Perception method and device

Abstract

The invention discloses a sensing method and device. A first sensing device receives first information, the first information being used for indicating suppression information of a clutter signal, the clutter signal being a signal reflected or scattered by a non-sensing target. And the first sensing device processes a first signal for sensing according to the first information. For example, the first sensing device can suppress clutter signals according to the first information. If the first sensing device performs sensing by using the signal after clutter signal suppression, the interference caused by the clutter signal is reduced, so that the sensing precision can be improved.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a sensing method and apparatus. Background Technology

[0002] For sensing services, such as environmental imaging or reconstruction applications, the position or shape of a target in the environment can be sensed by utilizing the reflection, scattering, or diffraction of signals transmitted by user equipment (UE) or base stations on the target as they propagate through space. Specifically, the base station or UE can measure the signals reflected, scattered, or diffracted by the target and report the measurement results to the sensing network element, which then realizes the sensing of the target. However, current sensing accuracy is not high. Summary of the Invention

[0003] This application provides a sensing method and apparatus to improve sensing accuracy. The sensing method and apparatus can also be considered a communication method and apparatus, or an integrated sensing and communication method and apparatus.

[0004] Firstly, a first sensing method is provided, which can be applied to a first device. The first device is, for example, a terminal-side device, also referred to as a terminal device. This terminal device is, for example, a terminal equipment, or other equipment including terminal equipment functions, or a circuit, or a system-on-a-chip (or chip, such as a modem chip, also known as a baseband chip, or a system-on-a-chip (SoC) chip containing a modem core, or a system-in-package (SIP) chip) or other functional module, which can implement the functions of the terminal equipment, and is, for example, disposed in the terminal equipment. Alternatively, the first device is, for example, a network-side device, also referred to as a network device. This network device is, for example, an access network device, or other equipment including access network device functions, or a circuit, or a system-on-a-chip (or chip), or other functional module, which can implement the functions of a network device, and is, for example, disposed in the network device. The access network device can be a non-ORAN architecture or an ORAN architecture; alternatively, the access network device can be a CU, DU, or RU under an ORAN architecture. The access network device may be located on the ground, or it may be a satellite, or located on a satellite. In the following description, the first device is taken as a first sensing device. According to the above description, the first sensing device is, for example, a terminal device or an access network device. The method includes: receiving first information, the first information being used to indicate clutter signal suppression information, wherein the clutter signal is a signal reflected or scattered via a non-sensing target; and processing a first signal for sensing based on the first information.

[0005] In this embodiment, the first information can indicate clutter signal suppression information. For example, the first sensing device can suppress the clutter signal based on the first information. Optionally, the first sensing device can use the signal after suppressing the clutter signal for sensing. Since the interference caused by the clutter signal is reduced, the sensing accuracy can be improved.

[0006] In one optional implementation, the suppression information includes one or more of the following: clutter signal indication information; a method for suppressing clutter signals; suppression of moving clutter signals and / or stationary clutter signals; suppression of clutter signals within a first region; suppression of clutter signals within a first subspace; or, Doppler characteristic information of the clutter signal to be suppressed. The suppression information may indicate one or more of these, and the first sensing device can perform clutter suppression according to the indication of the suppression information, making the suppression result more in line with requirements.

[0007] In an optional implementation, the method further includes: receiving the first signal; processing the first signal for sensing according to the first information, including: suppressing clutter signals in the first signal according to the first information. The first signal may include a signal after a third signal has been reflected, scattered, or diffracted by a sensing target in the environment (which may include a target to be sensed and a non-sensing target). Since the signal after reflection, scattering, or diffraction by a non-sensing target is a clutter signal, the first signal may include clutter signals. Therefore, the first sensing device can process the first signal according to the first information. For example, one processing method is that the first sensing device can suppress clutter signals in the first signal according to the first information.

[0008] In an optional implementation, the method further includes: obtaining a sensing result based on the first signal after suppressing the clutter signal; and transmitting the sensing result. The first sensing device can obtain the sensing result based on the first signal after suppressing the clutter signal, and because the clutter signal is suppressed, the sensing result can be relatively accurate. For example, the first sensing device can transmit the sensing result to a second sensing device, which can then perform further sensing based on the sensing result.

[0009] In an optional implementation, the method further includes sending second information, which indicates information about the clutter signal or information about suppressing the clutter signal. The first sensing device may send the clutter signal information, or information about how to suppress the clutter signal, to the second sensing device along with the clutter signal information. The second sensing device can determine whether the suppression by the first sensing device is accurate based on the second information. For example, if the second sensing device considers the suppression by the first sensing device to be inaccurate, the second sensing device may ignore the sensing result of the first sensing device, for example, by not performing sensing based on the sensing result, thereby ensuring that the inaccurate sensing result does not affect the final sensing process and improves sensing accuracy.

[0010] In one optional implementation, suppressing clutter signals in the first signal based on the first information includes: determining first channel information and second channel information based on the first information, wherein the first channel information is the channel information corresponding to the first signal, and the second channel information is the channel information corresponding to the clutter signal; and suppressing the clutter signal based on the first channel information and the second channel information. The first sensing device can suppress clutter signals at the channel level, and this suppression method can comprehensively suppress clutter signals.

[0011] In one optional implementation, suppressing clutter signals in the first signal based on the first information includes: determining a first autocorrelation information and a second autocorrelation information based on the first information, wherein the first autocorrelation information is the autocorrelation information corresponding to the first signal, and the second autocorrelation information is the autocorrelation information corresponding to the clutter signal; and suppressing the clutter signal based on the first autocorrelation information and the second autocorrelation information. Channel information contains a large amount of information. If the first sensing device wants to suppress clutter signals at the channel level, it needs to obtain relatively complete channel information (for example, the first channel information can be relatively complete channel information corresponding to the first signal, and the second channel information can be relatively complete channel information corresponding to the second signal). This may incur significant overhead and may require a long processing time. Therefore, the first sensing device can suppress clutter signals based on autocorrelation information. In this way, it is not necessary to obtain complete channel information, which can save overhead and / or reduce processing latency.

[0012] In one optional implementation, suppressing clutter signals in the first signal based on the first information includes: suppressing the clutter signals in the first signal based on the first information and information about the subspace corresponding to the first signal. For example, the first sensing device may only suppress clutter signals in a portion of the subspace, rather than suppressing clutter signals in all subspaces, thereby improving processing efficiency.

[0013] In one optional implementation, suppressing clutter signals in the first signal based on the first information includes: suppressing the clutter signals based on the first information and the Doppler information corresponding to the first signal. For example, the first sensing device can achieve clutter signal suppression simply by transforming the first signal to the Doppler domain, which is relatively simple to implement.

[0014] Secondly, a second sensing method is provided, which can be applied to a network-side device, also referred to as a network device. This network device is, for example, a core network device or an access network device, or other device including the functions of a core network device or access network device, or a circuit, or a system-on-a-chip (or chip), or other functional module capable of implementing the functions of the core network device or access network device, and is, for example, disposed within the core network device or access network device. Optionally, the network device is an SF, SMF, or LMF, etc. The following description uses the network device as an example of a second sensing device. As described above, the second sensing device can be a core network device or an access network device, for example, an SF, SMF, or LMF, etc. The method includes: transmitting first information, the first information being used to indicate clutter signal suppression information, wherein the clutter signal is a signal reflected or scattered by a non-sensing target; and receiving a sensing result.

[0015] In one optional implementation, the suppression information includes one or more of the following: clutter signal indication information; a method for suppressing clutter signals; suppression of dynamic clutter signals and / or static clutter signals; suppression of clutter signals in a first region; suppression of clutter signals in a first subspace; or, Doppler characteristic information of the clutter signal to be suppressed.

[0016] In an optional implementation, the method further includes: reconstructing the perception target based on the perception result.

[0017] In an alternative implementation, the method further includes receiving second information, the second information being used to indicate information about the clutter signal.

[0018] For the technical effects of the optional implementation methods of the second aspect, please refer to the introduction of the technical effects of the first aspect or corresponding implementation methods.

