Sensing signal sending method and device, sensing network element, sensing node and medium

Abstract

The invention relates to a sensing signal sending method and device, a sensing network element, a sensing node and a medium. In at least one embodiment of the invention, the sensing network element determines the sensing signal configuration and indicates the sensing signal configuration to the sensing node, so that the sensing node sends the sensing signal based on the sensing signal configuration, and after the sensing network element or the sensing node receives the echo signal of each resource block, the distance estimation can be executed immediately. And if the sensing network element determines that the final distance estimation value is obtained, the distance measurement is stopped immediately. Visibly, the frequency of repeatedly sending the resource blocks by the sensing node may be less than the frequency of repeatedly sending the resource blocks in the sensing signal configuration, so that the sensing signal overhead is reduced, the time delay for obtaining the final distance estimation value is reduced, and the final distance estimation value is not influenced by the distance estimation value with a relatively large error, and therefore, the accuracy of the distance estimation value is improved. The distance measurement precision can be improved.

Description

Technical Field

[0001] This disclosure relates to the field of communication technology, specifically to a method, apparatus, sensing network element, sensing node, and medium for transmitting sensing signals. Background Technology

[0002] Integrated Sensing and Communication (ISAC) introduces wireless sensing capabilities into wireless mobile communication processes. Sensing nodes (which can be base stations or terminals) in an ISAC system can operate in either single-base or dual-base mode. Figure 1a This is a schematic diagram of a single-base mode, where the transmitter and receiver sensing the signal are located in the same spatial position. For example... Figure 1a As shown, the integrated sensing base station A transmits a sensing signal. After the sensing signal is reflected by the sensing target, the echo signal is received by base station A and processed. Base station A, operating in single-base mode, can measure the distance R between base station A and the sensing target. Figure 1b This is a schematic diagram of a bistatic mode, which refers to a sensing system consisting of antennas located at different positions in space transmitting and receiving sensing signals. For example... Figure 1b As shown, the integrated sensing base station B transmits a sensing signal. After the sensing signal is reflected by the sensed target, the echo signal is received and processed by another base station C. Base stations B and C, operating in bi-base station mode, can measure the sum of the distance R1 between base station B and the sensed target and the distance R2 between the sensed target and base station C, denoted as R. s .

[0003] Currently, sensing nodes typically perform multiple distance measurements on the same target, and then apply data fusion algorithms such as averaging and clustering to the results of these multiple distance measurements to reduce random fluctuations and noise in the distance measurement results and improve the accuracy of distance measurement.

[0004] However, multiple distance measurements also lead to problems such as increased sensing signal overhead and high latency in obtaining distance measurement results. Increased sensing signal overhead reduces the available time and frequency resources for communication, thus affecting communication performance; high latency in obtaining distance measurement results affects sensing performance. Summary of the Invention

[0005] At least one embodiment of this disclosure provides a method, apparatus, sensing network element, sensing node, and medium for transmitting sensing signals.

[0006] In a first aspect, embodiments of this disclosure propose a method for transmitting sensing signals, applied to a sensing network element, the method comprising:

[0007] The perception network element, after receiving the perception service request, determines a perception signal configuration, the perception signal configuration including at least one of the following:

[0008] a resource block pattern and a resource block repetition sending number;

[0009] The perception network element sends the perception signal configuration to the perception node, the perception signal configuration being used for the perception node to send the perception signal.

[0010] In some embodiments, after the perception network element sends the perception signal configuration to the perception node, the method further includes:

[0011] The perception network element receives a first distance estimation value of the perception object sent by the perception node.

[0012] In some embodiments, after the perception network element receives the first distance estimation value of the perception object sent by the perception node, the method further includes:

[0013] The perception network element, based on the first distance estimation value and at least one second distance estimation value, ends or continues to perform the perception measurement, wherein the second distance estimation value is a distance estimation value of the perception object stored by the perception network element.

[0014] In some embodiments, after the perception network element sends the perception signal configuration to the perception node, the method further includes:

[0015] The perception network element receives an echo signal of each resource block sent by the perception node based on the perception signal configuration.

[0016] In some embodiments, after the perception network element receives the echo signal of each resource block sent by the perception node based on the perception signal configuration, the method further includes:

[0017] The perception network element, based on the echo signal of each resource block, determines a first distance estimation value of the perception object;

[0018] The perception network element, based on the first distance estimation value and at least one second distance estimation value, ends or continues to perform the perception measurement, wherein the second distance estimation value is a distance estimation value of the perception object stored by the perception network element.

[0019] In some embodiments, the perception network element, based on the first distance estimation value and at least one second distance estimation value, ends or continues to perform the perception measurement, including:

[0020] The perception network element compares the first distance estimation value and the at least one second distance estimation value;

[0021] If the first distance estimation value is the same as any second distance estimation value, and the number of the same distance estimation values is greater than or equal to a preset number, the perception network element ends the execution of the perception measurement, and sends a perception measurement end command to the perception node.

[0022] Alternatively, if the first distance estimation value is different from each second distance estimation value, the perception network element continues to execute the perception measurement, and stores the first distance estimation value as a new second distance estimation value.

[0023] In some embodiments, the method further comprises:

[0024] If the first distance estimation value is the same as any second distance estimation value, and the number of the same distance estimation values is greater than or equal to a preset number, the perception network element takes the first distance estimation value as the final distance estimation value of the perception object.

[0025] In some embodiments, the method further comprises:

[0026] If the perception network element receives the number of first distance estimation values of the perception object or the number of echo signals of each resource block sent by the perception node reaches the resource block repeated sending times, and the perception network element does not obtain the final distance estimation value of the perception object, the perception network element executes:

[0027] sends a perception measurement continue command to the perception node, wherein the perception measurement continue command includes the perception measurement repetition number;

[0028] and / or, reselects the perception node, and sends the perception signal configuration to the reselected perception node.

[0029] In some embodiments, after sending the perception measurement continue command to the perception node, the method further comprises:

[0030] If the perception measurement reaches the perception measurement repetition number, and the perception network element does not obtain the final distance estimation value of the perception object, the perception network element sends a perception measurement end command to the perception node.

[0031] In some embodiments, the perception signal configuration further comprises: perception signal synchronization information.

[0032] The perception network element sends the perception signal configuration to the perception node, comprising:

[0033] The perception network element sends the perception signal configuration to the perception sending node and the perception receiving node, wherein the perception signal configuration is used for the perception sending node to send the perception signal and for the perception receiving node to receive the echo signal.

[0034] In a second aspect, the embodiments of the present disclosure further provide a perception signal sending method, applied to a perception node, comprising:

[0035] The perception node receives a perception signal configuration sent by the perception network element, the perception signal configuration comprising:

[0036] a resource block pattern and a resource block repetition sending number;

[0037] The perception node sends a perception signal based on the perception signal configuration.

[0038] In some embodiments, after the perception node sends the perception signal based on the perception signal configuration, the method further comprises:

[0039] The perception node receives an echo signal of each resource block;

[0040] The perception node determines a distance estimation value of the perception object based on the echo signal of each resource block;

[0041] The perception node sends the distance estimation value of the perception object to the perception network element.

[0042] In some embodiments, after the perception node sends the distance estimation value of the perception object to the perception network element, the method further comprises:

[0043] The perception node receives a perception measurement end command sent by the perception network element, and stops sending the perception signal.

[0044] In some embodiments, after the perception node sends the perception signal based on the perception signal configuration, the method further comprises:

[0045] The perception node receives an echo signal of each resource block;

[0046] The perception node sends the echo signal of each resource block to the perception network element based on the perception signal configuration.

[0047] In some embodiments, after the perception node sends the echo signal of each resource block to the perception network element, the method further comprises:

[0048] The perception node receives a perception measurement end command sent by the perception network element, and stops sending the perception signal.

[0049] In some embodiments, after stopping sending the perception signal, the method further comprises:

[0050] The perception node releases a resource block occupied by the perception signal which is not sent.

[0051] In some embodiments, after the perception node releases the resource block occupied by the perception signal which is not sent, the method further comprises:

[0052] If the perception node is a base station, the perception node re-schedules the released resource block for downlink communication.

[0053] In some embodiments, the method further comprises:

[0054] The perception node receives a perception measurement continuation command sent by the perception network element, and the perception measurement continuation command includes a perception measurement repetition number;

[0055] The perception node sends the perception signal based on the perception signal configuration.

[0056] In a third aspect, the embodiments of the present disclosure further provide a perception signal sending device applied to a perception network element, and the device comprises:

[0057] A determination unit is configured to determine a perception signal configuration after receiving a perception service request, and the perception signal configuration comprises:

[0058] a resource block pattern and a resource block repetition sending number;

[0059] A sending unit is configured to send the perception signal configuration to a perception node, and the perception signal configuration is used for the perception node to send a perception signal.

[0060] In a fourth aspect, the embodiments of the present disclosure further provide a perception signal sending device applied to a perception node, and the device comprises:

[0061] A receiving unit is configured to receive a perception signal configuration sent by a perception network element, and the perception signal configuration comprises:

[0062] a resource block pattern and a resource block repetition sending number;

[0063] A sending unit is configured to send the perception signal based on the perception signal configuration.

[0064] In a fifth aspect, the embodiments of the present disclosure further provide a perception network element, wherein the perception network element comprises a memory, a transceiver and a processor.

