Perception interaction method and device, communication equipment, storage medium and program product

Abstract

The invention provides a perceptual interaction method and device, communication equipment, a storage medium and a program product, and relates to the technical field of communication, the perceptual interaction method is executed by first equipment, and the method comprises the following steps: obtaining first information, the first information comprises at least one of the following items: related information of the second equipment, related information of the third equipment, sensing area information, sensing target information and sensing performance requirements; wherein the second device is a sending device for sensing a reference signal, and the third device is a receiving device for sensing the reference signal; second information is determined according to the first information, the second information is sent to a fourth device, and the second information comprises relevant information of a sensing reference signal. The process is suitable for a communication interaction process of a 5G or 6G communication system, and the reliability and the high efficiency of operation of the whole system are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, in particular to a perception interaction method and device, a communication device, a storage medium and a program product. BACKGROUND

[0002] The communication and perception fusion system aims to utilize shared signal waveforms, spectrum resources and hardware resources to simultaneously realize communication and perception functions. The perception behavior depends on the interaction between the perception sender and receiver and the perception object, and the acquisition of perception information mainly depends on the processing of the perception receiver. However, there is no suitable process for the interaction between communication and perception in the current 5G or 6G communication system to ensure the reliability and efficiency of the overall system. SUMMARY

[0003] The embodiments of the present application provide a perception interaction method, device, communication device, storage medium and program product to solve the problem that there is no suitable process for the interaction between communication and perception in the prior art.

[0004] To solve the above technical problems, the embodiments of the present application provide the following technical solutions:

[0005] In a first aspect, the embodiments of the present application provide a perception interaction method, which is executed by a first device, and the method comprises:

[0006] Obtaining first information, wherein the first information comprises at least one of the following: related information of a second device, related information of a third device, perception area information, perception target information, and perception performance requirement; wherein the second device is a sending device of a perception reference signal, and the third device is a receiving device of the perception reference signal;

[0007] Determining second information according to the first information, and sending the second information to a fourth device, wherein the second information comprises related information of the perception reference signal.

[0008] In a second aspect, the embodiments of the present application further provide a perception interaction method, which is executed by a fourth device, and the method comprises:

[0009] Obtaining second information sent by a first device, wherein the second information comprises related information of a perception reference signal;

[0010] Determining a perception reference signal resource according to the second information, and sending third information to a second device, wherein the third information is used for configuring or activating the transmission of the perception reference signal.

[0011] In a third aspect, the embodiments of the present application further provide a perception interaction method, which is executed by a second device, and the method comprises:

[0012] sending the first device the relevant information of the second device;

[0013] receiving third information sent by the fourth device, the third information being used for configuring or activating transmission of the sensing reference signal;

[0014] sending the sensing reference signal according to the third information.

[0015] In a fourth aspect, an embodiment of the present application further provides a sensing interaction method, which is performed by a third device, and the method comprises the following steps:

[0016] sending the first device the relevant information of the third device.

[0017] In a fifth aspect, an embodiment of the present application further provides a sensing interaction apparatus, and the apparatus comprises:

[0018] a first obtaining module, which is used for obtaining first information, the first information comprising at least one of the following: relevant information of a second device, relevant information of a third device, sensing area information, sensing target information, and sensing performance requirement; wherein the second device is a sending device of a sensing reference signal, and the third device is a receiving device of the sensing reference signal;

[0019] a first sending module, which is used for determining second information according to the first information, and sending the second information to a fourth device, wherein the second information comprises relevant information of the sensing reference signal.

[0020] In a sixth aspect, an embodiment of the present application further provides a sensing interaction apparatus, and the apparatus comprises:

[0021] a second obtaining module, which is used for obtaining second information sent by a first device, wherein the second information comprises relevant information of a sensing reference signal;

[0022] a second sending module, which is used for determining sensing reference signal resources according to the second information, and sending third information to a second device, wherein the third information is used for configuring or activating transmission of the sensing reference signal.

[0023] In a seventh aspect, an embodiment of the present application further provides a sensing interaction apparatus, and the apparatus comprises:

[0024] a third sending module, which is used for sending the first device the relevant information of the second device;

[0025] a first receiving module, which is used for receiving third information sent by the fourth device, wherein the third information is used for configuring or activating transmission of the sensing reference signal;

[0026] a fourth sending module, which is used for sending the sensing reference signal according to the third information.

[0027] In an eighth aspect, an embodiment of the present application further provides a perception interaction device, the device comprising:

[0028] The fifth sending module is configured to send the relevant information of the third device to the first device.

[0029] In a ninth aspect, an embodiment of the present application further provides a communication device, comprising a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps in the perception interaction method according to any one of the first aspect, or implements the steps in the perception interaction method according to any one of the second aspect, or implements the steps in the perception interaction method according to any one of the third aspect, or implements the steps in the perception interaction method according to any one of the fourth aspect.

[0030] In a tenth aspect, an embodiment of the present application further provides a readable storage medium, wherein the readable storage medium stores a program, and the program, when executed by a processor, implements the steps in the perception interaction method according to any one of the first aspect, or implements the steps in the perception interaction method according to any one of the second aspect, or implements the steps in the perception interaction method according to any one of the third aspect, or implements the steps in the perception interaction method according to any one of the fourth aspect.

[0031] In an eleventh aspect, an embodiment of the present application further provides a computer program product comprising computer instructions, wherein the computer instructions, when executed by a processor, implement the steps in the perception interaction method according to any one of the first aspect, or implement the steps in the perception interaction method according to any one of the second aspect, or implement the steps in the perception interaction method according to any one of the third aspect, or implement the steps in the perception interaction method according to any one of the fourth aspect.

[0032] The present application has the following beneficial effects:

[0033] The perception interaction method provided by the present application scheme, the first device acquires the first information, wherein the first information comprises at least one of the following: the relevant information of the second device, the relevant information of the third device, the perception area information, the perception target information, and the perception performance requirement, the second information is determined according to the first information, and the second information is sent to the fourth device, so that the fourth device determines the perception reference signal resource according to the second information, sends the third information used for configuring or activating the transmission of the perception reference signal to the second device, and then the second device sends the perception reference signal according to the third information. The above process is suitable for the perception interaction process of the 5G or 6G communication system, and ensures the reliability and efficiency of the overall system operation. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 Fig. 1 shows a flow chart of a method of perceptual interaction applied to a first device according to an embodiment of the present application;

[0035] Figure 2 Fig. 2 shows a flow chart of a method of perceptual interaction applied to a fourth device according to an embodiment of the present application;

[0036] Figure 3 Fig. 3 shows a flow chart of a method of perceptual interaction applied to a second device according to an embodiment of the present application;

[0037] Figure 4 Fig. 4 shows a flow chart of a method of perceptual interaction applied to a third device according to an embodiment of the present application;

[0038] Figure 5 Fig. 5 shows a flow chart of a method of perceptual interaction according to an embodiment of the present application;

[0039] Figure 6 Fig. 6 shows a flow chart of a method of perceptual interaction according to another embodiment of the present application;

[0040] Figure 7 Fig. 7 shows a schematic diagram of a perceptual interaction device according to an embodiment of the present application;

[0041] Figure 8 Fig. 8 shows a schematic diagram of a perceptual interaction device according to another embodiment of the present application;

[0042] Figure 9 Fig. 9 shows a schematic diagram of a perceptual interaction device according to another embodiment of the present application;

[0043] Figure 10 Fig. 10 shows a schematic diagram of a perceptual interaction device according to another embodiment of the present application;

[0044] Figure 11 Fig. 11 shows a schematic diagram of a communication device according to an embodiment of the present application;

[0045] Figure 12 Fig. 12 shows a schematic diagram of a communication device according to another embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the technical problems solved by the present application, technical solutions and advantages clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help a comprehensive understanding of the embodiments of the present application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, in order to be clear and concise, the description of known functions and structures is omitted.

[0047] It should be understood that every feature, structure, or characteristic described in relation to an embodiment is included in at least one embodiment of the application. Thus, it should be understood that every feature, structure, or characteristic in each embodiment is included in at least one embodiment, regardless of whether the feature, structure, or characteristic is described in relation to that embodiment. Therefore, appearances of the expressions "in one embodiment" or "in an embodiment" in various places in the specification do not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0048] In various embodiments of the present application, it should be understood that the size of the serial number of the following processes does not mean the order of execution, and the execution order of the processes should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0049] In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that the determination of B according to A does not mean that B is determined only according to A, but B can also be determined according to A and / or other information.

[0050] In the embodiments of the present application, the term "and / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after it.

[0051] To solve the problem that there is no process suitable for sensory interaction in the prior art, the embodiments of the present application provide a sensory interaction method, device, communication equipment, storage medium and program product.

[0052] As shown in Figure 1 The embodiments of the present application provide a sensory interaction method, which is executed by a first device, and the method comprises the following steps.

[0053] Step 101: acquiring first information, wherein the first information (Capability and Tx information / Rx information) comprises at least one of the following: related information of a second device, related information of a third device, sensing area information, sensing target information, and sensing performance requirement; wherein the second device is a sensing reference signal sending device (Sensing Tx), and the third device is a sensing reference signal receiving device.

[0054] In the embodiment, the first device comprises at least one of a sensing function entity, a sensing management function (SMF) entity, and a first device for calculation of sensing results. The second device comprises at least one of a base station (gNB), a transmitter receiver point (TRP), and a terminal (UE). The third device comprises at least one of a base station (gNB), a transmitter receiver point (TRP), and a terminal (UE).

[0055] In this step, the first device acquires first information, which can be directly interacted or can be forwarded by the fourth device. For example, the second device related information, sensing area information, sensing target information, and sensing performance requirement in the first information can be directly sent to the first device by the second device, or the second device related information can be sent to the fourth device by the second device, and the sensing area information, sensing target information, and sensing performance requirement can be directly acquired by the fourth device, and then the second device related information, sensing area information, sensing target information, and sensing performance requirement are forwarded to the first device by the fourth device. For another example, the third device related information, sensing area information, sensing target information, and sensing performance requirement in the first information can be directly sent to the first device by the third device, or the third device related information can be sent to the fourth device by the third device, and the sensing area information, sensing target information, and sensing performance requirement can be directly acquired by the fourth device, and then the third device related information, sensing area information, sensing target information, and sensing performance requirement are forwarded to the first device by the fourth device. For another example, the second device related information in the first information is sent to the first device by the second device, the third device related information in the first information is sent to the first device by the third device, and the sensing area information, sensing target information, and sensing performance requirement are directly acquired by the fourth device, and then the sensing area information, sensing target information, and sensing performance requirement are forwarded to the first device by the fourth device.

[0056] Alternatively, the sensing area information, sensing target information, and sensing performance requirement are directly acquired by the first device, and are directly sent to the first device by the sensing request client or are sent to the fourth device by the sensing request client, and then the sensing area information, sensing target information, and sensing performance requirement are forwarded to the first device by the fourth device.

[0057] The fourth device includes at least one of a serving gNB, a serving TRP, or a serving UE.

[0058] The first device and / or the fourth device obtains at least one of the first information, and determines a sensing mode according to the first information.