[0019] Thirdly, an apparatus is provided. The apparatus can be the first apparatus described in the first aspect above. The apparatus possesses the functions of the first apparatus described above. For example, the apparatus is capable of implementing the functions described in the first aspect above. For instance, the apparatus includes modules, units, or means corresponding to performing the operations involved in the first aspect above. These modules, units, or means can be implemented through software, hardware, or a combination of software and hardware. The apparatus is, for example, a terminal device, or other device including terminal device functions, or a chip system (or chip or circuit) or other functional module capable of implementing the functions of a terminal device, and is, for example, disposed in a terminal device. Alternatively, the apparatus is, for example, a network device, or other device including network device functions, or a chip system (or chip or circuit) or other functional module capable of implementing the functions of a network device, and is, for example, disposed in a network device. The network device includes, for example, core network equipment and / or access network equipment. In an optional implementation, the apparatus includes a baseband device and a radio frequency device. In another optional implementation, the device includes a processing unit (sometimes also called a processing module) and a transceiver unit (sometimes also called a transceiver module). The transceiver unit is capable of both sending and receiving functions. When the transceiver unit performs the sending function, it can be called a sending unit (sometimes also called a sending module); when the transceiver unit performs the receiving function, it can be called a receiving unit (sometimes also called a receiving module). The sending unit and the receiving unit can be the same functional module, which is called the transceiver unit and can perform both sending and receiving functions; alternatively, the sending unit and the receiving unit can be different functional modules, and the transceiver unit is a collective term for these functional modules.

[0020] In one optional implementation, the transceiver unit (or the receiving unit) is configured to receive first information, the first information being used to indicate clutter signal suppression information, wherein the clutter signal is a signal reflected or scattered by a non-perceived target; the processing unit is configured to process a first signal for sensing based on the first information.

[0021] In an alternative embodiment, the device further includes a storage unit (sometimes also called a storage module), the processing unit being coupled to the storage unit and executing programs or instructions in the storage unit to enable the device to perform the functions of the first device described in the first aspect above.

[0022] Fourthly, an apparatus is provided. The apparatus can be the second apparatus described in the second aspect above. The apparatus possesses the functions of the second apparatus described above. For example, the apparatus is capable of implementing the functions described in the second aspect above. For instance, the apparatus includes modules, units, or means corresponding to the operations described in the second aspect above. These modules, units, or means can be implemented through software, hardware, or a combination of software and hardware. The apparatus is, for example, a network device, or other device including network device functions, or a chip system (or chip or circuit) or other functional module capable of implementing the functions of a network device. This chip system or functional module is, for example, disposed within a network device. The network device includes, for example, core network equipment and / or access network equipment. Optionally, the network device is SF, SMF, or LMF, etc. In one optional implementation, the apparatus includes a baseband device and a radio frequency device. In another optional implementation, the apparatus includes a processing unit (sometimes also called a processing module) and a transceiver unit (sometimes also called a transceiver module). For details on the implementation of the transceiver unit, please refer to the relevant description in the third aspect.

[0023] In one optional implementation, the transceiver unit (or the transmitting unit) is configured to transmit first information, the first information being used to indicate clutter signal suppression information, wherein the clutter signal is a signal reflected or scattered by a non-perceived target; the transceiver unit (or the receiving unit) is configured to receive a sensing result.

[0024] In an alternative embodiment, the device further includes a storage unit (sometimes also called a storage module), the processing unit being coupled to the storage unit and executing programs or instructions in the storage unit to enable the device to perform the functions of the second device described in the second aspect above.

[0025] Fifthly, an apparatus is provided, the apparatus comprising a memory and one or more processors. The memory is used to store part or all of a computer program or instructions necessary for implementing the functions described in the first aspect above. The one or more processors are executable to carry out the computer program or instructions, such that, when executed, the apparatus implements the methods in any possible design or implementation of the first aspect above.

[0026] In one possible design, the device may further include interface circuitry, wherein the processor is configured to communicate with other devices or components via the interface circuitry.

[0027] In one possible design, the device may also include the memory.

[0028] The aforementioned device may be a terminal, or a communication module in the terminal, or a chip in the terminal responsible for communication functions such as a modem chip (also known as a baseband chip) or a SoC or SIP chip containing a modem module.

[0029] A sixth aspect provides an apparatus comprising a memory and one or more processors. The memory is used to store part or all of a computer program or instructions necessary for implementing the functions described in the first or second aspect above. The one or more processors are executable to carry out the computer program or instructions, such that, when executed, the apparatus implements the methods in any possible design or implementation of the first or second aspect above.

[0030] In one possible design, the device may further include interface circuitry, wherein the processor is configured to communicate with other devices or components via the interface circuitry.

[0031] In one possible design, the device may also include the memory.

[0032] The aforementioned device may be a network device, a communication module in a network device, or a chip in a network device that is responsible for communication functions, such as a modem chip (also known as a baseband chip) or a SoC or SIP chip that contains a modem module.

[0033] A seventh aspect provides a communication system including a first network-side device and a second network-side device. The first network-side device is configured to perform the method described in the first aspect, executed by the first device, and the second network-side device is configured to perform the method described in the second aspect, executed by the second device. For example, the first network-side device can be implemented using the apparatus described in the fourth or sixth aspect, and the second network-side device can be implemented using the apparatus described in the fourth or sixth aspect.

[0034] Optionally, the communication system further includes a terminal-side device, wherein the terminal-side device is used to transmit signals for sensing, such as a first signal. For example, the terminal-side device can be implemented using the means described in the third or fifth aspect.

[0035] Eighthly, a communication system is provided, comprising a first device and a second device. The first device is configured to perform the method described in the first aspect, and the second device is configured to perform the method described in the second aspect. For example, the first device may be implemented using the device described in the fourth or sixth aspect, or the device described in the third or fifth aspect; the second device may be implemented using the device described in the fourth or sixth aspect.

[0036] A ninth aspect provides a computer-readable storage medium for storing a computer program or instructions that, when executed, cause the method performed by the first or second means in the preceding aspects to be implemented.

[0037] In a tenth aspect, a computer program product containing instructions is provided, which, when the computer program or instructions are run on a computer, causes the methods described in the above aspects to be implemented.

[0038] Eleventhly, a chip system is provided, including a processor and an interface, wherein the processor is configured to call and execute instructions from the interface to enable the chip system to implement the methods described above. Attached Figure Description

[0039] Figure 1A This is a schematic diagram of the access network equipment structure under the ORAN architecture.

[0040] Figure 1B This is a schematic diagram of a RAN chip structure.

[0041] Figure 2A and Figure 2B These are schematic diagrams of single-station sensing mode and dual-station sensing mode, respectively.

[0042] Figure 3 and Figure 4 This is a schematic diagram of two network architectures used in the embodiments of this application;

[0043] Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 Flowcharts of several sensing methods provided in the embodiments of this application;

[0044] Figure 10 A schematic diagram of an apparatus provided in an embodiment of this application;

[0045] Figure 11 This is a schematic diagram of another device provided in an embodiment of this application. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0047] In this application embodiment, the number of nouns, unless otherwise specified, refers to "singular nouns or plural nouns," that is, "one or more." "At least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. For example, A / B means: A or B. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c means: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0048] The ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects, and are not used to limit the size, content, order, timing, priority, or importance of the multiple objects. Furthermore, the numbering of steps in the various embodiments described in this application is only to distinguish different steps and is not used to limit the order in which the steps are performed.

[0049] The following explanations of some terms or concepts used in the embodiments of this application are provided to facilitate understanding by those skilled in the art.

[0050] In this embodiment of the application, the terminal device is a device with wireless transceiver function, which may be a fixed device, a mobile device, a handheld device (e.g., a mobile phone), a wearable device, an in-vehicle device, or a wireless device (e.g., a communication module, a modem, or a chip system, etc.) built into the above devices. The terminal devices are used to connect people, objects, and machines, and can be widely used in various scenarios, including but not limited to the following: sensing scenarios, cellular communication, device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, machine-to-machine / machine-type (M2M / MTC) communication, Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical care, smart grid, smart furniture, smart office, smart wearables, smart transportation, smart city, drones, robots, and terminal devices in indoor commercial scenarios (such as mobile phone screen mirroring, file sharing, and mobile phone to VR glasses). When the terminal equipment is applied to V2X, it can also be called a V2X device, such as a smart car, digital car, unmanned car, driverless car, pilotless car, or automobile, self-driving car, or autonomous car, pure electric vehicle (EV), hybrid electric vehicle (HEV), range-extended electric vehicle (REEV), plug-in hybrid electric vehicle (PHEV), new energy vehicle, or roadside unit (RSU). The terminal equipment can also be a device used in D2D communication, such as an electricity meter or water meter.

[0051] Furthermore, in this embodiment of the application, the terminal device can also be a terminal device in an Internet of Things (IoT) system. IoT is an important component of the future development of information technology. Its main technical feature is to connect objects to the network through communication technology, thereby realizing an intelligent network of human-machine interconnection and object-to-object interconnection.

