Sensing target parameter determination method and device

Abstract

The invention provides a sensing target parameter determination method and device, equipment and a storage medium. The method comprises the following steps: determining change information of a multipath component based on a current wireless channel and a reference wireless channel; wherein the multi-path components comprise a first multi-path component reflected by a corresponding sensing target of the current wireless channel and a second multi-path component of other changes; and determining parameters of a sensing target according to the change information of the multipath component. According to the invention, a parameter determination mechanism of the sensing target can be provided, the situation that the sensing performance is inaccurate due to the multipath component change of the environment target caused by the sensing target is reduced, and the sensing performance of the sensing target can be improved.

Description

Method and device for determining perception target parameters Technical Field

[0001] The present disclosure relates to the field of communication technologies, and in particular to a method, apparatus, device, and storage medium for determining perception target parameters. Background Art

[0002] In a communication system, a target can be sensed to determine its location and other parameters. For example, wireless signals reflected from the target can be directly measured to obtain multipath components of the target. Based on information such as delay, angle, and Doppler frequency in these multipath components, the target's location and other parameters can be determined.

[0003] Summary of the Invention

[0004] The present disclosure proposes a method, apparatus, device and storage medium for determining perception target parameters to provide a parameter determination mechanism for a perception target, thereby reducing the situation in which the perception target causes changes in the multipath components of the environmental target, resulting in inaccurate perception performance, and improving the perception performance of the perception target.

[0005] According to a first aspect of an embodiment of the present disclosure, a method for determining a perception target parameter is proposed, which is applied to a first receiving terminal. The method includes:

[0006] Determining change information of multipath components based on a current wireless channel and a reference wireless channel; wherein the multipath components include a first multipath component corresponding to a perceived target reflection of the current wireless channel and other changed second multipath components;

[0007] Parameters of the perception target are determined according to the change information of the multipath components.

[0008] According to a second aspect of an embodiment of the present disclosure, a method for determining a perception target parameter is proposed, which is applied to a perception processing device. The method includes:

[0009] Receiving measurement information sent by the first receiving terminal, wherein the measurement information includes at least one of a first multipath component of a current wireless channel corresponding to a perceived target reflection, other changed second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to the reference wireless channel;

[0010] The measurement information is used to perform a sensing operation on the sensing target.

[0011] According to a third aspect of an embodiment of the present disclosure, a first receiving terminal is provided, wherein the first receiving terminal includes:

[0012] a processing module, configured to determine change information of multipath components based on a current wireless channel and a reference wireless channel; wherein the multipath components include a first multipath component corresponding to a perceived target reflection of the current wireless channel and other changed second multipath components;

[0013] The processing module is further configured to determine parameters of a perception target based on the change information of the multipath components.

[0014] According to a fourth aspect of an embodiment of the present disclosure, a perception processing device is provided, the perception processing device including:

[0015] a transceiver module, configured to receive measurement information sent by a first receiving terminal, wherein the measurement information includes at least one of a first multipath component of a current wireless channel corresponding to a perceived target reflection, other changed second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to the reference wireless channel;

[0016] The processing module is used to use the measurement information to perform a sensing operation on the sensing target.

[0017] According to a fifth aspect of an embodiment of the present disclosure, a first receiving terminal is provided, characterized by comprising:

[0018] one or more processors;

[0019] The first receiving terminal is used to execute the perception target parameter determination method described in any one of the first aspects.

[0020] According to a sixth aspect of an embodiment of the present disclosure, a perception processing device is provided, characterized by comprising:

[0021] one or more processors;

[0022] The perception processing device is used to execute the perception target parameter determination method described in any one of the second aspects.

[0023] According to the seventh aspect of an embodiment of the present disclosure, a communication system is proposed, comprising a first receiving terminal and a perception processing device, wherein the first receiving terminal is configured to implement the perception target parameter determination method described in any one of the first aspects and the perception processing device is configured to implement the perception target parameter determination method described in any one of the second aspects.

[0024] According to the eighth aspect of an embodiment of the present disclosure, a storage medium is proposed, which stores instructions. When the instructions are executed on a communication device, the communication device executes the perception target parameter determination method as described in any one of the first aspect or the perception target parameter determination method as described in any one of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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:

[0026] FIG1 is a schematic diagram of the architecture of a communication system according to an embodiment of the present disclosure;

[0027] FIG2 is a schematic diagram illustrating an example of sensing an impact environment of a target provided by an embodiment of the present disclosure;

[0028] FIG3A is a flow chart of a method for determining a perception target parameter according to another embodiment of the present disclosure;

[0029] FIG3B is a schematic diagram illustrating an example of a method for determining a perception target parameter provided by yet another embodiment of the present disclosure;

[0030] FIG4A is a schematic diagram illustrating an example of an auxiliary perception operation of an environmental target change provided by an embodiment of the present disclosure;

[0031] FIG4B is a schematic diagram illustrating an example of an auxiliary perception operation of an environmental target change provided by an embodiment of the present disclosure;

[0032] FIG4C is a schematic diagram illustrating an example of an auxiliary perception operation of an environmental target change provided by an embodiment of the present disclosure;

[0033] FIG4D is a schematic diagram illustrating an example of an auxiliary perception operation of an environmental target change provided by an embodiment of the present disclosure;

[0034] FIG4E is a schematic diagram illustrating an example of an auxiliary perception operation of an environmental target change provided by an embodiment of the present disclosure;

[0035] FIG5A is a schematic flow chart of a method for determining perception target parameters according to another embodiment of the present disclosure;

[0036] FIG6A is a flow chart of a method for determining a perception target parameter according to another embodiment of the present disclosure;

[0037] FIG7A is a schematic structural diagram of a first receiving terminal provided by an embodiment of the present disclosure;

[0038] FIG7B is a schematic diagram of the structure of a perception processing device provided by an embodiment of the present disclosure;

[0039] FIG8A is a schematic structural diagram of a communication device provided by an embodiment of the present disclosure;

[0040] FIG8B is a schematic structural diagram of a chip provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0041] The present disclosure proposes a method, apparatus, device and storage medium for determining perception target parameters to provide a parameter determination mechanism for a perception target, thereby reducing the situation in which the perception target causes changes in the multipath components of the environmental target, resulting in inaccurate perception performance, and improving the perception performance of the perception target.

[0042] According to a first aspect of an embodiment of the present disclosure, a method for determining a perception target parameter is proposed, which is applied to a first receiving terminal. The method includes:

[0043] Determining change information of multipath components based on a current wireless channel and a reference wireless channel; wherein the multipath components include a first multipath component corresponding to a perceived target reflection of the current wireless channel and other changed second multipath components;

[0044] Parameters of the perception target are determined according to the change information of the multipath components.

[0045] In the above embodiment, a parameter determination mechanism for a perception target can be provided, which can combine the first multipath component reflected by the perception target and other changing second multipath components to determine the parameters of the perception target, reduce the situation where the parameters of the perception target are determined based only on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination, reduce the situation where the perception target causes changes in the multipath components of the environmental target, resulting in inaccurate perception performance, and improve the perception performance of the perception target.

[0046] In conjunction with some embodiments of the first aspect, in some embodiments, the reference wireless channel includes at least one of the following:

[0047] a wireless channel received by the first receiving terminal before a sensing target appears, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located and a wireless signal transmitted by the first transmitting terminal;

[0048] a wireless channel received by the first receiving terminal before the motion of the sensed target is detected, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located, a received wireless signal transmitted by the first transmitting terminal, and a wireless signal reflected before the motion of the sensed target is detected;

[0049] There are multiple perception targets, and the first receiving terminal receives a wireless channel, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in the area where the first receiving terminal is located, a received wireless signal transmitted by the first transmitting terminal, and wireless signals reflected by the remaining perception targets, and the remaining perception targets are the perception targets other than the focus perception target among the multiple perception targets.

[0050] In conjunction with some embodiments of the first aspect, in some embodiments, the change information of the multipath component includes at least one of the following:

[0051] directly receiving a multipath component of the current wireless channel corresponding to the reflection of the sensing target;

[0052] Other changing multipath components except the multipath component reflected by the corresponding perceived target and received directly from the current wireless channel.

[0053] In conjunction with some embodiments of the first aspect, in some embodiments, the method further includes at least one of the following:

[0054] When the absolute strength of a multipath component received by the first receiving terminal decreases to a first threshold, determining that the multipath component received by the first receiving terminal is a multipath component with a multipath component change;

[0055] If a difference between the strength of any one of the multiple multipath components received by the first receiving terminal and the strength of the strongest multipath component among the multiple multipath components is greater than a second threshold, it is determined that the any one of the multiple multipath components is a multipath component with a multipath component change.

[0056] In the above embodiment, the first threshold value or the second threshold value can improve the accuracy of determining the multipath component with multipath component changes, and can improve the perception performance of the perception target.

[0057] In conjunction with some embodiments of the first aspect, in some embodiments, after determining the change information of the multipath component based on the current wireless channel and the reference wireless channel, the method further includes:

[0058] Send measurement information to a perception processing device, wherein the measurement information is used to instruct the perception processing device to perform a perception operation on the perception target, and the measurement information includes at least one of the first multipath component, the second multipath component, the first measurement timestamp corresponding to the current wireless channel, and the second measurement timestamp corresponding to the reference wireless channel.

[0059] In the above embodiment, measurement information can be sent to the perception processing device, and the perception processing device can perform perception operations on the perception target. When the processing entity of the position and characteristics of the perception target is located in the perception processing device, the perception operation can be performed on the perception target, thereby reducing the situation where the parameters of the perception target are determined only based on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination, and reducing the situation where the perception performance is inaccurate due to the change of the multipath component of the environmental target caused by the perception target, thereby improving the perception performance of the perception target.

[0060] In conjunction with some embodiments of the first aspect, in some embodiments, the measurement amount of the first multipath component includes at least one of the following:

[0061] Delay;

[0062] angle;

[0063] Doppler frequency;

[0064] strength;

[0065] The measurement amount of the second multipath component includes at least one of the following:

[0066] Delay;

[0067] angle;

[0068] Doppler frequency;

[0069] strength.

[0070] In conjunction with some embodiments of the first aspect, in some embodiments, determining the parameters of the perceived target according to the change information of the multipath component includes:

[0071] Determine the location information of the environmental target in the reference wireless channel, and determine the parameters of the perception target according to the change information of the multipath component and the location information of the environmental target.

[0072] In the above embodiment, when the position information of the environmental target in the reference wireless channel is known, the parameters of the perception target can be determined by combining the change information of the multipath component and the position information of the environmental target, thereby reducing the situation where the parameters of the perception target are determined based only on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination, and reducing the situation where the perception performance is inaccurate due to the change of the multipath component of the environmental target caused by the perception target, thereby improving the perception performance of the perception target.

[0073] In conjunction with some embodiments of the first aspect, in some embodiments, determining the parameters of the perception target based on the change information of the multipath component and the position information of the environmental target includes:

[0074] The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than an angle difference threshold, determining that the sensing target is located on a line connecting the first transmitting terminal and the first environmental target;

[0075] Determine parameters of the perception target according to the first multipath component, the first position information of the first environmental target, and the information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

[0076] In the above embodiment, when the perception target blocks the wireless signal of the first environmental target, the parameters of the perception target can be determined by combining the change information of the multipath component and the position information of the environmental target, thereby reducing the situation where the parameters of the perception target are determined only based on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination, and reducing the situation where the perception target causes the multipath component of the environmental target to change, resulting in inaccurate perception performance, thereby improving the perception performance of the perception target.

[0077] In conjunction with some embodiments of the first aspect, in some embodiments, determining the parameters of the perception target based on the change information of the multipath component and the position information of the environmental target includes:

[0078] The perception target blocks wireless signals of the first environmental target and the second environmental target, and the difference between the directional angles of the first multipath component and the second multipath component of the first environmental target is greater than an angle difference threshold, thereby determining that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; and the difference between the directional angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, thereby determining that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0079] Determine the parameters of the perception target based on the first multipath component, the first position information of the first environmental target, the second position information of the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0080] In the above embodiment, the wireless signals of the first environmental target and the second environmental target can be blocked at the perception target, and the parameters of the perception target can be determined by combining the change information of the multipath component and the position information of the environmental target. This reduces the situation where the parameters of the perception target are determined based only on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination. It also reduces the situation where the perception performance is inaccurate due to the change of the multipath component of the environmental target caused by the perception target, thereby improving the perception performance of the perception target.

[0081] In conjunction with some embodiments of the first aspect, in some embodiments, determining the parameters of the perception target based on the change information of the multipath component and the position information of the environmental target includes:

[0082] The perception target blocks wireless signals of the first environmental target and the second environmental target, and the difference between the directional angles of the first multipath component and the second multipath component of the first environmental target is greater than an angle difference threshold, thereby determining that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; and the difference between the directional angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, thereby determining that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0083] The parameters of the perception target are determined according to information that the perception target is located on a line connecting the first transmitting terminal and the second environmental target and information that the perception target is located on a line connecting the first receiving terminal and the first environmental target.

[0084] In the above embodiment, the wireless signals of the first environmental target and the second environmental target can be blocked at the perception target, and the parameters of the perception target can be determined by combining the change information of the multipath component and the position information of the environmental target. This reduces the situation where the parameters of the perception target are determined based only on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination. It also reduces the situation where the perception performance is inaccurate due to the change of the multipath component of the environmental target caused by the perception target, thereby improving the perception performance of the perception target.