[0059] The sensing mode includes six modes, i.e., a UE-UE bi-static sensing mode, a TRP-TRP bi-static sensing mode, a UE-TRP bi-static sensing mode, a TRP-UE bi-static sensing mode, a UE mono-static sensing mode, and a TRP mono-static sensing mode.

[0060] The related information of the second device includes at least one of:

[0061] Position information of the second device;

[0062] Coordinate information of the second device;

[0063] Identity (ID) information of the second device, the device ID information being used for identifying and distinguishing the UE;

[0064] Sequence ID information of a sensing reference signal (sensing RS sequence ID);

[0065] Antenna Reference Point (ARP) ID information (ARP ID);

[0066] ARP position information;

[0067] ARP coordinate information;

[0068] A sensing mode (bi-static or mono-static) supported by the second device;

[0069] A transceiving mode (Tx, Rx, or Tx&Rx) supported by the second device;

[0070] a type of the second device (the type includes an on board unit (OBU) and a road side unit (RSU));

[0071] state information of the second device (the state information includes that the device is in a static state or that the device is in a motion state);

[0072] beam information;

[0073] indication information of whether the second device has a service capability, that is, whether the second device has a server UE capability.

[0074] wherein the related information of the third device includes at least one of the following:

[0075] position information of the third device;

[0076] coordinate information of the third device;

[0077] device identity (ID) information of the third device, the device ID information being used for identifying and distinguishing the UE;

[0078] sequence identification information of a sensing reference signal (sensing RS sequence ID);

[0079] antenna reference point ARP identification information (ARP ID);

[0080] ARP position information;

[0081] ARP coordinate information;

[0082] a sensing mode supported by the third device (bi-static mode and mono-static mode);

[0083] a transceiving mode supported by the third device (supporting a transmission mode (Tx), supporting a reception mode (Rx), and supporting a transmission and reception mode (Tx&Rx));

[0084] a type of the third device (the type includes an on board unit (OBU) and a road side unit (RSU));

[0085] state information of the third device (the state information includes that the device is in a static state or that the device is in a motion state);

[0086] beam information;

[0087] indication information of whether the third device has a service capability, that is, whether the third device has a server UE capability.

[0088] The perception area information includes at least one of the following: position information of the perception area, and environment information of the perception area.

[0089] The perception target information includes at least one of the following: material of the perception target, type of the perception target, radar cross section (RCS) of the perception target, shape of the perception target, speed of the perception target, and motion direction of the perception target.

[0090] The perception performance requirement includes at least one of the following: ranging resolution, speed resolution, maximum distance of measurement, and maximum speed of measurement.

[0091] In an embodiment, after the first device obtains the first information, the first device determines a sensing Tx and a sensing Rx of the sensing reference signal according to the first information:

[0092] The first device determines the sensing Tx and the sensing Rx based on the collected sensing-related capabilities of the devices (related information of the second device and related information of the third device), and information such as a specific area to be sensed and coordinates of the devices. Among them,

[0093] The sensing Tx should have the capability of transmitting the sensing RS, and the sensing Rx should have the capability of receiving the sensing RS. In the following, the second device is taken as the sensing Tx, and the third device is taken as the sensing Rx as an example.

[0094] The sensing Tx and the sensing Rx should be able to support the sensing function and mode required by the current application;

[0095] Based on the information such as the area to be sensed and the coordinates of the devices, a suitable sensing node topology is selected to ensure the performance when the sensing calculation is performed subsequently.

[0096] The sensing Tx and the sensing Rx are selected based on the device type, such as preferentially selecting a RSU, a PRU, or other stationary and computationally strong devices as the sensing node.

[0097] Step 102: determining second information according to the first information, and sending the second information to a fourth device, wherein the second information includes related information of the sensing reference signal.

[0098] In this step, the first device interacts with the fourth device based on the first information, and sends second information (sensing information request) to the fourth device, which is used to assist the fourth device to schedule the second device to send sensing reference signals (sensing RS) in the future.

[0099] The second information includes at least one of the following:

[0100] The number of times of transmission of the sensing reference signals;

[0101] The total number of symbols of the sensing reference signals;

[0102] The number of symbols of the sensing reference signals in each frame;

[0103] The transmission bandwidth of the sensing reference signals;

[0104] The subcarrier spacing of the sensing reference signals;

[0105] The resource type of the sensing reference signals (the resource type includes periodic, aperiodic, and semi-persistent);

[0106] The cyclic prefix (CP) length;

[0107] The resource configuration information of the sensing reference signals;

[0108] The period of the sensing reference signals;

[0109] The spatial correlation information;

[0110] The receiving device information (sensing Rx information) of the sensing reference signals;

[0111] The sequence identification information (sensing RS sequence ID) of the sensing reference signals.

[0112] The spatial correlation information includes a beam direction, which is determined based on the sensing area information.

[0113] Further, after the fourth device receives the second information, the fourth device determines the sensing reference signal resource according to the second information, sends third information to the second device, and the third information is used to configure or activate the transmission of the sensing reference signals. The second device receives the third information sent by the fourth device, and sends the sensing reference signals according to the third information.

[0114] The third information is a list of resource configuration information of a sensing reference signal (sensing RS), and each resource configuration information (the resource configuration information is the resource configuration information of the sensing reference signal in the second information) includes at least one of the following, or the third information includes at least one of the following:

[0115] The number of time domain symbols of the sensing reference signal;

[0116] The starting symbol position in the time slot in which the sensing reference signal is sent;

[0117] The frequency domain bandwidth in which the sensing reference signal is sent;

[0118] The frequency domain starting position in which the sensing reference signal is sent;

[0119] Period configuration information;

[0120] Resource identification information (resource ID) of the sensing reference signal;

[0121] Resource set identification information (resource set ID) of the sensing reference signal;

[0122] Frequency layer information of the sensing reference signal;

[0123] Spatial correlation information (including beam information);

[0124] Sequence identification information (sensing RS sequence ID) of the sensing reference signal.

[0125] Further, after the fourth device sends the third information to the second device, the fourth device can feed back response information (sensing information response) to the first device, and the response information includes at least one of the following:

[0126] At least one of the third information;

[0127] At least one of the related information of the second device.

[0128] It should be noted that the fourth device sends the response information to the first device after the fourth device sends the third information to the second device, but not immediately feeds back the response information (sensing information response) to the first device. During this period, other devices can also interact with other information.

[0129] And, the step of sending the response information from the fourth device to the first device can be needed or not. Specifically, if the second device sends the sensing reference signal together with a scheduling signal of the sensing reference signal, the response information from the fourth device to the first device can not be needed, because the third device can make the measurement of the sensing reference signal through the scheduling signal. If the second device only sends the sensing reference signal, the response information from the fourth device to the first device is needed, which is used to assist the third device to make the measurement of the sensing reference signal.

[0130] In an optional embodiment, the method further comprises:

[0131] receiving at least one of the following sent by the fourth device:

[0132] at least one of the third information, wherein the third information is used to configure or activate the transmission of the sensing reference signal;

[0133] at least one of the related information of the second device.

[0134] In an optional embodiment, the method further comprises:

[0135] sending fourth information to the fourth device according to the second information;

[0136] Specifically, when the sensing reference signal is of a semi-persistent or aperiodic type, the first device activates the second device to send the sensing RS. Specifically, the first device sends fourth information (sensing activation request) to the fourth device, and the fourth device sends eighth information to the second device according to the fourth information, or according to the fourth information and the second information, the eighth information being used to activate or deactivate the transmission of the sensing reference signal;

[0137] wherein the fourth information comprises at least one of:

[0138] deactivation indication information;

[0139] activation indication information;

[0140] spatial correlation information (beam information);

[0141] activation time;

[0142] the number of time domain symbols of the sensing reference signal;

[0143] the starting symbol position in the time slot in which the sensing reference signal is sent;

[0144] the frequency domain bandwidth in which the sensing reference signal is sent;

[0145] a frequency domain starting position of the sensing reference signal;

[0146] period configuration information;

[0147] resource identification information of the sensing reference signal;

[0148] resource set identification information of the sensing reference signal;

[0149] frequency layer information of the sensing reference signal;

[0150] sequence identification information of the sensing reference signal.

[0151] Alternatively, the second device sending the sensing reference signal is determined by the second device itself and / or the fourth device.

[0152] Further, the method further comprises:

[0153] The first device sends fifth information (sensing assistance data) to the third device, and the fifth information is used to assist the third device to perform sensing measurement based on the sensing reference signal.

[0154] The third device performs sensing measurement according to the fifth information.

[0155] The fifth information includes at least one of:

[0156] related information of the second device;

[0157] resource configuration information of the sensing reference signal;

[0158] spatial correlation information (beam information);

[0159] timing information relative to the fourth device;

[0160] sensing area information;

[0161] sensing target information;

[0162] service latency;

[0163] sensing refresh rate.

[0164] The fifth information is sent to the third device, including:

[0165] The sixth information is sent to the third device, and the sixth information is used to instruct the third device to perform sensing measurement based on the sensing reference signal, that is, the first device informs the third device to perform measurement through the sixth information (sensing measurement request).

[0166] The third device performs sensing measurement according to the fifth information and the sixth information;

[0167] The sixth information includes at least one of the following:

[0168] At least one of the fifth information;

[0169] The reporting type of the sensing reference signal (including periodic type and aperiodic type);

[0170] Measurement period;

[0171] Measurement quality;

[0172] Measurement beam information (determined based on sensing area information);

[0173] Search window information;

[0174] The second device related information;

[0175] Response time;

[0176] Measurement quantity type indication information.

[0177] The measurement quantity type indication information includes channel state information, channel statistical characteristics, Doppler information, time delay information, micro-Doppler information, reference signal receiving power (RSRP), reference signal received path power (RSRPP), angle of arrival (AOA), angle of departure (AoD), time stamp, etc.

[0178] It can be understood that the fifth information and the sixth information can be combined into one information or one message, that is, the third device can directly measure by receiving only the fifth information without receiving the sixth information, and at this time, the fifth information is a sensing measurement request message.

[0179] Further, after the third device completes the measurement, the method further includes:

[0180] Receiving the seventh information sent by the third device, that is, the third device reports the seventh information (sensing measurements report) to the first device after completing the measurement.

[0181] The seventh information includes at least one of the following:

[0182] The second device related information, wherein the second device is a transmitting device of the sensing reference signal;

[0183] information of the third device, wherein the third device is a receiving device of the sensing reference signal;

[0184] a measurement result corresponding to the measurement quantity;

[0185] at least one of resource configuration information of the sensing reference signal;

[0186] measurement quantity identification information;

[0187] object information associated with the measurement quantity.

[0188] According to the seventh information, the sensing result is obtained, that is, the first device receives the seventh information and performs sensing result calculation.

[0189] As shown in Figure 2 The embodiment of the present application also provides a sensing interaction method, which is executed by a fourth device, and the method comprises the following steps:

[0190] Step 201: acquiring second information sent by a first device, wherein the second information comprises sensing reference signal related information.

[0191] The fourth device comprises at least one of the following: a serving gNB, a serving TRP or a serving UE. The first device comprises at least one of the following: a sensing function entity, an SMF entity, and the first device is used for sensing result calculation.

[0192] In this step, the first device interacts with the fourth device based on the first information and second information (sensing information request) for assisting the fourth device to schedule the second device to send the sensing reference signal (sensing RS) in the subsequent step.