[0052] The various terminal devices described above, if located in a vehicle (e.g., placed inside or installed inside a vehicle), can all be considered in-vehicle terminal devices, also known as on-board units (OBUs). The terminal device of this application can also be an in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit built into a vehicle as one or more components or units. The vehicle can implement the methods of this application through the built-in in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit.

[0053] The terminal equipment may sometimes be referred to as UE, terminal, access station, UE station, remote station, wireless communication equipment, or user equipment, etc.

[0054] In this application embodiment, the device for implementing the terminal device function can be a terminal device, which can be a terminal device or a device capable of supporting the terminal device in implementing the function, such as a chip system. This device can be installed in the terminal device. In the technical solutions provided in this application embodiment, the example of a terminal device being used to implement the terminal device function is used to describe the technical solutions provided in this application embodiment.

[0055] The network devices in this application embodiment include, for example, access network devices (or access network elements) and / or core network devices (or core network elements). The access network devices are devices with wireless transceiver capabilities, used to communicate with the terminal devices. The access network devices include, but are not limited to, base stations (base transceiver stations (BTS), Node B, evolved Node B (eNodeB) / eNB, or the next generation Node B (gNodeB) / gNB), transmission reception points (TRPs), base stations evolved from the 3rd generation partnership project (3GPP), access nodes in wireless fidelity (Wi-Fi) systems, wireless relay nodes, wireless backhaul nodes, etc. The base stations can be: macro base stations, micro base stations, pico base stations, small cells, relay stations, etc. Multiple base stations can support networks using the same access technology or networks using different access technologies. A base station can contain one or more co-located or non-co-located transmission and reception points. The access network equipment can also be a radio controller, centralized unit (CU), and / or distributed unit (DU) in a cloud radioaccess network (CRAN) scenario. The access network equipment can also be a server, etc. For example, the network equipment in V2X technology can be a roadside unit (RSU). The following description uses a base station as an example to illustrate the access network equipment. A base station can communicate with a terminal device, or it can communicate with a terminal device through a relay station. A terminal device can communicate with multiple base stations in different access technologies. The core network equipment is used to implement functions such as mobility management, data processing, session management, policy and billing. The names of the equipment implementing core network functions may differ in systems using different access technologies; this application does not limit this.Taking the 5th generation (5G) mobile communication technology system as an example, the core network equipment includes, for example, access and mobility management function (AMF), session management function (SMF), policy control function (PCF), or user plane function (UPF), etc.

[0056] In a CU-DU architecture, or in an open RAN (ORAN) system, access network equipment may include one or more logical network elements such as a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). CUs and DUs can be separate entities or included in the same network element, such as a baseband unit (BBU). RUs may be included in radio equipment or radio units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs). One possible structure for access network equipment can be found in [reference needed]. Figure 1A Among them, core network equipment and access network equipment can communicate through backhaul links; within access network equipment, CU and DU can communicate through midhaul links, and DU and RU can communicate through fronthaul links.

[0057] Alternatively, another architecture for the access network equipment can be referenced. Figure 1B , Figure 1BTaking access network equipment implemented through chips as an example, such as a RAN chip, the RAN chip may include a CU, DU, and RU. The CU can perform L2 and L3 functions, etc.; the DU can perform L1 functions and some L2 functions, etc.; and the RU can perform L1 computing and radio frequency (RF) digital functions, etc. The CU communicates with the core network equipment through a backhaul interface, which carries the traffic between the CU and the core network equipment. The CU may include a central processing unit (CPU) based on x86 or ARM architecture, as well as field programmable gate arrays (FPGAs), graphics processing units (GPUs), or other accelerators, etc. The CPU can communicate with the FPGA, GPU, or other accelerators through a peripheral component interconnect express (PCIe) interface.

[0058] The CU and DU communicate via a midhaul interface, which carries the traffic between the CU and DU. The DU may include an x86 or ARM architecture CPU, as well as FPGAs, GPUs, or other accelerators, which can communicate with the FPGA, GPU, or other accelerators via a PCIe interface.

[0059] The DU and RU communicate via a fronthaul interface, which carries the traffic between the DU and RU. If the access network equipment uses an integrated DU, the integrated DU can include the functions of both the DU and RU, and the RAN may no longer need to include a separate RU. The RU may include a RAN fronthaul processing unit, a digital processing unit, and an RF processing unit. The RAN fronthaul processing unit is implemented, for example, using an FPGA or an application-specific integrated circuit (ASIC). The digital processing unit is implemented, for example, using an FPGA or an ASIC.

[0060] The RU can be connected to an antenna to communicate with the UE via the antenna.

[0061] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called an open CU (O-CU), DU can also be called an open DU (O-DU), CU-CP can also be called an open CU-CP (O-CU-CP), CU-UP can also be called an open CU-UP (O-CU-CP), and RU can also be called an open RU (O-RU). For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples in its embodiments. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in the embodiments of this application can be implemented through software modules, hardware modules, or a combination of software modules and hardware modules.

[0062] The CU and DU can be configured according to the protocol layer functions of the wireless network they implement. For example, the CU can be configured to implement the functions of the Packet Data Convergence Protocol (PDCP) layer and above (such as the Radio Resource Control (RRC) layer and / or the Service Data Adaptation Protocol (SDAP) layer); the DU can be configured to implement the functions of protocol layers below the PDCP layer (such as one or more of the Radio Link Control (RLC) layer, Media Access Control (MAC) layer, or Physical (PHY) layer). Alternatively, the CU can be configured to implement the functions of protocol layers above the PDCP layer (such as the RRC and / or SDAP layers), and the DU can be configured to implement the functions of protocol layers below the PDCP layer (such as one or more of the RLC, MAC, or PHY layers).

[0063] The above CU and DU configurations are merely examples; the functions of the CU and DU can be configured as needed. For instance, the CU or DU can be configured to have more protocol layer functions, or only some protocol layer processing functions. For example, some RLC layer functions and protocol layer functions above the RLC layer can be placed in the CU, while the remaining RLC layer functions and protocol layer functions below the RLC layer can be placed in the DU. Furthermore, the functions of the CU or DU can be divided according to service type or other system requirements, such as by latency. Functions that require low latency can be placed in the DU, while functions that do not require low latency can be placed in the CU.

[0064] DU and RU can cooperate to implement the functions of the PHY layer. A DU can be connected to one or more RUs. The functions of DU and RU can be configured in various ways depending on the design. For example, a DU can be configured to implement baseband functions, and an RU can be configured to implement mid-RF functions. Another example is that a DU can be configured to implement higher-level functions in the PHY layer, and an RU can be configured to implement lower-level functions in the PHY layer, or to implement both lower-level and RF functions. Higher-level functions in the physical layer can include a portion of the physical layer's functions that are closer to the MAC layer, while lower-level functions in the physical layer can include another portion of the physical layer's functions that are closer to the mid-RF side.

[0065] In this application embodiment, the apparatus for implementing the functions of a network device can be referred to as a network apparatus. This network apparatus can be a network element, a network device, or an apparatus capable of supporting the network device or network element in implementing the function, such as a chip system. This apparatus can be installed within the network device. In the technical solutions provided in this application embodiment, the apparatus for implementing the functions of a network device is described as a network apparatus (for example, an apparatus for implementing the functions of an access network apparatus is an access network apparatus, and an apparatus for implementing the functions of a core network apparatus is a core network apparatus).

[0066] A sensing signal is a signal used to sense (or detect) a target (or object). Sensing signals can also be called detection signals, linear frequency modulated signals, radar signals, radar sensing signals, radar detection signals, or environmental sensing signals, etc. Sensing signals can be pulse signals or signals from wireless communication systems. For example, a sensing signal can be an orthogonal frequency division multiplexing (OFDM) signal obtained by modulating a specific sequence on a subcarrier. This specific sequence can be any of the following sequences: Zadoff-Chu sequence (ZC sequence), pseudo-random sequence, or predefined sequence. Pseudo-random sequences include any of the following sequences: longest linear feedback shift register sequence (m-sequence) or Gold sequence. Predefined sequences can be, for example, random data symbols, such as random data symbols modulated by quadrature phase shift keying (QPSK) or quadrature amplitude modulation (QAM).

[0067] An echo signal is a signal generated when a sensed signal is reflected by a target. Both the echo signal and the sensed signal can reflect the parameters of the target. For example, the time delay of the echo signal relative to the sensed signal can reflect the distance of the target relative to the transmitter, and the Doppler shift of the echo signal relative to the sensed signal can reflect the velocity of the target.