[0085] In conjunction with some embodiments of the first aspect, in some embodiments, determining the parameters of the perception target based on the change information of the multipath component and the position information of the environmental target includes:

[0086] The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, the second multipath component of the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

[0087] Determine parameters of the perception target according to the first position information of the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

[0088] In the above embodiment, the wireless signals of the perception target and the first receiving terminal can be blocked at the first environmental target, and the parameters of the perception target can be determined by combining the change information of the multipath component and the position information of the environmental target. This reduces the situation where the parameters of the perception target are determined only based on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination. It also reduces the situation where the perception target causes the multipath component of the environmental target to change, resulting in inaccurate perception performance. This can improve the perception performance of the perception target.

[0089] In conjunction with some embodiments of the first aspect, in some embodiments, determining the parameters of the perception target based on the change information of the multipath component and the position information of the environmental target includes:

[0090] The first environmental target blocks the wireless signals of the sensing target and the transmitting terminal, and the multipath component of the sensing target changes, and it is determined that the sensing target is located on an extension line of the first transmitting terminal and the first environmental target;

[0091] Determine the parameters of the perception target based on the first position information of the first environmental target, the changing multipath component of the perception target, the multipath component reflected by the second transmitting terminal through the perception target, and the information that the perception target is located on the extension line of the first transmitting terminal and the first environmental target.

[0092] In the above embodiment, the wireless signals of the perception target and the transmitting terminal can be blocked at the first environmental target, and the parameters of the perception target can be determined by combining the change information of the multipath component and the position information of the environmental target. This reduces the situation where the parameters of the perception target are determined only based on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination. It also reduces the situation where the perception target causes the multipath component of the environmental target to change, resulting in inaccurate perception performance. This can improve the perception performance of the perception target.

[0093] In conjunction with some embodiments of the first aspect, in some embodiments, determining the parameters of the perception target based on the change information of the multipath component and the position information of the environmental target includes:

[0094] The sensing target blocks wireless signals of the first transmitting terminal and the first receiving terminal, and determines, based on the first multipath component and the second multipath component, that the sensing target is located on a line connecting the first transmitting terminal and the first receiving terminal;

[0095] Parameters of the perceived target are determined according to a multipath component reflected by the perceived target sent by the second receiving terminal and information that the perceived target is located on a line connecting the first transmitting terminal and the first receiving terminal.

[0096] In the above embodiment, the wireless signals of the first transmitting terminal and the first receiving terminal can be blocked when the perception target is being perceived, and the parameters of the perception target can be determined by combining the change information of the multipath component and the position information of the environmental target. This reduces the situation where the parameters of the perception target are determined based only on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination. It also reduces the situation where the perception performance is inaccurate due to the change of the multipath component of the environmental target caused by the perception target, thereby improving the perception performance of the perception target.

[0097] In conjunction with some embodiments of the first aspect, in some embodiments, determining the parameters of the perceived target according to the change information of the multipath component includes:

[0098] Determine parameters of a perceived target based on the first multipath component and the second multipath component.

[0099] In the above embodiment, when the position information of the environmental target in the reference wireless channel is unknown, the first multipath component and the second multipath component can be combined to determine the parameters of the perception target, thereby reducing the situation where the parameters of the perception target are determined only based on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination, and reducing the situation where the perception target causes the multipath component of the environmental target to change, resulting in inaccurate perception performance, thereby improving the perception performance of the perception target.

[0100] In conjunction with some embodiments of the first aspect, in some embodiments, determining a parameter of a perceived target based on the first multipath component and the second multipath component includes:

[0101] The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than an angle difference threshold, determining that the sensing target is located on a line connecting the first transmitting terminal and the first environmental target;

[0102] Parameters of the perception target are determined according to the first multipath component, the second multipath component, and information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

[0103] In conjunction with some embodiments of the first aspect, in some embodiments, determining a parameter of a perceived target based on the first multipath component and the second multipath component includes:

[0104] The sensing target blocks wireless signals of the first environmental target and the second environmental target, and a difference in direction angle between the first multipath component and the second multipath component of the first environmental target is greater than an angle difference threshold, determining that the sensing target is located on a line connecting the first transmitting terminal and the second environmental target;

[0105] The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and determining that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

[0106] Determine the parameters of the perception target based on the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0107] In conjunction with some embodiments of the first aspect, in some embodiments, determining a parameter of a perceived target based on the first multipath component and the second multipath component includes:

[0108] The sensing target blocks wireless signals of the first environmental target and the second environmental target, and determines that the sensing target is located on a line connecting the first transmitting terminal and the second environmental target based on a difference in direction angle between the first multipath component and the second multipath component of the first environmental target being greater than an angle difference threshold;

[0109] The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and determining that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

[0110] Determine the parameters of the perception target based on the first multipath component, the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0111] In conjunction with some embodiments of the first aspect, in some embodiments, determining a parameter of a perceived target based on the first multipath component and the second multipath component includes:

[0112] The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, and the second multipath component corresponding to the first environmental target changes, and it is determined that the sensing target is located on a line connecting the first transmitting terminal and the first environmental target;

[0113] Determine the parameters of the perception target according to the second multipath component corresponding to the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

[0114] In conjunction with some embodiments of the first aspect, in some embodiments, determining a parameter of a perceived target based on the first multipath component and the second multipath component includes:

[0115] Parameters of the perception target are determined according to a multipath component of a change of the perception target and a multipath component reflected by the perception target at a second transmitting terminal.

[0116] According to a second aspect of an embodiment of the present disclosure, a method for determining a perception target parameter is proposed, which is applied to a perception processing device. The method includes:

[0117] Receiving measurement information sent by the first receiving terminal, wherein the measurement information includes at least one of a first multipath component of a current wireless channel corresponding to a perceived target reflection, other changed second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to the reference wireless channel;

[0118] The measurement information is used to perform a sensing operation on the sensing target.

[0119] In the above embodiment, when receiving the measurement information sent by the first receiving terminal, the perception processing device can perform a perception operation on the perception target. When the processing entity of the position and characteristics of the perception target is located in the perception processing device, the perception operation can be performed on the perception target, thereby reducing the situation where the parameters of the perception target are determined only based on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination, and reducing the situation where the perception target causes the multipath component of the environmental target to change, resulting in inaccurate perception performance, thereby improving the perception performance of the perception target.

[0120] In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information to perform a perception operation on the perception target includes:

[0121] Determine the location information of the environmental target in the reference wireless channel, and perform a sensing operation on the sensing target using the measurement information and the location information of the environmental target.

[0122] In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information and the location information of the environmental object to perform a perception operation on the perception target includes:

[0123] The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than an angle difference threshold, determining that the sensing target is located on a line connecting the first transmitting terminal and the first environmental target;

[0124] Determine parameters of the perception target according to the first multipath component, the first position information of the first environmental target, and the information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

[0125] In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information and the location information of the environmental object to perform a perception operation on the perception target includes:

[0126] The perception target blocks wireless signals of the first environmental target and the second environmental target, and the difference between the directional angles of the first multipath component and the second multipath component of the first environmental target is greater than an angle difference threshold, thereby determining that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; and the difference between the directional angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, thereby determining that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0127] Determine the parameters of the perception target based on the first multipath component, the first position information of the first environmental target, the second position information of the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0128] In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information and the location information of the environmental object to perform a perception operation on the perception target includes:

[0129] The perception target blocks wireless signals of the first environmental target and the second environmental target, and the difference between the directional angles of the first multipath component and the second multipath component of the first environmental target is greater than an angle difference threshold, thereby determining that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; and the difference between the directional angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, thereby determining that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0130] The parameters of the perception target are determined according to information that the perception target is located on a line connecting the first transmitting terminal and the second environmental target and information that the perception target is located on a line connecting the first receiving terminal and the first environmental target.

[0131] In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information and the location information of the environmental object to perform a perception operation on the perception target includes:

[0132] The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, the second multipath component of the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

[0133] Determine parameters of the perception target according to the first position information of the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

[0134] In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information and the location information of the environmental object to perform a perception operation on the perception target includes:

[0135] The first environmental target blocks the wireless signals of the sensing target and the transmitting terminal, and the multipath component of the sensing target changes, and it is determined that the sensing target is located on an extension line of the first transmitting terminal and the first environmental target;

[0136] Determine the parameters of the perception target based on the first position information of the first environmental target, the changing multipath component of the perception target, the multipath component reflected by the second transmitting terminal through the perception target, and the information that the perception target is located on the extension line of the first transmitting terminal and the first environmental target.

[0137] In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information and the location information of the environmental object to perform a perception operation on the perception target includes:

[0138] The sensing target blocks wireless signals of the first transmitting terminal and the first receiving terminal, and determines, based on the first multipath component and the second multipath component, that the sensing target is located on a line connecting the first transmitting terminal and the first receiving terminal;

[0139] Parameters of the perceived target are determined according to a multipath component reflected by the perceived target sent by the second receiving terminal and information that the perceived target is located on a line connecting the first transmitting terminal and the first receiving terminal.

[0140] In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information to perform a perception operation on the perception target includes:

[0141] A sensing operation is performed on a sensing target according to the first multipath component and the second multipath component.

[0142] In conjunction with some embodiments of the second aspect, in some embodiments, performing a sensing operation on a sensing target according to the first multipath component and the second multipath component includes:

[0143] The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than an angle difference threshold, determining that the sensing target is located on a line connecting the first transmitting terminal and the first environmental target;

[0144] Parameters of the perception target are determined according to the first multipath component, the second multipath component, and information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

[0145] In conjunction with some embodiments of the second aspect, in some embodiments, performing a sensing operation on a sensing target according to the first multipath component and the second multipath component includes:

[0146] The sensing target blocks wireless signals of the first environmental target and the second environmental target, and a difference in direction angle between the first multipath component and the second multipath component of the first environmental target is greater than an angle difference threshold, determining that the sensing target is located on a line connecting the first transmitting terminal and the second environmental target;

[0147] The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and determining that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

[0148] Determine the parameters of the perception target based on the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0149] In conjunction with some embodiments of the second aspect, in some embodiments, performing a sensing operation on a sensing target according to the first multipath component and the second multipath component includes:

[0150] The sensing target blocks wireless signals of the first environmental target and the second environmental target, and determines that the sensing target is located on a line connecting the first transmitting terminal and the second environmental target based on a difference in direction angle between the first multipath component and the second multipath component of the first environmental target being greater than an angle difference threshold;

[0151] The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and determining that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

[0152] Determine the parameters of the perception target based on the first multipath component, the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0153] In conjunction with some embodiments of the second aspect, in some embodiments, performing a sensing operation on a sensing target according to the first multipath component and the second multipath component includes:

[0154] The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, and the second multipath component corresponding to the first environmental target changes, and it is determined that the sensing target is located on a line connecting the first transmitting terminal and the first environmental target;

[0155] Determine the parameters of the perception target according to the second multipath component corresponding to the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

[0156] In conjunction with some embodiments of the second aspect, in some embodiments, performing a sensing operation on a sensing target according to the first multipath component and the second multipath component includes:

[0157] Parameters of the perception target are determined according to a multipath component of a change of the perception target and a multipath component reflected by the perception target at a second transmitting terminal.

[0158] In conjunction with some embodiments of the second aspect, in some embodiments, the measurement amount of the first multipath component includes at least one of the following:

[0159] Delay;

[0160] angle;

[0161] Doppler frequency;

[0162] strength;

[0163] The measurement amount of the second multipath component includes at least one of the following:

[0164] Delay;

[0165] angle;

[0166] Doppler frequency;

[0167] strength.

[0168] In conjunction with some embodiments of the second aspect, in some embodiments, the reference wireless channel includes at least one of the following:

[0169] a wireless channel received by the first receiving terminal before a sensing target appears, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located and a wireless signal transmitted by the first transmitting terminal;

[0170] a wireless channel received by the first receiving terminal before the motion of the sensed target is detected, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located, a received wireless signal transmitted by the first transmitting terminal, and a wireless signal reflected before the motion of the sensed target is detected;

[0171] There are multiple perception targets, and the first receiving terminal receives a wireless channel, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in the area where the first receiving terminal is located, a received wireless signal transmitted by the first transmitting terminal, and wireless signals reflected by the remaining perception targets, and the remaining perception targets are the perception targets other than the focus perception target among the multiple perception targets.

[0172] According to a third aspect of an embodiment of the present disclosure, a first receiving terminal is provided, wherein the first receiving terminal includes:

[0173] a processing module, configured to determine change information of multipath components based on a current wireless channel and a reference wireless channel; wherein the multipath components include a first multipath component corresponding to a perceived target reflection of the current wireless channel and other changed second multipath components;

[0174] The processing module is further configured to determine parameters of a perception target based on the change information of the multipath components.

[0175] According to a fourth aspect of an embodiment of the present disclosure, a perception processing device is provided, the perception processing device including:

[0176] a transceiver module, configured to receive measurement information sent by a first receiving terminal, wherein the measurement information includes at least one of a first multipath component of a current wireless channel corresponding to a perceived target reflection, other changed second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to the reference wireless channel;

[0177] The processing module is used to use the measurement information to perform a sensing operation on the sensing target.

[0178] According to a fifth aspect of an embodiment of the present disclosure, a first receiving terminal is provided, characterized by comprising:

[0179] one or more processors;

[0180] The first receiving terminal is used to execute the perception target parameter determination method described in any one of the first aspects.

[0181] According to a sixth aspect of an embodiment of the present disclosure, a perception processing device is provided, characterized by comprising:

[0182] one or more processors;

[0183] The perception processing device is used to execute the perception target parameter determination method described in any one of the second aspects.

[0184] According to the seventh aspect of an embodiment of the present disclosure, a communication system is proposed, comprising a first receiving terminal and a perception processing device, wherein the first receiving terminal is configured to implement the perception target parameter determination method described in any one of the first aspects and the perception processing device is configured to implement the perception target parameter determination method described in any one of the second aspects.