[0193] The first information (Capability and Tx information / Rx information) comprises at least one of the following: second device related information, third device related information, sensing area information, sensing target information and sensing performance requirement.

[0194] The second information comprises at least one of the following:

[0195] transmission times of the sensing reference signal;

[0196] total number of symbols of the sensing reference signal;

[0197] number of symbols of the sensing reference signal in each frame;

[0198] a transmission bandwidth of the sensing reference signal;

[0199] a subcarrier spacing of the sensing reference signal;

[0200] a resource type of the sensing reference signal (the resource type includes periodic, aperiodic, and semi-persistent);

[0201] a cyclic prefix (CP) length;

[0202] resource configuration information of the sensing reference signal;

[0203] a period of the sensing reference signal;

[0204] spatial correlation information;

[0205] sensing receiver (Rx) information of the sensing reference signal;

[0206] sequence identification information (Sensing RS sequence ID) of the sensing reference signal.

[0207] The spatial correlation information includes a beam direction, which is determined based on sensing area information.

[0208] It should be further noted that in this embodiment, the fourth device can also obtain the first information, wherein the first information can be obtained directly by the fourth device, or can be forwarded by at least one of the following devices: the first device, the second device, and the third device. For example, the second device-related information in the first information is first sent to the fourth device by the second device, and the sensing area information, the sensing target information, and the sensing performance requirement are obtained directly by the fourth device. For another example, the third device-related information in the first information is first sent to the fourth device by the third device, and the sensing area information, the sensing target information, and the sensing performance requirement are obtained directly by the fourth device. For another example, the second device-related information in the first information is sent to the first device by the second device, the third device-related information in the first information is sent to the first device by the third device, and the sensing area information, the sensing target information, and the sensing performance requirement are sent to the fourth device by the second device or the third device.

[0209] In an embodiment, after the fourth device obtains the first information, the fourth device determines a sensing transmitter (Tx) and a sensing receiver (Rx) of the sensing reference signal based on the first information.

[0210] The fourth device determines the sensing Tx and sensing Rx based on the collected UE sensing-related capabilities (relevant information from the second device and the third device), as well as the specific area to be sensed and the UE's coordinates. Among these,

[0211] The sensing Tx should have the ability to transmit sensing RS, and the sensing Rx should have the ability to receive sensing RS.

[0212] The sensing Tx and sensing Rx should be able to support the sensing functions and modes required by current applications;

[0213] Based on information such as the perceived area and the UE's coordinates, a suitable sensing node topology is selected to ensure performance during subsequent sensing calculations.

[0214] The selection of sensing Tx and sensing Rx is based on the UE type, such as prioritizing static devices with strong computing power, such as RSU and PRU, as sensing nodes.

[0215] Step 202: Based on the second information, determine the sensing reference signal resources and send third information to the second device. The third information is used to configure or activate the transmission of the sensing reference signal.

[0216] In this step, after receiving the second information, the third device determines the sensing RS resource and configures and activates the second device to send sensing RS through the third information (sensing RS configuration).

[0217] In this embodiment, the second device is a sensing reference signal transmitting device (Sensing Tx).

[0218] The third information is a resource configuration information set (list) of sensing reference signals (RS), and the third information includes at least one of the following:

[0219] The number of time-domain symbols of the sensing reference signal;

[0220] The starting symbol position in the time slot for transmitting the sensing reference signal;

[0221] The frequency domain bandwidth of the transmitted sensing reference signal;

[0222] The frequency domain start position of the transmitted sensing reference signal;

[0223] Periodic configuration information;

[0224] Send the resource identification information (resource ID) of the sensing reference signal;

[0225] The resource set identification information (resource set ID) that is sent to the sensing reference signal;

[0226] Frequency layer information for transmitting the sensing reference signal;

[0227] Space-related information (including beam information);

[0228] The sequence identification information of the sensing reference signal (Sensing RS sequence ID).

[0229] Furthermore, in an optional embodiment, the method further includes:

[0230] The fourth device sends an eighth message to the second device based on the second message. The eighth message is used to activate or deactivate the transmission of the sensing reference signal.

[0231] Specifically, in this optional embodiment, the fourth device may also activate or deactivate the transmission of the sensing reference signal based on the received second information via the eighth information (Activate Sensing RS transmission).

[0232] The eighth piece of information includes at least one of the following:

[0233] The resource configuration information of the sensing reference signal;

[0234] Resource pool information for sending the sensing reference signal;

[0235] The time gap between sending the sensing reference signal and sending the eighth information;

[0236] Activation identification information (activation flag bit);

[0237] Deactivate the identifier information (deactivate the identifier bit).

[0238] Further, based on the second information, an eighth piece of information is sent to the second device, including:

[0239] Receive the fourth message sent by the first device;

[0240] The eighth information is sent to the second device based on the fourth information, or based on the fourth information and the second information.

[0241] Specifically, when the sensing reference signal is of a semi-continuous or aperiodic type, the first device activates the second device to send a sensing RS. The first device sends a fourth message (sensing activation request) to the fourth device, and the fourth device, based on the fourth message, or based on the fourth message and the second message, sends an eighth message to the second device. This eighth message is used to activate or deactivate the transmission of the sensing reference signal.

[0242] The fourth piece of information includes at least one of the following:

[0243] Deactivate instruction message;

[0244] Activation instruction message;

[0245] Space-related information (beam information);

[0246] Activation time;

[0247] The number of time-domain symbols of the sensing reference signal;

[0248] The starting symbol position in the time slot for transmitting the sensing reference signal;

[0249] The frequency domain bandwidth of the transmitted sensing reference signal;

[0250] The frequency domain start position of the transmitted sensing reference signal;

[0251] Periodic configuration information;

[0252] Resource identification information that transmits the sensing reference signal;

[0253] Resource set identification information that transmits the sensing reference signal;

[0254] Frequency layer information for transmitting the sensing reference signal;

[0255] The sequence identification information of the sensing reference signal.

[0256] It should be noted that, depending on the type of sensing RS, it may only require the transmission of the third information to configure and / or activate the sensing reference signal, or only require the transmission of the eighth information to activate the sensing reference signal, or require the transmission of both the third and eighth information to configure and / or activate the sensing reference signal.

[0257] In an optional embodiment, after the fourth device sends the third information to the second device, it can send a response message (sensing information response) back to the first device. The response message includes at least one of the following:

[0258] At least one of the third pieces of information;

[0259] At least one of the relevant information of the second device.

[0260] It should be noted that the fourth device sends a response message to the first device after it has sent the third message to the second device, but it does not immediately send a response message to the first device. Other devices may also exchange other information during this period.

[0261] Furthermore, the method also includes:

[0262] The fourth device sends fifth information to the third device, the fifth information being used to assist the third device in performing sensing measurements based on the sensing reference signal, the third device being a receiving device for the sensing reference signal;

[0263] The third device performs sensing and measurement based on the fifth information.

[0264] The fifth piece of information includes at least one of the following:

[0265] Information related to the second device, wherein the second device is the device that transmits the sensing reference signal;

[0266] The resource configuration information of the sensing reference signal;

[0267] Space-related information (beam information);

[0268] The timing information relative to the fourth device;

[0269] Sensing area information;

[0270] Perceive target information;

[0271] Service delay;

[0272] Perceive refresh rate.

[0273] Furthermore, after the third device completes the measurement, the method further includes:

[0274] The third device receives the seventh information sent by the third device, that is, the third device performs sensing measurements based on the fifth information, or based on the fifth information and the sixth information, and reports the seventh information (sensing measurements report) to the fourth device after the measurement is completed.

[0275] The seventh piece of information includes at least one of the following:

[0276] The relevant information of the second device, wherein the second device is the transmitting device of the sensing reference signal;

[0277] Information related to the third device, wherein the third device is the receiving device of the sensing reference signal;

[0278] Measurement results corresponding to the type of measurement;

[0279] At least one of the resource configuration information of the sensing reference signal;

[0280] Measurement identification information;

[0281] The object information associated with the measurement quantity.

[0282] Based on the seventh information, the perception result is obtained, that is, after the fourth device receives the seventh information, it performs the perception result calculation.

[0283] It should be noted that the perception interaction method executed by the fourth device provided in the embodiments of the present invention corresponds to the perception interaction method executed by the first device described above. Therefore, all embodiments of the perception interaction method executed by the first device described above are applicable to the perception interaction method executed by the fourth device and can achieve the same or similar technical effects.

[0284] like Figure 3 As shown, this embodiment of the invention also provides a perceptual interaction method, executed by a second device, the method comprising:

[0285] Step 301: Send the relevant information of the second device to the first device.

[0286] The second device is a sensing reference signal transmitting device (Sensing Tx), and the second device includes at least one of the following: a base station (gNB), a TRP, and a UE.

[0287] The relevant information of the second device includes at least one of the following:

[0288] Location information of the second device;

[0289] The coordinate information of the second device;

[0290] The device identifier (ID) information of the second device is used to identify and distinguish the UE;

[0291] Sensing the sequence identification information of the reference signal (sensing RS sequence ID);

[0292] Antenna Reference Point (ARP) identification information (ARP ID);

[0293] ARP location information;

[0294] ARP coordinate information;

[0295] The second device supports the following sensing modes: bi-static and mono-static.

[0296] The second device supports the following transmit / receive modes (supports transmit mode (Tx), supports receive mode (Rx), and supports both transmit and receive modes (Tx & Rx));

[0297] The second type of equipment (including on-board units (OBU) and roadside units (RSU));

[0298] The status information of the second device (status information includes whether the device is stationary or in motion);

[0299] Beam information;

[0300] The second device has indication information on whether it has service capabilities, i.e. whether it has (server UE capability).

[0301] Step 302: Receive third information sent by the fourth device, the third information being used to configure or activate the transmission of the sensing reference signal.

[0302] In this step, the first device interacts with the fourth device with second information (sensing information request) based on the first information mentioned above. The second information is used to assist the fourth device in scheduling the second device to send sensing reference signals (sensing RS).

[0303] After the fourth device receives the second information, it determines the sensing reference signal resources based on the second information and sends the third information to the second device. The third information is used to configure or activate the transmission of the sensing reference signal.

[0304] Step 303: Send a sensing reference signal based on the third information.

[0305] In this step, the second device receives third information sent by the fourth device and sends a sensing reference signal based on the third information.

[0306] The third information is a resource configuration information set (list) of sensing reference signals (RS), and the third information includes at least one of the following:

[0307] The number of time-domain symbols of the sensing reference signal;

[0308] The starting symbol position in the time slot for transmitting the sensing reference signal;

[0309] The frequency domain bandwidth of the transmitted sensing reference signal;

[0310] The frequency domain start position of the transmitted sensing reference signal;

[0311] Periodic configuration information;

[0312] Send the resource identification information (resource ID) of the sensing reference signal;

[0313] The resource set identification information (resource set ID) that is sent to the sensing reference signal;

[0314] Frequency layer information for transmitting the sensing reference signal;

[0315] Space-related information (including beam information);

[0316] The sequence identification information of the sensing reference signal (Sensing RS sequence ID).

[0317] In an optional embodiment, the method further includes:

[0318] The system receives the eighth information sent by the fourth device, which is used to activate or deactivate the transmission of the sensing reference signal.