[0065] The memory is configured to store a computer program; the transceiver is configured to transceive data under the control of the processor; and the processor is configured to read the computer program in the memory and perform:

[0066] After receiving a perception service request, determine a perception signal configuration, and the perception signal configuration comprises:

[0067] a resource block pattern and a resource block repetition sending number;

[0068] Send the perception signal configuration to a perception node, and the perception signal configuration is used for the perception node to send a perception signal.

[0069] In some embodiments, after sending the perception signal configuration to the perception node, the processor is further configured to:

[0070] Receive a first distance estimation value of a perception object sent by the perception node.

[0071] In some embodiments, after receiving the first distance estimation value of the sensing object sent by the sensing node, the processor is further configured to:

[0072] based on the first distance estimation value and at least one second distance estimation value, ending the execution of the sensing measurement or continuing the execution of the sensing measurement, wherein the second distance estimation value is a distance estimation value of the sensing object stored by the sensing network element.

[0073] In some embodiments, after sending the sensing signal configuration to the sensing node, the processor is further configured to:

[0074] receiving the echo signal of each resource block sent by the sensing node based on the sensing signal configuration.

[0075] In some embodiments, after receiving the echo signal of each resource block sent by the sensing node based on the sensing signal configuration, the processor is further configured to:

[0076] based on the echo signal of each resource block, determining the first distance estimation value of the sensing object;

[0077] based on the first distance estimation value and at least one second distance estimation value, ending the execution of the sensing measurement or continuing the execution of the sensing measurement, wherein the second distance estimation value is a distance estimation value of the sensing object stored by the sensing network element.

[0078] In some embodiments, based on the first distance estimation value and at least one second distance estimation value, ending the execution of the sensing measurement or continuing the execution of the sensing measurement comprises:

[0079] comparing the first distance estimation value and the at least one second distance estimation value;

[0080] if the first distance estimation value is the same as any second distance estimation value, and the number of the same distance estimation values is greater than or equal to a preset number, ending the execution of the sensing measurement and sending a sensing measurement ending command to the sensing node;

[0081] or, if the first distance estimation value is different from each second distance estimation value, continuing the execution of the sensing measurement and storing the first distance estimation value as a new second distance estimation value.

[0082] In some embodiments, the processor is further configured to:

[0083] if the first distance estimation value is the same as any second distance estimation value, and the number of the same distance estimation values is greater than or equal to a preset number, taking the first distance estimation value as the final distance estimation value of the sensing object.

[0084] In some embodiments, the processor is further configured to:

[0085] If the number of the first distance estimation values of the sensing object or the number of the echo signals of each resource block received from the sensing node reaches the resource block repeated sending times, and the final distance estimation value of the sensing object is not obtained, the processor executes:

[0086] sends a sensing measurement continue command to the sensing node, and the sensing measurement continue command includes the sensing measurement repeated times;

[0087] and / or, reselects the sensing node, and sends the sensing signal configuration to the reselected sensing node.

[0088] In some embodiments, after sending the sensing measurement continue command to the sensing node, the processor is further configured to:

[0089] If the sensing measurement times reach the sensing measurement repeated times, and the final distance estimation value of the sensing object is not obtained, the processor sends a sensing measurement end command to the sensing node.

[0090] In some embodiments, the sensing signal configuration further includes: sensing signal synchronization information;

[0091] sends the sensing signal configuration to the sensing node, including:

[0092] sends the sensing signal configuration to the sensing sending node and the sensing receiving node, and the sensing signal configuration is used for the sensing sending node to send the sensing signal and for the sensing receiving node to receive the echo signal.

[0093] In a sixth aspect, the embodiments of the present disclosure further provide a sensing node, wherein the sensing node includes a memory, a transceiver, and a processor;

[0094] The memory is configured to store a computer program; the transceiver is configured to transceive data under the control of the processor; and the processor is configured to read the computer program in the memory and execute:

[0095] receives the sensing signal configuration sent by the sensing network element, and the sensing signal configuration includes:

[0096] a resource block pattern and resource block repeated sending times;

[0097] sends the sensing signal based on the sensing signal configuration.

[0098] In some embodiments, after sending the sensing signal based on the sensing signal configuration, the processor is further configured to:

[0099] receives the echo signal of each resource block;

[0100] determines the distance estimation value of the sensing object based on the echo signal of each resource block;

[0101] sends the distance estimation value of the sensing object to the sensing network element.

[0102] In some embodiments, after sending the distance estimation value of the perceived object to the perception network element, the processor is further configured to:

[0103] The perception node receives a perception measurement end command sent by the perception network element, and stops sending the perception signal.

[0104] In some embodiments, after sending the perception signal based on the perception signal configuration, the processor is further configured to:

[0105] Receive the echo signal of each resource block;

[0106] Send the echo signal of each resource block to the perception network element based on the perception signal configuration.

[0107] In some embodiments, after sending the echo signal of each resource block to the perception network element based on the perception signal configuration, the processor is further configured to:

[0108] Receive a perception measurement end command sent by the perception network element, and stop sending the perception signal.

[0109] In some embodiments, after stopping sending the perception signal, the processor is further configured to:

[0110] Release the resource block occupied by the un-sent perception signal.

[0111] In some embodiments, after releasing the resource block occupied by the un-sent perception signal, the processor is further configured to:

[0112] If the perception node is a base station, the released resource block is rescheduled for downlink communication.

[0113] In some embodiments, the processor is further configured to:

[0114] Receive a perception measurement continue command sent by the perception network element, the perception measurement continue command including a number of perception measurement repetitions;

[0115] Send the perception signal based on the perception signal configuration.

[0116] In a seventh aspect, the embodiments of the present disclosure further provide a processor-readable storage medium, which stores a program for causing a processor to execute the perception signal sending method of any of the embodiments of the first aspect or the perception signal sending method of any of the embodiments of the second aspect.

[0117] In at least one embodiment of the present disclosure, the sensing network element determines the sensing signal configuration, and indicates the sensing signal configuration to the sensing node, so that the sensing node transmits the sensing signal based on the sensing signal configuration. Unlike the prior art, in the present embodiment, the sensing network element or the sensing node can immediately perform distance estimation after receiving the echo signal of each resource block. The sensing network element can compare the new distance estimation value with the existing distance estimation value. If the final distance estimation value is determined, the distance measurement is immediately stopped. As can be seen, the number of times the sensing node repeatedly transmits the resource block can be less than the number of times the resource block is repeatedly transmitted in the sensing signal configuration, thereby reducing the sensing signal overhead and the time delay of obtaining the final distance estimation value. Moreover, the final distance estimation value is not affected by the distance estimation value with large error. Therefore, the distance measurement accuracy can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0118] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0119] Figure 1a It is a single base mode schematic diagram;

[0120] Figure 1b It is a double base mode schematic diagram;

[0121] Figure 2 It is a sensing signal waveform schematic diagram;

[0122] Figure 3 It is a schematic diagram of the result of one distance measurement radar chart;

[0123] Figure 4 It is a flowchart of a sensing signal transmission method provided by an embodiment of the present disclosure;

[0124] Figure 5 It is a schematic diagram of the sensing node repeatedly transmitting the sensing signal resource block N times provided by an embodiment of the present disclosure;

[0125] Figure 6 It is Figure 5 A scene schematic diagram based on the above;

[0126] Figure 7 It is a flowchart of another sensing signal transmission method provided by an embodiment of the present disclosure;

[0127] Figure 8 It is a schematic diagram of a sensing signal transmission device provided by an embodiment of the present disclosure;

[0128] Figure 9 Another schematic diagram of a sensing signal sending device provided by an embodiment of the present disclosure is shown in FIG. 6;

[0129] Figure 10 A schematic diagram of a sensing network element provided by an embodiment of the present disclosure is shown in FIG. 7;

[0130] Figure 11 A schematic diagram of a sensing node provided by an embodiment of the present disclosure is shown in FIG. 8. DETAILED DESCRIPTION

[0131] In order to more clearly understand the above-mentioned purposes, features and advantages of the present disclosure, the present disclosure will be further described in detail below with reference to the drawings and embodiments. It can be understood that the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. The specific embodiments described herein are only used to explain the present disclosure, but not to limit the present disclosure. Based on the described embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present disclosure.

[0132] It should be noted that, in this paper, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between the entities or operations.

[0133] At present, the two-dimensional fast Fourier transform (2D-FFT) ranging and velocity measurement algorithm can be applied in the integrated sensing system, wherein the 2D-FFT ranging and velocity measurement algorithm is an algorithm based on the orthogonal frequency division multiplexing (OFDM) waveform.

[0134] If Figure 1a the base station A in FIG. 1 works in the single base mode and Figure 1b the base station B in FIG. 2 works in the double base mode, the base station B sends the sensing signal waveform shown in FIG. 3 to measure the distance and velocity of the sensed target. Figure 2 In FIG. 3, the sensing signal symbol is used for sensing, and the communication symbol is used for communication. Figure 2 In FIG. 3, the resource blocks used by the sensing signal symbol are used for sensing, and the resource blocks used by the communication symbol are used for communication. Figure 2 The resource blocks in FIG. 3 can be used for distance and velocity measurement only once. If multiple measurements are required, the base station needs to send multiple Figure 2 resource blocks for sensing shown in FIG. 4. Therefore, the more the number of measurements of the same sensed target, the greater the sensing signal overhead, and the higher the time delay of obtaining the distance measurement result.