[0185] According to the eighth aspect of an embodiment of the present disclosure, a storage medium is proposed, which stores instructions. When the instructions are executed on a communication device, the communication device executes the perception target parameter determination method as described in any one of the first aspect or the perception target parameter determination method as described in any one of the second aspect.

[0186] The present disclosure provides a method for determining a perception target parameter and a method for determining a perception target parameter. In some embodiments, the terms "method for determining a perception target parameter" and "method for determining a perception target parameter" are interchangeable with information processing methods and communication methods; the terms "device for determining a perception target parameter" and "device for determining a perception target parameter" are interchangeable with information processing devices and communication devices; and the terms "information processing system" and "communication system" are interchangeable.

[0187] The embodiments of the present disclosure are not exhaustive and are merely illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined. For example, some or all steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0188] 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.

[0189] 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.

[0190] 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.

[0191] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0192] In some embodiments, the terms "at least one," "one or more," "a plurality of," "multiple," etc. may be used interchangeably.

[0193] In some embodiments, descriptions such as "at least one of A and B," "A and / or B," "A in one case, B in another case," or "in response to one case A, in response to another case B" may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); and in some embodiments, A and B (both A and B are executed). The above is also applicable when there are more branches such as A, B, and C.

[0194] In some embodiments, "A or B" and other descriptions may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). The above is also applicable when there are more branches such as A, B, C, etc.

[0195] The prefixes such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different description objects and do not constitute any restriction on the position, order, priority, quantity or content of the description objects. For the statement of the description object, please refer to the description in the context of the claims or embodiments, and no unnecessary restriction should be constituted due to the use of prefixes. For example, if the description object is a "field", the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields". "First" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the description object is a "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the number of description objects is not limited by the ordinal number and can be one or more. Taking "first device" as an example, the number of "devices" can be one or more. In addition, the objects modified by different prefixes can be the same or different. For example, if the description object is "device", then the "first device" and the "second device" can be the same device or different devices, and their types can be the same or different; for another example, if the description object is "information", then the "first information" and the "second information" can be the same information or different information, and their contents can be the same or different.

[0196] 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.

[0197] 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.

[0198] 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.

[0199] In some embodiments, devices and equipment can be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. In some cases, they can also be understood as "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", "subject", etc.

[0200] In some embodiments, "network" can be interpreted as devices included in the network, such as access network equipment, core network equipment, etc.

[0201] In some embodiments, "access network device (AN device)" may also be referred to as "radio access network device (RAN device)", "base station (BS)", "radio base station", "fixed station", and in some embodiments may also be understood as "node", "access point", "transmission point (TP)", "reception point (RP)", "transmission and / or reception point (TRP)" "panel", "antenna panel", "antenna array", "cell", "macro cell", "small cell", "femto cell", "pico cell", "sector", "cell group", "serving cell", "carrier", "component carrier", "bandwidth part (BWP)", etc.

[0202] In some embodiments, "terminal" or "terminal device" may be referred to as "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.

[0203] In some embodiments, obtaining data, information, etc. may comply with the laws and regulations of the country where the data is obtained.

[0204] In some embodiments, data, information, etc. may be obtained with the user's consent.

[0205] 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.

[0206] FIG1 is a schematic diagram illustrating the architecture of a communication system according to an embodiment of the present disclosure. As shown in FIG1 , a communication system 100 includes a terminal 101 and a network device 102 .

[0207] In some embodiments, the terminal 101 includes, for example, a mobile phone, a wearable device, an Internet of Things device, a car with communication function, a smart car, a tablet computer, a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, and at least one of a wireless terminal device in a smart home, but is not limited thereto.

[0208] In some embodiments, the network device 102 may include, for example, at least one of an access network device and a core network device.

[0209] In some embodiments, the access network device is, for example, a node or device that accesses a terminal to a wireless network. The access network device may include an evolved NodeB (eNB), a next generation evolved NodeB (ng-eNB), a next generation NodeB (gNB), a node B (NB), a home node B (HNB), a home evolved nodeB (HeNB), a wireless backhaul device, a radio network controller (RNC), a base station controller (BSC), a base transceiver station (BTS), a base band unit (BBU), a mobile switching center, a network device in a sixth generation mobile networks (6G) communication system, an open network device (Open RAN), a cloud network device (Cloud RAN), a network device in other communication systems, and at least one of an access node in a Wi-Fi system, but is not limited thereto.

[0210] In some embodiments, the technical solution of the present disclosure can be applied to the Open RAN architecture. In this case, the interfaces between or within the access network devices involved in the embodiments of the present disclosure can be transformed into internal interfaces of the Open RAN, and the processes and information interactions between these internal interfaces can be implemented through software or programs.

[0211] In some embodiments, the access network device can be composed of a centralized unit (CU) and a distributed unit (DU), where the CU can also be called a control unit. The CU-DU structure can be used to split the protocol layer of the access network device, with the functions of some protocol layers centrally controlled by the CU, and the functions of the remaining part or all of the protocol layers distributed in the DU, which is centrally controlled by the CU, but is not limited to this.

[0212] In some embodiments, a core network device may be a device including one or more network elements, or may be multiple devices or device groups, each including all or part of the one or more network elements. The network element may be virtual or physical. The core network may include, for example, at least one of an Evolved Packet Core (EPC), a 5G Core Network (5GCN), and a Next Generation Core (NGC).

[0213] In some embodiments, the core network device may be a single device including a first network element, a second network element, etc., or may be a plurality of devices or a group of devices, each including all or part of the first network element, the second network element, etc. The network element may be virtual or physical. The core network may include, for example, at least one of an evolved packet core (EPC), a 5G core network (5GCN), and a next generation core (NGC).

[0214] In some embodiments, the first network element is, for example, a Policy Control Function (PCF).

[0215] In some embodiments, the first network element is used to "support a unified policy framework to manage network behavior, provide policy rules to network entities for implementation, and access subscription information of a unified data repository (UDR)", and the name is not limited thereto.

[0216] In some embodiments, the second network element is, for example, a unified data management function (UDM).

[0217] In some embodiments, the second network element is used to "be responsible for the management of user identification, subscription data, authentication data, and service network element registration management of the user", and the name is not limited to this.

[0218] In some embodiments, the third network element is, for example, an authentication service function (AUSF).

[0219] In some embodiments, the third network element is used to "receive a request from the access and mobility management function (AMF) to authenticate the terminal, request a key from the UDM, and then forward the key issued by the UDM to the AMF for authentication processing." The name is not limited to this.

[0220] In some embodiments, the third network element may be independent of the core network device.

[0221] In some embodiments, the third network element may be part of a core network device.

[0222] 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.

[0223] The following embodiments of the present disclosure may be applied to the communication system 100 shown in FIG1 , or a portion thereof, but are not limited thereto. The entities shown in FIG1 are illustrative only. The communication system may include all or part of the entities shown in FIG1 , or may include other entities outside of FIG1 . The number and form of the entities are arbitrary, and the entities may be physical or virtual. The connection relationships between the entities are illustrative only. The entities may be connected or disconnected, and the connection may be in any manner, including direct or indirect, wired or wireless.

[0224] The embodiments of the present disclosure can be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3B, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G new radio (NR), future radio access (FRA), new radio access technology (RAT), new radio (NR), new radio access (NX), future generation radio access (FX), Global System for Mobile Communications (GSM (registered trademark)), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.20, Ultra-WideBand (UWB), Bluetooth (registered trademark), Public Land Mobile Network (PLMN) networks, Device-to-Device (D2D) systems, Machine-to-Machine (M2M) systems, Internet of Things (IoT) systems, Vehicle-to-Everything (V2X), systems utilizing other communication methods, and next-generation systems based on and extending these methods. Furthermore, multiple systems may be combined (for example, a combination of LTE or LTE-A with 5G).

[0225] In some embodiments, for example, direct measurements can be performed based on wireless signals transmitted by a sensing target to obtain information such as the time delay, angle, and Doppler frequency of multipath components, thereby determining the location and other parameters of the sensing target. However, the sensing target can cause changes in the environmental multipath components, such as due to the presence or movement of the sensing target, resulting in poor accuracy in determining the sensing target information.

[0226] Figure 2 is a schematic diagram illustrating an example of a perception target influencing an environment, provided by an embodiment of the present disclosure. TX1 represents a transmitter, RX represents a receiver, E, E1, E2, E3, and E4 represent environmental targets, and T1, T2, T3, and T4 represent perception targets. The mutual influence between perception targets and environmental targets may include one or more of the following:

[0227] (1) The presence or movement of a sensing target can block or weaken the wireless signal from a transmitter to an environmental target, causing the target to become invisible or the signal to become weaker at the receiver. For example, in Figure 2, the wireless signal from transmitter TX to environmental target E1 is blocked by sensing target T1.

[0228] (2) The presence and movement of sensing targets may block or weaken the wireless signal reflected from an environmental target to the receiver, causing the environmental target to be invisible at the receiver or the signal to be weak. For example, the wireless signal from environmental target E2 to receiver RX in Figure 2 is blocked by sensing target T1.

[0229] (3) Due to the presence or movement of a sensing target, an environmental target may block or weaken the wireless signal from the transmitter to the sensing target, causing the sensing target to be invisible at the receiver or the signal to be weak. For example, in Figure 2, the wireless signal from transmitter TX to sensing target T2 is blocked by environmental target E3.

[0230] (4) Due to the presence and movement of a sensing target, an environmental target may block or weaken the wireless signal reflected from the sensing target to the receiver, causing the sensing target to be invisible at the receiver or the signal to be weakened. For example, the wireless signal reflected from sensing target T3 to receiver RX in Figure 2 is blocked by environmental target E4.

[0231] (5) The appearance and movement of the sensing target may block or weaken the wireless signal from the transmitter to the receiver, that is, the receiver finds that the transmitter's direct path (LOS) is invisible or the signal is weakened. For example, the direct path of the wireless signal from transmitter TX to receiver RX in Figure 2 is blocked by sensing target T4. In fact, this situation also affects the wireless signal reflected by the sensing target at the receiver. Because the transmitter's wireless signal is blocked or weakened by the sensing target, the signal reflected from the sensing target to the receiver also disappears or weakens accordingly, that is, the sensing target becomes invisible or the signal is weakened at the receiver.

[0232] (6) As the sensing target moves, the wireless signal reflected from the sensing target to the receiver changes. For example, its multipath component at the previous moment disappears or weakens, and a new multipath component is generated. For example, when sensing target T1 moves to position T1', the original reflected multipath component disappears, and a new reflected multipath component is generated.

[0233] (7) Due to the presence and movement of sensing targets, some of the wireless signals reflected by the sensing targets may reach certain environmental targets, causing the wireless signal reflected from the environmental targets to become stronger. Here, because the path from the transmitter to the sensing target to the environmental target is not a direct path, that is, its delay is greater than the direct path from the transmitter to the environmental target, the receiver can discern the increased wireless signal from the delay characteristics.

[0234] (8) The wireless signal of the environmental target E at the receiver RX is not affected by the sensing target

[0235] (9) The wireless signal of the sensing target T1 at the receiver RX is not affected by the environmental targets.

[0236] The following describes in detail a method, apparatus, device, and storage medium for determining perception target parameters provided by an embodiment of the present disclosure with reference to the accompanying drawings.

[0237] FIG3A is a schematic diagram illustrating an example of a method for determining a perception target parameter provided by an embodiment of the present disclosure. As shown in FIG3A , the method may include the following steps:

[0238] Step S3101: The first transmitting terminal transmits a wireless signal;

[0239] In one embodiment of the present disclosure, the first transmitting terminal may be, for example, a terminal that transmits wireless signals. The name of the first transmitting terminal is not limited. For example, the first transmitting terminal may also be referred to as a "first transmitter".

[0240] For example, in one embodiment of the present disclosure, the technical solution of the embodiment of the present disclosure can be applied to indoor scenes or outdoor scenes.

[0241] Step S3102: The first receiving terminal determines change information of multipath components based on the current wireless channel and the reference wireless channel; wherein the multipath components include a first multipath component corresponding to the perceived target reflection of the current wireless channel and other changed second multipath components;

[0242] In one embodiment of the present disclosure, the first receiving terminal may, for example, measure a first multipath component of the current wireless channel corresponding to the perceived target reflection. The first receiving terminal may, for example, perform multiple measurement operations.

[0243] In one embodiment of the present disclosure, the reference wireless channel includes at least one of the following:

[0244] a wireless channel received by the first receiving terminal before a sensing target appears, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located and a wireless signal transmitted by the first transmitting terminal;

[0245] a wireless channel received by the first receiving terminal before the target motion is sensed, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located, a received wireless signal transmitted by the first transmitting terminal, and a wireless signal reflected before the target motion is sensed;

[0246] There are multiple perception targets and wireless channels received by the first receiving terminal, wherein the wireless channels include at least one of wireless signals reflected by environmental targets in the area where the first receiving terminal is located, wireless signals received from the first transmitting terminal, and wireless signals reflected by remaining perception targets, and the remaining perception targets are perception targets other than the focus perception target among the multiple perception targets.

[0247] In one embodiment of the present disclosure, the reference wireless channel includes a wireless channel received by the first receiving terminal before a perception target appears, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located and a wireless signal transmitted by the received first transmitting terminal.

[0248] In one embodiment of the present disclosure, the reference wireless channel includes a wireless channel received by the first receiving terminal before the perceived target moves, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in the area where the first receiving terminal is located, a received wireless signal transmitted by the first transmitting terminal, and a wireless signal reflected before the perceived target moves.

[0249] In one embodiment of the present disclosure, the reference wireless channel includes a wireless channel received by a first receiving terminal in the presence of multiple perception targets, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located, a received wireless signal transmitted by the first transmitting terminal, and wireless signals reflected by remaining perception targets, and the remaining perception targets are perception targets other than the focus perception target among the multiple perception targets.