[0319] In this optional embodiment, the fourth device may also activate or deactivate the transmission of the sensing reference signal based on the received second information via the eighth information (Activate Sensing RS transmission).

[0320] The eighth piece of information includes at least one of the following:

[0321] The resource configuration information of the sensing reference signal;

[0322] Resource pool information for sending the sensing reference signal;

[0323] The time gap between sending the sensing reference signal and sending the eighth information;

[0324] Activation identification information (activation flag bit);

[0325] Deactivate the identifier information (deactivate the identifier bit).

[0326] Specifically, sending a sensing reference signal based on the third information includes:

[0327] Based on the third information and the eighth information, the sensing reference signal is sent;

[0328] That is, the fourth device configures and activates the second device to send sensing RS through the third information (Sensing RS configuration) and the eighth information (ActivateSensing RS transmission).

[0329] It should be noted that the perception interaction method executed by the second device provided in the embodiments of the present invention corresponds to the perception interaction methods executed by the first device and the fourth device described above. Therefore, all embodiments of the perception interaction methods executed by the first device and the fourth device described above are applicable to the perception interaction methods executed by the second device and can achieve the same or similar technical effects.

[0330] like Figure 4 As shown, this embodiment of the invention also provides a perceptual interaction method, executed by a third device, the method comprising:

[0331] Step 401: Send the relevant information of the third device to the first device.

[0332] The third device is a receiving device for sensing reference signals, and the third device includes at least one of the following: a 5G base station (gNB), a TRP, and a UE.

[0333] The first device includes at least one of the following: a sensing function entity and an SMF entity, and the first device is used to calculate the sensing result.

[0334] The relevant information of the third device includes at least one of the following:

[0335] The location information of the third device;

[0336] The coordinate information of the third device;

[0337] The device identification (ID) information of the third device is used to identify and distinguish the UE;

[0338] Sensing the sequence identification information of the reference signal (sensing RS sequence ID);

[0339] Antenna reference point ARP identification information (ARP ID);

[0340] ARP location information;

[0341] ARP coordinate information;

[0342] The third device supports the following sensing modes: bi-static and mono-static.

[0343] The third device supports the following transmission and reception modes (supports transmit mode (Tx), supports receive mode (Rx), and supports both transmit and receive modes (Tx&Rx));

[0344] The types of the third equipment include on-board units (OBU) and roadside units (RSU);

[0345] The status information of the third device (status information includes whether the device is stationary or in motion);

[0346] Beam information;

[0347] The third device provides information on whether it has service capabilities, i.e., whether it possesses (server device capabilities).

[0348] Furthermore, the method also includes:

[0349] Receive fifth information sent by the first device and / or the fourth device, wherein the fifth information is auxiliary information for the third device to perform sensing measurements based on the sensing reference signal;

[0350] Based on the fifth piece of information, a sensing measurement is performed;

[0351] The fifth piece of information includes at least one of the following:

[0352] The relevant information of the second device, wherein the second device is the device that transmits the sensing reference signal;

[0353] The resource configuration information of the sensing reference signal;

[0354] Space-related information (beam information);

[0355] The timing information relative to the fourth device;

[0356] Sensing area information;

[0357] Perceive target information;

[0358] Service delay;

[0359] Perceive refresh rate.

[0360] The fifth message received from the first device includes:

[0361] The first device receives a sixth message sent by the first device, which is used to instruct the third device to perform a sensing measurement, that is, the first device notifies the third device to perform a measurement through the sixth message (sensing measurement request).

[0362] Based on the fifth piece of information, a sensing measurement is performed, including:

[0363] Based on the fifth and sixth pieces of information, perform perception measurements;

[0364] The sixth piece of information includes at least one of the following:

[0365] At least one of the fifth pieces of information;

[0366] The reporting type of the sensing reference signal;

[0367] Measurement cycle;

[0368] Measurement quality;

[0369] Measure beam information (determined based on sensing area information);

[0370] Search window information;

[0371] Information related to the second device, wherein the second device is a device for transmitting sensing reference signals;

[0372] Response time;

[0373] Measurement type indication information.

[0374] Among them, the measurement type indication information includes channel state information, channel statistical characteristics, Doppler information, delay information, micro-Doppler information, reference signal received power (RSRP), RSRPP, angle of arrival (AOA), angle of departure (AoD), timestamp, etc.

[0375] It is understandable that the fifth and sixth pieces of information can be combined into one piece of information or one message. That is, the third device may only need to receive the fifth piece of information to directly measure, without needing to receive the sixth piece of information. In this case, the fifth piece of information is a sensing measurement request message.

[0376] Furthermore, the method also includes:

[0377] Send the seventh message to the first device and / or the fourth device;

[0378] That is, the third device performs sensing measurements based on the fifth information, or based on the fifth and sixth information, and reports the seventh information (sensing measurements report) to the first and / or fourth devices after completing the measurement.

[0379] The seventh piece of information includes at least one of the following:

[0380] Information related to the second device, which is a device for transmitting sensing reference signals;

[0381] The relevant information of the third device;

[0382] Measurement results corresponding to the type of measurement;

[0383] At least one of the resource configuration information of the sensing reference signal;

[0384] Measurement identification information;

[0385] The object information associated with the measurement quantity.

[0386] It should be noted that the perception interaction method executed by the third device provided in the embodiments of the present invention corresponds to the perception interaction methods executed by the first device, the fourth device, and the second device described above. Therefore, all embodiments of the perception interaction methods executed by the first device, the fourth device, and the second device described above are applicable to the perception interaction method executed by the third device and can achieve the same or similar technical effects.

[0387] The following is combined with Figure 5 The overall process of the perception and interaction method provided in the embodiments of the present invention is described in detail below:

[0388] Taking a scenario where the UE is sensing Tx (second device), the UE is sensing Rx (third device), and the first device is SMF within the coverage area of ​​gNB / TRP (fourth device), the process is as follows:

[0389] 1. Sensing Capability Transmission: Exchange of relevant information between the second and third devices (SensingCapability Tx / Rx information exchange): The second and third devices respectively exchange first information (Capability and Tx / Rx information) with the first and / or fourth devices, and the first and / or fourth devices determine the sensing mode.

[0390] 2. Sensing RS configuration and activating sensing RS transmission:

[0391] 2a. Based on the first information, the first device interacts with the fourth device with the second information (sensing information request) to assist the fourth device in subsequent scheduling or to assist the second device in sending sensing RS;

[0392] 2b. The fourth device determines sensing RS resources: Based on the second information, the fourth device determines the sensing RS resources and configures and activates the first device to transmit sensing RS through the third information (2c. UE Sensing RS configuration) and / or the eighth information (2e. Sensing Activation request, 2f. Activate Sensing RS transmission)).

[0393] 2d. After the fourth device finishes sending the third information, it should send the fifth information (sensing information response) back to the first device.

[0394] 3. Sensing Reference Signal Measurements and Reporting:

[0395] 3a. The first device sends the fifth information (sensing assistance data) to the third device;

[0396] 3b. The first device notifies the third device to perform the measurement via the sixth message (sensing measurements request);

[0397] 3c. The third device performs sensing reference signal measurements based on the fifth and / or sixth information (Sensing RS Measurements);

[0398] 3b. After completing the measurement, report the seventh information (sensing measurement reports) to the first and / or fourth devices.

[0399] 4. After receiving the seventh information, the SMF calculates the sensing results.

[0400] In one optional implementation, the beam information of sensing Tx and sensing Rx is determined based on the sensing area, and the specific method for setting the sensing RS configuration based on sensing performance requirements is as follows:

[0401] Based on the sensing area information and the location information of sensing Tx and sensing Rx, SMF or gNB determines the transmission beam direction (one or more beams) of sensing Tx and the reception beam direction (one or more beams) of sensing Rx.

[0402] Method 1: Based on the aforementioned azimuth information, the SMF or gNB obtains the angle information of the sensing Tx towards the sensing area, and the angle information of the sensing Rx towards the sensing area, combined with the beam-related information reported by the sensing Tx and sensing Rx, to determine the specific beam set to be used, and then sends the beam set information to the sensing Tx and sensing Rx respectively. This method is suitable for stationary sensing Tx and sensing Rx scenarios.

[0403] Method 2: The SMF or gNB sends the sensing area information to the sensing Tx and sensing Rx. Then, the sensing Tx and sensing Rx calculate the angle information of their orientation toward the sensing area based on their real-time position, and select the appropriate transmit beam and receive beam based on the calculation result.

[0404] In one alternative implementation, the following description is provided for sensing scenarios such as intrusion detection (whether a target is present or not):

[0405] For this type of scenario, the requirements for synchronization information, location information of the sending device (Tx) and receiving device (Rx) may be low and can be omitted;

[0406] In this type of scenario, artificial intelligence (AI) can be introduced to assist sensing. By collecting training data (channel state information corresponding to the presence and absence of a target, power-delay profile (PDP) or channel impulse response (CIR)), the measured and reported amount of Rx also corresponds to PDP or CIR. The data is input into the model for inference to determine the detection result (presence or absence) or to determine the number of targets present in the sensing area.

[0407] Another approach is to compare the statistical characteristics of the channel state information corresponding to the presence or absence of a target to make a judgment. This requires the gNB or SMF to notify the sensing Tx to continuously transmit periodically within a predetermined time. The sensing Rx also needs to perform measurements and statistics within the predetermined time, and finally report the statistical results to the SMF for judgment. Alternatively, the sensing Rx itself can make a judgment based on the measurement results and directly report the result of whether a target exists.

[0408] In an alternative implementation, when communication and sensing perform signal-level fusion, or when communication and sensing signals are carried by the same physical channel, the gNB (fourth device) or SMF (first device) should notify sensing Rx of at least one of the following:

[0409] At least one of the Sensing RS resource configuration information;

[0410] The scheduling information for the data signal includes at least one of the following: modulation and coding method, code rate, redundancy version, new data indication, time and frequency resource configuration information, and reserved bits;

[0411] Methods for fusing communication signals and sensing signals.

[0412] The above information can be carried by Radio Resource Control (RRC) or by introducing new physical layer control signaling.

[0413] The following is combined with Figure 6 Here is another overall process of the perception and interaction method provided in this embodiment of the invention:

[0414] Taking a scenario where the sensing Tx (second device) is the UE, the sensing Rx (third device) is the UE, the serving device (sixth device) is the UE, and the gNB coverage is outside the UE, the process is shown in the following diagram. In this case, the first device is not involved in the interaction process:

[0415] 1. The fifth device receives a sensing service request, discovers the second and third devices (UE Discovery), and collects information about the second and / or the third devices (Sensing capability transfer). The fifth device is one of the second (one or more) or the third (one or more) devices, or the fifth device may be a device other than the second or third devices.

[0416] 2. The fifth device determines the server device (Sensing server UEDiscovery): Based on the collected device information, the fifth device can determine one of the second, third, and fifth devices as the sixth device; the fifth device sends the first information to the sixth device; based on the first information, the sixth device determines the second device as the sensing Tx and the third device as the sensing Rx (Sensing server UEDiscovery & selection);

[0417] 3. The sixth device (which may be the fifth device) sends sensing assistance data to the second and / or third device, i.e., Sensing Assistance Data Transfer. The sensing assistance data includes at least one of the following: the application layer ID of the second and / or third device, the sensing RS sequence ID, ARPID, the location coordinates of the second and / or third device, the sensing Tx ARP location coordinates, and the sensing Rx ARP location coordinates.

