. The number and form of the entities may be arbitrary. The connection relationship between the entities is illustrative only. The entities may be connected or disconnected, and the connection may be in any manner, including direct or indirect, wired or wireless.

[0122] The embodiments of the present disclosure may 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 802.17 (WiMAX (registered trademark)), IEEE 802.18 (WiMAX (registered trademark)), IEEE 802.19 (WiMAX (registered trademark)), IEEE 802.20 (WiMAX (registered trademark)), IEEE 802.21 (WiMAX (registered trademark)), IEEE 802.22 (WiMAX (registered trademark)), IEEE 802.23 (WiMAX (registered trademark)), IEEE 802.24 (WiMAX (registered trademark)), IEEE 802.25 (WiMAX (registered trademark)), IEEE 802.26 (WiMAX (registered trademark)), IEEE 802.27 (WiMAX (registered trademark)), IEEE 802.28 (WiMAX (registered trademark)), IEEE 802.29 (WiMAX (registered trademark)), IEEE 802.30 (WiMAX (registered trademark)), IEEE 802.31 (WiMAX (registered trademark)), IEEE 802.32 (WiMAX (registered trademark)), IEEE 802.33 (WiMAX (registered trademark)), 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 user plane path establishment methods, and next-generation systems based on and extending these systems. Furthermore, multiple systems may be combined (for example, a combination of LTE or LTE-A with 5G).

[0123] FIG2 is an interactive diagram of a communication method according to an embodiment of the present disclosure. As shown in FIG2 , the embodiment of the present disclosure relates to a communication method for use in a communication system 100, the method comprising:

[0124] Step 2101: The first device 101 determines that a first path exists.

[0125] In some embodiments, the first path includes at least one of the following: a line-of-sight (LOS) path between the first device and the second device, a LOS path between the first device and the third device, and a LOS path between the second device and the third device.

[0126] In some embodiments, the LOS path represents a straight path between two nodes. For example, when sending point A sends a signal to receiving point B, the path that the signal takes to be transmitted from A to B without obstruction is the LOS path between sending point A and receiving point B. The signal transmitted through the LOS path is the LOS path signal.

[0127] In some embodiments, the name of the first path is not limited, and it can be, for example, a “straight path”, a “shortest transmission path”, or the like.

[0128] In step 2102 , the first device 101 determines whether the second device and / or the third device can receive the second information.

[0129] In some embodiments, the first device determines that the second device and / or the third device can receive the second information, so as to send the second information to the second device and / or the third device.

[0130] For example, the first device may send capability confirmation information to the second device and / or the third device to inquire whether the second device and / or the third device can receive the second information. When the second device and / or the third device responds to the capability confirmation information sent by the first device, it sends information to the first device indicating whether it has the capability to receive the second information, thereby enabling the first device to determine that the second device and / or the third device can receive the second information.

[0131] For example, the identifier of a device capable of receiving the second information can be stored in the first device. The first device can match the identifier of the second device and / or the third device using the stored identifier. If the identifier stored in the first device includes the identifier of the second device and / or the third device, the first device can determine that the second device and / or the third device can receive the second information. It should be understood that this is merely an example, and the present disclosure does not limit the manner in which the first device determines that the second device and / or the third device can receive the second information.

[0132] In some embodiments, the second information is used to identify distance information of the first device and / or the third device.

[0133] In some embodiments, the second information includes at least one of the following: the time advance TA of signal transmission between the first device and the third device, the coordinate information of the first device, the coordinate information of the third device, the signal transmission time of the first device, the signal transmission and reception time difference information of the first device, and the signal transmission and reception time difference information of the third device.

[0134] In some embodiments, the name of the second information is not limited, and may be, for example, “distance indication information”, “distance calculation information”, etc.

[0135] Step 2103: The first device 101 determines that third information exists between the second device and the third device.

[0136] In some embodiments, the first device determines that third information exists between the second device and the third device to determine that the second device can successfully perceive the first information of the fourth device.

[0137] For example, the first device may send a confirmation message to the second device and / or the third device to inquire whether the third information exists. When the second device and / or the third device responds to the confirmation message sent by the first device, it sends information about the existence of the third information between the second device and the third device to the first device, thereby enabling the first device to determine that the third information exists between the second device and the third device.

[0138] For example, the device identifications of the second device and the third device that have the third information can be stored in pairs in the first device. The first device can match the device identifications of the second device and the third device for which the third identification is to be determined using the stored identification pair. If the identification pair stored by the first device includes the device identifications of the second device and the third device for which the third information is to be determined, the first device can determine that the third information exists between the second device and the third device for which the third information is to be determined. It should be understood that this is merely an example, and the present disclosure does not limit the manner in which the first device determines that the third information exists between the second device and the third device.

[0139] In some embodiments, the third information is used to identify an association relationship between the second device and the third device.

[0140] In some embodiments, the third information includes at least one of the following: distance information between the second device and the third device, directional angle information of the third device relative to the second device, the LOS path between the first device and the second device, the angle between the LOS path and the LOS path between the second device and the third device, the LOS path between the first device and the third device, the angle between the LOS path and the LOS path between the second device and the third device, the LOS path between the first device and the second device, and the angle between the LOS path and the LOS path between the second device and the fourth device.

[0141] In some embodiments, the name of the third information is not limited, and it can be, for example: "device association information", "perception association information", etc.

[0142] Step 2104 : The first device 101 sends a first signal to the third device 103 .

[0143] In some embodiments, the first device sends a first signal to the third device to assist the third device in determining path information between the first device and the second device.

[0144] In some embodiments, the third device is used to assist the second device in perceiving the first information of the fourth device.

[0145] In some embodiments, the third device may be a terminal or a network device, which is not limited in this disclosure.

[0146] In some embodiments, the first signal is used by the second device to perceive the first information of the fourth device.

[0147] In some embodiments, the first information includes at least one of the following: distance information of the fourth device, speed information of the fourth device, angle information of the fourth device, and coordinate information of the fourth device.

[0148] In some embodiments, the first signal includes at least one of the following: transmission duration of the first signal, arrival angle of the first signal, reception time of the first signal, sending time of the first signal, coordinate information of the first device, coordinate information of the second device, coordinate information of the third device, transmission distance of the first signal, and preset receiving frequency of the first signal.

[0149] In some embodiments, the name of the first signal is not limited, and it can be, for example, a "perception signal", a "perception measurement signal", etc.

[0150] Step 2105 : The first device 101 sends a first signal to the second device 102 .

[0151] In some embodiments, the first device sends a first signal to the second device, laying the foundation for the second device to determine the first information of the fourth device.