[0135] At the transmitting end (e.g.) Figure 1a Base station A or Figure 1b Base station B), 120×120 order sensing signal matrix d Tx (m, n) undergoes Inverse Fast Fourier Transform (IFFT), Cyclic Prefix Insertion (CP), and Digital-to-Analog Conversion before being transmitted by the transmitting antenna. The sensed signal is reflected in space by the sensed target, and the echo signal of the sensed signal... Figure 1a Received by base station A or Figure 1b The signal is received by base station C, and after analog-to-digital conversion, CP removal, and FFT, a receiver sensing signal matrix d is generated. Rx (m, n). Let d Rx (m, n) are divided by d term by term. Tx (m, n) can eliminate the data information carried by the sensing signal, resulting in a 120×120 normalized echo signal matrix D:

[0136]

[0137] Each column of matrix D represents the normalized echo signal carried by an OFDM symbol, and each row represents the normalized echo signal carried by a subcarrier. The column vectors and row vectors in the matrix describe the distance to the sensed target and the phase shift caused by the Doppler shift, respectively.

[0138] Perform an Inverse Discrete Fourier Transform (IDFT) on each column of data in matrix D, then perform a row-wise DFT on the results of the column IDFTs. The resulting matrix is ​​the two-dimensional radar image in the range-velocity domain. A peak exists in the two-dimensional radar image, corresponding to the sensed target. The range-domain sampling point index p at the peak location is used... peak The distance to the perceived target is calculated using the following formula:

[0139]

[0140] in, Let ΔR be the distance resolution, where ΔR is the minimum distance at which two objects can be distinguished by a synesthetic system. Figure 2 The sensing signal waveform shown has a distance resolution ΔR of 1.499 meters.

[0141] Because p peak It is the sample point number of the IFFT, therefore it is a non-negative integer (for...). Figure 2 The sensing signal waveform shown, p peakThe value of can be an integer from 0 to 119. Therefore, based on the above formula, the distance estimate obtained by the 2D-FFT ranging and velocimetry algorithm can only be an integer multiple of the distance resolution ΔR.

[0142] like Figure 1a The distance R in the middle is 62.07 meters. Figure 1b The sum of distances R1 and R2 in the middle (denoted as R) s The distance is 40.19 meters. Through simulation, base station A and base station B each sent sensing signals 10 times, and the distances R and R' were calculated using a 2D-FFT ranging and velocity algorithm. s 10 distance estimates of distance R and distance R s 10 distance estimates As shown in Table 1. Distance estimates Distance error and distance estimates Distance error As shown in Table 1.

[0143] Table 1

[0144]

[0145] With distance R s Distance estimate For example, out of 10 range estimates, 7 were 40.47 meters, while the remaining 3 estimates had larger errors. This is because fluctuations in noise can affect the determination of the range domain sampling point sequence of the target peak in the radar image. Taking the range R... s The results of a certain measurement radar chart (such as...) Figure 3 Taking the example shown, the peak value is located at IFFT sampling point number 27. The distance R is calculated. s Distance estimate Meters. This distance estimation obtained the correct peak IFFT sampling point number, but due to the weak echo signal power, from Figure 3 As can be seen, multiple noise peaks exist at other sampling points, and the amplitude of these noise peaks is close to that of the target peak. When the amplitude of the noise peak exceeds that of the target peak, it will cause an error in determining the IFFT sampling point index of the target peak, resulting in a significant distance estimation error. When the distance R... s Distance estimate When using averaging or clustering algorithms for data fusion, the final distance measurement accuracy will be low due to the existence of several estimates with large errors.

[0146] It is evident that in integrated sensory systems employing 2D-FFT ranging and velocimetry algorithms, current data fusion algorithms such as averaging or clustering offer limited improvement in ranging accuracy.

[0147] Figure 4 A flowchart of a sensing signal sending method is provided for the embodiments of the present disclosure, which is applied to a sensing function (SF) network element. The sensing function network element is a logical entity, which can be located in a sensing node or outside the sensing node. The sensing node can be a base station or a terminal. As shown in the figure, the sensing signal sending method can include but is not limited to steps 401 and 402: Figure 4

[0148] In step 401, after receiving a sensing service request, the sensing function network element determines a sensing signal configuration, which includes:

[0149] a resource block pattern and a resource block repetition sending number.

[0150] The resource block pattern can be understood as a pattern formed by the resources used by the sensing signal symbol, similar to the figure. The resource block repetition sending number is denoted as N, which can be determined according to the signal to interference plus noise ratio (SINR) of the echo signal. For example, when the SINR is high, a smaller N can be selected, and when the SINR is low, a larger N can be selected. Figure 2

[0151] In step 402, the sensing function network element sends the sensing signal configuration to the sensing node, which is used for the sensing node to send the sensing signal.

[0152] In this embodiment, after receiving the sensing service request, the sensing function network element selects a suitable sensing node (base station or terminal) and sends the sensing signal configuration to the selected sensing node. The way of selecting the sensing node follows the existing way and will not be described here.

[0153] In this embodiment, after receiving the sensing signal configuration, the sensing node can send the sensing signal based on the resource block pattern and the resource block repetition sending number N in the sensing signal configuration. For example, Figure 5 a schematic diagram of the sensing node repeating sending the sensing signal resource block N times, in which Figure 5 the sensing node completes the sending of the sensing signal resource block N times at time t N-1 and stops sending the sensing signal resource block.

[0154] Unlike the prior art, the sensing node in this embodiment does not send the sensing signal resource block N times Figure 5 ​​the echo signal of the Nth resource block (i.e., the echo signal of the N resource blocks), and then performs the distance measurement data fusion processing. In the embodiment, the sensing node performs the 2D-FFT ranging and speed measurement algorithm to obtain the distance estimation value immediately after receiving the echo signal of each resource block, and sends the distance estimation value to the sensing network element. Alternatively, the sensing node sends the echo signal of each resource block to the sensing network element, and the sensing network element performs the 2D-FFT ranging and speed measurement algorithm to obtain the distance estimation value corresponding to each echo signal.

[0155] In the embodiment, the sensing network element can compare the new distance estimation value with the existing distance estimation value to determine whether the final distance estimation value is obtained. If it is determined that the final distance estimation value is obtained, the sensing network element can notify the sensing node to stop sending the resource block. It can be seen that the number of times of repeatedly sending the resource block by the sensing node can be less than the number N of times of repeatedly sending the resource block in the sensing signal configuration, thereby reducing the sensing signal overhead and the time delay of obtaining the final distance estimation value, and the final distance estimation value is not affected by the distance estimation value with large error, so that the distance measurement accuracy can be improved.

[0156] In some embodiments, after the sensing network element sends the sensing signal configuration to the sensing node in step 402, the method further includes Figure 4 a step 403 not shown in the figure:

[0157] In step 403, the sensing network element receives the first distance estimation value of the sensing object sent by the sensing node.

[0158] In the embodiment, after the sensing network element sends the sensing signal configuration to the sensing node, the sensing node sends the sensing signal based on the resource block pattern in the sensing signal configuration and the number N of times of repeatedly sending the resource block. For example, Figure 5 a schematic diagram of repeatedly sending the sensing signal resource block N times by the sensing node, in which Figure 5 the sensing node completes the sending of the sensing signal resource block N times at time t N-1 and stops sending the sensing signal resource block.

[0159] In the embodiment, the sensing node performs the 2D-FFT ranging and speed measurement algorithm to obtain the distance estimation value immediately after receiving the echo signal of each resource block, and sends the distance estimation value to the sensing network element.

[0160] For example, according to Figure 2The illustrated sensing signal configuration, since the speed of electromagnetic wave is the speed of light, the sensing node needs 7.5 ms to send the first resource block, assuming that the sensed target is 1500 meters away from the base station, then 10 microseconds after the sensing node sends the first resource block, the echo signal of the first resource block can be received. The existing scheme can calculate the distance estimation value corresponding to all N resource blocks of the obtained echo signal after (t N-1 +10 microseconds). In the embodiment, the sensing node calculates the distance estimation value immediately after receiving the echo signal each time, and sends the distance estimation value to the sensing network element.

[0161] In some embodiments, after the sensing network element receives the first distance estimation value of the sensing object sent by the sensing node in step 403, the method further includes Figure 4 Step 404 not shown in the above embodiment:

[0162] In step 404, the sensing network element ends or continues to perform the sensing measurement based on the first distance estimation value and at least one second distance estimation value, wherein the second distance estimation value is the distance estimation value of the sensing object stored by the sensing network element.

[0163] The first distance estimation value can be understood as a new distance estimation value, and the second distance estimation value can be understood as an existing distance estimation value, that is, the second distance estimation value is a distance estimation value sent by the sensing node to the sensing network element before the first distance estimation value. It should be noted that the calculation process of the second distance estimation value is the same as that of the first distance estimation value, which will not be described again.

[0164] In the embodiment, the sensing network element compares the first distance estimation value with at least one second distance estimation value to determine whether a final distance estimation value is obtained. If the final distance estimation value is obtained, the sensing measurement is ended; if the final distance estimation value is not obtained, the sensing measurement is continued.

[0165] In some embodiments, after the sensing network element sends the sensing signal configuration to the sensing node in step 402, the method further includes Figure 4 Step 403' not shown in the above embodiment:

[0166] In step 403', the sensing network element receives the echo signal of each resource block sent by the sensing node based on the sensing signal configuration.