[0250] For example, in one embodiment of the present disclosure, as shown in Figure 2, the multiple sensing targets may include T1, T2, T3, and T4. For example, when the sensing target of interest is T1, the reference wireless channel may include wireless signals reflected by sensing targets T2, T3, and T4.

[0251] The measurement amount of the first multipath component includes at least one of the following:

[0252] Delay;

[0253] angle;

[0254] Doppler frequency;

[0255] strength;

[0256] The measurement amount of the second multipath component includes at least one of the following:

[0257] Delay;

[0258] angle;

[0259] Doppler frequency;

[0260] strength.

[0261] In one embodiment of the present disclosure, the measurement quantity of the first multipath component includes a time delay.

[0262] In one embodiment of the present disclosure, the measurement quantity of the first multipath component includes an angle.

[0263] In one embodiment of the present disclosure, the measurement quantity of the first multipath component includes a Doppler frequency.

[0264] In one embodiment of the present disclosure, the measurement quantity of the first multipath component includes intensity.

[0265] In one embodiment of the present disclosure, the measurement quantity of the second multipath component includes a time delay.

[0266] In one embodiment of the present disclosure, the measurement quantity of the second multipath component includes an angle.

[0267] In one embodiment of the present disclosure, the measurement quantity of the second multipath component includes a Doppler frequency.

[0268] In one embodiment of the present disclosure, the measurement quantity of the second multipath component includes intensity.

[0269] Step S3103: The first receiving terminal determines parameters of the perception target according to the change information of the multipath component.

[0270] For example, in one embodiment of the present disclosure, the parameter determination subject of the perception target of the embodiment of the present disclosure can be, for example, a first receiving terminal, and the first receiving terminal can, for example, receive measurement information sent by the remaining receiving terminals. The measurement information can, for example, include at least one of a first multipath component, a second multipath component, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to the reference wireless channel.

[0271] For example, in one embodiment of the present disclosure, when a target is detected to appear or move, the first receiving terminal detects change information of a multipath component of a wireless signal received by the first receiving terminal.

[0272] For example, in one embodiment of the present disclosure, the change information of the multipath component includes at least one of the following:

[0273] Directly receive the multipath component reflected by the corresponding sensing target of the current wireless channel;

[0274] Other changing multipath components except the multipath components directly received from the current wireless channel and reflected by the corresponding perceived target.

[0275] For example, in one embodiment of the present disclosure, the multipath component change information includes a multipath component directly received from a corresponding sensing target on the current wireless channel. For example, the multipath component may be a multipath component from transmitter TX1 to receiver RX via sensing target T1 in FIG2 .

[0276] For example, in one embodiment of the present disclosure, the change information of the multipath component includes change information of the multipath component of the environmental target at the first receiving terminal caused by the appearance or movement of the perceived target.

[0277] For example, in one embodiment of the present disclosure, the change information of the multipath component includes change information of the multipath component at the first receiving terminal caused by the appearance or movement of the perceived target.

[0278] For example, in one embodiment of the present disclosure, the method further includes at least one of the following:

[0279] When the absolute strength of a multipath component received by the first receiving terminal decreases to a first threshold, it is determined that the multipath component received by the first receiving terminal is a multipath component with a multipath component change;

[0280] If a difference between the strength of any one of the multiple multipath components received by the first receiving terminal and the strength of the strongest multipath component among the multiple multipath components is greater than a second threshold, it is determined that any one of the multiple multipath components is a multipath component with a multipath component change.

[0281] In one embodiment of the present disclosure, the first threshold value does not specifically refer to a fixed threshold value. The first value in the first threshold value is used to distinguish it from the second threshold value. The second value in the second threshold value is used to distinguish it from the first threshold value. The first threshold value and the second threshold value may, for example, be predefined, semi-statically configured, or dynamically indicated. This embodiment of the present disclosure does not limit this.

[0282] For example, in one embodiment of the present disclosure, the first threshold value may be, for example, threshold A, and the second threshold value may be, for example, threshold B. Specifically, for a multipath component received by the first receiving terminal, if its absolute strength decreases below threshold A, the first receiving terminal may determine that the multipath component is a multipath component affected by the presence or motion of a perceived target. For a multipath component received by the first receiving terminal, if the difference between the strength of the multipath component and the strength of the strongest multipath component received by the first receiving terminal is greater than threshold B, the first receiving terminal may determine that the multipath component is a multipath component affected by the presence or motion of a perceived target.

[0283] For example, in one embodiment of the present disclosure, the method further includes:

[0284] When the absolute strength of a multipath component received by the first receiving terminal decreases to a first threshold, it is determined that the multipath component received by the first receiving terminal is a multipath component with a multipath component change.

[0285] For example, in one embodiment of the present disclosure, the method further includes:

[0286] If a difference between the strength of any one of the multiple multipath components received by the first receiving terminal and the strength of the strongest multipath component among the multiple multipath components is greater than a second threshold, it is determined that any one of the multiple multipath components is a multipath component with a multipath component change.

[0287] In one embodiment of the present disclosure, determining, based on the first multipath component and the second multipath component, the change information of the multipath component and the parameters of the perceived target includes:

[0288] Determine location information of an environmental target in a reference wireless channel, and determine parameters of the perceived target based on the first multipath component and the second multipath component.

[0289] In one embodiment of the present disclosure, the location information of the environmental target in the reference wireless channel may be determined, and the first receiving terminal may determine the corresponding relationship between the multipath components of the reference wireless channel and the environmental target. Alternatively, based on sensing the reference wireless channel, the first receiving terminal may determine the environmental target and its location in the area to which the first receiving terminal belongs, and establish the corresponding relationship between the multipath components of the reference wireless channel and the environmental target.

[0290] In one embodiment of the present disclosure, based on the current wireless channel and the reference wireless channel, when a perceived target appears or moves, the receiver detects changes in the multipath components of the wireless signal it receives. These changed multipath components are associated with the perceived target and / or environmental targets. For example, the receiver can measure the multipath components of the current wireless channel and compare them with the multipath components measured based on the reference wireless channel to determine the changed multipath components and their associated environmental targets. The new multipath components are directly associated with the perceived target.

[0291] For example, in one embodiment of the present disclosure, for multiple situations in FIG2 , the first receiving terminal can determine the positional relationship between the sensing target and the transmitter, the environmental target, and / or the first receiving terminal based on the first multipath component and the second multipath component. For example:

[0292] For situation (1) in FIG2 , combined with other information, it can be determined that the sensing target T1 is located on the line connecting the transmitter TX to the environmental target E1.

[0293] For situation (2) in FIG2 , combined with other information, it can be determined that the sensing target T1 is located on the line connecting the environmental target E2 to the receiver RX.

[0294] For situation (3) in Figure 2, it can be determined that the sensing target T2 is located on the extension line from the transmitter TX to the environmental target E3.

[0295] For situation (4) in FIG2 , it can be determined that the sensing target T3 is located on the extension line from the receiver RX to the environmental target E4.

[0296] For situation (5) in FIG2 , it can be determined that the sensing target T3 is located on the line connecting the transmitter TX to the receiver RX.

[0297] For case (6) in FIG2 , as the perceived target moves, the original multipath component and the new multipath component of the perceived target can be used for joint perception.

[0298] For example, in one embodiment of the present disclosure, the location information of the environmental target, the positional relationship between the perception target and the transmitter, the environmental target and / or the first receiving terminal can be jointly determined together with the multipath component measured by the wireless signal directly reflected by the perception target to determine the location and other parameters of the perception target.

[0299] For example, in one embodiment of the present disclosure, determining parameters of a perception target based on change information of multipath components and location information of an environmental target includes:

[0300] The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than the angle difference threshold, thereby determining that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

[0301] Parameters of the perception target are determined according to the first multipath component, the first position information of the first environmental target, and the information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

[0302] Furthermore, in one embodiment of the present disclosure, FIG4A is a schematic diagram illustrating an example of an assisted sensing operation for environmental target changes provided by the present disclosure. As shown in FIG4A , the first receiving terminal may be, for example, an RX. The first transmitting terminal may be, for example, a TX. As the sensing target reflects a wireless signal to the first receiving terminal, the first receiving terminal may measure the multipath components reflected by the sensing target. These multipath components have different delays, azimuths, and / or Doppler frequencies, for example, different delays, azimuths, and / or Doppler frequencies from those corresponding to the multipath components of the wireless signal reflected by the environmental target in a reference wireless channel. When sensing target T blocks the wireless signal of environmental target E, the first receiving terminal may determine that environmental target E has disappeared or that the signal strength has decreased by more than a first threshold. Therefore, because the azimuths of the new multipath components introduced by the sensing target differ from those of the components of environmental target E (for example, the difference between the azimuths of the new multipath components introduced by the sensing target and the azimuths of the multipath components of environmental target E is greater than an angle difference threshold), it can be determined that the sensing target is located on the line connecting TX and environmental target E, which can be used to assist sensing operations for sensing target T. Based on the measurement of the multipath component reflected by the sensing target T, the position information of the environmental target E, and the information that the sensing target T is located on the line connecting TX to the environmental target E, the first receiving terminal can determine parameters such as the position of the sensing target T.

[0303] For example, in one embodiment of the present disclosure, determining parameters of a perception target based on change information of multipath components and location information of an environmental target includes:

[0304] The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the directional angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, thereby determining that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; and the difference between the directional angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, thereby determining that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0305] Determine the parameters of the perception target based on the first multipath component, the first position information of the first environmental target, the second position information of the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0306] For example, in one embodiment of the present disclosure, determining parameters of a perception target based on change information of multipath components and location information of an environmental target includes:

[0307] The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the directional angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, thereby determining that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; and the difference between the directional angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, thereby determining that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0308] Parameters of the perception target are determined according to information that the perception target is located on a line connecting the first transmitting terminal and the second environmental target and information that the perception target is located on a line connecting the first receiving terminal and the first environmental target.

[0309] Furthermore, in one embodiment of the present disclosure, FIG4B is a schematic diagram illustrating an example of an assisted sensing operation for environmental target changes provided by an embodiment of the present disclosure. As shown in FIG4B , the first receiving terminal may be, for example, RX. The first transmitting terminal may be, for example, TX. As the sensing target reflects wireless signals to the first receiving terminal, the first receiving terminal may measure multipath components reflected by the sensing target. These multipath components have different delays, azimuths, and / or Doppler frequencies, for example, they may differ from the delays, azimuths, and / or Doppler frequencies corresponding to the reference wireless channel. Sensing target T blocks the wireless signals of environmental targets E1 and E2. The first receiving terminal may determine that environmental targets E1 and E2 have disappeared or their signal strengths have decreased by more than a first threshold. Therefore, because the azimuths of the new multipath components introduced by the sensing target differ from those of the multipath components of environmental target E2 (for example, the difference between the azimuths of the new multipath components introduced by the sensing target and those of the multipath components of environmental target E2 is greater than an angle difference threshold), the sensing target may be determined to be located on the line connecting TX and environmental target E2. Since the azimuth angle of the new multipath component introduced by the sensing target is the same as or similar to the azimuth angle of the multipath component of the environmental target E, for example, the difference between the azimuth angle of the new multipath introduced by the sensing target and the azimuth angle of the multipath of the environmental target E1 is less than the angle difference threshold, it can be determined that the sensing target is located on the line connecting RX and the environmental target E1, and these two lines can be used to assist in the sensing operation for the sensing target T. Specifically, based on these two lines, for example, the sensing operation for the sensing target T can be completed. Furthermore, based on the measurement of the multipath component reflected by the sensing target, the position information of the environmental target E, the information that the sensing target is located on the line connecting RX and the environmental target E1, and that the sensing target T is located on the line connecting TX and the environmental target E2, the first receiving terminal can determine parameters such as the position of the sensing target T.

[0310] For example, in one embodiment of the present disclosure, determining parameters of a perception target based on change information of multipath components and location information of an environmental target includes:

[0311] The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, the second multipath component of the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

[0312] Parameters of the perception target are determined according to the first position information of the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and the information that the perception target is located on the line connecting the first transmitting terminal and the first environmental target.

[0313] Furthermore, in one embodiment of the present disclosure, FIG4C is a schematic diagram illustrating an example of an auxiliary sensing operation for environmental target changes provided by the embodiment of the present disclosure. As shown in FIG4C , the first receiving terminal may be, for example, RX1. The second receiving terminal may be, for example, RX2. The first transmitting terminal may be, for example, TX. Due to the influence of obstacles, there is no direct path between receiver RX1 and the sensed target. However, when the sensed target is absent, receiver RX1 can receive the reflected signal from environmental target E. When the sensed target appears, it blocks the wireless signal from environmental target E. Accordingly, the receiver detects that environmental target E has disappeared or that the signal strength has decreased by more than a first threshold. The first receiving terminal can determine that the sensed target is located on the line connecting transmitter TX and environmental target E. By jointly processing this line information, the location information of environmental target E, and the measured values ​​of the multipath components reflected from the sensed target received by other receivers RX2, the first receiving terminal can determine parameters such as the location of the sensed target.

[0314] For example, in one embodiment of the present disclosure, determining parameters of a perception target based on change information of multipath components and location information of an environmental target includes:

[0315] The first environmental target blocks the wireless signals of the sensing target and the transmitting terminal, and the multipath component of the sensing target changes, so that the sensing target is determined to be located on an extension line between the first transmitting terminal and the first environmental target.

[0316] Parameters of the perception target are determined according to the first position information of the first environmental target, the multipath component of the second transmitting terminal reflected by the perception target, and the information that the perception target is located on the extension line of the first transmitting terminal and the first environmental target.