[0152] In some embodiments, the first signal sent by the first device to the second device includes at least a non-line-of-sight (NLOS) path signal between the first device and the second device. In other words, the first device may send the second signal to the second device via a fourth device. The straight-line path between the first device and the fourth device, together with the straight-line path between the fourth device and the second device, forms an NLOS path between the first device and the second device.

[0153] Optionally, in some embodiments, the first signal sent by the first device to the second device also includes: a LOS path signal between the first device and the second device. In some embodiments, there is no obstacle between the first device and the second device, that is, there is LOS between the first device and the second device, then the first device can directly send the first signal along the LOS path to the second device.

[0154] Optionally, when the first signal is a LOS path signal between the first device and the second device, the first signal sent by the first device to the second device may further include distance information between the first device and the second device.

[0155] In some embodiments, the NLOS path signal between the first device and the second device can be any of the following signals: a preset signal that is not the first received by the second device, a signal with a non-strongest signal strength received by the second device, or a signal received by the second device with a change greater than or equal to a preset value.

[0156] In some embodiments, the first signal is a signal of at least one of the following:

[0157] A signal sent on a preset time resource. For example, in an NR system, the first signal may be a single-sideband (SSB) signal sent by the first device in a preset time slot 1.

[0158] A signal in a preset signal type, for example, in an NR system, the first signal may be an SSB signal or a Positioning Reference Signa (PRS) signal;

[0159] Signals in preset signal formats, such as signals in 5G NR system format, LTE system format, and broadcast television system format;

[0160] Signals sent on preset frequency resources, for example, signals sent at 5.5 GHz and signals sent at 2.4 GHz;

[0161] A signal whose signal bandwidth meets a preset condition, for example, a signal whose signal bandwidth is 100 MHz or a signal whose signal bandwidth is 70 MHz.

[0162] Step 2106 : The first device 101 sends second information to the third device 103 .

[0163] In some embodiments, the first device sends the second information to the third device to assist the third device in determining the distance information between the first device and the second device.

[0164] In some embodiments, step 2106 is optional, and the third device may determine the distance information between the first device and the second device using only the first signal without the second information, or the distance information between the first device and the second device may be determined by the second device.

[0165] Step 2107 : The third device 103 sends second information to the second device 102 .

[0166] In some embodiments, the first device sends the second information to the second device, laying the foundation for the second device to determine the first information of the fourth device.

[0167] In some embodiments, the third device has a forwarding function, that is, the third device can forward the received second information to the second device.

[0168] In some embodiments, step 2107 is optional, and the first device 101 directly sends the second information to the second device 102 .

[0169] Step 2108 : The first device 101 sends second information to the second device 102 .

[0170] In some embodiments, the first device 101 may directly send the second information to the second device 102 , laying a foundation for the second device 102 to determine the first information of the fourth device.

[0171] In step 2109 , the third device 103 determines the distance information between the first device and the second device.

[0172] In some embodiments, the third device may obtain third information, and further determine the distance information between the first device and the second device based on at least one of the first signal, the second information, and the third information.

[0173] Among them, the third information is used to identify the association relationship between the second device and the third device, and the third information may include at least one of the following: distance information between the second device and the third device; azimuth angle information of the third device relative to the second device; the LOS path between the first device and the second device, and the angle between the LOS path between the second device and the third device; the LOS path between the first device and the third device, and the angle between the LOS path between the second device and the third device; the LOS path between the first device and the second device, and the angle between the LOS path between the second device and the fourth device.

[0174] Example 1:

[0175] The third device can determine the distance information between the first device and the third device based on the first information and / or the second signal, so as to determine the distance information between the first device and the third device based on the distance information between the first device and the third device, the distance information between the second device and the third device in the second information, and the LOS path between the first device and the second device in the second information, and the angle between the LOS path between the second device and the third device.

[0176] Taking Figure 3a as an example, the distance between the first device and the second device can be calculated using the following formula:

[0177] Wherein, L(Rx1) represents the distance information between the first device and the third device calculated using the third device in Figure 3a, d1 represents the distance information between the second device and the third device, β1 represents the LOS path between the first device and the second device, and the angle between the LOS path and the LOS path between the second device and the third device, and l1 represents the distance information between the first device and the third device.

[0178] Taking FIG3b as an example, when there are multiple third devices, the distance between the first device and the second device can also be calculated using the following formula:

[0179] Wherein, L(Rx2) represents the distance information between the first device and the third device_2 calculated using the third device_2 in Figure 3b, d2 represents the distance information between the second device and the third device_2, β2 represents the LOS path between the first device and the second device, and the angle between the LOS path and the LOS path between the second device and the third device_2, and l2 represents the distance information between the first device and the third device_2.

[0180] The distance information between the first device and any third device may be determined in the following manner:

[0181] Method 1: Determine the distance information between the first device and the third device through the time advance TA of the signal sent between the first device and the third device, where the distance l1 between the first device and the third device can be calculated by the following formula: l1 = TA_1*c / 2, where c represents the speed of light, and TA_1 represents the time advance between the first device and the third device.

[0182] Method 2: Determine the distance between the first device and the third device using the coordinate information of the first device and the coordinate information of the third device. The distance l1 between the first device and the third device can be calculated using the following formula: The coordinates (x1, y1, z1) are the coordinates of the first device, and the coordinates (x2, y2, z2) are the coordinates of the third device.

[0183] Method 3: Determine the distance information between the first device and the third device through the sending time of the first signal and the receiving time of the first signal by the third device, wherein the distance l1 between the first device and the third device can be calculated by the following formula: l1 = (t1-t3)*c, t1 represents the sending time of the first signal, and t3 represents the receiving time of the first signal by the third device.

[0184] Method 4: Determine the distance between the first and third devices using the signal transmission and reception time difference between the first and third devices. The distance l1 between the first and third devices can be calculated using the following formula: l1 = c*(RxTx(Transmitter) - RxTx(Receiver)) / 2. RxTx(Transmitter) is the signal transmission and reception time difference between the first and third devices, and RxTx(Receiver) is the signal transmission and reception time difference between the third and third devices.

[0185] It should be understood that the method of determining the distance l2 between the first device and the third device_2 using the third device_2 in FIG3 b is consistent with the above method of determining l1 , and reference may be made to the above related description, which will not be repeated here.

[0186] Example 2:

[0187] The third device can determine the distance information between the first device and the third device based on the distance information between the second device and the third device, the LOS path between the first device and the third device, the angle between the LOS path and the LOS path between the second device and the third device, and the LOS path between the first device and the second device, and the angle between the LOS path and the LOS path between the second device and the third device.

[0188] Taking Figure 3a as an example, the distance between the first device and the second device can be calculated using the following formula:

[0189] Wherein, L(Rx1) represents the distance information between the first device and the third device calculated using the third device in Figure 3a, d1 represents the distance information between the second device and the third device, β1 represents the LOS path between the first device and the second device, and the angle between the LOS path between the second device and the third device, and γ1 represents the LOS path between the first device and the third device, and the angle between the LOS path between the second device and the third device.