[0418] 4. The sixth device (which can be the fifth device or directly) sends a request sensing information to the second and / or third device. The request sensing information includes at least one of the following: sensing result type (positioning, ranging, angle measurement, velocity measurement, presence detection), measurement reporting configuration (periodic / aperiodic), Sensing QoS (required horizontal / vertical accuracy, required angle accuracy, required velocity measurement accuracy, response time, etc.), sensing area information, sensing target information, and sensing measurement type information (different sensing results correspond to different measurement quantities, which may be one or more combinations, such as ranging + angle measurement).

[0419] 5. The second device (as sensing Tx) transmits sensing RS based on the received sensing assistance information and / or request sensing information. The third device (as sensing Rx) receives the sensing RS based on the received sensing assistance information and / or request sensing information, and performs the measurement process (sensing reference signal measurement, sensing RS measurements):

[0420] The second device may need to be triggered by the fifth or sixth device to send the sensing RS, or it may only start sending the sensing RS after receiving a request from the fifth or sixth device.

[0421] The third device may need to be triggered by the fifth or sixth device to receive the sensing RS, or it may need to receive a request from the fifth or sixth device before it can start receiving and measuring the sensing RS.

[0422] 6. The second device (as the sensing Rx) reports the seventh message (which can be sent through the fifth device) to the sixth device or directly to the fifth device (providing sensing information);

[0423] 7. The sixth or fifth device performs the calculation of sensing results based on the collected measurement results (server device calculates sensing results);

[0424] 8. The sixth device feeds back the solution result to the fifth device (Sening service response). If the fifth device performs the solution itself, this step is not required.

[0425] 9. The fifth device sends the final solution result to the device that initiated the sensing service request.

[0426] It should be noted that the fifth and sixth devices may be the same device; if they are the same device, then no interaction process between them is required.

[0427] like Figure 7 As shown, this embodiment of the invention also provides a sensing interaction device, the device comprising:

[0428] The first acquisition module 701 is used to acquire first information, which includes at least one of the following: relevant information of the second device, relevant information of the third device, sensing area information, sensing target information, and sensing performance requirements; wherein, the second device is a transmitting device for sensing reference signals, and the third device is a receiving device for sensing reference signals.

[0429] The first transmitting module 702 is used to determine the second information based on the first information and transmit the second information to the fourth device, wherein the second information includes relevant information of the sensing reference signal.

[0430] Optionally, the second information includes at least one of the following:

[0431] The number of times the reference signal is transmitted;

[0432] The total number of symbols in the sensing reference signal;

[0433] The number of symbols of the sensed reference signal in each frame;

[0434] The transmission bandwidth of the sensing reference signal;

[0435] The subcarrier spacing of the sensing reference signal;

[0436] Resource types for sensing reference signals;

[0437] Circular prefix (CP) length;

[0438] Resource configuration information for sensing reference signals;

[0439] The period of the sensing reference signal;

[0440] Spatial related information;

[0441] Information about the receiving device for sensing reference signals;

[0442] The sequence identification information of the sensing reference signal.

[0443] Optionally, the device further includes:

[0444] The first target receiving module is configured to receive at least one of the following sent by the fourth device:

[0445] At least one of the third information, wherein the third information is used to configure or activate the transmission of the sensing reference signal;

[0446] At least one of the relevant information of the second device;

[0447] The third information includes at least one of the following:

[0448] The number of time-domain symbols of the sensing reference signal;

[0449] The starting symbol position in the time slot for transmitting the sensing reference signal;

[0450] The frequency domain bandwidth of the transmitted sensing reference signal;

[0451] The frequency domain start position of the transmitted sensing reference signal;

[0452] Periodic configuration information;

[0453] Resource identification information that transmits the sensing reference signal;

[0454] Resource set identification information that transmits the sensing reference signal;

[0455] Frequency layer information for transmitting the sensing reference signal;

[0456] Spatial related information;

[0457] The sequence identification information of the sensing reference signal.

[0458] Optionally, the device further includes:

[0459] The first target sending module is used to send fourth information to the fourth device based on the second information;

[0460] The fourth piece of information includes at least one of the following:

[0461] Deactivate instruction message;

[0462] Activation instruction message;

[0463] Spatial related information;

[0464] Activation time;

[0465] The number of time-domain symbols of the sensing reference signal;

[0466] The starting symbol position in the time slot for transmitting the sensing reference signal;

[0467] The frequency domain bandwidth of the transmitted sensing reference signal;

[0468] The frequency domain start position of the transmitted sensing reference signal;

[0469] Periodic configuration information;

[0470] Resource identification information that transmits the sensing reference signal;

[0471] Resource set identification information that transmits the sensing reference signal;

[0472] Frequency layer information for transmitting the sensing reference signal;

[0473] The sequence identification information of the sensing reference signal.

[0474] Optionally, the device further includes:

[0475] The second target sending module is used to send fifth information to the third device, the fifth information being used to assist the third device in performing sensing measurements based on the sensing reference signal;

[0476] The fifth piece of information includes at least one of the following:

[0477] Relevant information about the second device;

[0478] The resource configuration information of the sensing reference signal;

[0479] Spatial related information;

[0480] The timing information relative to the fourth device;

[0481] Sensing area information;

[0482] Perceive target information;

[0483] Service delay;

[0484] Perceive refresh rate.

[0485] Optionally, the second target sending module includes:

[0486] The first transmitting unit is configured to transmit sixth information to the third device, the sixth information being used to instruct the third device to perform sensing measurements based on a sensing reference signal;

[0487] The sixth piece of information includes at least one of the following:

[0488] At least one of the fifth pieces of information;

[0489] The reporting type of the sensing reference signal;

[0490] Measurement cycle;

[0491] Measurement quality;

[0492] Measure beam information;

[0493] Search window information;

[0494] Information related to the second device;

[0495] Response time;

[0496] Measurement type indication information.

[0497] Optionally, the device further includes:

[0498] The second target receiving module is used to receive the seventh information sent by the third device;

[0499] The first target acquisition module is used to acquire the perception result based on the seventh information;

[0500] The seventh piece of information includes at least one of the following:

[0501] Relevant information about the second device;

[0502] The relevant information of the third device;

[0503] Measurement results corresponding to the type of measurement;

[0504] At least one of the resource configuration information of the sensing reference signal;

[0505] Measurement identification information;

[0506] The object information associated with the measurement quantity.

[0507] It should be noted that the embodiments of the present invention provide Figure 7 The sensory interaction device shown is a device capable of executing the sensory interaction method executed by the first device described above. Therefore, all embodiments of the sensory interaction method executed by the first device described above are applicable to this device and can achieve the same or similar technical effects.

[0508] like Figure 8 As shown, this embodiment of the invention also provides a sensing interaction device, the device comprising:

[0509] The second acquisition module 801 is used to acquire second information sent by the first device, wherein the second information includes relevant information of the sensing reference signal;

[0510] The second transmitting module 802 is used to determine the sensing reference signal resources according to the second information and send third information to the second device. The third information is used to configure or activate the transmission of the sensing reference signal.

[0511] Optionally, the third information includes at least one of the following:

[0512] The number of time-domain symbols of the sensing reference signal;

[0513] The starting symbol position in the time slot for transmitting the sensing reference signal;

[0514] The frequency domain bandwidth of the transmitted sensing reference signal;

[0515] The frequency domain start position of the transmitted sensing reference signal;

[0516] Periodic configuration information;

[0517] Resource identification information that transmits the sensing reference signal;

[0518] Resource set identification information that transmits the sensing reference signal;

[0519] Frequency layer information for transmitting the sensing reference signal;

[0520] Spatial related information;

[0521] The sequence identification information of the sensing reference signal.

[0522] Optionally, the second information includes at least one of the following:

[0523] The number of times the sensing reference signal is transmitted;

[0524] The total number of symbols in the sensing reference signal;

[0525] The number of symbols of the sensing reference signal in each frame;

[0526] The transmission bandwidth of the sensing reference signal;

[0527] The subcarrier spacing of the sensing reference signal;

[0528] The resource type of the sensing reference signal;

[0529] Circular prefix (CP) length;

[0530] The resource configuration information of the sensing reference signal;

[0531] The period of the sensing reference signal;

[0532] Spatial related information;

[0533] Information about the receiving device of the sensing reference signal;

[0534] The sequence identification information of the sensing reference signal.

[0535] Optionally, the device further includes:

[0536] The third target transmission module is used to send eighth information to the second device according to the second information, the eighth information being used to activate or deactivate the transmission of the sensing reference signal;

[0537] The eighth piece of information includes at least one of the following:

[0538] The resource configuration information of the sensing reference signal;

[0539] Resource pool information for sending the sensing reference signal;

[0540] The time interval between sending the sensing reference signal and sending the eighth information;

[0541] Activation identification information;

[0542] Deactivate the identification information.

[0543] Optionally, the third target sending module includes:

[0544] The first receiving unit is used to receive the fourth information sent by the first device;

[0545] The second sending unit is configured to send the eighth information to the second device based on the fourth information, or based on the fourth information and the second information.

[0546] The fourth piece of information includes at least one of the following:

[0547] Deactivate instruction message;

[0548] Activation instruction message;

[0549] Spatial related information;

[0550] Activation time;

[0551] The number of time-domain symbols of the sensing reference signal;

[0552] The starting symbol position in the time slot for transmitting the sensing reference signal;

[0553] The frequency domain bandwidth of the transmitted sensing reference signal;

[0554] The frequency domain start position of the transmitted sensing reference signal;

[0555] Periodic configuration information;

[0556] Resource identification information that transmits the sensing reference signal;

[0557] Resource set identification information that transmits the sensing reference signal;

[0558] Frequency layer information for transmitting the sensing reference signal;

[0559] The sequence identification information of the sensing reference signal.

[0560] Optionally, the device further includes:

[0561] The fourth target sending module is configured to send at least one of the following to the first device:

[0562] At least one of the third information, wherein the third information is used to configure or activate the transmission of the sensing reference signal;

[0563] At least one of the relevant information of the second device, wherein the second device is the transmitting device of the sensing reference signal.

[0564] Optionally, the device further includes:

[0565] The fifth target sending module is used to send fifth information to the third device, the fifth information being used to assist the third device in performing sensing measurements based on the sensing reference signal;

[0566] The fifth piece of information includes at least one of the following:

[0567] Information related to the second device, wherein the second device is the device that transmits the sensing reference signal;

[0568] The resource configuration information of the sensing reference signal;

[0569] Spatial related information;

[0570] The timing information relative to the fourth device;

[0571] Sensing area information;

[0572] Perceive target information;

[0573] Service delay;

[0574] Perceive refresh rate.