[0068] Communication-sensing fusion signals, also known as synthetic-sensing fusion signals, synthetic signals, or integrated synthetic-sensing signals, are signals used for both communication and sensing. When used for communication, the fusion signal carries the communication data or reference signal sequence that needs to be transmitted between communication devices. When used for sensing, the fusion signal can be understood as being used to sense (or detect) targets.

[0069] For example, the signals used for sensing described herein may include sensing signals and / or synesthetic fusion signals, etc.

[0070] The target can be any tangible object in the environment that can reflect electromagnetic waves, such as mountains, forests, or buildings, and can also include mobile objects such as vehicles, drones, pedestrians, and terminal devices. The target can also be referred to as a sensing target, detection target, perceived target, detected target, perceived object, detected object, or sensed device, etc., and the embodiments of this application do not limit it.

[0071] For a long time, wireless sensing has been an independently developed technology. Sensing services are provided by various specialized sensing devices, such as conventional radar, lidar, computed tomography (CT), and magnetic resonance imaging (MRI). In 5G and earlier communication systems, positioning was the sensing service that mobile communication systems could provide. In future mobile communication systems, general sensing services other than positioning will be integrated into the communication system, becoming a completely new function, thereby opening up entirely new services, such as high-precision positioning, tracking, environmental reconstruction, gesture and motion recognition, etc.

[0072] Among them, sensing network elements can reconstruct the environment of a target area through means such as lasers, radars, or base stations. For example, sensing network elements can reconstruct the real physical environment based on the measurement results reported by devices such as lasers, radars, or base stations. For example, based on the measurement results, sensing network elements can reconstruct environmental information using methods such as scattering polygons to characterize various scattering objects in the environment, such as walls and furniture (also known as sensing targets, targets, or target objects).

[0073] In sensing, based on the different sender and receiver of the sensing signal, sensing modes can be divided into two types: single-station sensing and dual-station sensing. Single-station sensing mode is also called self-transmitting and self-receiving mode, single-end sensing mode, or monocentric sensing mode, etc. This means that the device transmitting the sensing signal and the device receiving the echo signal reflected from the target are the same device, such as... Figure 2A As shown, both the device transmitting the sensing signal and the device receiving the echo signal are device 1; the dual-station sensing mode, also known as A-transmit B-receive mode or self-transmit and other-receive mode, refers to a mode where the device transmitting the sensing signal and the device receiving the echo signal reflected from the target are different devices, such as... Figure 2B As shown, the device that sends the sensing signal is device 2, and the device that receives the echo signal is device 3. Figure 2A and Figure 2B The perceived target is always a vehicle. For example... Figure 2A In this context, device 1 is a base station or UE. In single-site sensing mode, device 1 transmits a sensing signal, and device 1 receives the sensing signal through sensing targets in the environment (e.g., Figure 2A The echo signals generated by reflection, scattering, or diffraction of vehicles (in the environment) are used for environmental perception. For example, Figure 2B In this dual-site sensing mode, device 2 is a base station or UE, and device 3 is a base station or UE. Device 1 sends a sensing signal, and device 2 receives the sensing signal through scattering objects in the environment (e.g., scattering objects). Figure 2B The echo signals generated by the reflection, scattering, or diffraction of vehicles in the environment are used for environmental perception.

[0074] In this embodiment, the first information can indicate clutter signal suppression information. For example, the sensing device can suppress the clutter signal based on the first information. Optionally, the sensing device can use the signal after suppressing the clutter signal for sensing. Since the interference caused by the clutter signal is reduced, the sensing accuracy can be improved.

[0075] For reference Figure 3 This is a schematic diagram of a potential perceptual network architecture. Figure 3 It is based on the 5G core network (5G core, 5GC). Figure 3 The network architecture shown can also be an application scenario of the embodiments of this application.

[0076] exist Figure 3 The architecture shown includes a new sensing function (SF) network element, also known simply as a sensing network element. This SF can be a device or component that provides sensing functionality to the network; it can also be called a sensing management function (SMF), or have other names. This SF can be deployed on the core network side or the RAN side. Figure 3 Taking deployment in the core network as an example. Figure 3 In the network architecture shown, the SF can reuse the interfaces between the location management function (LMF) and other 5GC network elements such as AMF, network exposure function (NEF), unified data management (UDM), network data analytics function (NWDAF), and PCF for sensing interaction. Sensing signaling between the SF and the radio access network (RAN) or UE can be transmitted through the AMF; sensing measurement data acquired by the RAN or UE can be transmitted to the SF via the control plane, for example, by reusing the Long Term Evolution (LTE) positioning protocol (LPP) or the New Radio (NR) Positioning Protocol Annex (NRPPa) protocol, or it can be transmitted via the user plane, forwarded to the SF through the UPF, or directly transmitted to the SF.

[0077] The newly added SF in this network architecture can realize basic sensing functions, such as sensing authorization, sensing control, sensing measurement data processing, or result output. Specifically, interfaces are set up and interaction is established between the SF and 5GC network elements such as AMF, NEF, UDM, NWDAF, PCF, LMF, and UPF, as defined below.

[0078] NS1: A new interface between SF and AMF, which can transmit sensing and control signaling. Additionally, this interface can also transmit sensing measurement data in scenarios where sensing measurement data is uploaded to the control plane.

[0079] NS2: A new interface between SF and NEF. This interface can transmit signaling messages between sensing network elements relayed through NEF and application functions (AF) on the service side, and at the same time open the sensing results to the AF.

[0080] NS3: A new interface between SF and UDM. This interface can be used for authentication or authorization, and to obtain UE-aware subscription information, service AMF information, or other information.

[0081] NS4: A new interface between SF and NWDAF. Through this interface, SF and NWDAF can jointly complete artificial intelligence (AI) processing related to perception services.

[0082] NS5: A new interface between SF and PCF. Through this interface, SF can transmit information such as sensing requirements, quality of service (QoS) requirements, or sensing results of sensing services to PCF. PCF can then make decisions to generate policy control and charging (PCC) policies related to sensing services.

[0083] NS6: A new interface between SF and LMF. Through this interface, SF can obtain location-related information, such as the sensing area, the RAN information of the sensing target, and the location information of the sensed UE.

[0084] NS7: A new interface between SF and UPF. Sensing measurement data can be directly transmitted from (R)AN to SF via UPF, or indirectly forwarded to SF via UPF. In scenarios where (R)AN performs sensing, forwarding via UPF can improve the functionality of UPF to support data transmission at the (R)AN granularity.

[0085] In addition to the newly added interfaces mentioned above, existing interfaces (such as N1, N2, N5, N8, N33, etc.) can also support the transmission of information related to sensing services, such as authentication information, sensing service type, sensing service quality requirements, sensing measurement data, or sensing results, etc.

[0086] Figure 3 Taking the SF (Side Array) as an independent device as an example; alternatively, the SF and LMF (Location Management Array) can be co-located, meaning the network element used for handling sensing services and the network element used for handling positioning services can be the same network element; or the SF can be co-located with other core network elements, such as the AMF (Location Management Array). The LMF is the core network element in 5GC that provides control plane positioning, capable of calculating and feeding back location information in the 5G network, providing functions such as positioning process management, UE capability acquisition, auxiliary data provision, and UE location estimation. Optionally, if the SF and LMF are co-located, the LMF and the gateway mobile location center (GMLC) can be functionally enhanced to support basic sensing functions. The GMLC can be the first network element within the operator's network to process sensing requests, performing privacy checks or authorization functions, routing sensing requests to the AMF, or performing LMF selection, etc.

[0087] For example, if the SF and LMF are co-located, an additional interface can be added between the LMF and GMLC to transmit information related to awareness services, such as adding an NL9 interface. Additionally, interfaces related to the LMF and GMLC (such as one or more of the following: NL1 interface between AMF and LMF, NL2 interface between AMF and GMLC, NL5 interface between NEF and GMLC, or NL6 interface between UDM and GMLC) can also support the transmission of information related to awareness services, as detailed below.

[0088] N33: The interface between AF and NEF, through which information such as the type of sensing business, business requirements, and sensing results can be transmitted.

[0089] NL5: The interface between NEF and GMLC, through which information such as the type of sensing business, business requirements, and sensing results can be transmitted.

[0090] NL6: The interface between GMLC and UDM, through which privacy inspection data can be transferred.