[0190] Taking FIG3b as an example, when there are multiple third devices, the distance between the first device and the second device can also be calculated using the following formula:

[0191] Wherein, L(Rx2) represents the distance information between the first device and the third device_2 calculated using the third device_2 in Figure 3b, d2 represents the distance information between the second device and the third device_2, β2 represents the LOS path between the first device and the second device, and the angle between the LOS path between the second device and the third device_2, and γ2 represents the LOS path between the first device and the third device_2, and the angle between the LOS path between the second device and the third device_2.

[0192] In some embodiments, step 2109 is optional, and the second device may determine the distance information between the first device and the second device by the second device through the method of embodiment 1 and embodiment 2 in step 2108.

[0193] In step 2110 , the third device 103 sends distance information between the first and second devices to the second device 102 .

[0194] In some embodiments, the third device sends the distance information between the first and second devices to the second device to assist the second device in determining the distance information of the fourth device.

[0195] In some embodiments, step 2110 is optional, and the second device 102 itself can determine the distance information between the first device and the second device, or the first device only expects the second device to determine at least one of the angle information, coordinate information, and speed information of the fourth device.

[0196] Step 2111: The second device 102 obtains third information.

[0197] In some embodiments, there is no limitation on the manner in which the second device obtains the third information: for example, the network device sends the third information to the second device; for example, when the third device can determine the third information, the third device sends the determined third information to the second device, so that the second device obtains the third information.

[0198] In step 2112 , the second device 102 determines the angle information of the fourth device.

[0199] In some embodiments, the second device may determine the speed information of the fourth device based on at least one of the first signal, the second information, and the third information, so as to determine the first information of the fourth device.

[0200] It should be understood that the angle information of the fourth device can be the spatial angle information of the fourth device relative to the second device, which may include horizontal angle information and vertical angle information, and the coordinate systems of the first device, the second device and the third device can be the same or different.

[0201] In some embodiments, the second device may determine the angle information of the fourth device based on the arrival angle of the first signal, that is, the second device may determine the arrival angle of the first signal sent to the second device via the third device as the angle information of the fourth device.

[0202] In some embodiments, the second device can determine the angle information of the fourth device based on the LOS path between the first device and the second device and the angle between the LOS path between the second device and the third device, that is, the second device can determine the angle formed by the above two LOS paths as the angle information of the fourth device.

[0203] In some embodiments, the second device can determine the angle information of the fourth device based on the arrival angle of the first signal and the direction of the LOS path between the first device and the second device. That is, when the arrival angle of the first signal sent to the second device via the third device is the arrival angle of the second device coordinate system, and the direction of the LOS path between the first device and the second device is the direction information in the second device coordinate system, the second device can determine the angle information of the fourth device based on the arrival angle of the first signal and the direction of the LOS path between the first device and the second device.

[0204] In step 2113 , the second device 102 determines the distance information of the fourth device.

[0205] In some embodiments, the second device may determine the distance information of the fourth device based on at least one of the first signal, the second information, and the third information, so as to determine the first information of the fourth device.

[0206] In some embodiments, the distance information of the fourth device may be determined based on the distance information between the first device and the second device, and at least one of the first signal, the second information, and the third information.

[0207] The distance information between the first device and the second device can be determined by the second device itself, or can be sent by a third device to the second device, so that the second device can determine the distance information between the first device and the second device. It should be understood that the method for the second device to determine the distance information between the first device and the second device is consistent with the method described in step 2108 and will not be repeated here.

[0208] In some embodiments, the second device can determine the distance information of the fourth device based on the distance information between the first device and the second device, the sending time of the first signal, the receiving time of the first signal, the LOS path between the first device and the second device, and the angle between the LOS path between the second device and the fourth device.

[0209] In some embodiments, the second device can determine the distance information of the fourth device based on the distance information between the first device and the second device, the sending time of the first signal, the receiving time of the first signal, the LOS path between the first device and the second device, and the angle between the LOS path between the second device and the third device.

[0210] For example, as shown in FIG3c , the distance information of the fourth device may be the distance between the fourth device and the second device. The distance information of the fourth device may be expressed as:

[0211] Specifically, the expression can be derived from the following formula group:

[0212] Among them, D2 represents the distance between the fourth device and the second device, D1 represents the distance between the first device and the fourth device, α represents the arrival angle of the first signal, L represents the distance between the first device and the second device on the LOS path, L1 represents the distance between the fourth device and the perpendicular point of the above-mentioned LOS path and the first device, and L2 represents the distance between the fourth device and the perpendicular point of the above-mentioned LOS path and the second device.

[0213] In step 2114 , the second device 102 determines the coordinate information of the fourth device.

[0214] In some embodiments, the second device may determine coordinate information of the fourth device based on the angle information of the fourth device and the distance information of the fourth device.

[0215] Specifically, the second device may determine the coordinate information of the fourth device through a trigonometric function based on the angle information of the fourth device, the distance information between the fourth device and the second device, and the coordinates of the second device.

[0216] In step 2115 , the second device 102 determines speed information of the fourth device.

[0217] In some embodiments, when the second device receives the first signal, it can determine the receiving frequency of the first signal, and then determine the frequency offset of the first signal based on the receiving frequency of the first signal and the preset receiving frequency of the first signal, so as to use the frequency offset of the first signal to determine the speed information of the fourth device.

[0218] In some embodiments, if a second device receives multiple first signals passing through a fourth device, the second device can determine the speed information of the fourth device based on the time points of the two first signal receptions and the distances between the fourth device and the second device corresponding to the two first signals. For example, taking the distance between the fourth device and the second device detected at time T1 as D2(T1) and the distance between the fourth device and the second device detected at time T2 as D2(T2), the speed information of the fourth device can be expressed as:

[0219] The communication method involved in the embodiments of the present disclosure may include at least one of steps 2101 to 2115. For example, step 2101 may be implemented as an independent embodiment, step 2104 may be implemented as an independent embodiment, step 2107 may be implemented as an independent embodiment, step 2109 may be implemented, steps 2104+2105 may be implemented as an independent embodiment, and steps 2104+2108+2111 may be implemented as independent embodiments, but the present invention is not limited thereto.

[0220] In some embodiments, step 2101 , step 2102 , and step 2103 may be performed simultaneously.

[0221] In some embodiments, step 2104 and step 2105 may be performed simultaneously.

[0222] In some embodiments, steps 2106 and 2108 may be performed simultaneously.

[0223] In some embodiments, steps 2101 to 2103 and steps 2106 to 2115 are optional, and one or more of these steps may be omitted or replaced in different embodiments.