[0167] In the embodiment, compared with the aforementioned step 403, the sensing network element receives the echo signal instead of the first distance estimation value, that is, the calculation of the first distance estimation value is not performed by the sensing node, but by the sensing network element.

[0168] In some embodiments, after the perception network element receives the echo signal of each resource block sent by the perception node based on the perception signal configuration in step 403', the method further comprises Figure 4 steps 404' and 405' not shown in the figure:

[0169] In step 404', the perception network element determines a first distance estimation value of the perception object based on the echo signal of each resource block.

[0170] In this embodiment, the perception network element calculates the first distance estimation value in the same way as the perception node calculates the first distance estimation value in the foregoing embodiment, and thus no further description is given.

[0171] In step 405', the perception network element ends or continues the execution of the perception measurement based on the first distance estimation value and at least one second distance estimation value, wherein the second distance estimation value is a distance estimation value of the perception object stored by the perception network element.

[0172] In this embodiment, step 405' is the same as step 404 in the foregoing embodiment, that is, the perception network element compares the first distance estimation value with the at least one second distance estimation value to determine whether a final distance estimation value is obtained, and if so, ends the execution of the perception measurement; if not, continues the execution of the perception measurement.

[0173] In some embodiments, in step 404 or step 405', the perception network element ends or continues the execution of the perception measurement based on the first distance estimation value and at least one second distance estimation value, comprising steps A, B and C:

[0174] Step A, the perception network element compares the first distance estimation value with the at least one second distance estimation value; if the first distance estimation value is the same as any second distance estimation value, and the number of the same distance estimation values is greater than or equal to a preset number, step B is executed; or, if the first distance estimation value is different from each second distance estimation value, step C is executed.

[0175] The preset number is, for example, 2, and those skilled in the art can increase the preset number, for example, to 3, to balance the system reliability and the perception signal overhead and the time delay of obtaining the distance measurement result.

[0176] Step B, the perception network element ends the execution of the perception measurement and sends a perception measurement end command to the perception node.

[0177] In this embodiment, as long as the first distance estimation value is the same as any second distance estimation value, the perception network element takes the first distance estimation value as the final distance estimation value of the perception object.

[0178] For example, Figure 6 A scenario diagram based on the above-mentioned embodiment is shown in FIG. 4. In the scenario diagram, the first distance estimation value of the echo signal of the resource block M (Block M) is obtained by performing the DFFT ranging and velocity measurement algorithm Figure 5 The first distance estimation value is the same as any one of the previous M-1 second distance estimation values, where M is less than N-1, and N is the resource block repetition transmission number N. Then, the sensing network element takes the first distance estimation value as the final distance estimation value of the sensing object, and sends a sensing measurement end command to the sensing node. Figure 6 The first distance estimation value is the same as any one of the previous M-1 second distance estimation values, where M is less than N-1, and N is the resource block repetition transmission number N. Then, the sensing network element takes the first distance estimation value as the final distance estimation value of the sensing object, and sends a sensing measurement end command to the sensing node. In this embodiment, after storing the first distance estimation value as a new second distance estimation value, the first distance estimation value is used together with other second distance estimation values to determine whether to end the execution of the sensing measurement. The sensing network element continues to execute the sensing measurement, i.e., the sensing network element does not perform any action (e.g., does not need to send a sensing measurement continue command to the sensing node).

[0179] It can be seen that the sensing network element compares the first distance estimation value with at least one second distance estimation value to determine whether the final distance estimation value is obtained. If the first distance estimation value is the same as any one of the second distance estimation values, it is determined that the final distance estimation value is obtained. Then, the sensing network element ends the execution of the sensing measurement and sends a sensing measurement end command to the sensing node to inform the sensing node to stop sending the resource block. Therefore, the number of times of repeating the resource block sent by the sensing node can be less than the resource block repetition transmission number N in the sensing signal configuration, thereby reducing the sensing signal overhead and the time delay of obtaining the final distance estimation value. Moreover, the final distance estimation value is not affected by the distance estimation value with a large error, and thus the distance measurement accuracy can be improved.

[0180] In some embodiments, after step C, i.e., after the sensing network element does not obtain the final distance estimation value, if the sensing network element receives the number of first distance estimation values of the sensing object sent by the sensing node or the number of echo signals of each resource block sent by the sensing node reaches the resource block repetition transmission number, and the sensing network element does not obtain the final distance estimation value of the sensing object, the sensing network element performs steps D and / or E:

[0181] Step D: sending a sensing measurement continue command to the sensing node, where the sensing measurement continue command includes the sensing measurement repetition number.

[0182] Step E: sending a sensing measurement end command to the sensing node, where the sensing measurement end command includes the final distance estimation value of the sensing object.

[0183] Step D: sending a sensing measurement continue command to the sensing node, where the sensing measurement continue command includes the sensing measurement repetition number.

[0184] ​​In this embodiment, the sensing node receives the sensing measurement continuation command sent by the sensing network element, and the sensing node continues to send the sensing signal based on the sensing signal configuration.

[0185] Step E: reselecting the sensing node, and sending the sensing signal configuration to the reselected sensing node.

[0186] For example, the sensing node closer to the sensed target or the sensing node with stronger sensing capability can be selected.

[0187] In some embodiments, after the sensing measurement continuation command is sent to the sensing node in step D, the method further includes:

[0188] If the number of sensing measurements reaches the number of sensing measurement repetitions, and the sensing network element does not obtain the final distance estimation value of the sensing object, the sensing network element sends a sensing measurement end command to the sensing node.

[0189] In some embodiments, in step 401, the sensing signal configuration further includes sensing signal synchronization information. In step 402, the sensing network element sends the sensing signal configuration to the sensing node, including: the sensing network element sends the sensing signal configuration to the sensing sending node and the sensing receiving node, and the sensing signal configuration is used for the sensing sending node to send the sensing signal and for the sensing receiving node to receive the echo signal.

[0190] In this embodiment, Figure 1b In the base station B in the base station C in the base station B and the base station C as the sensing sending node and the sensing receiving node, the sensing network element sends the sensing signal configuration to the base station B and the base station C, and the sensing signal configuration is used for the base station B to send the sensing signal and for the base station C to receive the echo signal.

[0191] Figure 7 Another flowchart of a sensing signal sending method provided by the embodiment of the present disclosure is provided. The sensing signal sending method is applied to a sensing node, which can be a base station or a terminal. As shown in Figure 7 The sensing signal sending method can include but is not limited to steps 701 and 702.

[0192] In step 701, the sensing node receives the sensing signal configuration sent by the sensing network element, and the sensing signal configuration includes:

[0193] The resource block pattern and the number of resource block repetitions.

[0194] In step 702, the sensing node sends the sensing signal based on the sensing signal configuration.

[0195] In this embodiment, after the sensing node receives the sensing signal configuration, the sensing node can send the sensing signal based on the resource block pattern and the number of resource block repetitions N in the sensing signal configuration. For example,Figure 5 A diagram illustrating the process of repeatedly sending sensing signal resource blocks N times by a sensing node. Figure 5 In the middle, the sensing node is in t N-1 Complete the transmission of the sensing signal resource block N times, and then stop transmitting the sensing signal resource block.

[0196] exist Figure 5 In this process, the sensing node continuously sends resource blocks. There is no necessary relationship between the sensing node sending resource blocks and calculating the distance estimate corresponding to the echo signal of the resource block. While sending the next resource block, the sensing node can also calculate the distance estimate corresponding to the echo signal of the previous resource block.

[0197] In some embodiments, after the sensing node configures to send the sensing signal based on the sensing signal in step 702, the method further includes:

[0198] The sensing node receives the echo signal of each resource block;

[0199] The sensing node determines the distance estimate of the sensing object based on the echo signal of each resource block;

[0200] The sensing node sends the distance estimate of the sensed object to the sensing network element.

[0201] In this embodiment, the sensing node calculates the distance estimate corresponding to the echo signal of each resource block and sends it to the sensing network element. The sensing network element can then compare the new distance estimate with the existing distance estimates to determine whether a final distance estimate has been obtained. If a final distance estimate has been obtained, the sensing network element can notify the sensing node to stop sending resource blocks.

[0202] In some embodiments, after a sensing node sends the distance estimate of the sensing object to a sensing network element, if the sensing node receives a sensing measurement end command from the sensing network element, it stops sending sensing signals.

[0203] In this embodiment, after the sensing node sends the distance estimate of the sensed object to the sensing network element, the sensing network element compares the new distance estimate with the existing distance estimates. If a final distance estimate is obtained, the sensing network element can notify the sensing node to stop sending resource blocks. The sensing node receives the sensing measurement end command sent by the sensing network element and stops sending sensing signals. It is evident that the number of times the sensing node repeatedly sends resource blocks may be less than the number of times N is repeated in the sensing signal configuration, thereby reducing sensing signal overhead, reducing the latency in obtaining the final distance estimate, and ensuring that the final distance estimate is not affected by a large error in the previous distance estimate. Therefore, the accuracy of distance measurement can be improved.

[0204] In some embodiments, after the sensing node configures to send the sensing signal based on the sensing signal in step 702, the method further includes:

[0205] The sensing node receives the echo signal of each resource block;

[0206] The sensing node sends the echo signal of each resource block to the sensing network element based on the sensing signal configuration.