[0317] Furthermore, in one embodiment of the present disclosure, FIG4D is a schematic diagram illustrating an example of an auxiliary sensing operation for environmental target changes provided by an embodiment of the present disclosure. As shown in FIG4D , the first receiving terminal may be, for example, RX. The first transmitting terminal may be, for example, TX1. The second transmitting terminal may be, for example, TX2. Through continuous sensing operations, such as continuous measurement operations, when the sensing target T moves behind the environmental target E, the receiver RX determines that the sensing target T disappears or the signal strength decreases by more than a first threshold. The receiver RX can determine that the sensing target T is located on an extension line between the transmitter TX and the environmental target E. By jointly processing this extension line information, the location information of the environmental target E, and the measurement values ​​of the multipath components reflected by the sensing target T from other transmitters TX2, the first receiving terminal can determine parameters such as the location of the sensing target T.

[0318] For example, in one embodiment of the present disclosure, determining parameters of a perception target based on change information of multipath components and location information of an environmental target includes:

[0319] The sensing target blocks wireless signals of the first transmitting terminal and the first receiving terminal, and determines, based on the first multipath component and the second multipath component, that the sensing target is located on a line connecting the first transmitting terminal and the first receiving terminal;

[0320] Parameters of the perceived target are determined according to the multipath component reflected by the perceived target and information sent by the second receiving terminal that the perceived target is located on a line connecting the first transmitting terminal and the first receiving terminal.

[0321] Furthermore, in one embodiment of the present disclosure, FIG4E is a schematic diagram illustrating an example of an auxiliary sensing operation for environmental target changes provided by an embodiment of the present disclosure. As shown in FIG4E , the first receiving terminal may be, for example, RX1. The second receiving terminal may be, for example, RX2. The first transmitting terminal may be, for example, TX. When the sensing target T is not present, the receiver RX1 may receive the LOS path of the transmitter TX. When the sensing target T appears, it blocks the wireless signal of the transmitter TX. Accordingly, the receiver RX1 determines that the transmitter TX has disappeared or that the signal strength has decreased by more than a first threshold. The receiver RX1 may determine that the sensing target T is located on the line connecting the transmitter TX and the receiver RX1. By jointly processing this line information with the measurement value of the multipath component reflected by the sensing target T received by the other receiver RX2, the receiver RX1 may determine the location and other parameters of the sensing target T.

[0322] For example, in one embodiment of the present disclosure, determining parameters of a perceived target based on change information of multipath components includes:

[0323] Parameters of a perceived target are determined according to the first multipath component and the second multipath component.

[0324] In one embodiment of the present disclosure, the location information of the environmental target in the reference wireless channel may be, for example, undetermined, i.e., the actual location of the environmental target is unknown. The first receiving terminal may jointly process the perceived target and the environmental target to improve the accuracy of parameter determination of the perceived target.

[0325] In one embodiment of the present disclosure, based on the current wireless channel and the reference wireless channel, when a perceived target appears or moves, the first receiving terminal can detect changes in the multipath components of the wireless signal it receives. This multipath component change information reflects the interaction between the perceived target and related environmental objects. For example, the first receiving terminal can measure the multipath components of the current wireless channel and compare them with the multipath components measured based on the reference wireless channel to determine the changed multipath components.

[0326] For example, in one embodiment of the present disclosure, for multiple situations in FIG2 , the first receiving terminal can determine the positional relationship between the sensing target and the transmitter, the environmental target, and / or the first receiving terminal based on the first multipath component and the second multipath component. For example:

[0327] For situation (1) in FIG2 , combined with other information, it can be determined that the sensing target T1 is located on the line connecting the transmitter TX to the environmental target E1.

[0328] For situation (2) in FIG2 , combined with other information, it can be determined that the sensing target T1 is located on the line connecting the environmental target E2 to the receiver RX.

[0329] For situation (3) in Figure 2, it can be determined that the sensing target T2 is located on the extension line from the transmitter TX to the environmental target E3.

[0330] For situation (4) in FIG2 , it can be determined that the sensing target T3 is located on the extension line from the receiver RX to the environmental target E4.

[0331] For situation (5) in FIG2 , it can be determined that the sensing target T3 is located on the line connecting the transmitter TX to the receiver RX.

[0332] For case (6) in FIG2 , as the perceived target moves, the original multipath component and the new multipath component of the perceived target can be used for joint perception.

[0333] For example, in one embodiment of the present disclosure, the positional relationship between the perceived target and the transmitter, environmental objects, and / or the first receiving terminal can be combined with multipath components measured for wireless signals directly reflected from the perceived target to determine the position and other parameters of the perceived target. These other parameters may include, for example, velocity.

[0334] For example, in one embodiment of the present disclosure, determining a parameter of a perceived target based on a first multipath component and a second multipath component includes:

[0335] The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than the angle difference threshold, thereby determining that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

[0336] Parameters of the perceived target are determined according to the first multipath component, the second multipath component, and information that the perceived target is located on a line connecting the first transmitting terminal and the first environmental target.

[0337] Furthermore, in one embodiment of the present disclosure, as shown in FIG4A , if the multipath components of an environmental target E change and the sensing target T is located on the line connecting the transmitter and the environmental target E, this can be used to assist in sensing the sensing target T. For example, based on the measurement of the multipath components reflected by the sensing target T, the changed multipath components, and the information that the sensing target T is located on the line connecting the transmitter and the environmental target E, parameters such as the location of the sensing target T can be determined.

[0338] For example, in one embodiment of the present disclosure, determining a parameter of a perceived target based on a first multipath component and a second multipath component includes:

[0339] The sensing target blocks wireless signals of the first environmental target and the second environmental target, and a difference in direction angle between the first multipath component and the second multipath component of the first environmental target is greater than an angle difference threshold, thereby determining that the sensing target is located on a line connecting the first transmitting terminal and the second environmental target;

[0340] The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

[0341] Determine the parameters of the perception target based on the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0342] For example, in one embodiment of the present disclosure, determining a parameter of a perceived target based on a first multipath component and a second multipath component includes:

[0343] The sensing target blocks wireless signals of the first environmental target and the second environmental target, and determines that the sensing target is located on a line connecting the first transmitting terminal and the second environmental target based on a difference in direction angle between the first multipath component and the second multipath component of the first environmental target being greater than an angle difference threshold;

[0344] The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

[0345] Determine the parameters of the perception target based on the first multipath component, the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0346] Furthermore, in one embodiment of the present disclosure, as shown in FIG4B , the multipath components of environmental targets E1 and E2 change, and the sensing target T is located on the line connecting the transmitter and environmental target E2, and on the line connecting environmental target E1 to the receiver. The above two line information can be used to assist in the sensing operation of the sensing target T. The sensing operation of the sensing target T can be completed based on the changing multipath components and the information of the above two lines. To improve accuracy, the sensing processing device can determine parameters such as the location of the sensing target T based on the measurement of the multipath components reflected by the sensing target T, the changing multipath components, and the information of the two lines.

[0347] For example, in one embodiment of the present disclosure, determining a parameter of a perceived target based on a first multipath component and a second multipath component includes:

[0348] The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, and the second multipath component corresponding to the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

[0349] Parameters of the perception target are determined according to the second multipath component corresponding to the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

[0350] Furthermore, in one embodiment of the present disclosure, as shown in FIG4C , the multipath components of the environmental target E change, and the sensing target T is located on the line connecting the transmitter TX and the environmental target E. This line information can be processed jointly with the changing multipath components and the measured values ​​of the multipath components reflected by the sensing target T received by other receivers RX2 to determine parameters such as the location of the sensing target T.

[0351] For example, in one embodiment of the present disclosure, determining a parameter of a perceived target based on a first multipath component and a second multipath component includes:

[0352] The parameters of the perceived target are determined according to the multipath components of the changes in the perceived target and the multipath components reflected by the second transmitting terminal via the perceived target.

[0353] Furthermore, in one embodiment of the present disclosure, as shown in FIG4D , the multipath component of the environmental target T changes, and the changed multipath component is jointly processed with the measurement value of the multipath component reflected by the sensing target T from other transmitters TX2, thereby determining parameters such as the position of the sensing target T.

[0354] In one embodiment of the present disclosure, FIG. 4A to FIG. 4D are exemplary schematic diagrams of auxiliary perception operations of changes in parallel environmental targets.

[0355] In some embodiments, steps S3101 to S3103 are optional, and one or more of these steps may be omitted or replaced in different embodiments.

[0356] The communication method involved in the embodiments of the present disclosure may include at least one of steps S3101 to S3103. For example, step S3101 can be implemented as an independent embodiment, step S3102 can be implemented as an independent embodiment, step S3103 can be implemented as an independent embodiment, and steps S3102 to S3103 can be implemented as independent embodiments, but are not limited thereto.

[0357] In some embodiments, steps S3102 to S3103 are optional, and one or more of these steps may be omitted or replaced in different embodiments.

[0358] FIG3B is a schematic diagram illustrating an example of a method for determining a perception target parameter provided by an embodiment of the present disclosure. In one embodiment of the present disclosure, the method for determining a perception target parameter shown in FIG3B is a parallel scheme to the method for determining a perception target parameter shown in FIG3A . For example, the embodiment shown in FIG3A can be executed separately from the embodiment shown in FIG3B . The difference between the method for determining a perception target parameter shown in FIG3A and the method for determining a perception target parameter shown in FIG3B can be, for example, that the execution subject of the perception operation on the perception target is different.

[0359] FIG3B is a schematic diagram illustrating an example of a method for determining a perception target parameter provided by an embodiment of the present disclosure. As shown in FIG3B , the method may include the following steps:

[0360] Step S3201: The first transmitting terminal transmits a wireless signal;

[0361] Step S3202: The first receiving terminal obtains a first multipath component and a second multipath component;

[0362] Step S3203: The first receiving terminal sends measurement information to the sensing processing device, where the measurement information includes at least one of a first multipath component reflected by the sensing target corresponding to the current wireless channel, other varying second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to the reference wireless channel.

[0363] In one embodiment of the present disclosure, the measurement information sent by the first receiving terminal may include, for example, a first multipath component of the current wireless channel corresponding to the perceived target reflection and other changing second multipath components.

[0364] In one embodiment of the present disclosure, the measurement information sent by the first receiving terminal may, for example, include a first multipath component corresponding to the perceived target reflection of the current wireless channel, other changing second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to the reference wireless channel.

[0365] In one embodiment of the present disclosure, the first timestamp can be used, for example, to indicate the measurement timestamp of the current wireless channel. The first timestamp does not specifically refer to a fixed timestamp. For example, when multiple measurements are performed on the current wireless channel, the first timestamp corresponding to each measurement is different. The first in the first timestamp can be used, for example, to distinguish it from the second timestamp.

[0366] Step S3204: The sensing processing device receives measurement information sent by the first receiving terminal;

[0367] In one embodiment of the present disclosure, the execution subject of the perception operation for the perception target may be, for example, a perception processing device, which may be, for example, a central device different from any receiving terminal, and which may be a device that receives measurement information sent by at least one receiving terminal.

[0368] In step S3205, the perception processing device uses the measurement information to perform a perception operation on the perception target.

[0369] In one embodiment of the present disclosure, using measurement information to perform a sensing operation on a sensing target includes:

[0370] The position information of the environmental target in the reference wireless channel is determined, and a sensing operation is performed on the sensing target using the measurement information and the position information of the environmental target.

[0371] For example, in one embodiment of the present disclosure, using measurement information and location information of an environmental target to perform a sensing operation on a sensing target includes:

[0372] The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than the angle difference threshold, thereby determining that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

[0373] Parameters of the perception target are determined according to the first multipath component, the first position information of the first environmental target, and the information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

[0374] For example, in one embodiment of the present disclosure, using measurement information and location information of an environmental target to perform a sensing operation on a sensing target includes:

[0375] The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the directional angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, thereby determining that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; and the difference between the directional angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, thereby determining that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0376] Determine the parameters of the perception target based on the first multipath component, the first position information of the first environmental target, the second position information of the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0377] For example, in one embodiment of the present disclosure, using measurement information and location information of an environmental target to perform a sensing operation on a sensing target includes:

[0378] The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the directional angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, thereby determining that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; and the difference between the directional angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, thereby determining that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0379] Parameters of the perception target are determined according to information that the perception target is located on a line connecting the first transmitting terminal and the second environmental target and information that the perception target is located on a line connecting the first receiving terminal and the first environmental target.

[0380] For example, in one embodiment of the present disclosure, using measurement information and location information of an environmental target to perform a sensing operation on a sensing target includes:

[0381] The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, the second multipath component of the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

[0382] Parameters of the perception target are determined according to the first position information of the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and the information that the perception target is located on the line connecting the first transmitting terminal and the first environmental target.

[0383] For example, in one embodiment of the present disclosure, using measurement information and location information of an environmental target to perform a sensing operation on a sensing target includes:

[0384] The first environmental target blocks the wireless signals of the sensing target and the transmitting terminal, and the multipath component of the sensing target changes, so that the sensing target is determined to be located on an extension line between the first transmitting terminal and the first environmental target.

[0385] The parameters of the perception target are determined according to the first position information of the first environmental target, the changing multipath component of the perception target, the multipath component reflected by the second transmitting terminal through the perception target, and the information that the perception target is located on the extension line of the first transmitting terminal and the first environmental target.

[0386] For example, in one embodiment of the present disclosure, using measurement information and location information of an environmental target to perform a sensing operation on a sensing target includes:

[0387] The sensing target blocks wireless signals of the first transmitting terminal and the first receiving terminal, and determines, based on the first multipath component and the second multipath component, that the sensing target is located on a line connecting the first transmitting terminal and the first receiving terminal;

[0388] Parameters of the perceived target are determined according to the multipath component reflected by the perceived target and information sent by the second receiving terminal that the perceived target is located on a line connecting the first transmitting terminal and the first receiving terminal.