[0224] In this embodiment or example, unless there is any contradiction, each step can be independent, arbitrarily combined or exchanged in order, the optional methods or optional examples can be arbitrarily combined, and can be arbitrarily combined with any steps of other embodiments or other examples.

[0225] 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.

[0226] 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.

[0227] In some embodiments, terms such as "send", "transmit", "report", "download", "transmit", "bidirectional transmission", "send and / or receive" can be used interchangeably.

[0228] In some embodiments, terms such as "certain", "preset", "preset", "setting", "indicated", "a certain", "any", and "first" can be interchangeable. "Specific A", "preset A", "preset A", "setting A", "indicated A", "a certain 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, a certain A, any A, or first A, etc., but not limited to this.

[0229] FIG4a is a flow chart of a communication method according to an embodiment of the present disclosure. As shown in FIG4a, the embodiment of the present disclosure relates to a communication method for a first device 101, the method comprising:

[0230] Step 4101: Determine whether a first path exists.

[0231] The optional implementation of step 4101 can refer to the optional implementation of step 2101 in Figure 2 and other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0232] Step 4102: Determine whether the second device and / or the third device can receive the second information.

[0233] For optional implementations of step 4102, please refer to the optional implementations of step 2102 in FIG. 2 and other related parts in the embodiment involved in FIG. 2 , which will not be described in detail here.

[0234] Step 4103: Determine whether third information exists between the second device and the third device.

[0235] For optional implementations of step 4103, please refer to the optional implementations of step 2103 in FIG. 2 and other related parts in the embodiment involved in FIG. 2 , which will not be described in detail here.

[0236] Step 4104, sending a first signal.

[0237] For optional implementations of step 4104, please refer to the optional implementations of step 2104 and step 2105 in Figure 2, as well as other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0238] Step 4105, sending the second information.

[0239] For optional implementations of step 4105, please refer to the optional implementations of step 2106 and step 2108 in Figure 2, as well as other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0240] For a detailed description of steps 4101 - 4105 , please refer to the embodiment shown in FIG. 2 .

[0241] The communication method involved in the embodiment of the present disclosure may include at least one of steps 4101 to 4105. For example, step 4101 may be implemented as an independent embodiment, and step 4102 may be implemented as an independent embodiment, but the present invention is not limited thereto.

[0242] In some embodiments, step 4101, step 4102, step 4103, and step 4105 are optional, and one or more of these steps may be omitted or replaced in different embodiments.

[0243] In this embodiment or example, unless there is any contradiction, each step can be independent, arbitrarily combined or exchanged in order, the optional methods or optional examples can be arbitrarily combined, and can be arbitrarily combined with any steps of other embodiments or other examples.

[0244] FIG4 b is a flow chart of a communication method according to an embodiment of the present disclosure. As shown in FIG4 b , the present disclosure embodiment relates to a communication method for a first device 101, the method comprising:

[0245] Step 4201, sending a first signal.

[0246] For optional implementations of step 4201, reference may be made to step 2104 and step 2105 in FIG. 2 , the optional implementations of step 4104 in FIG. 4 a , and other related parts in the embodiments involved in FIG. 2 and FIG. 4 a , which will not be described in detail here.

[0247] Step 4202, sending the second information.

[0248] Optional implementations of step 4202 may refer to steps 2106 and 2108 of FIG. 2 , optional implementations of step 4105 of FIG. 4 a , and other related parts of the embodiments involved in FIG. 2 and FIG. 4 a , which will not be described in detail here.

[0249] For a detailed description of step 4201 and step 4102, please refer to the embodiment shown in FIG. 2 .

[0250] The communication method involved in the embodiment of the present disclosure may include at least one of step 4201 and step 4202. For example, step 4201 may be implemented as an independent embodiment, and step 4202 may be implemented as an independent embodiment.

[0251] In some embodiments, step 4202 is optional and may be omitted or replaced in different embodiments.

[0252] In this embodiment or example, unless there is any contradiction, each step can be independent, arbitrarily combined or exchanged in order, the optional methods or optional examples can be arbitrarily combined, and can be arbitrarily combined with any steps of other embodiments or other examples.

[0253] Figure 4c is a flow chart of a communication method according to an embodiment of the present disclosure. As shown in Figure 4c, the embodiment of the present disclosure relates to a communication method for a terminal, the method comprising:

[0254] Step 4301: Send a first signal to a second device and one or more third devices.

[0255] The optional implementation of step 4301 can be found in step 2104 and step 2105 of Figure 2, step 4104 of Figure 4a, the optional implementation of step 4201 of Figure 4b, and other related parts in the embodiments involved in Figures 2, 4a, and 4b, which will not be repeated here.

[0256] In some embodiments, the first device sends a first signal to the second device and one or more third devices, the first signal is used for the second device to perceive the first information of the fourth device, and the third device is used to assist the second device in perceiving the first information of the fourth device.

[0257] Optionally, in some embodiments, the first signal includes: a non-line-of-sight (NLOS) path signal between the first device and the second device.

[0258] Optionally, in some embodiments, the NLOS path signal is any one of the following signals: a preset signal that is not the first one received by the second device; a signal with a signal strength that is not the strongest received by the second device; a signal received by the second device with a signal change greater than or equal to a preset value.

[0259] Optionally, in some embodiments, the first signal includes at least one of the following: transmission duration of the first signal; arrival angle of the first signal; reception time of the first signal; sending time of the first signal; coordinate information of the first device; coordinate information of the second device; coordinate information of the third device; transmission distance of the first signal; preset receiving frequency of the first signal.

[0260] Optionally, in some embodiments, the first information includes at least one of the following: distance information of the fourth device; speed information of the fourth device; angle information of the fourth device; and coordinate information of the fourth device.

[0261] Optionally, in some embodiments, the method further includes: the first device determines that there is a first path, wherein the first path includes at least one of the following: a line-of-sight LOS path between the first device and the second device; a LOS path between the first device and the third device; and a LOS path between the second device and the third device.

[0262] Optionally, in some embodiments, the method also includes: the first device determines that the second device and / or the third device can receive second information, and the second information is used to identify the distance information of the first device and / or the third device; the first device sends the second information to the second device and / or the third device.

[0263] Optionally, in some embodiments, the second information includes at least one of the following: the time advance TA of signal transmission between the first device and the third device; the coordinate information of the first device; the coordinate information of the third device; the signal transmission time of the first device; the time difference information of signal transmission and reception of the first device; and the time difference information of signal transmission and reception of the third device.

[0264] Optionally, in some embodiments, the method further includes: the first device determining that third information exists between the second device and the third device, where the third information is used to identify an association relationship between the second device and the third device.