[0207] In this embodiment, the sensing network element calculates the distance estimate corresponding to the echo signal of each resource block. The sensing network element compares the new distance estimate with the existing distance estimate to determine whether a final distance estimate has been obtained. If the new distance estimate is the same as any existing distance estimate, it is determined that a final distance estimate has been obtained. Then, the sensing network element ends the sensing measurement and sends a sensing measurement end command to the sensing node to notify the sensing node to stop sending resource blocks.

[0208] In some embodiments, after the sensing node sends the echo signal of each resource block to the sensing network element, the method further includes:

[0209] The sensing node receives the sensing measurement end command sent by the sensing network element and stops sending sensing signals.

[0210] For example, in Figure 6 In the process, the first distance estimate is obtained by performing a DFFT ranging and velocity measurement algorithm on the echo signal of resource block M. Compared with the first M-1 second distance estimates If any one of the values ​​in the equation is the same, where M is less than N-1, and N is the number of times the resource block is repeatedly sent, then the sensing network element will use the first distance estimate. As the final distance estimate of the sensed object, a sense measurement end command is sent to the sensed node. Upon receiving the sense measurement end command from the sensed network element, the sensed node stops sending sense signals; that is, blocks M+1 to N-1 following resource block M will no longer send signals.

[0211] In this embodiment, after the sensing node sends the echo signal of each resource block to the sensing network element, the sensing network element compares the new distance estimate with the existing distance estimate. If the final distance estimate is obtained, the sensing network element can notify the sensing node to stop sending resource blocks. The sensing node receives the sensing measurement end command sent by the sensing network element and stops sending sensing signals. It is evident that the number of times the sensing node repeatedly sends resource blocks may be less than the number of times N is repeated in the sensing signal configuration, thereby reducing sensing signal overhead, reducing the latency in obtaining the final distance estimate, and ensuring that the final distance estimate is not affected by a large error in the previous distance estimate. Therefore, the accuracy of distance measurement can be improved.

[0212] In some embodiments, after the sensing node stops sending the sensing signal, the method further comprises:

[0213] The sensing node releases the resource blocks occupied by the sensing signal that is not sent.

[0214] In this embodiment, if the sensing node is a base station, after the sensing node releases the resource blocks occupied by the sensing signal that is not sent, the sensing node can further reschedule the released resource blocks for downlink communication, thereby improving the communication performance of the sensing-integrated system.

[0215] For example, in the case of Figure 6 , the sensing node stops sending the sensing signal, that is, the blocks M+1 to N-1 after the block M will no longer be sent. The sensing node releases the blocks M+1 to N-1 and reschedules the blocks M+1 to N-1 for downlink communication.

[0216] As can be seen, the sensing signal overhead will be reduced by (N-M+1) / N%, and the time delay t N-1 -t M will be reduced in obtaining the distance measurement result. At the same time, the power consumption will be reduced, and the interference of sensing on communication will be reduced, etc.

[0217] In summary, the embodiments of the present disclosure are based on the following features of the 2D-FFT ranging and speed measurement algorithm: the distance estimate value obtained by the 2D-FFT ranging and speed measurement algorithm is a discrete value, specifically, an integer multiple of the distance resolution. The multiple is the IFFT sampling point number. The IFFT sampling point number is determined by the distance between the sensing node and the sensed target. Therefore, as long as the target component amplitude in the echo signal is greater than the maximum value of the noise during measurement, the correct IFFT sampling point number can be obtained. In the case of low signal-to-noise ratio, it is still possible to obtain multiple correct IFFT sampling point numbers within N measurements. Taking the data in Table 1 as an example, four correct IFFT sampling point numbers are obtained in 10 estimates of the distance R; seven correct IFFT sampling point numbers are obtained in 10 estimates of the distance R s When the maximum value of the noise amplitude is greater than the target component amplitude, the IFFT sampling point number will be incorrect. Since the noise is random, the probability of two noise peaks being located at the same sampling point position twice in a small number of repetitions N is extremely small. Taking the data in Table 1 as an example, the six incorrect IFFT sampling point numbers for the distance R are all different in 10 estimates; the six incorrect IFFT sampling point numbers for the distance R sOf the 10 estimations, the three incorrect IFFT sample point numbers were all different. Therefore, when a certain IFFT sample point number is obtained a second time, there is a very high probability that this IFFT sample point number is the correct IFFT sample point number.

[0218] A balance can be struck between system reliability and sensing signal overhead and the time delay in obtaining distance measurement results. Increasing the number of equal IFFT sampling point numbers can improve system reliability. For example, changing the requirement from two equal sampling point numbers to three equal numbers means that when an IFFT sampling point number is obtained for the third time, it is considered a correct IFFT sampling point number. This will significantly improve the reliability of the distance measurement results obtained by the system.

[0219] Example 1

[0220] Taking single-base sensing mode as an example, such as Figure 1a As shown, the sensing signal transmission process is as follows: Steps 1 to 4:

[0221] Step 1: After receiving the sensing service request, the sensing network element selects a sensing node and sends the sensing signal configuration to the selected sensing node. The sensing signal configuration includes:

[0222] Resource block pattern and the number of times the resource block is repeatedly sent.

[0223] Step 2: The selected sensing node sends a sensing signal according to the sensing signal configuration and performs sensing measurement. Each time the sensing node receives an echo signal, the sensing node can (1) transmit the echo signal to the sensing network element, and the sensing network element executes the 2D-FFT ranging and velocity measurement algorithm to obtain the distance estimate; (2) the sensing node executes the 2D-FFT ranging and velocity measurement algorithm to obtain the distance estimate, and then transmits it to the sensing network element.

[0224] Step 3: After obtaining a new distance estimate, the sensing element compares the new distance estimate with existing distance estimates. If the new distance estimate is not equal to an existing distance estimate, the sensing element will not perform any action. If the new distance estimate is equal to one of the existing distance estimates, the sensing element sends a sensing measurement end command to the selected sensing node, and simultaneously uses the new distance estimate as the final distance estimate.

[0225] Step 4: After receiving the sensing measurement end command, the selected sensing node stops sending subsequent sensing signals and re-schedules communication resources to optimize communication performance.

[0226] Example 2

[0227] Taking the dual-base sensing mode as an example, such as Figure 1b As shown, the sensing signal transmission process is as follows: Steps 1 to 4:

[0228] Step 1, after receiving the sensing service request, the sensing network element selects the sensing sending node and the sensing receiving node, and sends the sensing signal configuration to the selected sensing sending node and the sensing receiving node. The sensing signal configuration includes:

[0229] resource block pattern, resource block repetition number, and sensing signal synchronization information.

[0230] Step 2, the selected sensing sending node sends the sensing signal according to the sensing signal configuration, and the selected sensing receiving node receives the echo signal according to the sensing signal synchronization information. After receiving the echo signal each time, the selected receiving sensing node can: (1) transmit the echo signal to the sensing network element, and the sensing network element performs the 2D-FFT ranging and speed measurement algorithm to obtain the distance estimation value of this time; (2) the selected receiving sensing node performs the 2D-FFT ranging and speed measurement algorithm to obtain the distance estimation value of this time, and then transmits it to the sensing network element.

[0231] Step 3, after the sensing network element obtains a new distance estimation value, the sensing network element compares the new distance estimation value with the existing distance estimation value. If the new distance estimation value is not equal to the existing distance estimation value, the sensing network element does not perform any action. If the new distance estimation value is equal to one of the existing distance estimation values, the sensing network element sends a sensing measurement end command to the selected sensing sending node and the sensing receiving node, and takes the new distance estimation value as the final distance estimation value.

[0232] Step 4, after the selected sensing sending node receives the sensing measurement end command, it stops sending subsequent sensing signals, and re-schedules the communication resources to optimize the communication performance. After the selected sensing receiving node receives the sensing measurement end command, it stops receiving the echo of the subsequent signals, and re-schedules the sensing resources to optimize the communication performance.

[0233] Embodiment Three

[0234] In the case of low echo signal signal-to-noise ratio or small resource block repetition number N, there may be no two distance estimation values equal to each other in the N distance estimation values obtained by N measurements. That is, after the sensing network element obtains the Nth distance estimation value, the sensing network element compares the distance estimation value with the existing distance estimation value. It is found that the distance estimation value is not equal to the existing distance estimation value, that is, N measurements do not obtain the final distance measurement value. In this case, the sensing network element can perform the following steps 1 to 3:

[0235] Step 1, reselect the sensing node, for example, select the sensing node that may be closer to the sensed target or the sensing node with stronger sensing capability, and then re-execute Embodiment One or Embodiment Two.

[0236] Step 2, send the sensing measurement continue command to the selected sensing node. The sensing measurement continue command includes at least the sensing measurement repetition number N'. The selected sensing node repeats the steps 2 to 4 of embodiment one, or the steps 2 to 4 of embodiment two. The distance estimation values obtained in the N' times can still be compared with the distance estimation values obtained in the previous N times to obtain the final distance estimation value as soon as possible.

[0237] Step 3, after N' times of sensing measurement, if the equal distance estimation values are still not obtained, stop sending the sensing signal.

[0238] In summary, taking the data shown in Table 1 as an example, compared with the traditional scheme, the scheme of the embodiment of the present disclosure reduces the sensing signal overhead and the time delay of obtaining the sensing result by 40% in the single base mode, and reduces the sensing signal overhead and the time delay of obtaining the sensing result by 70% in the double base mode.