[0389] For example, in one embodiment of the present disclosure, using measurement information to perform a sensing operation on a sensing target includes:

[0390] A sensing operation is performed on a sensing target according to the first multipath component and the second multipath component.

[0391] For example, in one embodiment of the present disclosure, performing a sensing operation on a sensing target according to the first multipath component and the second multipath component includes:

[0392] The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than the angle difference threshold, thereby determining that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

[0393] Parameters of the perceived target are determined according to the first multipath component, the second multipath component, and information that the perceived target is located on a line connecting the first transmitting terminal and the first environmental target.

[0394] For example, in one embodiment of the present disclosure, performing a sensing operation on a sensing target according to the first multipath component and the second multipath component includes:

[0395] The sensing target blocks wireless signals of the first environmental target and the second environmental target, and a difference in direction angle between the first multipath component and the second multipath component of the first environmental target is greater than an angle difference threshold, thereby determining that the sensing target is located on a line connecting the first transmitting terminal and the second environmental target;

[0396] The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

[0397] Determine the parameters of the perception target based on the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0398] For example, in one embodiment of the present disclosure, performing a sensing operation on a sensing target according to the first multipath component and the second multipath component includes:

[0399] The sensing target blocks wireless signals of the first environmental target and the second environmental target, and determines that the sensing target is located on a line connecting the first transmitting terminal and the second environmental target based on a difference in direction angle between the first multipath component and the second multipath component of the first environmental target being greater than an angle difference threshold;

[0400] The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

[0401] Determine the parameters of the perception target based on the first multipath component, the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

[0402] For example, in one embodiment of the present disclosure, performing a sensing operation on a sensing target according to the first multipath component and the second multipath component includes:

[0403] The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, the second multipath component of the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

[0404] Parameters of the perception target are determined according to the second multipath component corresponding to the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

[0405] For example, in one embodiment of the present disclosure, performing a sensing operation on a sensing target according to the first multipath component and the second multipath component includes:

[0406] The parameters of the perceived target are determined according to the multipath components of the changes in the perceived target and the multipath components reflected by the second transmitting terminal via the perceived target.

[0407] In some embodiments, steps S3201 to S3205 are optional, and one or more of these steps may be omitted or replaced in different embodiments. Specific optional implementations of steps S3201 to S3205 may refer to steps S3101 to S3103 in FIG. 3A .

[0408] The communication method according to the embodiments of the present disclosure may include at least one of steps S3201 to S3205. For example, step S3201 may be implemented as an independent embodiment, step S3202 may be implemented as an independent embodiment, step S3205 may be implemented as an independent embodiment, and steps S3204 to S3205 may be implemented as independent embodiments, but are not limited thereto.

[0409] In some embodiments, steps S3202 to S3205 are optional, and one or more of these steps may be omitted or replaced in different embodiments.

[0410] In some embodiments, steps S3203 to S3205 are optional, and one or more of these steps may be omitted or replaced in different embodiments.

[0411] FIG5A is a flow chart of a method for determining a perception target parameter according to an embodiment of the present disclosure. As shown in FIG5A , the method for determining a perception target parameter according to an embodiment of the present disclosure is performed by a first receiving terminal, and the method includes:

[0412] Step S5101: determining change information of multipath components based on the current wireless channel and the reference wireless channel; wherein the multipath components include a first multipath component corresponding to the perceived target reflection of the current wireless channel and other changed second multipath components;

[0413] Step S5102: Determine the parameters of the perception target according to the change information of the multipath components.

[0414] Optional implementations of step S5101 and step S5102 can refer to the optional implementations of step S3102 to step S3103 in FIG3A and other related parts in the embodiment involved in FIG3A , which will not be repeated here.

[0415] FIG6A is a flow chart illustrating a process of determining and receiving a perception target parameter according to an embodiment of the present disclosure. As shown in FIG6A , the present disclosure embodiment relates to a method for determining a perception target parameter executed by a perception processing device, and the method includes:

[0416] Step S6101: Receive measurement information sent by a first receiving terminal, where the measurement information includes at least one of a first multipath component of a current wireless channel corresponding to a perceived target reflection, other varying second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to a reference wireless channel;

[0417] Step S6102: Using the measurement information, perform a sensing operation on the sensing target.

[0418] Optional implementations of step S6101 and step S6102 can be found in the optional implementations of steps S3204 to S3205 in FIG3B , and other related parts in the embodiments involved in FIG3A and FIG3B , which will not be described in detail here.

[0419] For example, within a certain area, such as an indoor or outdoor setting, a receiver can sense its location based on received wireless signals. The receiver can detect multipath components in the received wireless signals. Different multipath components differ from other multipath components in at least one of the following aspects: delay, angle, and Doppler frequency. Furthermore, the strength of each multipath component is an important parameter. These multipath parameters, namely delay, angle, Doppler frequency, and strength, reflect the characteristics of the environmental targets and perceived targets in the area.

[0420] Among them, in one embodiment of the present disclosure, the appearance and movement of the perception target will have a mutual impact on the wireless signal propagation of the environmental target. The above Figure 2 is a schematic diagram of the mutual impact between the perception target and the environment. In Figure 2, TX1 represents the transmitter, RX represents the receiver, E, E1, E2, E3 and E4 represent the environmental targets, and T1, T2, T3 and T4 represent the perception target. The following describes the situation where the perception target and the environmental target influence each other. The mutual impact between the perception target and the environmental target may include one or more of the following situations:

[0421] 1) The presence or movement of a sensing target may block or weaken the wireless signal from a transmitter to an environmental target, making the target invisible or weakening the signal at the receiver. For example, in Figure 2, the wireless signal from transmitter TX to environmental target E1 is blocked by sensing target T1.

[0422] 2) The presence and movement of sensing targets may block or weaken the wireless signal reflected from an environmental target to the receiver, causing the environmental target to be invisible at the receiver or the signal to be weak. For example, the wireless signal from environmental target E2 to receiver RX in Figure 2 is blocked by sensing target T1.

[0423] 3) Due to the presence or movement of a sensing target, an environmental object may block or weaken the wireless signal from the transmitter to the sensing target, causing the sensing target to be invisible or the signal to be weak at the receiver. For example, in Figure 2, the wireless signal from transmitter TX to sensing target T2 is blocked by environmental object E3.

[0424] 4) Due to the presence and movement of sensing targets, an environmental object may block or weaken the wireless signal reflected from the sensing target to the receiver, causing the sensing target to be invisible at the receiver or the signal to be weak. For example, the wireless signal reflected from sensing target T3 to receiver RX in Figure 2 is blocked by environmental object E4.

[0425] 5) The presence or movement of a sensing target may block or weaken the wireless signal from the transmitter to the receiver, meaning the receiver detects that the transmitter's direct path of sight (LOS) is invisible or the signal is weakened. For example, in Figure 2, the wireless signal's direct path from transmitter TX to receiver RX is blocked by sensing target T4. This also affects the wireless signal reflected from the sensing target at the receiver. Because the transmitter's wireless signal is blocked or weakened by the sensing target, the signal reflected from the sensing target to the receiver also disappears or weakens, meaning the sensing target becomes invisible or the signal is weakened at the receiver.

[0426] 6) As the sensing target moves, the wireless signal reflected from the sensing target to the receiver changes. For example, the multipath component at the previous moment disappears or weakens, and a new multipath component is generated. For example, when sensing target T1 moves to position T1', the original reflected multipath component disappears, and a new reflected multipath component is generated.

[0427] 7) Due to the presence and movement of sensing targets, some of the wireless signals reflected by the sensing targets may reach certain environmental objects, causing the wireless signal reflected from these environmental objects to be stronger at the receiver. Here, because the path from the transmitter to the sensing target to the environmental object is not a direct path—that is, its delay is greater than the direct path from the transmitter to the environmental object—the receiver can detect the increased wireless signal based on the delay characteristics.

[0428] 8) The wireless signal of the environmental target E at the receiver RX is not affected by the sensing target.

[0429] 9) The wireless signal of the sensing target T1 at the receiver RX is not affected by the environmental targets.

[0430] In some embodiments, when there are multiple transmitters or multiple receivers in the area, the impact of the appearance and movement of the sensing target on different pairs of transmitters and receivers is generally different. The above-mentioned impact on the environmental target and / or the transmitter's received signal at the receiver due to the appearance and movement of the sensing target can be used to assist the sensing operation of the sensing target. It is not general. The embodiments of the present disclosure describe the sensing operation of a pair of transmitters and receivers on the sensing target. The measurement and reporting are applicable to the situation where multiple pairs of transmitters and receivers work together. The judgment of the position and characteristics of the sensing target can be obtained based on the measurement results of a pair of transmitters and receivers; or, the position and characteristics of the sensing target can be obtained by jointly processing the measurement results of multiple pairs of transmitters and receivers, thereby improving the sensing performance. The processing entity for the position and characteristics of the sensing target can be located in one receiver, that is, other receivers can report measurement information to the receiver including the sensing entity. Alternatively, the sensing processing entity can be a central device located in a different device from any receiver, and all receivers must report measurement information to the central device.

[0431] In some embodiments, the receiver may perform multiple measurements on an area. The receiver first obtains a reference wireless channel for the area. The reference wireless channel may be one of the following wireless channels:

[0432] a wireless channel received by the receiver before a sensing target appears, wherein the wireless channel includes wireless signals reflected by environmental targets in the area and / or wireless signals directly received by the receiver from a transmitter;

[0433] The wireless channel received by the receiver before the perceived target moves, including wireless signals reflected from environmental targets in the area, wireless signals directly received from the transmitter, and / or wireless signals reflected from the perceived target before the movement. As shown in Figure 2, the perceived target and environmental targets in the area may affect each other;

[0434] When there are multiple sensing targets, when it is necessary to focus on one or more sensing targets, other sensing targets can actually be processed as environmental targets and thus included in the reference wireless channel.

[0435] In some embodiments, based on the current wireless channel and the reference wireless channel, when a perceived target appears or moves, the receiver can detect changes in the multipath components of the wireless signal it receives. Specifically, the multipath component changes that may occur may include one or more of the situations shown in Figure 2. Specifically, for example, the multipath components can be divided into the following two types:

[0436] Category 1: Multipath components of the current wireless channel directly received by the receiver, which are reflected from the sensing target. For example, in Figure 2, the multipath components are from the transmitter TX1 to the sensing target T1 and then to the receiver RX.

[0437] Category 2: Other changing multipath components other than the multipath components reflected from the sensing target of the current wireless channel directly received by the receiver. For example, the changing multipath components of the environmental targets and / or transmitters at the receiver caused by the appearance and movement of the sensing target. For a multipath component received by the receiver, if its absolute strength is weakened to below threshold A, the receiver may consider the multipath component to be an affected multipath component. Alternatively, for a multipath component received by the receiver, if the difference in strength from the strongest multipath received by the receiver exceeds threshold B, the receiver may consider the multipath component to be an affected multipath component. The threshold A or B may be predefined, semi-statically configured, or dynamically indicated.

[0438] Each of the above multipath components may include one or more of the above multipath components. In some embodiments, a receiver may report at least part of the following parameters to the device where the sensing processing entity is located:

[0439] Timestamp, representing the time when the receiver measures the above two multipath components

[0440] Information such as time delay, angle, Doppler frequency and / or strength of each of the two multipath components mentioned above.

[0441] Therefore, the device where the perception processing entity is located can perform perception operations on the perception target based on the information such as the time delay, angle, Doppler frequency and / or strength of one or more of the above two multipath components.

[0442] In some embodiments, a receiver may perform multiple measurements of an area. Assuming the true location of an environmental target is known, the sensing and processing entity may determine a corresponding relationship between the multipath components of a reference wireless channel and the environmental target. Alternatively, based on sensing of the reference wireless channel, the sensing and processing entity may determine the environmental target and its location within the area and establish a corresponding relationship between the multipath components of the reference wireless channel and the environmental target.

[0443] Based on the current wireless channel and the reference wireless channel, when a perceived target appears or moves, the receiver detects changes in the multipath components of the received wireless signal. These changed multipath components are associated with the perceived target and / or environmental objects. For example, the receiver can measure the multipath components of the current wireless channel and compare them with the multipath components measured based on the reference wireless channel to determine the changed multipath components and their associated environmental objects. The new multipath components are directly associated with the perceived target.

[0444] Based on the changing multipath components, the positional relationship between the sensing target and the transmitter, environmental targets and / or receiver can be obtained. Taking Figure 1 as an example,

[0445] For situation 1) in FIG. 2 , combined with other information, it can be determined that the sensing target T1 is located on the line connecting the transmitter TX to the environmental target E1 .

[0446] For case 2) in FIG. 2 , combined with other information, it can be determined that the sensing target T1 is located on the line connecting the environmental target E2 to the receiver RX.

[0447] For case 3) in FIG2 , it can be determined that the sensing target T2 is located on the extension line from the transmitter TX to the environmental target E3.

[0448] For case 4) in FIG2 , it can be determined that the sensing target T3 is located on the extension line from the receiver RX to the environmental target E4.

[0449] For case 5) in FIG. 2 , it can be determined that the sensing target T3 is located on the line connecting the transmitter TX to the receiver RX.

[0450] For case 6) in FIG2 , as the sensing target moves, the original multipath component and the new multipath component of the sensing target can be used for joint sensing.

[0451] The above-mentioned location information of the environmental target, the positional relationship between the perception target and the transmitter, the environmental target and / or the receiver can be jointly determined with the multipath component of the wireless signal directly reflected from the perception target to determine the location and other parameters of the perception target, which may include, for example, speed.