[0091] NL2: The interface between NEF and AMF, through which information such as the perceived business type, business requirements, and perceived results can be transmitted.

[0092] NL1: The interface between AMF and LMF, through which information such as perceived business type, business requirements, and perceived results can be transmitted.

[0093] NL9: A new interface between GMLC and LMF, through which information such as the type of sensing business, business requirements, and sensing results can be transmitted.

[0094] Can be referenced again Figure 4 This is a schematic diagram of another potential perceptual network architecture. Figure 4 It is based on 5GC. Figure 4 The network architecture shown can also be another application scenario of the embodiments of this application.

[0095] exist Figure 4 In the network architecture shown, the SF (Sensitive Detection) is relatively independent of the existing core network elements. The SF requires little or no interaction with the core network elements. For scenarios where sensing needs exist only in a specific area, or where sensing is the only requirement, this network architecture can provide sensing services without 5GC control or with only a few network elements involved in control. Furthermore, localized deployment of the SF ensures that sensing measurement data or results do not leave the campus, thus meeting enterprises' security and privacy requirements for sensing measurement data or results, and reducing sensing latency. This network architecture is relatively simple, flexible, efficient, has few transmission nodes, and is easy to deploy. Optionally, this network architecture can support UE-related sensing needs, and implementation schemes for functions such as authorization, mobility management, and billing can be considered as needed.

[0096] In this network architecture, the SF can directly establish a connection with the RAN node. Control plane sensing signaling and user plane sensing measurement data can be transmitted via the newly defined interface NS1. When the UE participates in sensing, control plane signaling can be forwarded to the SF via the AMF, and sensing measurement data can be transmitted via NS1. Furthermore, there can also be an interface between the SF and 5GC network elements (such as AMF, NEF, or NWDAF) to control the AF to provide sensing service requirements to the SF through core network functions. The interface between the SF and 5GC network elements is described below.

[0097] NS1: A new interface between the SF and (R)AN, which can transmit sensing control signaling or sensing measurement data. In one implementation, the SF can also be deployed on the RAN side; for example, the SF can be co-located with access network equipment (e.g., a base station), or the SF can be a standalone device within the access network.

[0098] NS2: A new interface that may be added between SF and AMF. This interface can receive awareness service requirements from UE, or transmit signaling between SF and other network elements in the core network, such as transmitting interaction messages between SF and UDM.

[0099] NS3: A potential new interface between SF and NEF. This interface can transmit signaling between SF and the service-side AF via NEF, and can also expose the sensing results to the AF. The interaction between SF and AF may not go through NEF. In actual deployment, NS2 and NS3 may be chosen as one of the two options. That is, the AF can send sensing service requests indirectly to SF or directly to SF (without NEF) via NS2 (NEF); or, the AF can send sensing service requests to SF via N33 (NEF) and NS2 (AMF).

[0100] NS4: A potential new interface between SF and NWDAF, through which SF and NWDAF can jointly perform intelligent analysis and prediction to generate perception results.

[0101] The technical solutions provided in this application can be applied to fourth-generation (4G) mobile communication systems, such as LTE systems, or to 5G systems, such as NR systems, or to next-generation mobile communication systems or other similar communication systems, such as 6G systems, or to existing satellite mobile communication technology systems; no specific limitations are imposed. For example... Figure 3 and Figure 4 All are based on 5GC. In addition, SF can also be deployed in other networks, such as 6G networks or other future communication networks.

[0102] The embodiments of this application can be applied to Figure 2A , Figure 2B , Figure 3 or Figure 4 The scenario shown can also be used in other scenarios, such as any scenario involving sensing services.

[0103] The method provided in the embodiments of this application is described below with reference to the accompanying drawings. In various embodiments of this application, the signal used to implement the sensing function or sensing service is referred to as a sensing signal. The sensing signal is transmitted through reflection, scattering, or diffraction, and the sensing device (e.g., a network device) can determine relevant characteristics of the sensing target based on the received sensing signal. For example, it can estimate time delay, Doppler, or angular spectrum information based on the received sensing signal to determine information such as the distance, angle, or velocity of the sensing target. Additionally, the network device can also send measurement results to the sensing network element, such as point cloud information, distance, angle, or velocity information of the sensing target. In the accompanying drawings corresponding to the various embodiments of this application, steps indicated by dashed lines are optional steps.

[0104] The various embodiments described herein can be applied to Figure 2A , Figure 2B , Figure 3 or Figure 4The network architecture is shown. For example, the first sensing device described in the various embodiments of this document can be... Figure 2A The device 1 shown, and the second sensing device described in the various embodiments of this document, can also be... Figure 2A Device 1 is shown. For example, the first sensing device described in the various embodiments herein may be... Figure 2B The device 2 shown, and the second sensing device described in the various embodiments of this document, can be... Figure 2B Device 3 is shown. For example, the first sensing device described in the various embodiments of this document can be... Figure 3 or Figure 4 The UE shown; the second sensing device described in the various embodiments of this document can be Figure 3 or Figure 4 The (R)AN shown. For example, the first sensing device described in the various embodiments herein can be... Figure 3 or Figure 4 The (R)AN shown; the second sensing device described in the various embodiments of this document can be Figure 3 or Figure 4 The UE shown.

[0105] This application provides a first sensing method, please refer to... Figure 5 Here is a flowchart of the method.

[0106] S501 and SF send the first information. Correspondingly, the first sensing device receives the first information.

[0107] The first information may include, for example, a sensing request or a sensing measurement request, or the first information may be, for example, a sensing request or a sensing measurement request.

[0108] The first sensing device may be a UE or a network device (e.g., an access network device), or it may be other devices, such as a third-party server. If the first sensing device is a network device, it can be a non-ORAN architecture or an ORAN architecture. Optionally, if the network device is an ORAN architecture network device, for example, if the network device includes a RU, or if the network device is an RU, then S501 can be executed by the RU.

[0109] In this scenario, the first sensing device can directly receive the first information from the SF. For example, if the first sensing device is a network device (e.g., an access network device), the SF and the network device can communicate directly, and the network device can directly receive the first information from the SF. Alternatively, the first sensing device can also receive the first information forwarded by other devices. For example, if the first sensing device is a UE, the SF and the UE can forward information through a network device (e.g., an access network device). In this case, the first information sent by the SF can be forwarded to the UE via the network device, and the UE receives the first information forwarded by the network device.

[0110] The first information may indicate or include information on suppressing clutter signals. Clutter signals can refer to signals reflected, scattered, or diffracted by non-perceived targets. These non-perceived targets, also known as unintended perception targets, refer to targets other than the target to be perceived. For example, when the first sensing device performs sensing, there is an intended perception target or a target to be perceived. The first sensing device expects to receive signals reflected, scattered, or diffracted by the intended perception target, and perform sensing based on these signals to determine the relevant parameters of the intended perception target. However, the actual environment is more complex; in addition to the intended perception target, there may be other targets in the environment. Therefore, the first sensing device may receive signals reflected, scattered, or diffracted by non-perceived targets in addition to the signals reflected, scattered, or diffracted by the intended perception target. These signals reflected, scattered, or diffracted by non-perceived targets can be called clutter signals. Clutter signals are interference for sensing and may affect sensing accuracy. For example, the first sensing device expects to perceive building A, but in the environment where building A is located (e.g., on the street where building A is located), there are other targets besides building A, such as other buildings, vehicles, or pedestrians. The signal emitted by the second sensing device for sensing can reach the first sensing device through reflection, scattering, or diffraction from building A. It may also reach the first sensing device through reflection, scattering, or diffraction from other targets besides building A. The signal that reaches the first sensing device through reflection, scattering, or diffraction from other targets besides building A can be called clutter signal.

[0111] Since clutter signals are interference to sensing, SF can instruct the first sensing device to suppress clutter signals. The first information may indicate or include clutter signal suppression information, which may include or indicate one or more of the following: clutter signal indication information, suppression of moving clutter signals and / or stationary clutter signals, suppression of clutter signals in a first region, suppression of clutter signals in a first subspace, characteristic value information corresponding to the clutter signal to be suppressed, or Doppler characteristic information of the clutter signal to be suppressed.

[0112] The clutter signal indication information can also be described as information used to indicate the suppression of clutter signals.

[0113] Moving clutter refers to a signal reflected, scattered, or diffracted by a non-sensory target that is in motion. For example, clutter reaching the first sensing device after reflection, scattering, or diffraction by a moving vehicle or pedestrian (which is a non-sensory target) can be called moving clutter. Stationary clutter refers to a signal reflected, scattered, or diffracted by a non-sensory target that is stationary. For example, clutter reaching the first sensing device after reflection, scattering, or diffraction by a building at a fixed location can be called stationary clutter.