[0239] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art can understand that the embodiments of the present disclosure are not limited by the order of the described actions, because according to the embodiments of the present disclosure, certain steps can be performed in other order or simultaneously. In addition, those skilled in the art can understand that the embodiments described in the specification all belong to optional embodiments.

[0240] Figure 8 A schematic diagram of a sensing signal sending device provided by the embodiment of the present disclosure is shown in the figure. The sensing signal sending device is applied to a sensing network element, such as Figure 8 The sensing signal sending device includes but is not limited to a determination unit 81 and a sending unit 82, and the specific description is as follows:

[0241] The determination unit 81 is configured to determine the sensing signal configuration after receiving the sensing service request, and the sensing signal configuration includes:

[0242] The resource block pattern and the resource block repetition sending number;

[0243] The sending unit 82 is configured to send the sensing signal configuration to the sensing node, and the sensing signal configuration is used for the sensing node to send the sensing signal.

[0244] In some embodiments, the sensing signal sending device further includes:

[0245] The first receiving unit is configured to receive the first distance estimation value of the sensing object sent by the sensing node after the sending unit 82 sends the sensing signal configuration to the sensing node.

[0246] In some embodiments, the sensing signal sending device further includes:

[0247] The first processing unit is configured to, after the first receiving unit receives the first distance estimation value of the sensing object sent by the sensing node, end or continue the execution of the sensing measurement based on the first distance estimation value and at least one second distance estimation value, wherein the second distance estimation value is a distance estimation value of the sensing object stored by the sensing network element.

[0248] In some embodiments, the sensing signal sending apparatus further comprises:

[0249] The second receiving unit is configured to, after the sending unit 82 sends the sensing signal configuration to the sensing node, receive the echo signal of each resource block sent by the sensing node based on the sensing signal configuration.

[0250] In some embodiments, the sensing signal sending apparatus further comprises:

[0251] The second processing unit is configured to, after the second receiving unit receives the echo signal of each resource block sent by the sensing node based on the sensing signal configuration, determine the first distance estimation value of the sensing object based on the echo signal of each resource block; end or continue the execution of the sensing measurement based on the first distance estimation value and at least one second distance estimation value, wherein the second distance estimation value is a distance estimation value of the sensing object stored by the sensing network element.

[0252] In some embodiments, the first processing unit or the second processing unit ends or continues the execution of the sensing measurement based on the first distance estimation value and at least one second distance estimation value, comprising:

[0253] comparing the first distance estimation value and the at least one second distance estimation value;

[0254] if the first distance estimation value is the same as any second distance estimation value, and the number of the same distance estimation values is greater than or equal to a preset number, ending the execution of the sensing measurement and sending a sensing measurement end command to the sensing node;

[0255] or, if the first distance estimation value is different from each second distance estimation value, continuing the execution of the sensing measurement and storing the first distance estimation value as a new second distance estimation value.

[0256] In some embodiments, the first processing unit or the second processing unit is further configured to:

[0257] if the first distance estimation value is the same as any second distance estimation value, and the number of the same distance estimation values is greater than or equal to a preset number, taking the first distance estimation value as the final distance estimation value of the sensing object.

[0258] In some embodiments, the sensing signal sending apparatus further comprises:

[0259] If the first receiving unit receives the number of first distance estimation values of the sensing object sent by the sensing node or the second receiving unit receives the number of echo signals of each resource block reaches the number of resource block repeated sending times, and the first processing unit or the second processing unit does not obtain the final distance estimation value of the sensing object, the sending unit 82 executes:

[0260] sends a sensing measurement continue command to the sensing node, and the sensing measurement continue command includes the number of sensing measurement repetitions;

[0261] And / or, reselects the sensing node, and sends the sensing signal configuration to the reselected sensing node.

[0262] In some embodiments, the sending unit 82 is further used for:

[0263] After sending the sensing measurement continue command to the sensing node, if the number of sensing measurements reaches the number of sensing measurement repetitions, and the final distance estimation value of the sensing object is not obtained, the sensing measurement end command is sent to the sensing node.

[0264] In some embodiments, the sensing signal configuration further includes: sensing signal synchronization information;

[0265] The sending unit 82 is used for: sending the sensing signal configuration to the sensing sending node and the sensing receiving node, and the sensing signal configuration is used for the sensing sending node to send the sensing signal and for the sensing receiving node to receive the echo signal.

[0266] Figure 8 The details of each embodiment of the sensing signal sending device shown can be referred to in Figure 4 The embodiments of the sensing signal sending method shown will not be repeated to avoid repetition.

[0267] Figure 9 Another schematic diagram of a sensing signal sending device provided by the embodiments of the present disclosure is provided, and the sensing signal sending device is applied to a sensing node, as shown in Figure 9 The sensing signal sending device includes but is not limited to: a receiving unit 91 and a sending unit 92, and specific descriptions are as follows:

[0268] The receiving unit 91 is used for receiving the sensing signal configuration sent by the sensing network element, and the sensing signal configuration includes:

[0269] The resource block pattern and the number of resource block repeated sending times.

[0270] The sending unit 92 is used for sending the sensing signal based on the sensing signal configuration.

[0271] In some embodiments, the sensing signal sending device further includes:

[0272] The first processing unit is configured to receive echo signals of each resource block after the sending unit 92 sends the sensing signals based on the sensing signal configuration; determine distance estimation values of the sensing object based on the echo signals of each resource block; and send the distance estimation values of the sensing object to the sensing network element.

[0273] In some embodiments, the first processing unit is further configured to:

[0274] After sending the distance estimation values of the sensing object to the sensing network element, receive a sensing measurement end command sent by the sensing network element, and stop sending the sensing signals.

[0275] In some embodiments, the sensing signal sending apparatus further comprises:

[0276] The second processing unit is configured to receive echo signals of each resource block after the sending unit 92 sends the sensing signals based on the sensing signal configuration; send the echo signals of each resource block to the sensing network element based on the sensing signal configuration.

[0277] In some embodiments, the second processing unit is further configured to:

[0278] After sending the echo signals of each resource block to the sensing network element, receive a sensing measurement end command sent by the sensing network element, and stop sending the sensing signals.

[0279] In some embodiments, the second processing unit is further configured to:

[0280] After stopping sending the sensing signals, release resource blocks occupied by the sensing signals that are not sent.

[0281] In some embodiments, the second processing unit is further configured to:

[0282] After releasing the resource blocks occupied by the sensing signals that are not sent, if the sensing node is a base station, the sensing node re-schedules the released resource blocks for downlink communication.

[0283] In some embodiments, the second processing unit is further configured to:

[0284] Receive a sensing measurement continue command sent by the sensing network element, wherein the sensing measurement continue command comprises a sensing measurement repetition number; and send the sensing signals based on the sensing signal configuration.

[0285] Figure 9 Details of each embodiment of the sensing signal sending apparatus shown can be referred to in Figure 7 Each embodiment of the sensing signal sending method shown is not repeated here to avoid repetition.

[0286] The embodiments of the present disclosure further provide a processor-readable storage medium storing a program for causing a processor to perform the steps of the embodiments of the perception signal sending method. The processor-readable storage medium can be any available medium or data storage device that can be accessed by a processor including but not limited to a magnetic storage (such as a floppy diskette, a hard disk drive, a magnetic tape, a magneto-optical disk (MO), etc.), an optical storage (such as a CD, a DVD, a BD, a HVD, etc.), and a semiconductor memory (such as a ROM, an EPROM, an EEPROM, a NAND FLASH, a solid state disk (SSD), etc.), etc.

[0287] Figure 10 A schematic diagram of a perception network element provided by the embodiments of the present disclosure is shown in FIG. 1, which includes a memory 1001, a transceiver 1002, and a processor 1003. Figure 10 The perception network element provided by the embodiments of the present disclosure includes a memory 1001, a transceiver 1002, and a processor 1003.

[0288] The memory 1001 is configured to store a computer program; the transceiver 1002 is configured to transceive data under the control of the processor 1003; and the processor 1003 is configured to read the computer program in the memory 1001 and perform the following steps:

[0289] After receiving the perception service request, the processor 1003 is further configured to determine a perception signal configuration, wherein the perception signal configuration includes:

[0290] a resource block pattern and a resource block repetition sending number;

[0291] The processor 1003 is further configured to send the perception signal configuration to the perception node, wherein the perception signal configuration is used for the perception node to send a perception signal.

[0292] In some embodiments, after sending the perception signal configuration to the perception node, the processor 1003 is further configured to:

[0293] receive a first distance estimation value of the perception object sent by the perception node.

[0294] In some embodiments, after receiving the first distance estimation value of the perception object sent by the perception node, the processor 1003 is further configured to:

[0295] based on the first distance estimation value and at least one second distance estimation value, end the execution of the perception measurement or continue the execution of the perception measurement, wherein the second distance estimation value is a distance estimation value of the perception object stored by the perception network element.

[0296] In some embodiments, after sending the perception signal configuration to the perception node, the processor 1003 is further configured to:

[0297] receive an echo signal of each resource block sent by the perception node based on the perception signal configuration.