[0452] In some embodiments, FIG4A is a schematic diagram illustrating an assisted sensing operation based on the impact of a sensing target on the received signal of an environmental target at a receiver. As shown in FIG4A , on the one hand, the sensing target reflects a wireless signal to the receiver, thereby detecting new multipath components with different delays, azimuths, and / or Doppler frequencies. On the other hand, the sensing target T blocks the wireless signal of the environmental target E, and accordingly, the receiver detects that the environmental target E has disappeared or that the signal strength has decreased by a certain threshold. In FIG4A , because the azimuths of the new multipath components introduced by the sensing target T differ from the azimuths of the multipath components of the disappeared environmental target E, the sensing target T is definitely located on the line connecting the transmitter and the environmental target E, and can be used to assist in sensing the sensing target T. For example, based on the measurement of the multipath components reflected by the sensing target T, the location of the environmental target E, and the information that the sensing target T is located on the line connecting the transmitter and the environmental target E, parameters such as the location of the sensing target T can be obtained.

[0453] In some embodiments, Figure 4B is another schematic diagram of assisting sensing operations based on the impact of sensing targets on the received signal of environmental targets at a receiver. As shown in Figure 4B , on the one hand, sensing target T reflects wireless signals to the receiver, thereby enabling the receiver to detect new multipath components with different delays, azimuths, and / or Doppler frequencies. On the other hand, sensing target T blocks the wireless signals of environmental targets E1 and E2, resulting in the receiver detecting that environmental targets E1 and E2 have disappeared or their signal strength has decreased by a certain threshold. In Figure 4B , because the azimuths of the new multipath components introduced by sensing target T differ from the azimuths of the disappeared environmental target E2, sensing target T is definitely located on the line connecting the transmitter and environmental target E2. Furthermore, because the azimuths of the new multipath components introduced by sensing target T are the same or approximately the same as the azimuths of the disappeared environmental target E1, sensing target T is located on the line connecting environmental target E1 to the receiver. These two line information can be used to assist sensing operations for sensing target T. In fact, sensing operations for sensing target T can be completed based solely on the information from these two lines. In order to improve accuracy, the perception processing entity can still obtain parameters such as the position of the perception target T based on the measurement of the multipath component reflected by the perception target T, the position information of the environmental target E1 and the environmental target E2, and the information of the two connecting lines.

[0454] In some embodiments, FIG4C is another schematic diagram of an auxiliary sensing operation based on the influence of a sensing target on the received signal of an environmental target at a receiver. As shown in FIG4C , due to the influence of an obstacle, there is no direct path between the receiver RX1 and the sensing target T. However, when the sensing target T is not present, the receiver RX1 can receive the reflected signal of the environmental target E. When the sensing target T appears, it blocks the wireless signal of the environmental target E. Accordingly, the receiver finds that the environmental target E has disappeared or the signal strength has decreased by more than a certain threshold. Based on the above information, it can be determined that the sensing target T is located on the line connecting the transmitter TX and the environmental target E. This connection information can be jointly processed with the location information of the environmental target E and the measurement value of the multipath component reflected by the sensing target T received by other receivers RX2 to obtain parameters such as the location of the sensing target T.

[0455] In some embodiments, Figure 4D is a schematic diagram of an auxiliary sensing operation based on obstruction of a sensing target by an environmental target. As shown in Figure 4D , through continuous sensing operations, when sensing target T moves behind environmental target E, the receiver detects that sensing target T has disappeared or its signal strength has decreased by a certain threshold. Based on this information, it can be determined that sensing target T is located on an extension line between transmitter TX and environmental target E. This extension line information can be combined with the location information of environmental target E and the measured multipath components of other transmitters TX2 reflected by sensing target T to obtain parameters such as the location of sensing target T.

[0456] In some embodiments, Figure 4E is a schematic diagram illustrating an assisted sensing operation based on the impact of a sensing target on the transmitter's LOS path at the receiver. As shown in Figure 4E , when sensing target T is absent, receiver RX1 can receive the LOS path of transmitter TX. When sensing target T appears, it blocks the wireless signal from transmitter TX. Accordingly, receiver RX1 detects that transmitter TX has disappeared or its signal strength has decreased by a certain threshold. Based on this information, it can be determined that sensing target T is located on the line connecting transmitter TX and receiver RX1. This line information can be combined with the measured multipath components reflected by sensing target T received by another receiver RX2 to obtain parameters such as the location of sensing target T.

[0457] In some embodiments, a receiver may perform multiple measurements of an area. Assuming the true location of an environmental target is unknown, the location and other parameters of the environmental target determined based on sensing operations using a reference wireless channel are generally subject to error. One possible approach is to jointly process the perceived target and the environmental target to improve the performance of sensing operations for the perceived target. This approach eliminates the need to determine the location and other parameters of the perceived environmental target in advance.

[0458] Based on the current wireless channel and the reference wireless channel, when a sensing target appears or moves, the receiver detects changes in the multipath components of the received wireless signal. These changes in multipath components reflect the interaction between the sensing target and related environmental objects. For example, the receiver can measure the multipath components of the current wireless channel and compare them with the multipath components measured based on the reference wireless channel to determine the changed multipath components.

[0459] In some embodiments, based on the changing multipath components, the positional relationship between the sensing target and the transmitter, environmental targets and / or receiver can be obtained. Taking Figure 2 as an example,

[0460] For situation 1) in FIG. 2 , combined with other information, it can be determined that the sensing target T1 is located on the line connecting the transmitter TX to the environmental target E1 .

[0461] For case 2) in FIG. 2 , combined with other information, it can be determined that the sensing target T1 is located on the line connecting the environmental target E2 to the receiver RX.

[0462] For case 3) in FIG2 , it can be determined that the sensing target T2 is located on the extension line from the transmitter TX to the environmental target E3.

[0463] For case 4) in FIG2 , it can be determined that the sensing target T3 is located on the extension line from the receiver RX to the environmental target E4.

[0464] For case 5) in FIG. 2 , it can be determined that the sensing target T3 is located on the line connecting the transmitter TX to the receiver RX.

[0465] For case 6) in FIG2 , as the sensing target moves, the original multipath component and the new multipath component of the sensing target can be used for joint sensing.

[0466] The above-mentioned changing multipath components and the positional relationship between the sensing target and the transmitter, environmental targets and / or receiver can be used together with the multipath components measured for the wireless signal directly reflected from the sensing target to jointly determine the position and other parameters of the sensing target.

[0467] In some embodiments, in FIG. 4A , the multipath components of the environmental target E change, and the sensing target T is located on the line connecting the transmitter and the environmental target E. This can be used to assist in sensing the sensing target T. For example, based on the measurement of the multipath components reflected by the sensing target T, the changed multipath components, and the information that the sensing target T is located on the line connecting the transmitter and the environmental target E, parameters such as the position of the sensing target T are obtained.

[0468] In some embodiments, in FIG4B , the multipath components of environmental targets E1 and E2 change, and the sensing target T is located on the line connecting the transmitter and environmental target E2, and also on the line connecting environmental target E1 to the receiver. Information about these two lines can be used to assist in sensing target T. In practice, sensing target T can be performed solely based on the changing multipath components and information about these two lines. To improve accuracy, the sensing processing entity can still obtain parameters such as the location of sensing target T based on measurements of the multipath components reflected by sensing target T, the changing multipath components, and information about the two lines.

[0469] In some embodiments, in FIG4C , the multipath components of the environmental target E change, and the sensing target T is located on the line connecting the transmitter TX and the environmental target E. This line information can be processed jointly with the changing multipath components and the measured values ​​of the multipath components reflected by the sensing target T received by other receivers RX2 to obtain parameters such as the location of the sensing target T.

[0470] In some embodiments, in FIG4D , the multipath component of the sensing target T changes, and the changed multipath component is jointly processed with the measured value of the multipath component reflected by the sensing target T from other transmitters TX2 to obtain parameters such as the position of the sensing target T.

[0471] In the embodiments of the present disclosure, some or all of the steps and their optional implementations may be arbitrarily combined with some or all of the steps in other embodiments, or may be arbitrarily combined with the optional implementations of other embodiments.

[0472] The embodiments of the present disclosure further provide an apparatus for implementing any of the above methods. For example, an apparatus is provided, comprising units or modules for implementing each step performed by a terminal in any of the above methods. For another example, another apparatus is provided, comprising units or modules for implementing each step performed by a network device (e.g., an access network device, a core network function node, a core network device, etc.) in any of the above methods.

[0473] 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.

[0474] 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.

[0475] Figure 7A is a schematic diagram of the structure of the first receiving terminal proposed in an embodiment of the present disclosure. As shown in Figure 7A, the first receiving terminal 7100 may include: a processing module 7101, a processing module for determining the change information of the multipath component based on the current wireless channel and the reference wireless channel; wherein the multipath component includes the first multipath component reflected by the corresponding perception target of the current wireless channel and other changed second multipath components; the processing module is also used to determine the parameters of the perception target based on the change information of the multipath component. Optionally, the above-mentioned transceiver module 7101 is used to execute at least one of the communication steps such as sending and / or receiving (such as step S3102 and step S3104, but not limited to this) performed by the terminal 101 in any of the above methods, and will not be repeated here.

[0476] FIG7B is a schematic diagram of the structure of a perception processing device proposed in an embodiment of the present disclosure. As shown in FIG7B , the perception processing device 7200 may include: a transceiver module 7201 and a processing module 7202. In some embodiments, the transceiver module is configured to receive measurement information sent by a first receiving terminal, wherein the measurement information includes at least one of a first multipath component reflected by a perception target corresponding to the current wireless channel, other varying second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to a reference wireless channel; and the processing module is configured to use the measurement information to perform a perception operation on the perception target.

[0477] In some embodiments, the transceiver module may include a transmitting module and / or a receiving module, and the transmitting module and the receiving module may be separate or integrated. Optionally, the transceiver module may be interchangeable with the transceiver.

[0478] In some embodiments, the processing module can be a single module or can include multiple submodules. Optionally, the multiple submodules respectively execute all or part of the steps required to be executed by the processing module. Optionally, the processing module can be interchangeable with the processor.

[0479] Figure 8A is a schematic diagram of the structure of a communication device 8100 proposed in an embodiment of the present disclosure. Communication device 8100 can be a network device (e.g., an access network device, a core network device, etc.), a terminal (e.g., a user equipment, etc.), a chip, a chip system, or a processor that supports a network device to implement any of the above methods, or a chip, a chip system, or a processor that supports a terminal to implement any of the above methods. Communication device 8100 can be used to implement the methods described in the above method embodiments. For details, please refer to the description of the above method embodiments.

[0480] 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, a baseband chip, a terminal device, a terminal device chip, a DU or a CU, etc.), execute programs, and process program data. The communication device 8100 is used to perform any of the above methods.

[0481] 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.

[0482] 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 transceiver 8103 performs at least one of the communication steps such as sending and / or receiving in the above method (for example, step S3101, step S3201, step S3203, step S3204, but not limited thereto), and the processor 8101 performs at least one of the other steps (for example, step S3102, step S3103, step S3202, step S3205, but not limited thereto).

[0483] In some embodiments, a transceiver may include a receiver and / or a transmitter. The receiver and transmitter 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.

[0484] In some embodiments, the communication device 8100 may include one or more interface circuits 8104. Optionally, the interface circuit 8104 is connected to the memory 8102. The interface circuit 8104 may be configured to receive signals from the memory 8102 or other devices, and may be configured to send signals to the memory 8102 or other devices. For example, the interface circuit 8104 may read instructions stored in the memory 8102 and send the instructions to the processor 8101.

[0485] 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.

[0486] 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, please refer to the schematic diagram of the structure of the chip 8200 shown in FIG8B , but the present disclosure is not limited thereto.

[0487] The chip 8200 includes one or more processors 8201 , and the chip 8200 is configured to execute any of the above methods.

[0488] In some embodiments, the chip 8200 further includes one or more interface circuits 8202. Optionally, the interface circuit 8202 is connected to the memory 8203. The interface circuit 8202 can be used to receive signals from the memory 8203 or other devices, and can be used to send signals to the memory 8203 or other devices. For example, the interface circuit 8202 can read instructions stored in the memory 8203 and send the instructions to the processor 8201.

[0489] In some embodiments, the interface circuit 8202 executes at least one of the communication steps such as sending and / or receiving in the above method (for example, step S3101, step S3201, step S3203, step S3204, but not limited to these), and the processor 8201 executes at least one of the other steps (for example, step S3102, step S3103, step S3202, step S3205, but not limited to these).

[0490] In some embodiments, terms such as interface circuit, interface, transceiver pin, and transceiver may be used interchangeably.

[0491] 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.

[0492] 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.

[0493] 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.

[0494] The present disclosure also proposes a computer program, which, when executed on a computer, causes the computer to perform any one of the above methods.

Claims

1. A method for determining target parameters, characterized in that, Applied to a first receiving terminal, the method includes: Determining change information of multipath components based on a current wireless channel and a reference wireless channel; wherein, the multipath components include a first multipath component corresponding to a sensed target reflected by the current wireless channel and a second multipath component with other changes. Determining parameters of the sensed target according to the change information of the multipath components.

2. The method according to claim 1, wherein The reference wireless channel includes at least one of the following: The wireless channel received by the first receiving terminal before a sensed target appears, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in the area where the first receiving terminal is located and a wireless signal transmitted by a first transmitting terminal received. The wireless channel received by the first receiving terminal before the sensed target moves, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in the area where the first receiving terminal is located, a wireless signal transmitted by a first transmitting terminal received, and a wireless signal reflected before the sensed target moves. When there are multiple sensed targets, the wireless channel received by the first receiving terminal, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in the area where the first receiving terminal is located, a wireless signal transmitted by a first transmitting terminal received, and a wireless signal reflected by the remaining sensed targets, and the remaining sensed targets are the sensed targets other than the concerned sensed target among the multiple sensed targets.