[0114] The first region can refer to a geographical area or an area comprised of certain cells. For example, the suppression information indicates the suppression of clutter signals within the first region, and may specifically indicate the coordinates (e.g., longitude and / or latitude) corresponding to the first region, or indicate the identifiers of the cells included in the first region.

[0115] The first subspace may include one or more subspaces, such as a signal subspace and / or a noise subspace.

[0116] The characteristic value information corresponding to the clutter signal to be suppressed refers to the channel information that can be determined based on the signal received by the first sensing device. This channel information can correspond to at least one characteristic value. If any of these at least one characteristic value satisfies the characteristic value information, it indicates that the characteristic value represents a clutter signal.

[0117] The Doppler characteristic information of the clutter signal to be suppressed refers to the Doppler information that can determine the signal received by the first sensing device. If there is information A in the Doppler information that satisfies the Doppler characteristic information, then information A represents the clutter signal.

[0118] As can be seen, the clutter suppression information indicated by the first information can be used by the first sensing device to determine whether to suppress the clutter signal, and / or to determine the clutter signal. Therefore, this suppression information can also be called auxiliary information or clutter auxiliary information, or it may have other names.

[0119] S502, The first sensing device processes the first signal for sensing based on the first information.

[0120] Optionally, the second sensing device may send a third signal for sensing; correspondingly, the first sensing device may receive the first signal. This step, for example, occurs before S502. If the first sensing device receives the first signal, then S502 can be executed. If the first sensing device is a network device, and the network device is a network device under an ORAN architecture, such as the network device including an RU, or the network device being an RU, then the first signal may be received by the RU.

[0121] The first signal can be the signal after the third signal has been reflected, scattered, or diffracted by a sensing target in the environment (which may include expected sensing targets and non-sensing targets). For example, the first signal can be the echo signal of the third signal. Optionally, the first signal and the third signal are the same signal, but after being reflected, scattered, or diffracted by the sensing target, the transmission path of the first signal may have changed compared to the third signal, hence it is called the first signal. It can also be understood that the second sensing device sends the first signal, and the first sensing device also receives the first signal, but the first signal received by the first sensing device is the first signal reflected, scattered, or diffracted by the sensing target.

[0122] Optionally, the first signal may include a sensing signal and / or a synesthetic fusion signal, etc. It is evident that the embodiments of this application do not limit the type or function of the first signal. Therefore, the method provided in the embodiments of this application can be a "sensing method," a "communication sensing method," a "synesthetic fusion method," or an "integrated sensing and communication (ISAC) method," etc. The type or name of the method provided in the embodiments of this application is not limited.

[0123] The first sensing device processes a first signal for sensing, for example, one processing method includes the first sensing device suppressing clutter signals in the first signal. If the first sensing device is a network device, the network device can be a non-ORAN architecture or an ORAN architecture. Optionally, if the network device is an ORAN architecture network device, for example, the network device includes a CU, or the network device is a CU, then the suppression of clutter signals in the first signal can be implemented by the CU.

[0124] Optionally, if the suppression information indicated by the first information includes clutter signal indication information, then the first sensing device determines that it needs to suppress the clutter signal based on the indication information, and the first sensing device can suppress the clutter signal in the first signal. Alternatively, if the suppression information indicated by the first information includes corresponding information about the clutter signal, such as one or more of the following: suppressing moving clutter signals and / or stationary clutter signals, suppressing clutter signals in the first region, suppressing clutter signals in the first subspace, a characteristic value threshold corresponding to the clutter signal to be suppressed, or Doppler characteristic information of the clutter signal to be suppressed, then the first sensing device can suppress the clutter signal in the first signal based on the suppression information.

[0125] For example, if the suppression information indicates suppression of dynamic clutter signals, then the first sensing device can suppress dynamic clutter signals in the first signal.

[0126] For example, if the suppression information indicates the suppression of noise signals, then the first sensing device can suppress noise signals in the first signal.

[0127] For example, if the suppression information indicates suppression of clutter signals within a first region, the first sensing device can suppress clutter signals within that first region, but not suppress clutter signals in other regions. For instance, if the first sensing device receives a signal for sensing within the first region, it can suppress clutter signals in that signal. However, if the first sensing device receives a signal for sensing in a region other than the first region, it does not need to suppress clutter signals in that signal. For example, the first region might be a region with high sensing accuracy requirements, or a region with strong clutter signals. In this way, the first sensing device can selectively suppress clutter signals in corresponding regions to improve sensing accuracy in those regions; moreover, the first sensing device does not need to suppress clutter signals in too many regions, simplifying its processing.

[0128] For example, if the suppression information indicates suppression of clutter signals in the first subspace, then the first sensing device can suppress clutter signals in the first subspace, while not suppressing clutter signals in other subspaces. For instance, the first subspace might be a subspace with high sensing accuracy requirements, or a subspace with strong clutter signals. In this way, the first sensing device can selectively suppress clutter signals in corresponding subspaces to improve the sensing accuracy in those subspaces; moreover, the first sensing device does not need to suppress clutter signals in too many subspaces, simplifying the processing procedure of the first sensing device.

[0129] For example, if the suppression information indicates the characteristic value threshold corresponding to the clutter signal to be suppressed, the first sensing device can suppress the clutter signal according to the characteristic value threshold. By indicating the characteristic value threshold, the first sensing device can determine the clutter signal more quickly, thereby achieving the suppression of the clutter signal.

[0130] For example, if the suppression information indicates the Doppler characteristic information of the clutter signal to be suppressed, the first sensing device can suppress the clutter signal based on the Doppler characteristic information. By indicating the Doppler characteristic information, the first sensing device can determine the clutter signal more quickly, thereby achieving the suppression of the clutter signal.

[0131] There are several ways for the first sensing device to suppress clutter signals in the first signal, as illustrated in the following examples.

[0132] 1. A first optional implementation of the first sensing device suppressing clutter signals in the first signal.

[0133] The first sensing device determines first channel information and second channel information, and suppresses the clutter signal based on the first channel information and second channel information. This suppression method can also be considered a channel-level clutter suppression method. The first channel information can be the channel information corresponding to a first signal. For example, if the first sensing device receives a first signal, it can determine the channel information corresponding to the first signal through measurement. The second channel information can be the channel information corresponding to a second signal, such as a clutter signal, or it can be understood that the second signal only includes clutter. For example, if the first sensing device receives a second signal, it can determine the channel information corresponding to the second signal through measurement.

[0134] For example, the target to be sensed (or the expected target to be sensed) by the first sensing device is a vehicle. The first signal may include signals reflected, scattered, or diffracted by the vehicle, such as a third signal emitted by the second sensing device that reaches the first sensing device after reflection, scattering, or diffracting by the vehicle. This signal reaching the first sensing device is signal A, and the first signal may include signal A. Alternatively, the first signal may also include signals reflected, scattered, or diffracted by other non-sensing targets besides the vehicle (e.g., roadside buildings), such as a third signal emitted by the second sensing device that reaches the first sensing device after reflection, scattering, or diffracting by the non-sensing target. This signal reaching the first sensing device is signal B, and the first signal may include signal B. Here, signal B is a clutter signal, and signal A can be called a non-clutter signal. Therefore, the first signal includes clutter signals.

[0135] The second signal may include a signal that reaches the first sensing device after being reflected, scattered, or diffracted by a non-sensing target other than the vehicle. For example, a fourth signal emitted by the second sensing device for sensing can reach the first sensing device after being reflected, scattered, or diffracted by the non-sensing target. This signal reaching the first sensing device is the second signal, which is a clutter signal. Therefore, the second signal includes clutter signals but does not include non-clutter signals. For example, the second sensing device can send the fourth signal when there is no vehicle to be sensed on the street, so that the first sensing device can receive the second signal without clutter signals; the second sensing device can also send the second signal when there is a vehicle to be sensed on the street, so that the first sensing device can receive the first signal including clutter signals. The relationship between the fourth signal and the second signal is similar to the relationship between the third signal and the first signal described above, and will not be elaborated further.