[0265] Optionally, in some embodiments, the third information includes at least one of the following: distance information between the second device and the third device; directional angle information of the third device relative to the second device; direction of the LOS path between the first device and the second device; angle between the LOS path between the first device and the second device and the LOS path between the second device and the third device; angle between the LOS path between the first device and the third device and the LOS path between the second device and the third device; angle between the LOS path between the first device and the second device and the LOS path between the second device and the fourth device.

[0266] For a detailed description of step 4301 , please refer to the embodiment shown in FIG. 2 .

[0267] Figure 5a is a flow chart of a communication method according to an embodiment of the present disclosure. As shown in Figure 5a, the embodiment of the present disclosure relates to a communication method for a second device, the method comprising:

[0268] Step 5101: Acquire a first signal.

[0269] For step 5101, reference may be made to step 2104 of FIG. 2, step 2105 of FIG. 2 and other related parts of the embodiment involved in FIG. 2, which will not be described in detail here.

[0270] Step 5102, obtain the second information.

[0271] For step 5102, reference may be made to step 2107 of FIG. 2, step 2108 of FIG. 2 and other related parts of the embodiment involved in FIG. 2, which will not be described in detail here.

[0272] Step 5103, obtain the third information.

[0273] For step 5103, reference may be made to step 2111 in FIG. 2 and other related parts of the embodiment involved in FIG. 2 , which will not be described in detail here.

[0274] Step 5104: Determine the angle information of the fourth device.

[0275] For step 5104, reference may be made to step 2112 in FIG. 2 and other related parts in the embodiment involved in FIG. 2 , which will not be described in detail here.

[0276] Step 5105: Determine the distance information of the fourth device.

[0277] For step 5105, reference may be made to step 2113 in FIG. 2 and other related parts in the embodiment involved in FIG. 2 , which will not be described in detail here.

[0278] Step 5106: Determine the coordinate information of the fourth device.

[0279] For step 5106, reference may be made to step 2114 in FIG. 2 and other related parts in the embodiment involved in FIG. 2 , which will not be described in detail here.

[0280] Step 5107: Determine the speed information of the fourth device.

[0281] For step 5101, reference may be made to step 2115 in FIG. 2 and other related parts in the embodiment involved in FIG. 2 , which will not be described in detail here.

[0282] For a detailed description of steps 5101 - 5107 , please refer to the embodiment shown in FIG. 2 .

[0283] The communication method involved in the embodiments of the present disclosure may include at least one of steps 5101 to 5107. For example, step 5101 may be implemented as an independent embodiment, step 5102 may be implemented as an independent embodiment, step 5101 + step 5102 may be implemented as an independent embodiment, and step 5104 + step 5105 + step 5106 + step 5107 may be implemented as an independent embodiment, but the present invention is not limited thereto.

[0284] In some embodiments, steps 5102 to 5107 are optional, and one or more of these steps may be omitted or replaced in different embodiments.

[0285] In this embodiment or example, unless there is any contradiction, each step can be independent, arbitrarily combined or exchanged in order, the optional methods or optional examples can be arbitrarily combined, and can be arbitrarily combined with any steps of other embodiments or other examples.

[0286] FIG5b is a flow chart of a communication method according to an embodiment of the present disclosure. As shown in FIG5b, the embodiment of the present disclosure relates to a communication method for a second device, the method comprising:

[0287] Step 5201, obtain a first signal.

[0288] For step 5201, reference may be made to step 2104 in FIG. 2, step 2105 in FIG. 2, step 5101 in FIG. 5a, and other related parts in the embodiments involved in FIG. 2 and FIG. 5a, which will not be repeated here.

[0289] Step 5202: Determine the first information of the fourth device.

[0290] For step 5202, reference can be made to steps 2112, 2113, 2114, and 2115 of FIG. 2 , steps 5104, 5105, 5106, and 5107 of FIG. 5 a , and other related parts in the embodiments involved in FIG. 2 and FIG. 5 a , which will not be repeated here.

[0291] For a detailed description of step 5201 and step 5202 , please refer to the embodiment shown in FIG. 2 .

[0292] The communication method involved in the embodiment of the present disclosure may include at least one of step 5201 and step 5202. For example, step 5101 may be implemented as an independent embodiment, step 5102 may be implemented as an independent embodiment, and step 5101 + step 5102 may be implemented as independent embodiments.

[0293] In some embodiments, step 5102 is optional and may be omitted or replaced in different embodiments.

[0294] In this embodiment or example, unless there is any contradiction, each step can be independent, arbitrarily combined or exchanged in order, the optional methods or optional examples can be arbitrarily combined, and can be arbitrarily combined with any steps of other embodiments or other examples.

[0295] Figure 5c is a flow chart of a communication method according to an embodiment of the present disclosure. As shown in Figure 5c, the embodiment of the present disclosure relates to a communication method for a second device, the method comprising:

[0296] Step 5301, receiving a first signal.

[0297] For step 5301, reference may be made to step 2104 in FIG. 2, step 2105 in FIG. 2, step 5101 in FIG. 5a, step 5201 in FIG. 5b and other related parts in the embodiments involved in FIG. 2, FIG. 5a and FIG. 5b, which will not be repeated here.

[0298] In some embodiments, the second device receives a first signal, where the first signal is used by the second device to perceive first information of the fourth device.

[0299] Optionally, in some embodiments, the first signal includes: a non-line-of-sight (NLOS) path signal between the first device and the second device.

[0300] Optionally, in some embodiments, the NLOS path signal is any one of the following signals: a preset signal that is not the first one received by the second device; a signal with a signal strength that is not the strongest received by the second device; a signal received by the second device with a signal change greater than or equal to a preset value.

[0301] Optionally, in some embodiments, the first signal includes at least one of the following: transmission duration of the first signal; arrival angle of the first signal; reception time of the first signal; sending time of the first signal; coordinate information of the first device; coordinate information of the second device; coordinate information of the third device; transmission distance of the first signal; preset receiving frequency of the first signal.

[0302] Optionally, in some embodiments, the first information includes at least one of the following:

[0303] distance information of the fourth device; speed information of the fourth device; angle information of the fourth device; coordinate information of the fourth device.

[0304] Optionally, in some embodiments, the method further includes: the second device receiving second information sent by the first device or the third device, where the second information is used to identify distance information of the first device and / or the third device.

[0305] Optionally, in some embodiments, the second information includes at least one of the following: time advance TA for signal transmission between the first device and the third device; coordinate information of the first device; coordinate information of the third device; signal transmission time information of the first device; signal transmission and reception time difference information of the first device; signal transmission and reception time difference information of the third device.

[0306] Optionally, in some embodiments, the method further includes: the second device acquiring third information, where the third information is used to identify an association relationship between the second device and the third device.