[0575] Optionally, the device further includes:

[0576] The third target receiving module is used to receive the seventh information sent by the third device;

[0577] The second target acquisition module is used to acquire the perception result based on the seventh information;

[0578] The seventh piece of information includes at least one of the following:

[0579] The relevant information of the second device, wherein the second device is the transmitting device of the sensing reference signal;

[0580] Information related to the third device, wherein the third device is the receiving device of the sensing reference signal;

[0581] Measurement results corresponding to the type of measurement;

[0582] At least one of the resource configuration information of the sensing reference signal;

[0583] Measurement identification information;

[0584] The object information associated with the measurement quantity.

[0585] It should be noted that the embodiments of the present invention provide Figure 8 The sensory interaction device shown is a device capable of executing the sensory interaction method executed by the fourth device described above. All embodiments of the sensory interaction method executed by the fourth device described above are applicable to this device and can achieve the same or similar technical effects.

[0586] like Figure 9 As shown, this embodiment of the invention also provides a sensing interaction device, the device comprising:

[0587] The third sending module 901 is used to send relevant information about the second device to the first device;

[0588] The first receiving module 902 is used to receive third information sent by the fourth device, the third information being used to configure or activate the transmission of the sensing reference signal;

[0589] The fourth transmitting module 903 is used to transmit a sensing reference signal based on the third information.

[0590] Optionally, the third information includes at least one of the following:

[0591] The number of time-domain symbols of the sensing reference signal;

[0592] The starting symbol position in the time slot for transmitting the sensing reference signal;

[0593] The frequency domain bandwidth of the transmitted sensing reference signal;

[0594] The frequency domain start position of the transmitted sensing reference signal;

[0595] Periodic configuration information;

[0596] Resource identification information that transmits the sensing reference signal;

[0597] Resource set identification information that transmits the sensing reference signal;

[0598] Frequency layer information for transmitting the sensing reference signal;

[0599] Spatial related information;

[0600] The sequence identification information of the sensing reference signal.

[0601] Optionally, the device further includes:

[0602] The fourth target receiving module is used to receive the eighth information sent by the fourth device, the eighth information being used to activate or deactivate the transmission of the sensing reference signal;

[0603] The fourth transmitting module 903 includes:

[0604] The third transmitting unit is used to transmit the sensing reference signal according to the third information and the eighth information;

[0605] The eighth piece of information includes at least one of the following:

[0606] The resource configuration information of the sensing reference signal;

[0607] Resource pool information for sending the sensing reference signal;

[0608] The time interval between sending the sensing reference signal and sending the eighth information;

[0609] Activation identification information;

[0610] Deactivate the identification information.

[0611] It should be noted that the embodiments of the present invention provide Figure 9 The sensory interaction device shown is a device capable of executing the sensory interaction method executed by the second device described above. Therefore, all embodiments of the sensory interaction method executed by the second device described above are applicable to this device and can achieve the same or similar technical effects.

[0612] like Figure 10 As shown, this embodiment of the invention also provides a sensing interaction device, the device comprising:

[0613] The fifth sending module 1001 is used to send relevant information about the third device to the first device.

[0614] Optionally, the device further includes:

[0615] The fifth target receiving module is used to receive the fifth information sent by the first device and / or the fourth device, wherein the fifth information is auxiliary information for the third device to perform sensing measurement based on the sensing reference signal;

[0616] The first processing module is used to perform sensing measurements based on the fifth information;

[0617] The fifth piece of information includes at least one of the following:

[0618] The relevant information of the second device, wherein the second device is the device that transmits the sensing reference signal;

[0619] The resource configuration information of the sensing reference signal;

[0620] Spatial related information;

[0621] The timing information relative to the fourth device;

[0622] Sensing area information;

[0623] Perceive target information;

[0624] Service delay;

[0625] Perceive refresh rate.

[0626] Optionally, the fifth target receiving module includes:

[0627] The second receiving unit is used to receive the sixth information sent by the first device, the sixth information being used to instruct the third device to perform sensing measurements;

[0628] The first processing module includes:

[0629] The first processing unit is configured to perform sensing measurements based on the fifth and sixth information.

[0630] The sixth piece of information includes at least one of the following:

[0631] At least one of the fifth pieces of information;

[0632] The reporting type of the sensing reference signal;

[0633] Measurement cycle;

[0634] Measurement quality;

[0635] Measure beam information;

[0636] Search window information;

[0637] Information related to the second device, wherein the second device is a device for transmitting sensing reference signals;

[0638] Response time;

[0639] Measurement type indication information.

[0640] Optionally, the device further includes:

[0641] The sixth target sending module is used to send the seventh information to the first device and / or the fourth device;

[0642] The seventh piece of information includes at least one of the following:

[0643] Information related to the second device, which is a device for transmitting sensing reference signals;

[0644] The relevant information of the third device;

[0645] Measurement results corresponding to the type of measurement;

[0646] At least one of the resource configuration information of the sensing reference signal;

[0647] Measurement identification information;

[0648] The object information associated with the measurement quantity.

[0649] It should be noted that the embodiments of the present invention provide Figure 10 The sensory interaction device shown is a device capable of executing the sensory interaction method executed by the third device described above. Therefore, all embodiments of the sensory interaction method executed by the third device described above are applicable to this device and can achieve the same or similar technical effects.

[0650] like Figure 11 As shown, this embodiment of the invention also provides a communication device, which is a first device, including: a processor 1101; and a memory 1103 connected to the processor 1101 via a bus interface 1102. The memory 1103 is used to store programs and data used by the processor 1101 when performing operations, and the processor 1101 calls and executes the programs and data stored in the memory 1103.

[0651] The transceiver 1104 is connected to the bus interface 1102 and is used to receive and send data under the control of the processor 1101. Specifically, the processor 1101 is used to read the program in the memory 1103, and the transceiver 1104 is used to execute the following processes:

[0652] Obtain first information, which includes at least one of the following: relevant information of the second device, relevant information of the third device, sensing area information, sensing target information, and sensing performance requirements; wherein, the second device is a transmitting device for sensing reference signals, and the third device is a receiving device for sensing reference signals;

[0653] Based on the first information, the second information is determined and sent to the fourth device, wherein the second information includes relevant information about the sensing reference signal.

[0654] Optionally, the second information includes at least one of the following:

[0655] The number of times the reference signal is transmitted;

[0656] The total number of symbols in the sensing reference signal;

[0657] The number of symbols of the sensed reference signal in each frame;

[0658] The transmission bandwidth of the sensing reference signal;

[0659] The subcarrier spacing of the sensing reference signal;

[0660] Resource types for sensing reference signals;

[0661] Circular prefix (CP) length;

[0662] Resource configuration information for sensing reference signals;

[0663] The period of the sensing reference signal;

[0664] Spatial related information;

[0665] Information about the receiving device for sensing reference signals;

[0666] The sequence identification information of the sensing reference signal.

[0667] Optionally, the transceiver 1104 is further configured to:

[0668] Receive at least one of the following sent by the fourth device:

[0669] At least one of the third information, wherein the third information is used to configure or activate the transmission of the sensing reference signal;

[0670] At least one of the relevant information of the second device;

[0671] The third information includes at least one of the following:

[0672] The number of time-domain symbols of the sensing reference signal;

[0673] The starting symbol position in the time slot for transmitting the sensing reference signal;

[0674] The frequency domain bandwidth of the transmitted sensing reference signal;

[0675] The frequency domain start position of the transmitted sensing reference signal;

[0676] Periodic configuration information;

[0677] Resource identification information that transmits the sensing reference signal;

[0678] Resource set identification information that transmits the sensing reference signal;

[0679] Frequency layer information for transmitting the sensing reference signal;

[0680] Spatial related information;

[0681] The sequence identification information of the sensing reference signal.

[0682] Optionally, the transceiver 1104 is further configured to:

[0683] Based on the second information, send the fourth information to the fourth device;

[0684] The fourth piece of information includes at least one of the following:

[0685] Deactivate instruction message;

[0686] Activation instruction message;

[0687] Spatial related information;

[0688] Activation time;

[0689] The number of time-domain symbols of the sensing reference signal;

[0690] The starting symbol position in the time slot for transmitting the sensing reference signal;

[0691] The frequency domain bandwidth of the transmitted sensing reference signal;

[0692] The frequency domain start position of the transmitted sensing reference signal;

[0693] Periodic configuration information;

[0694] Resource identification information that transmits the sensing reference signal;

[0695] Resource set identification information that transmits the sensing reference signal;

[0696] Frequency layer information for transmitting the sensing reference signal;

[0697] The sequence identification information of the sensing reference signal.

[0698] Optionally, the transceiver 1104 is further configured to:

[0699] Send fifth information to the third device, the fifth information being used to assist the third device in performing sensing measurements based on the sensing reference signal;

[0700] The fifth piece of information includes at least one of the following:

[0701] Relevant information about the second device;

[0702] The resource configuration information of the sensing reference signal;

[0703] Spatial related information;

[0704] The timing information relative to the fourth device;

[0705] Sensing area information;

[0706] Perceive target information;

[0707] Service delay;

[0708] Perceive refresh rate.

[0709] Optionally, the transceiver 1104 is further configured to:

[0710] Send a sixth message to the third device, the sixth message being used to instruct the third device to perform sensing measurements based on the sensing reference signal;

[0711] The sixth piece of information includes at least one of the following:

[0712] At least one of the fifth pieces of information;

[0713] The reporting type of the sensing reference signal;

[0714] Measurement cycle;

[0715] Measurement quality;

[0716] Measure beam information;

[0717] Search window information;

[0718] Information related to the second device;

[0719] Response time;

[0720] Measurement type indication information.

[0721] Optionally, the transceiver 1104 is further configured to:

[0722] Receive the seventh message sent by the third device;

[0723] The processor 1101 is also used for:

[0724] Based on the seventh piece of information, obtain the perception result;

[0725] The seventh piece of information includes at least one of the following:

[0726] Relevant information about the second device;

[0727] The relevant information of the third device;

[0728] Measurement results corresponding to the type of measurement;

[0729] At least one of the resource configuration information of the sensing reference signal;

[0730] Measurement identification information;

[0731] The object information associated with the measurement quantity.

[0732] Among them, Figure 11In this context, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 1101) and memory (memory 1103). The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 1104 may be multiple elements, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium. Processor 1101 is responsible for managing the bus architecture and general processing, and memory 1103 may store data used by processor 1101 during operation.

[0733] This invention also provides a communication device, which is a fourth device, comprising: a processor; and a memory connected to the processor via a bus interface, the memory being used to store programs and data used by the processor during operation, and the processor calling and executing the programs and data stored in the memory.

[0734] The transceiver is connected to the bus interface and is used to receive and send data under the control of the processor. Specifically, the processor is used to read the program in the memory.

[0735] The structure of the fourth device is similar to that of... Figure 11 The communication devices shown have basically the same structure, so they will not be described in detail here.

[0736] The transceiver is used to execute the following procedures:

[0737] Acquire second information sent by the first device, wherein the second information includes relevant information about the sensing reference signal;

[0738] The processor is used to perform the following procedures:

[0739] Based on the second information, the sensing reference signal resources are determined;

[0740] The transceiver is also used to perform the following processes:

[0741] Send a third message to the second device, the third message being used to configure or activate the transmission of the sensing reference signal.