[0136] For example, the first channel information can be represented as H. sen (k), representing the second channel information as H pre (k). The first sensing device suppresses clutter signals in the first signal based on the first channel information and the second channel information, and can obtain the suppressed channel information. For example, the suppressed channel information satisfies the following relationship:

[0137] H eff (k)=H sen (k)-H pre (k) (Formula 1)

[0138] Among them, H eff (k) represents the suppressed channel information. H eff (k) can be considered as the channel information corresponding to the first signal, excluding clutter signals. The first sensing device obtains H... eff (k) is equivalent to suppressing the clutter signal in the first signal.

[0139] Optionally, the first sensing device can also perform sensing based on a first signal after suppressing clutter signals. For example, the first sensing device can perform sensing based on H. eff (k) Perform perception to obtain perception results, which may include one or more parameters of the expected perception target, such as point cloud information, velocity, latency, distance, etc. of the expected perception target. The point cloud information of the expected perception target may include or indicate the coordinates of some or all points on the expected perception target.

[0140] 2. A second optional implementation of the first sensing device for suppressing clutter signals in the first signal.

[0141] The first sensing device determines a first autorelated information and a second autorelated information, and suppresses the clutter signal based on the first and second autorelated information. The first autorelated information can be the autorelated information corresponding to a first signal; for example, if the first sensing device receives a first signal, it can determine the autorelated information corresponding to that first signal. The second autorelated information can be the autorelated information corresponding to a second signal, such as a clutter signal, or it can be understood that the second signal only includes clutter. For example, if the first sensing device receives a second signal, it can determine the autorelated information corresponding to that second signal.

[0142] Optionally, the first autocorrelation information can be determined based on the third channel information, and the second autocorrelation information can be determined based on the fourth channel information. For example, if the first sensing device receives a first signal, it can determine the third channel information corresponding to the first signal based on measurement, and then determine the first autocorrelation information based on the third channel information. Optionally, the first autocorrelation information may be, for example, the autocorrelation matrix corresponding to the third channel information. As another example, if the first sensing device receives a second signal, it can determine the fourth channel information corresponding to the second signal based on measurement, and then determine the second autocorrelation information based on the fourth channel information. Optionally, the second autocorrelation information may be, for example, the autocorrelation matrix corresponding to the fourth channel information. The third channel information may include, for example, some or all of the information in the first channel information, and the fourth channel information may include, for example, some or all of the information in the second channel information.

[0143] This can be understood as follows: Since the channel information contains a large amount of information, if the first sensing device wants to suppress clutter signals according to the first optional implementation method described above, it needs to obtain relatively complete channel information (for example, the first channel information could be relatively complete channel information corresponding to the first signal, and the second channel information could be relatively complete channel information corresponding to the second signal). This may incur significant overhead and may require a long processing time. Therefore, the first sensing device can obtain third and fourth channel information. The third channel information can have a smaller amount of information compared to the first channel information; for example, the third channel information may include some information from the first channel information. Similarly, the fourth channel information can have a smaller amount of information compared to the second channel information; for example, the fourth channel information may include some information from the second channel information. The first sensing device can also suppress clutter based on the third and fourth channel information, and can save overhead and / or reduce processing latency.

[0144] The method by which the first sensing device determines the third channel information is similar to or the same as the method by which the first sensing device determines the first channel information, and the method by which the first sensing device determines the fourth channel information is similar to or the same as the method by which the first sensing device determines the second channel information. Please refer to the previous introduction.

[0145] Optionally, the autocorrelation information can be, for example, an autocorrelation matrix. For instance, the first autocorrelation information could be a first autocorrelation matrix, and the second autocorrelation information could be a second autocorrelation matrix. Therefore, the second suppression method can also be considered a clutter suppression method at the autocorrelation matrix level. For example, the first autocorrelation matrix can be represented as RHH. sen The second autocorrelation matrix is ​​represented as RHH pre The first sensing device suppresses clutter signals in the first signal based on the first and second autorelated information, and can obtain the suppressed autorelated information. For example, the suppressed autorelated information satisfies the following relationship:

[0146] RHH eff =RHH sen -RHH pre (Formula 2)

[0147] Among them, RHH eff This represents the suppressed autocorrelation information, such as the suppressed autocorrelation matrix. RHH eff This can be considered as the autocorrelation matrix corresponding to the first signal, excluding clutter signals. The first sensing device obtained RHH. eff This is equivalent to suppressing the clutter signal in the first signal.

[0148] Among them, the autocorrelation information (e.g., the autocorrelation matrix) can satisfy the following relationship:

[0149]

[0150] In Formula 3, both i and l represent the subcarrier numbers. For example, both the first and second autocorrelation matrices can satisfy Formula 3. i The following relationship can be satisfied:

[0151]

[0152] In Formula 4, * represents a multiplication operation; for example, * can also be replaced with ×. MN represents the subcarrier number. H MN (i:l:MN) indicates that in the channel information, starting from subcarrier i and ending at subcarrier MN, an element is extracted from every l subcarriers, and the extracted element is rhh. i In Formula 3, RHH represents the matrix formed by the extracted elements. H represents MN The conjugate transpose of (i:l:MN).

[0153] For example, if Equations 3 and 4 are used for third channel information, then H in Equation 4... MN(i:l:MN) indicates that in the third channel information, starting from subcarrier i and ending at subcarrier MN, elements from every l subcarriers are extracted; RHH in Formula 3 represents the first autocorrelation information. For example, if Formulas 3 and 4 are applied to the fourth channel information, then H in Formula 4... MN (i:l:MN) means that in the fourth channel information, starting from subcarrier i and ending at subcarrier MN, an element on every l subcarrier is extracted; RHH in Formula 3 represents the second autocorrelation information.

[0154] Optionally, the first sensing device can also perform sensing based on a first signal after suppressing clutter signals. For example, the first sensing device can perform sensing based on RHH. eff Perform perception and obtain perception results, which may include one or more parameters of the expected perception target, such as point cloud information, velocity, distance and other parameters of the expected perception target.

[0155] 3. A third alternative implementation of the first sensing device for suppressing clutter signals in the first signal.

[0156] The first sensing device suppresses clutter signals in the first signal based on information from the subspace corresponding to the first signal. This suppression method can also be considered a subspace-level clutter suppression method.

[0157] For example, the first sensing device can perform singular value decomposition (SVD) on the channel information corresponding to the first signal (e.g., the aforementioned first channel information) to obtain a feature subspace matrix. This feature subspace matrix includes at least one eigenvector, which corresponds to at least one eigenvalue. The at least one eigenvalue and the at least one eigenvector can have a one-to-one correspondence. For example, if the first sensing device determines that M of the at least one eigenvalues ​​are eigenvalues ​​corresponding to clutter signals, then the first sensing device can suppress these M eigenvalues ​​to suppress the clutter signal. For example, the first sensing device can set the values ​​of the M eigenvalues ​​to a first value to suppress the clutter signal. Optionally, the first value can be, for example, 0, or other values. The first sensing device reconstructs the channel based on the result of resetting the values ​​of the M eigenvalues ​​to obtain the clutter-suppressed channel information.

[0158] For example, the channel information corresponding to the first signal satisfies the following relationship:

[0159]

[0160] Where H represents the channel information corresponding to the first signal. CIR(t) represents an element in this channel information.

[0161] The first sensing device performs SVD on the channel information, for example, the SVD method is as follows:

[0162] H=UΣV H (Formula 6)

[0163] Where U represents an m-order orthogonal matrix, and V represents an n-order orthogonal matrix. ∑ is an m×n rectangular diagonal matrix consisting of its non-negative diagonal elements arranged in descending order. H Let U denote the conjugate transpose of V. Where U∑V H SVD is called H.

[0164] ∑ can satisfy the following relationship:

[0165] ∑=diag(σ1,σ2,…,σp) (Formula 7)

[0166] Where diag represents a diagonal matrix, σ i This represents the diagonal elements of the diagonal matrix, and σ represents the diagonal elements of the matrix. i It also represents the singular value or eigenvalue of H.

[0167] For example, the first sensing device determines σ1, σ2, ..., σ p In the given equation, if there are M characteristic values ​​corresponding to the clutter signal, the first sensing device can suppress these M characteristic values ​​to achieve clutter suppression. Optionally, these M characteristic values ​​can be, for example, the M strongest characteristic values ​​(e.g., the M characteristic values ​​with the largest values). For example, the first sensing device can set these M characteristic values ​​to 0, obtaining the ∑ after resetting the characteristic values. The first sensing device can then reconstruct the channel H according to Formula 6. For example, the reconstructed channel H can be called H′, and H′ is the channel after clutter suppression.