[0307] Optionally, in some embodiments, the third information includes at least one of the following: distance information between the second device and the third device; directional angle information of the third device relative to the second device; direction of the LOS path between the first device and the second device; angle between the LOS path between the first device and the second device and the LOS path between the second device and the third device; angle between the LOS path between the first device and the third device and the LOS path between the second device and the third device; angle between the LOS path between the first device and the second device and the LOS path between the second device and the fourth device.

[0308] Optionally, in some embodiments, the method further includes: the second device determining the first information based on at least one of the first signal, the second information and the third information.

[0309] Optionally, in some embodiments, the second device determines, based on at least one of the first signal, the second information, and the third information, that the first information includes at least one of the following: the second device determines, based on at least one of the first signal, the second information, and the third information, the speed information of the fourth device; the second device determines, based on at least one of the first signal, the second information, and the third information, the angle information of the fourth device; the second device determines, based on at least one of the first signal, the second information, and the third information, the coordinate information of the fourth device.

[0310] Optionally, in some embodiments, the second device determines the angle information of the fourth device based on at least one of the first signal, the second information, and the third information, including at least one of the following: the second device determines the angle information of the fourth device based on the angle of arrival of the first signal; the second device determines the angle information of the fourth device based on the LOS path between the first device and the second device and the angle between the LOS path between the second device and the third device; the second device determines the angle information of the fourth device based on the angle of arrival of the first signal and the direction of the LOS path between the first device and the second device.

[0311] Optionally, in some embodiments, the method further includes: the second device determining distance information between the first device and the second device based on at least one of the first signal, the second information, and the third information.

[0312] Optionally, in some embodiments, the second device determines the distance information of the fourth device based on at least one of the first signal, the second information, and the third information, including: the second device determines the distance information of the fourth device based on the distance information between the first device and the second device, and at least one of the first signal, the second information, and the third information.

[0313] Optionally, in some embodiments, the second device determines the distance information of the fourth device based on the distance information between the first device and the second device, and at least one of the first signal, the second information and the third information, including at least one of the following: the second device determines the distance information of the fourth device based on the distance information between the first device and the second device, the sending time of the first signal, the receiving time of the first signal, the LOS path between the first device and the second device, and the angle between the LOS path between the second device and the fourth device; the second device determines the distance information of the fourth device based on the distance information between the first device and the second device, the sending time of the first signal, the receiving time of the first signal, the LOS path between the first device and the second device, and the angle between the LOS path between the second device and the third device.

[0314] Optionally, in some embodiments, the second device determines the coordinate information of the fourth device based on at least one of the first signal, the second information, and the third information, including: the second device determines the coordinate information of the fourth device based on the angle information of the fourth device and the distance information of the fourth device.

[0315] Optionally, in some embodiments, the method further includes: the second device determining a receiving frequency of the first signal based on the first signal; and the second device determining a frequency offset of the first signal based on the receiving frequency of the first signal and a preset receiving frequency of the first signal.

[0316] Optionally, in some embodiments, the second device determines the speed information of the fourth device based on at least one of the first signal, the second information, and the third information, including at least one of the following: the second device determines the speed information of the fourth device based on the sending time of multiple first signals and the coordinate information of multiple fourth devices; the second device determines the speed information of the fourth device based on the frequency offset of the first signal.

[0317] Optionally, in some embodiments, the first signal is at least one of the following signals: a signal sent on a preset time resource; a signal in a preset signal type; a signal in a preset signal format; a signal sent on a preset frequency resource; a signal whose signal bandwidth meets preset conditions.

[0318] For a detailed description of step 5301 , please refer to the embodiment shown in FIG. 2 .

[0319] Figure 6 is an interactive diagram of a communication method according to an embodiment of the present disclosure. As shown in Figure 6, the embodiment of the present disclosure relates to a communication method, which includes:

[0320] Step 6101 : The first device 101 sends a first signal to one or more third devices 103 .

[0321] Optional implementations of step 6101 can be found in step 2104 of Figure 2, step 4104 of Figure 4a, step 4201 of Figure 4b, step 4301 of Figure 4c and other related parts in the embodiments involved in Figures 2, 4a, 4b and 4c, which will not be repeated here.

[0322] Step 6102 : The first device 101 sends a first signal to the second device 102 .

[0323] Optional implementations of step 6102 can be found in step 2105 of Figure 2, step 4104 of Figure 4a, step 4201 of Figure 4b, step 4301 of Figure 4c and other related parts in the embodiments involved in Figures 2, 4a, 4b and 4c, which will not be repeated here.

[0324] In some embodiments, the above method may include the method described in the above embodiments of the communication system side, the first device side, the second device side, etc., which will not be repeated here.

[0325] The embodiments of the present disclosure further provide apparatuses for implementing any of the above methods. For example, an apparatus is provided that includes units or modules for implementing each step performed by the first device in any of the above methods. For another example, another apparatus is provided that includes units or modules for implementing each step performed by the second device in any of the above methods.

[0326] It should be understood that the division of the various units or modules in the above device is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a physical entity, or they may be physically separated. In addition, the units or modules in the device may be implemented in the form of a processor calling software: for example, the device includes a processor, the processor is connected to a memory, and the memory stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of the various units or modules of the above device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory within the device or a memory outside the device. Alternatively, the units or modules in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units or modules can be realized by designing the hardware circuits. The above-mentioned hardware circuits can be understood as one or more processors; for example, in one implementation, the above-mentioned hardware circuit is an application-specific integrated circuit (ASIC), which realizes the functions of some or all of the above units or modules by designing the logical relationship of the components in the circuit; for example, in another implementation, the above-mentioned hardware circuit can be realized by a programmable logic device (PLD). Taking a field programmable gate array (FPGA) as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by configuring the configuration file, thereby realizing the functions of some or all of the above units or modules. All units or modules of the above devices can be realized in the form of software called by the processor, or in the form of hardware circuits, or in part by the form of software called by the processor, and the rest by hardware circuits.

[0327] In the embodiment of the present disclosure, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and execution capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP); in another implementation, the processor can implement certain functions through the logical relationship of the hardware circuit, and the logical relationship of the above hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and implementing the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units or modules. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0328] Figure 7a is a structural diagram of the first device 101 proposed in an embodiment of the present disclosure. As shown in Figure 7a, the first device 101 includes: a transceiver module 7101. In some embodiments, the above-mentioned transceiver module is used to send a first signal to the second device, and the first signal is used for the second device to perceive the first information of the fourth device. The above-mentioned transceiver module is used to perform at least one of the communication steps such as sending and / or receiving (for example, step 2104, step 2105, step 2106, step 2108, but not limited to this), which will not be repeated here. Optionally, in some embodiments, the first device 101 also includes a processing module, and the above-mentioned processing module is used to perform at least one of the communication steps other than sending and / or receiving (for example, step 2101, step 2102, step 2103, but not limited to this) performed by the first device 101 in any of the above methods, which will not be repeated here.