[0742] Optionally, the third information includes at least one of the following:

[0743] The number of time-domain symbols of the sensing reference signal;

[0744] The starting symbol position in the time slot for transmitting the sensing reference signal;

[0745] The frequency domain bandwidth of the transmitted sensing reference signal;

[0746] The frequency domain start position of the transmitted sensing reference signal;

[0747] Periodic configuration information;

[0748] Resource identification information that transmits the sensing reference signal;

[0749] Resource set identification information that transmits the sensing reference signal;

[0750] Frequency layer information for transmitting the sensing reference signal;

[0751] Spatial related information;

[0752] The sequence identification information of the sensing reference signal.

[0753] Optionally, the second information includes at least one of the following:

[0754] The number of times the sensing reference signal is transmitted;

[0755] The total number of symbols in the sensing reference signal;

[0756] The number of symbols of the sensing reference signal in each frame;

[0757] The transmission bandwidth of the sensing reference signal;

[0758] The subcarrier spacing of the sensing reference signal;

[0759] The resource type of the sensing reference signal;

[0760] Circular prefix (CP) length;

[0761] The resource configuration information of the sensing reference signal;

[0762] The period of the sensing reference signal;

[0763] Spatial related information;

[0764] Information about the receiving device of the sensing reference signal;

[0765] The sequence identification information of the sensing reference signal.

[0766] Optionally, the transceiver 1204 is further configured to:

[0767] Based on the second information, an eighth information is sent to the second device, the eighth information being used to activate or deactivate the transmission of the sensing reference signal;

[0768] The eighth piece of information includes at least one of the following:

[0769] The resource configuration information of the sensing reference signal;

[0770] Resource pool information for sending the sensing reference signal;

[0771] The time interval between sending the sensing reference signal and sending the eighth information;

[0772] Activation identification information;

[0773] Deactivate the identification information.

[0774] Optionally, the transceiver is specifically used for:

[0775] Receive the fourth message sent by the first device;

[0776] The eighth information is sent to the second device based on the fourth information, or based on the fourth information and the second information.

[0777] The fourth piece of information includes at least one of the following:

[0778] Deactivate instruction message;

[0779] Activation instruction message;

[0780] Spatial related information;

[0781] Activation time;

[0782] The number of time-domain symbols of the sensing reference signal;

[0783] The starting symbol position in the time slot for transmitting the sensing reference signal;

[0784] The frequency domain bandwidth of the transmitted sensing reference signal;

[0785] The frequency domain start position of the transmitted sensing reference signal;

[0786] Periodic configuration information;

[0787] Resource identification information that transmits the sensing reference signal;

[0788] Resource set identification information that transmits the sensing reference signal;

[0789] Frequency layer information for transmitting the sensing reference signal;

[0790] The sequence identification information of the sensing reference signal.

[0791] Optionally, the transceiver is further used for:

[0792] Send at least one of the following to the first device:

[0793] At least one of the third information, wherein the third information is used to configure or activate the transmission of the sensing reference signal;

[0794] At least one of the relevant information of the second device, wherein the second device is the transmitting device of the sensing reference signal.

[0795] Optionally, the transceiver is further used for:

[0796] Send fifth information to the third device, the fifth information being used to assist the third device in performing sensing measurements based on the sensing reference signal;

[0797] The fifth piece of information includes at least one of the following:

[0798] Information related to the second device, wherein the second device is the device that transmits the sensing reference signal;

[0799] The resource configuration information of the sensing reference signal;

[0800] Spatial related information;

[0801] The timing information relative to the fourth device;

[0802] Sensing area information;

[0803] Perceive target information;

[0804] Service delay;

[0805] Perceive refresh rate.

[0806] Optionally, the transceiver is further used for:

[0807] Receive the seventh message sent by the third device;

[0808] The processor is also used for:

[0809] Based on the seventh piece of information, obtain the perception result;

[0810] The seventh piece of information includes at least one of the following:

[0811] The relevant information of the second device, wherein the second device is the transmitting device of the sensing reference signal;

[0812] Information related to the third device, wherein the third device is the receiving device of the sensing reference signal;

[0813] Measurement results corresponding to the type of measurement;

[0814] At least one of the resource configuration information of the sensing reference signal;

[0815] Measurement identification information;

[0816] The object information associated with the measurement quantity.

[0817] like Figure 12 As shown, this embodiment of the invention also provides a communication device, which is a second device, including: a processor 1201; and a memory 1203 connected to the processor 1201 via a bus interface 1202. The memory 1203 is used to store programs and data used by the processor 1201 when performing operations, and the processor 1201 calls and executes the programs and data stored in the memory 1203.

[0818] The transceiver 1204 is connected to the bus interface 1202 and is used to receive and send data under the control of the processor 1201. Specifically, the processor 1201 is used to read the program in the memory 1203, and the transceiver 1204 is used to execute the following processes:

[0819] Send relevant information about the second device to the first device;

[0820] Receive third information sent by a fourth device, the third information being used to configure or activate the transmission of the sensing reference signal;

[0821] Based on the third information, a sensing reference signal is sent.

[0822] Optionally, the third information includes at least one of the following:

[0823] The number of time-domain symbols of the sensing reference signal;

[0824] The starting symbol position in the time slot for transmitting the sensing reference signal;

[0825] The frequency domain bandwidth of the transmitted sensing reference signal;

[0826] The frequency domain start position of the transmitted sensing reference signal;

[0827] Periodic configuration information;

[0828] Resource identification information that transmits the sensing reference signal;

[0829] Resource set identification information that transmits the sensing reference signal;

[0830] Frequency layer information for transmitting the sensing reference signal;

[0831] Spatial related information;

[0832] The sequence identification information of the sensing reference signal.

[0833] Optionally, the transceiver 1204 is further configured to:

[0834] The system receives the eighth information sent by the fourth device, which is used to activate or deactivate the transmission of the sensing reference signal.

[0835] The transceiver 1204 is specifically used for:

[0836] Based on the third information and the eighth information, the sensing reference signal is sent;

[0837] The eighth piece of information includes at least one of the following:

[0838] The resource configuration information of the sensing reference signal;

[0839] Resource pool information for sending the sensing reference signal;

[0840] The time interval between sending the sensing reference signal and sending the eighth information;

[0841] Activation identification information;

[0842] Deactivate the identification information.

[0843] Among them, Figure 12 In this context, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 1201) and memory (memory 1203). The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides a user interface 1205. A transceiver 1204 may be multiple elements, including transmitters and receivers, providing units for communicating with various other devices over a transmission medium. Processor 1201 is responsible for managing the bus architecture and general processing, and memory 1203 may store data used by processor 1201 during operation.

[0844] This invention also provides a communication device, which is a third device, comprising: a processor; and a memory connected to the processor via a bus interface, the memory being used to store programs and data used by the processor during operation, and the processor calling and executing the programs and data stored in the memory.

[0845] The transceiver is connected to the bus interface and is used to receive and send data under the control of the processor. Specifically, the processor is used to read the program in the memory.

[0846] Among them, the structure of the third device is similar to that of...Figure 12 The communication devices shown have basically the same structure, so they will not be described in detail here.

[0847] The transceiver is used to perform the following processes:

[0848] Send the relevant information of the third device to the first device.

[0849] Optionally, the transceiver is further used for:

[0850] Receive fifth information sent by the first device and / or the fourth device, wherein the fifth information is auxiliary information for the third device to perform sensing measurements based on the sensing reference signal;

[0851] The processor is also used for:

[0852] Based on the fifth piece of information, a sensing measurement is performed;

[0853] The fifth piece of information includes at least one of the following:

[0854] The relevant information of the second device, wherein the second device is the device that transmits the sensing reference signal;

[0855] The resource configuration information of the sensing reference signal;

[0856] Spatial related information;

[0857] The timing information relative to the fourth device;

[0858] Sensing area information;

[0859] Perceive target information;

[0860] Service delay;

[0861] Perceive refresh rate.

[0862] Optionally, the transceiver is used for:

[0863] The third device receives a sixth message sent by the first device, the sixth message being used to instruct the third device to perform sensing measurements.

[0864] The processor is specifically used for:

[0865] Based on the fifth and sixth pieces of information, perform perception measurements;

[0866] The sixth piece of information includes at least one of the following:

[0867] At least one of the fifth pieces of information;

[0868] The reporting type of the sensing reference signal;

[0869] Measurement cycle;

[0870] Measurement quality;

[0871] Measure beam information;

[0872] Search window information;

[0873] Information related to the second device, wherein the second device is a device for transmitting sensing reference signals;

[0874] Response time;

[0875] Measurement type indication information.

[0876] Optionally, the transceiver is further used for:

[0877] Send the seventh message to the first device and / or the fourth device;

[0878] The seventh piece of information includes at least one of the following:

[0879] Information related to the second device, which is a device for transmitting sensing reference signals;

[0880] The relevant information of the third device;

[0881] Measurement results corresponding to the type of measurement;

[0882] At least one of the resource configuration information of the sensing reference signal;

[0883] Measurement identification information;

[0884] The object information associated with the measurement quantity.

[0885] In addition, specific embodiments of the present invention also provide a readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, it implements the steps of the perception interaction method applied to the first device as described above, or implements the steps of the perception interaction method applied to the fourth device as described above, or implements the steps of the perception interaction method applied to the fourth device as described above, or implements the steps of the perception interaction method applied to the fourth device as described above.

[0886] In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0887] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can be physically comprised separately, or two or more units can be integrated into one unit. The integrated unit described above can be implemented in hardware or in the form of hardware plus software functional units.

[0888] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions that cause a computer device (which may be a personal computer, server, or network device, etc.) to execute partial steps of the resource selection method described in the various embodiments of the present invention, or to execute partial steps of the information transmission method described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0889] A specific embodiment of the present invention also provides a computer program product, including computer instructions, which, when executed by a processor, implement the above-described functionality. Figure 1 , Figure 2 , Figure 3 or Figure 4 The various processes of the method embodiments shown can achieve the same technical effect, and will not be described again here to avoid repetition.

[0890] The above describes the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also within the scope of protection of the present invention.

Claims

1. A perceptual interaction method, characterized in that, Performed by a first device, the method includes: Obtain first information, which includes at least one of the following: relevant information of the second device, relevant information of the third device, sensing area information, sensing target information, and sensing performance requirements; wherein, the second device is a transmitting device for sensing reference signals, and the third device is a receiving device for sensing reference signals; Based on the first information, the second information is determined and sent to the fourth device, wherein the second information includes relevant information about the sensing reference signal.

2. The method according to claim 1, characterized in that, The second information includes at least one of the following: The number of times the reference signal is transmitted; The total number of symbols in the sensing reference signal; The number of symbols of the sensed reference signal in each frame; The transmission bandwidth of the sensing reference signal; The subcarrier spacing of the sensing reference signal; Resource types for sensing reference signals; Circular prefix (CP) length; Resource configuration information for sensing reference signals; The period of the sensing reference signal; Spatial related information; Information about the receiving device for sensing reference signals; The sequence identification information of the sensing reference signal.

3. The method according to claim 1, characterized in that, The method further includes: Receive at least one of the following sent by the fourth device: At least one of the third information, wherein the third information is used to configure or activate the transmission of the sensing reference signal; At least one of the relevant information of the second device; The third information includes at least one of the following: The number of time-domain symbols of the sensing reference signal; The starting symbol position in the time slot for transmitting the sensing reference signal; The frequency domain bandwidth of the transmitted sensing reference signal; The frequency domain start position of the transmitted sensing reference signal; Periodic configuration information; Resource identification information that transmits the sensing reference signal; Resource set identification information that transmits the sensing reference signal; Frequency layer information for transmitting the sensing reference signal; Spatial related information; The sequence identification information of the sensing reference signal.