3. The method according to claim 1 or 2, characterized in that, Wherein, The change information of the multipath components includes at least one of the following: The multipath component directly received corresponding to the sensed target of the current wireless channel. Other changed multipath components except the multipath component directly received corresponding to the sensed target of the current wireless channel.

4. The method according to claim 3, characterized in that, Wherein, The method further includes at least one of the following: When the absolute intensity of a multipath component received by the first receiving terminal weakens to a first threshold value, determining that the multipath component received by the first receiving terminal is a multipath component with multipath component change. When the difference between the intensity of any one multipath among multiple multipath components received by the first receiving terminal and the intensity of the strongest multipath component among the multiple multipath components is greater than a second threshold value, determining that the any one multipath component among the multiple multipath components is a multipath component with multipath component change.

5. The method according to any one of claims 1 to 4, characterized in that, After determining the change information of the multipath components based on the current wireless channel and the reference wireless channel, it further includes: Sending measurement information to a sensing processing device, wherein the measurement information is used to instruct the sensing processing device to perform a sensing operation on the sensed target, and the measurement information includes at least one of the first multipath component, the second multipath component, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to the reference wireless channel.

6. The method according to any one of claims 1 to 5, characterized in that, Wherein, The measurement quantities of the first multipath component include at least one of the following: Delay; Angle; Doppler frequency; Intensity; Wherein, the measurement quantities of the second multipath component include at least one of the following: Delay; Angle; Doppler frequency; Intensity.

7. The method according to claim 1, wherein The determining parameters of the sensed target according to the change information of the multipath components includes: Determine the location information of the environmental target in the reference wireless channel, and determine the parameters of the sensing target according to the change information of the multipath components and the location information of the environmental target.

8. The method according to claim 7, wherein The determining the parameters of the sensing target according to the change information of the multipath components and the location information of the environmental target includes: When the sensing target blocks the wireless signal of the first environmental target and the difference in the direction angles of the first multipath component and the second multipath component is greater than the angle difference threshold, it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; Determine the parameters of the sensing target according to the first multipath component, the first location information of the first environmental target, and the information that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target.

9. The method according to claim 7, wherein The determining the parameters of the sensing target according to the change information of the multipath components and the location information of the environmental target includes: When the sensing target blocks the wireless signals of the first environmental target and the second environmental target, and the difference in the direction angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, it is determined that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target; when the difference in the direction angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, it is determined that the sensing target is located on the line connecting the first receiving terminal and the first environmental target; Determine the parameters of the sensing target according to the first multipath component, the first location information of the first environmental target, the second location information of the second environmental target, the information that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the sensing target is located on the line connecting the first receiving terminal and the first environmental target.

10. The method according to claim 7, wherein The determining the parameters of the sensing target according to the change information of the multipath components and the location information of the environmental target includes: When the sensing target blocks the wireless signals of the first environmental target and the second environmental target, and the difference in the direction angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, it is determined that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target; when the difference in the direction angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, it is determined that the sensing target is located on the line connecting the first receiving terminal and the first environmental target; Determine the parameters of the sensing target according to the information that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target and the information that the sensing target is located on the line connecting the first receiving terminal and the first environmental target.

11. The method according to claim 7, characterized in that The determining the parameters of the sensing target according to the change information of the multipath components and the location information of the environmental target includes: The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, and the second multipath component of the first environmental target changes, determining that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; Based on the first position information of the first environmental target, the multipath component reflected by the sensing target sent by the second receiving terminal, and the information that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target, determine the parameters of the sensing target.

12. The method according to claim 7, wherein The determining the parameters of the sensing target according to the change information of the multipath component and the position information of the environmental target includes: The first environmental target blocks the wireless signal between the sensing target and the transmitting terminal, and the multipath component of the sensing target changes, determining that the sensing target is located on the extension line of the first transmitting terminal and the first environmental target; Based on the first position information of the first environmental target, the changed multipath component of the sensing target, the multipath component reflected by the second transmitting terminal via the sensing target, and the information that the sensing target is located on the extension line of the first transmitting terminal and the first environmental target, determine the parameters of the sensing target.

13. The method according to claim 7, wherein The determining the parameters of the sensing target according to the change information of the multipath component and the position information of the environmental target includes: The sensing target blocks the wireless signal between the first transmitting terminal and the first receiving terminal. Based on the first multipath component and the second multipath component, determine that the sensing target is located on the line connecting the first transmitting terminal and the first receiving terminal; Based on the multipath component reflected by the sensing target sent by the second receiving terminal and the information that the sensing target is located on the line connecting the first transmitting terminal and the first receiving terminal, determine the parameters of the sensing target.

14. The method according to claim 1, characterized in that, The determining the parameters of the sensing target according to the change information of the multipath component includes: Based on the first multipath component and the second multipath component, determine the parameters of the sensing target.

15. The method according to claim 14, wherein The determining the parameters of the sensing target according to the first multipath component and the second multipath component includes: The sensing target blocks the wireless signal of the first environmental target, and the difference in the direction angles of the first multipath component and the second multipath component is greater than the angle difference threshold, determining that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; Based on the first multipath component, the second multipath component, and the information that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target, determine the parameters of the sensing target.

16. The method according to claim 14, wherein The determining the parameters of the sensing target according to the first multipath component and the second multipath component includes: The sensing target blocks the wireless signals of the first environmental target and the second environmental target, and the difference in the direction angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, determining that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target; If the difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, it is determined that the sensing target is located on the line connecting the first receiving terminal and the first environmental target; Based on the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the sensing target is located on the line connecting the first receiving terminal and the first environmental target, determine the parameters of the sensing target.

17. The method according to claim 14, characterized in that, The determining the parameters of the sensing target according to the first multipath component and the second multipath component includes: If the sensing target blocks the wireless signals between the first environmental target and the second environmental target, and the difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the first environmental target is greater than the angle difference threshold, it is determined that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target; If the difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, it is determined that the sensing target is located on the line connecting the first receiving terminal and the first environmental target; Based on the first multipath component, the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the sensing target is located on the line connecting the first receiving terminal and the first environmental target, determine the parameters of the sensing target.

18. The method according to claim 14, wherein The determining the parameters of the sensing target according to the first multipath component and the second multipath component includes: If the sensing target blocks the wireless signals between the first transmitting terminal and the first environmental target, and the second multipath component corresponding to the first environmental target changes, it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; Based on the second multipath component corresponding to the first environmental target, the multipath component reflected by the sensing target sent by the second receiving terminal, and the information that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target, determine the parameters of the sensing target.

19. The method according to claim 14, wherein The determining the parameters of the sensing target according to the first multipath component and the second multipath component includes: Based on the changing multipath component of the sensing target and the multipath component reflected by the sensing target from the second transmitting terminal, determine the parameters of the sensing target.

20. A method for determining target parameters, characterized in that Applied to a sensing processing device, the method includes: Receiving measurement information sent by a first receiving terminal, where the measurement information includes at least one of a first multipath component reflected by a corresponding sensing target of a current wireless channel, other changing second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to a reference wireless channel; Using the measurement information to perform a sensing operation on the sensing target.

21. The method according to claim 20, wherein Performing a sensing operation on a sensing target by using the measurement information includes: Determining the position information of an environmental target in the reference radio channel, and performing a sensing operation on the sensing target by using the measurement information and the position information of the environmental target.

22. The method according to claim 21, wherein Performing a sensing operation on a sensing target by using the measurement information and the position information of the environmental target includes: When the sensing target blocks the radio signal of a first environmental target and the difference between the direction angles of the first multipath component and the second multipath component is greater than an angle difference threshold, determining that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; Determining the parameters of the sensing target according to the first multipath component, the first position information of the first environmental target, and the information that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target.

23. The method according to claim 21, wherein Performing a sensing operation on a sensing target by using the measurement information and the position information of the environmental target includes: When the sensing target blocks the radio signals of a first environmental target and a second environmental target, and the difference between the direction angles of the first multipath component and the second multipath component of the first environmental target is greater than an angle difference threshold, determining that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target; when the difference between the direction angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, determining that the sensing target is located on the line connecting the first receiving terminal and the first environmental target; Determining the parameters of the sensing target according to the first multipath component, the first position information of the first environmental target, the second position information of the second environmental target, the information that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the sensing target is located on the line connecting the first receiving terminal and the first environmental target.

24. The method according to claim 21, wherein Performing a sensing operation on a sensing target by using the measurement information and the position information of the environmental target includes: When the sensing target blocks the radio signals of a first environmental target and a second environmental target, and the difference between the direction angles of the first multipath component and the second multipath component of the first environmental target is greater than an angle difference threshold, determining that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target; when the difference between the direction angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, determining that the sensing target is located on the line connecting the first receiving terminal and the first environmental target; Determining the parameters of the sensing target according to the information that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target and the information that the sensing target is located on the line connecting the first receiving terminal and the first environmental target.

25. The method according to claim 21, wherein Performing a sensing operation on a sensing target by using the measurement information and the position information of the environmental target includes: The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, and the second multipath component of the first environmental target changes, determining that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; Based on the first position information of the first environmental target, the multipath component reflected by the sensing target sent by the second receiving terminal, and the information that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target, determine the parameters of the sensing target.

26. The method according to claim 21, characterized in that Performing a sensing operation on the sensing target by using the measurement information and the position information of the environmental target includes: The first environmental target blocks the wireless signal between the sensing target and the transmitting terminal, and the multipath component of the sensing target changes, determining that the sensing target is located on the extension line of the first transmitting terminal and the first environmental target; Based on the first position information of the first environmental target, the changed multipath component of the sensing target, the multipath component reflected by the second transmitting terminal via the sensing target, and the information that the sensing target is located on the extension line of the first transmitting terminal and the first environmental target, determine the parameters of the sensing target.

27. The method according to claim 21, wherein Performing a sensing operation on the sensing target by using the measurement information and the position information of the environmental target includes: The sensing target blocks the wireless signal between the first transmitting terminal and the first receiving terminal. Based on the first multipath component and the second multipath component, determine that the sensing target is located on the line connecting the first transmitting terminal and the first receiving terminal; Based on the multipath component reflected by the sensing target sent by the second receiving terminal and the information that the sensing target is located on the line connecting the first transmitting terminal and the first receiving terminal, determine the parameters of the sensing target.

28. The method according to claim 20, wherein Performing a sensing operation on the sensing target by using the measurement information includes: Performing a sensing operation on the sensing target according to the first multipath component and the second multipath component.

29. The method according to claim 28, wherein, Performing a sensing operation on the sensing target according to the first multipath component and the second multipath component includes: The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than the angle difference threshold, determining that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; Based on the first multipath component, the second multipath component, and the information that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target, determine the parameters of the sensing target.

30. The method according to claim 28, wherein Performing a sensing operation on the sensing target according to the first multipath component and the second multipath component includes: The sensing target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the direction angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, determining that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target; If the difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, it is determined that the sensing target is located on the line connecting the first receiving terminal and the first environmental target; Based on the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the sensing target is located on the line connecting the first receiving terminal and the first environmental target, determine the parameters of the sensing target.

31. The method according to claim 28, wherein The performing a sensing operation on the sensing target according to the first multipath component and the second multipath component includes: The sensing target blocks the wireless signals between the first environmental target and the second environmental target. If the difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the first environmental target is greater than the angle difference threshold, it is determined that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target; If the difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, it is determined that the sensing target is located on the line connecting the first receiving terminal and the first environmental target; Based on the first multipath component, the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the sensing target is located on the line connecting the first receiving terminal and the first environmental target, determine the parameters of the sensing target.

32. The method according to claim 28, wherein The performing a sensing operation on the sensing target according to the first multipath component and the second multipath component includes: The sensing target blocks the wireless signals between the first transmitting terminal and the first environmental target, and the second multipath component corresponding to the first environmental target changes. It is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; Based on the second multipath component corresponding to the first environmental target, the multipath component reflected by the sensing target sent by the second receiving terminal, and the information that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target, determine the parameters of the sensing target.

33. The method according to claim 28, wherein The performing a sensing operation on the sensing target according to the first multipath component and the second multipath component includes: Based on the changing multipath component of the sensing target and the multipath component reflected by the second transmitting terminal via the sensing target, determine the parameters of the sensing target.

34. A first receiving terminal, characterized in that, The first receiving terminal includes: A processing module, configured to determine the change information of the multipath component based on the current wireless channel and the reference wireless channel; wherein, the multipath component includes the first multipath component reflected by the corresponding sensing target of the current wireless channel and the other changing second multipath components; The processing module is further configured to determine the parameters of the sensing target according to the change information of the multipath component..

35. A perception processing device, characterized in that, The sensing processing device includes: A transceiver module, configured to receive measurement information sent by a first receiving terminal, where the measurement information includes at least one of a first multipath component corresponding to a sensing target reflected by a current wireless channel, a second multipath component with other variations, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to a reference wireless channel; A processing module, configured to perform a sensing operation on the sensing target by using the measurement information.

36. A first receiving terminal, characterized in that, Comprising: One or more processors; Wherein, the first receiving terminal is configured to execute the sensing target parameter determination method according to any one of claims 1 to 19.

37. A perception processing device, characterized in that, Comprising: One or more processors; Wherein, the sensing processing device is configured to execute the sensing target parameter determination method according to any one of claims 20 to 32.

38. A communication system, characterized in that, Comprising a first receiving terminal and a sensing processing device, wherein the first receiving terminal is configured to implement the sensing target parameter determination method according to any one of claims 1 to 19, and the sensing processing device is configured to implement the sensing target parameter determination method according to any one of claims 20 to 32.

39. A storage medium, wherein the storage medium stores instructions, characterized in that, When the instruction runs on a communication device, the communication device is caused to execute the sensing target parameter determination method according to any one of claims 1 to 19 or 20 to 32.

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