[0329] Figure 7b is a schematic structural diagram of the second device 102 proposed in an embodiment of the present disclosure. As shown in Figure 7b, the second device 102 includes: a transceiver module 7201. In some embodiments, the above-mentioned transceiver module is used to receive a first signal, and the first signal is used for the second device to perceive the first information of the fourth device. The above-mentioned transceiver module is used to perform at least one of the communication steps such as sending and / or receiving (for example, step 2105, step 2107, step 2108, step 2110, but not limited to this), which will not be repeated here. Optionally, in some embodiments, the second device 102 also includes a processing module, and the above-mentioned processing module is used to perform at least one of the communication steps other than sending and / or receiving (for example, step 2111, step 2112, step 2113, step 2114, step 2115, but not limited to this) performed by the second device 102 in any of the above methods, which will not be repeated here.

[0330] As shown in Figure 8a, the communication device 8100 includes one or more processors 8101. The processor 8101 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 the communication device (such as a base station, baseband chip, terminal device, terminal device chip, DU or CU, etc.), execute programs, and process program data. The processor 8101 is used to call instructions to enable the communication device 8100 to perform any of the above methods.

[0331] In some embodiments, the communication device 8100 further includes one or more memories 8102 for storing instructions. Optionally, all or part of the memories 8102 may be located outside the communication device 8100.

[0332] In some embodiments, the communication device 8100 further includes one or more transceivers 8103. When the communication device 8100 includes one or more transceivers 8103, the communication steps such as sending and receiving in the above method are performed by the transceiver 8103, and the other steps are performed by the processor 8101.

[0333] In some embodiments, a transceiver may include a receiver and a transmitter, which may be separate or integrated. Optionally, the terms transceiver, transceiver unit, transceiver, and transceiver circuit 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.

[0334] Optionally, the communication device 8100 further includes one or more interface circuits 8104, which are connected to the memory 8102. The interface circuits 8104 can be used to receive signals from the memory 8102 or other devices, and can be used to send signals to the memory 8102 or other devices. For example, the interface circuits 8104 can read instructions stored in the memory 8102 and send the instructions to the processor 8101.

[0335] The communication device 8100 described in the above embodiment may be a network device or a terminal, but the scope of the communication device 8100 described in the present disclosure is not limited thereto, and the structure of the communication device 8100 may not be limited by FIG. 8a. 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.

[0336] FIG8b is a schematic diagram of the structure of a chip 8200 according to an embodiment of the present disclosure. If the communication device 8100 can be a chip or a chip system, reference can be made to the schematic diagram of the structure of the chip 8200 shown in FIG8b, but the present disclosure is not limited thereto.

[0337] The chip 8200 includes one or more processors 8201, and the processor 8201 is used to call instructions so that the chip 8200 executes any of the above methods.

[0338] In some embodiments, chip 8200 further includes one or more interface circuits 8202, which are connected to memory 8203. Interface circuit 8202 can be used to receive signals from memory 8203 or other devices, and can be used to send signals to memory 8203 or other devices. For example, interface circuit 8202 can read instructions stored in memory 8203 and send the instructions to processor 8201. Optionally, the terms interface circuit, interface, transceiver pin, and transceiver are interchangeable.

[0339] In some embodiments, the chip 8200 further includes one or more memories 8203 for storing instructions. Alternatively, all or part of the memories 8203 may be outside the chip 8200.

[0340] The present disclosure also proposes a storage medium having instructions stored thereon, which, when executed on the communication device 8100, causes the communication device 8100 to execute 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 thereto, and may also be a storage medium readable by other devices. Optionally, the storage medium may be a non-transitory storage medium, but is not limited thereto, and may also be a temporary storage medium.

[0341] The present disclosure also provides a program product, which, when executed by the communication device 8100, enables the communication device 8100 to perform any of the above methods. Optionally, the program product is a computer program product.

[0342] 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.

[0343] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer programs. When the computer program is loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present disclosure are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a high-density digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0344] The correspondences shown in the tables of the present disclosure can be configured or predefined. The values ​​of the information in each table are merely examples and can be configured to other values, which are not limited by the present disclosure. When configuring the correspondences between information and parameters, it is not necessarily required to configure all the correspondences shown in each table. For example, in the tables of the present disclosure, the correspondences shown in certain rows may not be configured. For another example, appropriate deformation adjustments can be made based on the above tables, such as splitting, merging, etc. The names of the parameters shown in the titles of the above tables may also adopt other names that can be understood by the communication device, and the values ​​or representations of the parameters may also adopt other values ​​or representations that can be understood by the communication device. When implementing the above tables, other data structures may also be used, such as arrays, queues, containers, stacks, linear lists, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables or hash tables, etc.

[0345] The predefined in the present disclosure may be understood as defined, predefined, stored, pre-stored, pre-negotiated, pre-configured, solidified, or pre-burned.

[0346] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.

[0347] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0348] The above description is merely a specific embodiment of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A perception method, characterized in that, The method is executed by a first device, and the method includes: Sending a first signal to a second device and one or more third devices, where the first signal is used for the second device to sense first information of a fourth device, and the third device is used to assist the second device in sensing the first information of the fourth device.

2. The method according to claim 1, characterized in that, The first signal includes: a non-line-of-sight (NLOS) path signal between the first device and the second device.

3. The method according to claim 1 or 2, characterized in that, The NLOS path signal is any one of the following signals: A preset signal that the second device does not receive first; A signal with a non-strongest signal strength received by the second device; A signal whose signal change received by the second device is greater than or equal to a preset value.

4. The method according to claim 1, wherein The first signal includes at least one of the following: The transmission duration of the first signal; The angle of arrival of the first signal; The reception time of the first signal; The transmission time of the first signal; The coordinate information of the first device; The coordinate information of the second device; The coordinate information of the third device; The transmission distance of the first signal; The preset reception frequency of the first signal.

5. The method according to any one of claims 1-4, characterized in that, The first information includes at least one of the following: the distance information of the fourth device; The speed information of the fourth device; The angle information of the fourth device; The coordinate information of the fourth device.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: Determining that there is a first path, where the first path includes at least one of the following: The line-of-sight (LOS) path between the first device and the second device; The LOS path between the first device and the third device; The LOS path between the second device and the third device.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: Determining that the second device and / or the third device can receive second information, where the second information is used to identify the distance information of the first device and / or the third device; Sending the second information to the second device and / or the third device.

8. The method according to claim 7, wherein The second information includes at least one of the following: the time advance (TA) of signal transmission between the first device and the third device; The coordinate information of the first device; The coordinate information of the third device; The signal transmission time of the first device; The signal transmission and reception time difference information of the first device; The signal transmission and reception time difference information of the third device.