4. The method according to claim 1, characterized in that, The method further includes: Based on the second information, send the fourth information to the fourth device; The fourth piece of information includes at least one of the following: Deactivate instruction message; Activation instruction message; Spatial related information; Activation time; The number of time-domain symbols of the sensing reference signal; The starting symbol position in the time slot for transmitting the sensing reference signal; The frequency domain bandwidth of the transmitted sensing reference signal; The frequency domain start position of the transmitted sensing reference signal; Periodic configuration information; Resource identification information that transmits the sensing reference signal; Resource set identification information that transmits the sensing reference signal; Frequency layer information for transmitting the sensing reference signal; The sequence identification information of the sensing reference signal.

5. The method according to claim 1, characterized in that, The method further includes: Send fifth information to the third device, the fifth information being used to assist the third device in performing sensing measurements based on the sensing reference signal; The fifth piece of information includes at least one of the following: Relevant information about the second device; The resource configuration information of the sensing reference signal; Spatial related information; The timing information relative to the fourth device; Sensing area information; Perceive target information; Service delay; Perceive refresh rate.

6. The method according to claim 5, characterized in that, Sending fifth information to the third device, including: Send a sixth message to the third device, the sixth message being used to instruct the third device to perform sensing measurements based on the sensing reference signal; The sixth piece of information includes at least one of the following: At least one of the fifth pieces of information; The reporting type of the sensing reference signal; Measurement cycle; Measurement quality; Measure beam information; Search window information; Information related to the second device; Response time; Measurement type indication information.

7. The method according to claim 1, characterized in that, The method further includes: Receive the seventh message sent by the third device; Based on the seventh piece of information, obtain the perception result; The seventh piece of information includes at least one of the following: Relevant information about the second device; The relevant information of the third device; Measurement results corresponding to the type of measurement; At least one of the resource configuration information of the sensing reference signal; Measurement identification information; The object information associated with the measurement quantity.

8. A perceptual interaction method, characterized in that, Performed by a fourth device, the method includes: Acquire second information sent by the first device, wherein the second information includes relevant information about the sensing reference signal; Based on the second information, a sensing reference signal resource is determined, and third information is sent to the second device. The third information is used to configure or activate the transmission of the sensing reference signal.

9. The method according to claim 8, characterized in that, The third information includes at least one of the following: The number of time-domain symbols of the sensing reference signal; The starting symbol position in the time slot for transmitting the sensing reference signal; The frequency domain bandwidth of the transmitted sensing reference signal; The frequency domain start position of the transmitted sensing reference signal; Periodic configuration information; Resource identification information that transmits the sensing reference signal; Resource set identification information that transmits the sensing reference signal; Frequency layer information for transmitting the sensing reference signal; Spatial related information; The sequence identification information of the sensing reference signal.

10. The method according to claim 8, characterized in that, The second information includes at least one of the following: The number of times the sensing reference signal is transmitted; The total number of symbols in the sensing reference signal; The number of symbols of the sensing reference signal in each frame; The transmission bandwidth of the sensing reference signal; The subcarrier spacing of the sensing reference signal; The resource type of the sensing reference signal; Circular prefix (CP) length; The resource configuration information of the sensing reference signal; The period of the sensing reference signal; Spatial related information; Information about the receiving device of the sensing reference signal; The sequence identification information of the sensing reference signal.

11. The method according to claim 8, characterized in that, The method further includes: Based on the second information, an eighth information is sent to the second device, the eighth information being used to activate or deactivate the transmission of the sensing reference signal; The eighth piece of information includes at least one of the following: The resource configuration information of the sensing reference signal; Resource pool information for sending the sensing reference signal; The time interval between sending the sensing reference signal and sending the eighth information; Activation identification information; Deactivate the identification information.

12. The method according to claim 11, characterized in that, Based on the second information, send the eighth information to the second device, including: Receive the fourth message sent by the first device; The eighth information is sent to the second device based on the fourth information, or based on the fourth information and the second information. The fourth piece of information includes at least one of the following: Deactivate instruction message; Activation instruction message; Spatial related information; Activation time; The number of time-domain symbols of the sensing reference signal; The starting symbol position in the time slot for transmitting the sensing reference signal; The frequency domain bandwidth of the transmitted sensing reference signal; The frequency domain start position of the transmitted sensing reference signal; Periodic configuration information; Resource identification information that transmits the sensing reference signal; Resource set identification information that transmits the sensing reference signal; Frequency layer information for transmitting the sensing reference signal; The sequence identification information of the sensing reference signal.

13. The method according to claim 8, characterized in that, The method further includes: Send at least one of the following to the first device: At least one of the third information, wherein the third information is used to configure or activate the transmission of the sensing reference signal; At least one of the relevant information of the second device, wherein the second device is the transmitting device of the sensing reference signal.

14. The method according to claim 8, characterized in that, The method further includes: Send fifth information to the third device, the fifth information being used to assist the third device in performing sensing measurements based on the sensing reference signal; The fifth piece of information includes at least one of the following: Information related to the second device, wherein the second device is the device that transmits the sensing reference signal; The resource configuration information of the sensing reference signal; Spatial related information; The timing information relative to the fourth device; Sensing area information; Perceive target information; Service delay; Perceive refresh rate.

15. The method according to claim 8, characterized in that, The method further includes: Receive the seventh message sent by the third device; Based on the seventh piece of information, obtain the perception result; The seventh piece of information includes at least one of the following: The relevant information of the second device, wherein the second device is the transmitting device of the sensing reference signal; Information related to the third device, wherein the third device is the receiving device of the sensing reference signal; Measurement results corresponding to the type of measurement; At least one of the resource configuration information of the sensing reference signal; Measurement identification information; The object information associated with the measurement quantity.

16. A perceptual interaction method, characterized in that, Performed by a second device, the method includes: Send relevant information about the second device to the first device; Receive third information sent by a fourth device, the third information being used to configure or activate the transmission of the sensing reference signal; Based on the third information, a sensing reference signal is sent.

17. The method according to claim 16, characterized in that, The third information includes at least one of the following: The number of time-domain symbols of the sensing reference signal; The starting symbol position in the time slot for transmitting the sensing reference signal; The frequency domain bandwidth of the transmitted sensing reference signal; The frequency domain start position of the transmitted sensing reference signal; Periodic configuration information; Resource identification information that transmits the sensing reference signal; Resource set identification information that transmits the sensing reference signal; Frequency layer information for transmitting the sensing reference signal; Spatial related information; The sequence identification information of the sensing reference signal.

18. The method according to claim 16, characterized in that, The method further includes: The system receives the eighth information sent by the fourth device, which is used to activate or deactivate the transmission of the sensing reference signal. Based on the third information, a sensing reference signal is sent, including: Based on the third information and the eighth information, the sensing reference signal is sent; The eighth piece of information includes at least one of the following: The resource configuration information of the sensing reference signal; Resource pool information for sending the sensing reference signal; The time interval between sending the sensing reference signal and sending the eighth information; Activation identification information; Deactivate the identification information.

19. A perceptual interaction method, characterized in that, Performed by a third device, the method includes: Send the relevant information of the third device to the first device.

20. The method according to claim 19, characterized in that, The method further includes: Receive fifth information sent by the first device and / or the fourth device, wherein the fifth information is auxiliary information for the third device to perform sensing measurements based on the sensing reference signal; Based on the fifth piece of information, a sensing measurement is performed; The fifth piece of information includes at least one of the following: Information related to the second device, wherein the second device is the device that transmits the sensing reference signal; The resource configuration information of the sensing reference signal; Spatial related information; The timing information relative to the fourth device; Sensing area information; Perceive target information; Service delay; Perceive refresh rate.

21. The method according to claim 20, characterized in that, Receive the fifth message sent by the first device, including: The third device receives a sixth message sent by the first device, the sixth message being used to instruct the third device to perform sensing measurements. Based on the fifth piece of information, a sensing measurement is performed, including: Based on the fifth and sixth pieces of information, perform perception measurements; The sixth piece of information includes at least one of the following: At least one of the fifth pieces of information; The reporting type of the sensing reference signal; Measurement cycle; Measurement quality; Measure beam information; Search window information; Information related to the second device, wherein the second device is a device for transmitting sensing reference signals; Response time; Measurement type indication information.

22. The method according to claim 19, characterized in that, The method further includes: Send the seventh message to the first device and / or the fourth device; The seventh piece of information includes at least one of the following: Information related to the second device, which is a device for transmitting sensing reference signals; The relevant information of the third device; Measurement results corresponding to the type of measurement; At least one of the resource configuration information of the sensing reference signal; Measurement identification information; The object information associated with the measurement quantity.

23. A sensing and interactive device, characterized in that, The device includes: The first acquisition module is used to acquire first information, which includes at least one of the following: relevant information of the second device, relevant information of the third device, sensing area information, sensing target information, and sensing performance requirements; wherein, the second device is a transmitting device for sensing reference signals, and the third device is a receiving device for sensing reference signals. The first transmitting module is configured to determine the second information based on the first information and transmit the second information to the fourth device, wherein the second information includes relevant information of the sensing reference signal.

24. A sensing and interactive device, characterized in that, The device includes: The second acquisition module is used to acquire second information sent by the first device, wherein the second information includes relevant information of the sensing reference signal; The second transmitting module is used to determine the sensing reference signal resources based on the second information and send third information to the second device. The third information is used to configure or activate the transmission of the sensing reference signal.

25. A sensing and interactive device, characterized in that, The device includes: The third sending module is used to send relevant information about the second device to the first device; The first receiving module is used to receive third information sent by the fourth device, the third information being used to configure or activate the transmission of the sensing reference signal; The fourth transmitting module is used to transmit a sensing reference signal based on the third information.

26. A sensing and interactive device, characterized in that, The device includes: The fifth sending module is used to send relevant information about the third device to the first device.

27. A communication device, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the perceptual interaction method as claimed in any one of claims 1 to 7, or implements the steps of the perceptual interaction method as claimed in any one of claims 8 to 15, or implements the steps of the perceptual interaction method as claimed in any one of claims 16 to 18, or implements the steps of the perceptual interaction method as claimed in any one of claims 19 to 22.

28. A readable storage medium, characterized in that, The readable storage medium stores a program that, when executed by a processor, implements the steps of the perceptual interaction method as described in any one of claims 1 to 7, or implements the steps of the perceptual interaction method as described in any one of claims 8 to 15, or implements the steps of the perceptual interaction method as described in any one of claims 16 to 18, or implements the steps of the perceptual interaction method as described in any one of claims 19 to 22.

29. A computer program product, characterized in that, The method includes computer instructions that, when executed by a processor, implement the steps of the perceptual interaction method as described in any one of claims 1 to 7, or implement the steps of the perceptual interaction method as described in any one of claims 8 to 15, or implement the steps of the perceptual interaction method as described in any one of claims 16 to 18, or implement the steps of the perceptual interaction method as described in any one of claims 19 to 22.

Images