[0298] In some embodiments, after receiving the echo signal of each resource block sent by the perception node based on the perception signal configuration, the processor 1003 is further configured to:

[0299] determine a first distance estimation value of the perception object based on the echo signal of each resource block;

[0300] end or continue the execution of the perception measurement based on the first distance estimation value and at least one second distance estimation value, wherein the second distance estimation value is a distance estimation value of the perception object stored by the perception network element.

[0301] In some embodiments, ending or continuing the execution of the perception measurement based on the first distance estimation value and at least one second distance estimation value comprises:

[0302] comparing the first distance estimation value and the at least one second distance estimation value;

[0303] if the first distance estimation value is the same as any second distance estimation value, ending the execution of the perception measurement and sending a perception measurement end command to the perception node;

[0304] or, if the first distance estimation value is different from each second distance estimation value, continuing the execution of the perception measurement and storing the first distance estimation value as a new second distance estimation value.

[0305] In some embodiments, the processor 1003 is further configured to:

[0306] if the first distance estimation value is the same as any second distance estimation value, taking the first distance estimation value as the final distance estimation value of the perception object.

[0307] In some embodiments, the processor 1003 is further configured to:

[0308] if the number of first distance estimation values of the perception object sent by the perception node or the number of echo signals of each resource block reaches the number of repeated sending of resource blocks, and the final distance estimation value of the perception object is not obtained, the processor performs:

[0309] sending a perception measurement continuation command to the perception node, wherein the perception measurement continuation command includes the number of repeated perception measurements;

[0310] and / or, reselecting the perception node and sending the perception signal configuration to the reselected perception node.

[0311] In some embodiments, after sending the perception measurement continuation command to the perception node, the processor 1003 is further configured to:

[0312] If the number of perception measurements reaches the perception measurement repetition number, and the final distance estimation value of the perception object is not obtained, a perception measurement end command is sent to the perception node.

[0313] In some embodiments, the perception signal configuration further comprises: perception signal synchronization information.

[0314] The perception signal configuration is sent to the perception node, comprising:

[0315] The perception signal configuration is sent to the perception sending node and the perception receiving node, and the perception signal configuration is used for the perception sending node to send the perception signal and for the perception receiving node to receive the echo signal.

[0316] Figure 10 In the embodiment, the transceiver 1002 is configured to receive and send data under the control of the processor 1003. The bus architecture can include any number of interconnected buses and bridges, which link various circuits together, including the processor 1003 and the memory 1001. The bus architecture can also link various other circuits, such as peripheral devices, voltage stabilizers, and power management circuits, which are well known in the art, and thus, will not be described further herein. The bus interface provides an interface. The transceiver 1002 can be a plurality of elements, i.e., including a transmitter and a receiver, which provide units for communicating with various other devices over transmission media, including wireless channels, wired channels, optical cables, and the like. The processor 1003 is responsible for managing the bus architecture and general processing, and the memory 1001 can store data used by the processor 1003 when performing operations.

[0317] Figure 10 In the embodiment, the processor 1003 can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by integrated logic circuits of hardware in the processor 1003 or instructions in the form of software. The processor 1003 can be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0318] Figure 11 A schematic diagram of a perception node provided by the embodiment of the present disclosure is shown in Figure 11As shown, the perception node provided by the embodiments of the present disclosure includes a memory 1101, a transceiver 1102, and a processor 1103.

[0319] The memory 1101 is configured to store a computer program; the transceiver 1102 is configured to transceive data under the control of the processor 1103; and the processor 1103 is configured to read the computer program in the memory 1101 and perform the following steps:

[0320] receiving a perception signal configuration sent by the perception network element, wherein the perception signal configuration comprises:

[0321] a resource block pattern and a resource block repetition sending number;

[0322] sending a perception signal based on the perception signal configuration.

[0323] In some embodiments, after sending the perception signal based on the perception signal configuration, the processor 1103 is further configured to:

[0324] receiving an echo signal of each resource block;

[0325] determining a distance estimation value of the perception object based on the echo signal of each resource block;

[0326] sending the distance estimation value of the perception object to the perception network element.

[0327] In some embodiments, after sending the distance estimation value of the perception object to the perception network element, the processor 1103 is further configured to:

[0328] receiving a perception measurement end command sent by the perception network element, and stopping sending the perception signal.

[0329] In some embodiments, after sending the perception signal based on the perception signal configuration, the processor 1103 is further configured to:

[0330] receiving an echo signal of each resource block;

[0331] sending the echo signal of each resource block to the perception network element based on the perception signal configuration.

[0332] In some embodiments, after sending the echo signal of each resource block to the perception network element based on the perception signal configuration, the processor 1103 is further configured to:

[0333] receiving a perception measurement end command sent by the perception network element, and stopping sending the perception signal.

[0334] In some embodiments, after stopping sending the perception signal, the processor 1103 is further configured to:

[0335] releasing resource blocks occupied by the perception signal that is not sent.

[0336] In some embodiments, after releasing the resource block occupied by the unsent sensing signal, the processor 1103 is further configured to:

[0337] If the sensing node is a base station, the released resource block is rescheduled for downlink communication.

[0338] In some embodiments, the processor 1103 is further configured to:

[0339] receive a sensing measurement continuation command sent by the sensing network element, the sensing measurement continuation command including a sensing measurement repetition number;

[0340] transmit the sensing signal based on the sensing signal configuration.

[0341] Figure 11 In some embodiments, the transceiver 1102 is configured to receive and transmit data under the control of the processor 1103. The bus architecture can include any number of interconnecting buses and bridges, and the various circuitry representative of the processor 1103 and the memory 1101, which are linked together by the bus architecture, and can also include various other circuitry that is not specifically shown, such as power supply circuitry, control circuitry for a variety of peripherals, and the like, which are all well known in the art and therefore, will not be further described herein. The bus interface provides an interface for the transceiver 1102. The transceiver 1102 can be a plurality of elements including a transmitter and a receiver, and provides a means for communicating with various other apparatus over a transmission medium, including a wireless channel, a wired channel, optical fiber cable, and the like. The processor 1103 is responsible for managing the bus architecture and general processing, and the memory 1101 can store data used by the processor 1103 in executing operations.

[0342] Figure 11 In some embodiments, the processor 1103 can be an integrated circuit chip having a processing capability for signals. In the implementation process, each step of the above method can be completed by integrated logic circuits or instructions in the form of software in the processor 1103. The processor 1103 can be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0343] It has to be noted that, as used herein, the terms "includes", "including", "to include", "includes" or "including" and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without further restriction, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0344] Those skilled in the art will appreciate that the features of the various embodiments can be combined with each other, where appropriate, in accordance with the disclosure and form different embodiments.

[0345] Those skilled in the art will appreciate that the description of various embodiments have been with emphasis on the principles of the disclosure and that modifications and variations of the specific embodiments described can be effected therein by persons of ordinary skill in the art.

[0346] While the embodiments of the disclosure have been described in connection with the preferred embodiments thereof, it will occur to those skilled in the art that modifications and variations can be made by them in light of this disclosure and that other embodiments can be utilized that fall within the spirit and scope of the present disclosure.

Claims

1. A method for transmitting sensing signals, applied to a sensing network element, the method comprising: After receiving a sensing service request, the sensing network element determines the sensing signal configuration, which includes: Resource block pattern and the number of times a resource block is repeatedly sent; The sensing network element sends the sensing signal configuration to the sensing node, and the sensing signal configuration is used by the sensing node to send the sensing signal.

2. The method according to claim 1, wherein, After the sensing network element sends the sensing signal configuration to the sensing node, the method further includes: The sensing network element receives the first distance estimate of the sensing object sent by the sensing node.

3. The method according to claim 2, wherein, After the sensing network element receives the first distance estimate of the sensing object sent by the sensing node, the method further includes: The sensing network element terminates or continues to perform sensing measurements based on the first distance estimate and at least one second distance estimate, wherein the second distance estimate is the distance estimate of the sensing object stored by the sensing network element.

4. The method according to claim 1, wherein, After the sensing network element sends the sensing signal configuration to the sensing node, the method further includes: The sensing network element receives the echo signal of each resource block sent by the sensing node based on the sensing signal configuration.

5. The method according to claim 4, wherein, After the sensing network element receives the echo signal of each resource block sent by the sensing node based on the sensing signal configuration, the method further includes: The sensing network element determines a first distance estimate of the sensing object based on the echo signal of each resource block; The sensing network element terminates or continues to perform sensing measurements based on the first distance estimate and at least one second distance estimate, wherein the second distance estimate is the distance estimate of the sensing object stored by the sensing network element.

6. The method according to claim 3 or 5, wherein, The sensing element, based on the first distance estimate and at least one second distance estimate, terminates or continues performing sensing measurements, including: The sensing element compares the first distance estimate with the at least one second distance estimate; If the first distance estimate is the same as any of the second distance estimates, and the number of the same distance estimates is greater than or equal to a preset number, then the sensing network element ends the sensing measurement and sends a sensing measurement end command to the sensing node. Alternatively, if the first distance estimate is different from each of the second distance estimates, the sensing element continues to perform sensing measurements and stores the first distance estimate as a new second distance estimate.

7. The method according to claim 6, wherein, The method further includes: If the first distance estimate is the same as any of the second distance estimates, and the number of the same distance estimates is greater than or equal to a preset number, then the sensing network element will use the first distance estimate as the final distance estimate of the sensing object.