9. The method according to any one of claims 1 - 8, characterized in that, The method further includes: Determining that there is third information between the second device and the third device, where the third information is used to identify the association relationship between the second device and the third device.

10. The method according to claim 9, wherein The third information includes at least one of the following: The distance information between the second device and the third device; The direction angle information of the third device relative to the second device; The direction of the LOS path between the first device and the second device; The included angle between the LOS path between the first device and the second device and the LOS path between the second device and the third device; The included angle between the LOS path between the first device and the third device and the LOS path between the second device and the third device; The included angle between the LOS path between the first device and the second device and the LOS path between the second device and the fourth device.

11. A sensing method, characterized in that, The method is executed by a second device, and the method includes: Receiving a first signal for the second device to sense first information of a fourth device.

12. The method according to claim 11, wherein The first signal includes: a non-line-of-sight (NLOS) path signal between the first device and the second device.

13. The method according to claim 11 or 12, characterized in that, The NLOS path signal is any one of the following signals: A preset signal that the second device does not receive first; A signal with a non-strongest signal strength received by the second device; A signal whose signal change received by the second device is greater than or equal to a preset value.

14. The method according to any one of claims 11-13, characterized in that, The first signal includes at least one of the following: The transmission duration of the first signal; The angle of arrival of the first signal; The reception time of the first signal; The transmission time of the first signal; The coordinate information of the first device; The coordinate information of the second device; The coordinate information of the third device; The transmission distance of the first signal; The preset reception frequency of the first signal.

15. The method according to any one of claims 11-14, characterized in that, The first information includes at least one of the following: The distance information of the fourth device; The speed information of the fourth device; The angle information of the fourth device; The coordinate information of the fourth device.

16. The method according to any one of claims 11-15, characterized in that, The method further includes: Receiving second information sent by the first device or the third device, where the second information is used to identify the distance information of the first device and / or the third device.

17. The method according to claim 16, wherein The second information includes at least one of the following: the time advance (TA) of signal transmission between the first device and the third device; The coordinate information of the first device; The coordinate information of the third device; The signal transmission time information of the first device; The signal transceiver time difference information of the first device; The signal transceiver time difference information of the third device.

18. The method according to any one of claims 11-17, characterized in that, The method further includes: Obtaining third information for identifying the association relationship between the second device and the third device.

19. The method according to claim 18, characterized in that, The third information includes at least one of the following: The distance information between the second device and the third device; The direction angle information of the third device relative to the second device; The direction of the line-of-sight (LOS) path between the first device and the second device; The included angle between the LOS path between the first device and the second device and the LOS path between the second device and the third device; The included angle between the LOS path between the first device and the third device and the LOS path between the second device and the third device; The included angle between the LOS path between the first device and the second device and the LOS path between the second device and the fourth device.

20. The method according to any one of claims 11-19, characterized in that, The method further includes: Determining the first information based on at least one of the first signal, the second information, and the third information.

21. The method according to claim 20, wherein The determining the first information based on at least one of the first signal, the second information, and the third information includes at least one of the following: Determining the speed information of the fourth device based on at least one of the first signal, the second information, and the third information; Determining the angle information of the fourth device based on at least one of the first signal, the second information, and the third information; Determine the coordinate information of the fourth device based on at least one of the first signal, the second information, and the third information.

22. The method according to claim 21, characterized in that, The determining the angle information of the fourth device based on at least one of the first signal, the second information, and the third information includes at least one of the following: Determine the angle information of the fourth device based on the angle of arrival of the first signal; Determine the angle information of the fourth device based on the included angle between the LOS path between the first device and the second device and the LOS path between the second device and the third device; Determine the angle information of the fourth device based on the angle of arrival of the first signal and the direction of the LOS path between the first device and the second device.

23. The method according to any one of claims 11-21, characterized in that, The method further includes: Determine the distance information between the first device and the second device based on at least one of the first signal, the second information, and the third information.

24. The method according to claim 21 or 23, characterized in that, The determining the distance information of the fourth device based on at least one of the first signal, the second information, and the third information includes: Determine the distance information of the fourth device based on the distance information between the first device and the second device and at least one of the first signal, the second information, and the third information.

25. The method according to claim 24, wherein The determining the distance information of the fourth device based on the distance information between the first device and the second device and at least one of the first signal, the second information, and the third information includes at least one of the following: Determine the distance information of the fourth device based on the distance information between the first device and the second device, the transmission time of the first signal, the reception time of the first signal, and the included angle between the LOS path between the first device and the second device and the LOS path between the second device and the fourth device; Determine the distance information of the fourth device based on the distance information between the first device and the second device, the transmission time of the first signal, the reception time of the first signal, and the included angle between the LOS path between the first device and the second device and the LOS path between the second device and the third device.

26. The method according to any one of claims 21-25, characterized in that, The determining the coordinate information of the fourth device based on at least one of the first signal, the second information, and the third information includes: Determine the coordinate information of the fourth device based on the angle information of the fourth device and the distance information of the fourth device.

27. The method according to any one of claims 21-26, characterized in that, The method further includes: Determine the reception frequency of the first signal based on the first signal; Determine the frequency offset of the first signal based on the reception frequency of the first signal and the preset reception frequency of the first signal.

28. The method according to any one of claims 21-27, characterized in that, The determining the speed information of the fourth device based on at least one of the first signal, the second information, and the third information includes at least one of the following: Determine the speed information of the fourth device based on the transmission times of multiple first signals and the coordinate information of multiple fourth devices; Determine the speed information of the fourth device based on the frequency offset of the first signal.

29. The method according to any one of claims 11-28, characterized in that, The first signal is a signal that is at least one of the following: A signal transmitted on a preset time resource; A signal of a preset signal type; A signal in a preset signal format; A signal transmitted on a preset frequency resource; A signal whose signal bandwidth meets a preset condition.

30. A first device, characterized in that, Comprising: A transceiver module, configured to transmit a first signal, where the first signal is used for the second device to sense first information of the fourth device.

31. A second device, characterized in that, Comprising: A transceiver module, configured to receive a first signal, where the first signal is used for the second device to sense first information of the fourth device.

32. A communication device, characterized in that, Comprising: One or more processors; Wherein, the one or more processors are configured to call instructions to cause the communication device to execute the method described in any one of claims 1-29.

33. A communication system, characterized in that, Comprising a first device and a second device, wherein the first device is configured to implement the method described in any one of claims 1-10, and the second device is configured to implement the method described in any one of claims 11-29.

34. The system according to claim 33, wherein The system further comprises: A network device, configured to configure time-frequency domain resources for transmitting or receiving a first signal to at least one of the first device, the second device, the fourth device, and the third device.

35. A storage medium storing instructions, characterized in that, When the instruction runs on the communication device, it causes the communication device to execute the method described in any one of claims 1-29.

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