8. The method according to claim 7, wherein, The method further includes: If the number of first distance estimates of the sensed object received by the sensing network element from the sensing node, or the number of echo signals for each resource block, reaches the number of times the resource block is repeatedly transmitted, and the sensing network element has not obtained the final distance estimate of the sensed object, then the sensing network element executes: Send a sensing measurement continuation command to the sensing node, the sensing measurement continuation command including the number of times the sensing measurement is repeated; And / or, reselect a sensing node and send the sensing signal configuration to the reselected sensing node.

9. The method according to claim 8, wherein, After sending the sensing measurement continuation command to the sensing node, the method further includes: If the number of sensing measurements reaches the set number of repeated sensing measurements and the sensing network element fails to obtain the final distance estimate of the sensing object, then the sensing network element sends a sensing measurement end command to the sensing node.

10. The method according to claim 1, wherein, The sensing signal configuration also includes: sensing signal synchronization information; The sensing network element sends the sensing signal configuration to the sensing node, including: The sensing network element sends the sensing signal configuration to the sensing transmitting node and the sensing receiving node. The sensing signal configuration is used by the sensing transmitting node to send sensing signals and by the sensing receiving node to receive echo signals.

11. A method for transmitting a sensing signal, applied to a sensing node, the method comprising: The sensing node receives sensing signal configurations sent by the sensing network element, the sensing signal configurations including: Resource block pattern and the number of times a resource block is repeatedly sent; The sensing node is configured to send sensing signals based on the sensing signals.

12. The method according to claim 11, wherein, After the sensing node is configured to send sensing signals based on the sensing signals, the method further includes: The sensing node receives the echo signal of each resource block; The sensing node determines the distance estimate of the sensing object based on the echo signal of each resource block; The sensing node sends the distance estimate of the sensing object to the sensing network element.

13. The method according to claim 12, wherein, After the sensing node sends the distance estimate of the sensed object to the sensing network element, the method further includes: The sensing node receives the sensing measurement end command sent by the sensing network element and stops sending sensing signals.

14. The method according to claim 11, wherein, After the sensing node is configured to send sensing signals based on the sensing signals, the method further includes: The sensing node receives the echo signal of each resource block; The sensing node is configured to send the echo signal of each resource block to the sensing network element based on the sensing signal configuration.

15. The method according to claim 14, wherein, After the sensing node sends the echo signal of each resource block to the sensing network element, the method further includes: The sensing node receives the sensing measurement end command sent by the sensing network element and stops sending sensing signals.

16. The method according to claim 13 or 15, wherein, After stopping the transmission of sensing signals, the method further includes: The sensing node releases the resource blocks occupied by unsent sensing signals.

17. The method according to claim 16, wherein, After the sensing node releases the resource blocks occupied by unsent sensing signals, the method further includes: If the sensing node is a base station, the resource blocks that the sensing node reschedules and releases are used for downlink communication.

18. The method according to claim 13 or 15, wherein, The method further includes: The sensing node receives a sensing measurement continuation command sent by the sensing network element, and the sensing measurement continuation command includes the number of times the sensing measurement is repeated; The sensing node is configured to send sensing signals based on the sensing signals.

19. A sensing signal transmitting device, applied to a sensing network element, the device comprising: The determining unit is configured to determine the sensing signal configuration after receiving a sensing service request, wherein the sensing signal configuration includes: Resource block pattern and the number of times a resource block is repeatedly sent; The transmitting unit is used to transmit the sensing signal configuration to the sensing node, the sensing signal configuration being used by the sensing node to transmit sensing signals.

20. A sensing signal transmitting device, applied to a sensing node, the device comprising: The receiving unit is configured to receive sensing signal configurations transmitted by sensing network elements, the sensing signal configurations including: Resource block pattern and the number of times a resource block is repeatedly sent; A transmitting unit is configured to transmit a sensing signal based on the sensing signal.

21. A sensing network element, wherein, The sensing network element includes a memory, a transceiver, and a processor; The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor. The processor is configured to read and execute the computer program in the memory: Upon receiving a sensing service request, the sensing signal configuration is determined, which includes: Resource block pattern and the number of times a resource block is repeatedly sent; The sensing signal configuration is sent to the sensing node, and the sensing signal configuration is used by the sensing node to send the sensing signal.

22. The sensing network element according to claim 21, wherein, After the processor sends the sensing signal configuration to the sensing node, it is further configured to: Receive the first distance estimate of the sensed object sent by the sensed node.

23. The sensing network element according to claim 22, wherein, After receiving the first distance estimate of the sensed object sent by the sense node, the processor is further configured to: Based on the first distance estimate and at least one second distance estimate, the execution of the sensing measurement is terminated or the sensing measurement is continued, wherein the second distance estimate is the distance estimate of the sensing object stored in the sensing network element.

24. The sensing network element according to claim 21, wherein, After the processor sends the sensing signal configuration to the sensing node, it is further configured to: Receive the echo signal of each resource block sent by the sensing node based on the sensing signal configuration.

25. The sensing network element according to claim 24, wherein, After receiving the echo signal of each resource block sent by the sensing node based on the sensing signal configuration, the processor is further configured to: Based on the echo signal of each resource block, a first distance estimate of the sensed object is determined; Based on the first distance estimate and at least one second distance estimate, the execution of the sensing measurement is terminated or the sensing measurement is continued, wherein the second distance estimate is the distance estimate of the sensing object stored in the sensing network element.

26. The sensing network element according to claim 23 or 25, wherein, The step of ending or continuing the perception measurement based on the first distance estimate and at least one second distance estimate includes: Compare the first distance estimate with the at least one second distance estimate; If the first distance estimate is the same as any of the second distance estimates, and the number of the same distance estimates is greater than or equal to a preset number, then the perception measurement is terminated, and a perception measurement termination command is sent to the perception node. Alternatively, if the first distance estimate is different from each of the second distance estimates, then the perception measurement continues and the first distance estimate is stored as a new second distance estimate.

27. The sensing network element according to claim 26, wherein, The processor is also used for: If the first distance estimate is the same as any of the second distance estimates, and the number of the same distance estimates is greater than or equal to a preset number, then the first distance estimate is taken as the final distance estimate of the perceived object.

28. The sensing network element according to claim 27, wherein, The processor is also used for: If the number of first distance estimates of the sensed object received by the sensed node or the number of echo signals for each resource block reaches the number of repeated transmissions for the resource block, and the final distance estimate of the sensed object is not obtained, then the processor executes: Send a sensing measurement continuation command to the sensing node, the sensing measurement continuation command including the number of times the sensing measurement is repeated; And / or, reselect a sensing node and send the sensing signal configuration to the reselected sensing node.

29. The sensing network element according to claim 28, wherein, After sending the sensing measurement continuation command to the sensing node, the processor is further configured to: If the final distance estimate of the sensed object is not obtained when the number of sensed measurements reaches the required number of times the sensed measurement is repeated, a sensed measurement end command is sent to the sensed node.

30. The sensing network element according to claim 21, wherein, The sensing signal configuration also includes: sensing signal synchronization information; The configuration for sending the sensing signal to the sensing node includes: The sensing signal configuration is sent to the sensing transmitting node and the sensing receiving node. The sensing signal configuration is used for the sensing transmitting node to send sensing signals and for the sensing receiving node to receive echo signals.

31. A sensing node, wherein, The sensing node includes a memory, a transceiver, and a processor; The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor. The processor is configured to read and execute the computer program in the memory: The configuration for receiving sensing signals sent by a sensing network element includes: Resource block pattern and the number of times a resource block is repeatedly sent; Based on the sensing signal configuration, the sensing signal is transmitted.

32. The sensing node according to claim 31, wherein, After configuring the transmission of the sensing signal based on the sensing signal, the processor is further configured to: Receive the echo signal of each resource block; Based on the echo signal of each resource block, the distance estimate of the sensing object is determined; The distance estimate of the sensed object is sent to the sense network element.

33. The sensing node according to claim 32, wherein, After sending the distance estimate of the sensed object to the sense network element, the processor is further configured to: The sensing node receives the sensing measurement end command sent by the sensing network element and stops sending sensing signals.

34. The sensing node according to claim 31, wherein, After configuring the transmission of the sensing signal based on the sensing signal, the processor is further configured to: Receive the echo signal of each resource block; Based on the sensing signal configuration, the echo signal of each resource block is sent to the sensing network element.

35. The sensing node according to claim 34, wherein, After configuring the echo signal of each resource block to be sent to the sensing network element based on the sensing signal, the processor is further configured to: Upon receiving the sensing measurement end command sent by the sensing network element, the system stops sending sensing signals.

36. The sensing node according to claim 33 or 35, wherein, After stopping the transmission of sensing signals, the processor is further configured to: Release the resource blocks occupied by unsent sensing signals.

37. The sensing node according to claim 36, wherein, After releasing the resource blocks occupied by the unsent sensing signals, the processor is further configured to: If the sensing node is a base station, the resource blocks that are rescheduled and released are used for downlink communication.

38. The sensing node according to claim 33 or 35, wherein, The processor is also used for: Receive a sensing measurement continuation command sent by the sensing network element, wherein the sensing measurement continuation command includes the number of times the sensing measurement is repeated; Based on the sensing signal configuration, the sensing signal is transmitted.

39. A processor-readable storage medium, wherein, The processor-readable storage medium stores a program for causing the processor to perform the sensing signal transmission method as described in any one of claims 1 to 10 or the sensing signal transmission method as described in any one of claims 11 to 18.

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