[0168] Optionally, the first sensing device can also perform sensing based on the channel after suppressing clutter signals. For example, the first sensing device can perform sensing based on H′ and obtain sensing results, which may include one or more parameters of the expected sensing target, such as point cloud information, velocity, distance, etc. of the expected sensing target.

[0169] Optionally, the first information or suppression information can indicate which of the at least one feature values ​​corresponding to the channel information of the first signal are clutter signals. For example, the first information indicates the feature value information corresponding to the clutter signal to be suppressed, which indicates that the M strongest feature values ​​in the channel information correspond to the clutter signal. Based on the indication of the feature value information, the first sensing device can determine the feature value corresponding to the clutter signal, thereby resetting the value of the feature value.

[0170] The M strongest eigenvalues ​​are considered to correspond to clutter signals, generally for static clutter signals. That is, if the first signal includes static clutter, then that static clutter signal may correspond to the M strongest eigenvalues. However, for dynamic clutter signals, they may not necessarily correspond to the strongest eigenvalues; for example, the eigenvalues ​​corresponding to dynamic clutter signals may be strong or weak. If it is necessary to suppress dynamic clutter signals in the first signal, the first information or suppression information can specifically indicate the corresponding clutter eigenvalues. For example, the first information or suppression information indicates the ordering information of the clutter eigenvalues ​​among at least one eigenvalue corresponding to the channel information corresponding to the first signal (e.g., indicating that the Xth eigenvalue corresponds to the clutter signal). Thus, the first sensing device can determine the corresponding clutter eigenvalues ​​based on the indication of the first information or suppression information, and thereby adjust the value of that eigenvalue.

[0171] Alternatively, the first information or suppression information may not indicate that the M strongest feature values ​​in the channel information correspond to clutter signals, but the first information or suppression information indicates the suppression of clutter signals within the first subspace. In this case, the first sensing device can also determine the feature values ​​corresponding to the clutter signals. For example, the first sensing device can determine the feature value corresponding to the first subspace among at least one feature value of the channel information corresponding to the first signal. The first sensing device can reset the value of this feature value to suppress clutter signals within the first subspace. For feature values ​​that do not correspond to the first subspace, the first sensing device does not need to reset the value; that is, the first sensing device may not suppress clutter signals in subspaces other than the first subspace. The first subspace may include one or more subspaces. The at least one feature value may correspond to at least one feature vector, and each feature vector can be considered a subspace. For example, if the first sensing device determines that M feature vectors among the at least one feature vectors belong to the first subspace, the first sensing device can reset the values ​​of the M feature values ​​corresponding to the M feature vectors.

[0172] 4. A fourth optional implementation of the first sensing device for suppressing clutter signals in the first signal.

[0173] The first sensing device suppresses clutter signals in the first signal based on the Doppler information corresponding to the first signal. This suppression method can also be considered as a clutter suppression method in the Doppler domain.

[0174] For example, the first signal is initially a range-time domain signal, corresponding to a range-time spectrum. The first sensing device can perform a Fast Fourier Transform (FFT) on the first signal to transform it into a range-Doppler spectrum, effectively obtaining the Doppler information of the first signal. From this Doppler information, the first sensing device can determine the frequencies corresponding to clutter signals. The first sensing device can set the frequency corresponding to the clutter signal as a first frequency to suppress the clutter signal. Optionally, the first frequency can be 0, or it can be any other frequency.

[0175] Optionally, in the Doppler information, the frequency that does not meet the threshold condition can be the frequency corresponding to a clutter signal. The threshold condition can be indicated by the first information or suppression information, or it can be set by the first sensing device itself. For example, the threshold condition includes: the frequency in the Doppler information is greater than a first threshold, and / or, the frequency in the Doppler information is less than a second threshold. For example, if the threshold condition includes the frequency in the Doppler information being greater than the first threshold, then if a frequency in the Doppler information is greater than the first threshold, it indicates that the frequency meets the threshold condition and also indicates that the frequency is not the frequency corresponding to a clutter signal; or, if a frequency in the Doppler information is less than or equal to the first threshold, it indicates that the frequency does not meet the threshold condition and also indicates that the frequency is the frequency corresponding to a clutter signal.

[0176] For example, if the threshold condition includes a frequency in the Doppler information that is less than the second threshold, then if a frequency in the Doppler information is less than the second threshold, it indicates that the frequency meets the threshold condition and also indicates that the frequency is not the frequency corresponding to the clutter signal; or, if a frequency in the Doppler information is greater than or equal to the second threshold, it indicates that the frequency does not meet the threshold condition and also indicates that the frequency is the frequency corresponding to the clutter signal.

[0177] Optionally, in this Doppler information, if a certain frequency is greater than a first threshold, it indicates that the frequency may correspond to static clutter. For example, if you want to suppress static clutter signals from the first signal, you can determine the static clutter signal using the first threshold. If a certain frequency is less than a second threshold, it indicates that the frequency may correspond to dynamic clutter signals. For example, if you want to suppress dynamic clutter from the first signal, you can determine the dynamic clutter signal using the second threshold.

[0178] Optionally, the first sensing device can also perform sensing based on the first signal after suppressing clutter signals. For example, the first sensing device can perform sensing based on the first signal in the range-Doppler domain, or it can transform the first signal in the range-Doppler domain to the range-time domain using an inverse fast fourier transform (IFFT), and then perform sensing based on the first signal in the range-time domain. For example, the first sensing device can obtain a sensing result, which may include one or more parameters of the expected sensing target, such as point cloud information, velocity, and distance parameters of the expected sensing target.

[0179] 5. A fifth optional implementation of the first sensing device for suppressing clutter signals in the first signal.

[0180] The first sensing device can perform K measurements on the signal corresponding to the target path in the first signal. The phases of the first signal corresponding to different measurements in these K measurements are different, but the amplitudes are the same. K can be an integer greater than or equal to 2. Based on the measurement results of these K measurements, the first sensing device can determine the clutter signal in the first signal. For example, the first sensing device can determine the clutter signal by fitting the measurement results of these K measurements. This suppression method can also be considered a circular fitting clutter suppression method. The first signal includes both non-clutter signals and clutter signals, and the transmission path corresponding to the non-clutter signal can be the target path.

[0181] Once the first sensing device identifies the clutter signal, it can remove the clutter signal from the first signal to suppress it. Optionally, the first sensing device can also perform sensing based on the first signal after suppressing the clutter signal. For example, the first sensing device can obtain a sensing result, which may include one or more parameters of the expected sensing target, such as point cloud information, velocity, distance, etc. of the expected sensing target.

[0182] In addition to the methods described above, the first sensing device may also suppress noise signals in the first signal in other ways, without limitation.

[0183] Optionally, the first sensing device can send the sensing results to the SF, enabling the SF to perform further sensing based on these results. For example, the SF can reconstruct objects in the environment based on sensing results from one or more sensing devices. The first sensing device can directly send the sensing results to the SF without requiring forwarding from other devices. For example, if the first sensing device is a network device (e.g., an access network device), the network device can send the sensing results to the SF. Alternatively, the first sensing device can also forward the sensing results to the SF through other devices, such as a second sensing device. For instance, if the first sensing device is a UE and the second sensing device is a network device, the UE can send the sensing results to the SF through the network device.

[0184] Optionally, the first sensing device may also send second information, which may indicate information about the clutter signal or information about the first sensing device suppressing the clutter signal. For example, the second information may include or indicate one or more of the following: moving clutter signal and / or stationary clutter signal, a second region, a second subspace, characteristic value information corresponding to the suppressed clutter signal, or Doppler characteristic information of the suppressed clutter signal.

[0185] Specifically, if the second information indicates a moving clutter signal, it means that the first sensing device has suppressed the moving clutter signal, or that the sensing result from the first sensing device is the sensing result after suppressing the moving clutter signal. If the second information indicates a static clutter signal, it means that the first sensing device has suppressed the static clutter signal, or that the sensing result from the first sensing device is the sensing result after suppressing the static clutter signal.

[0186] If the second information indicates a second region, it indicates that the first sensing device has suppressed clutter signals within the second region, or that the sensing result from the first sensing device is the result after suppressing clutter signals within the second region. The second region and the first region can be the same region or different regions.

[0187] If the second information indicates a second subspace, it indicates that the first sensing device has suppressed clutter signals within the second subspace, or that the sensing result from the first sensing device is the result after suppressing clutter signals within the second subspace. The second subspace and the first subspace can be the same subspace or different subspaces.

[0188] The second information indicating the characteristic value information corresponding to the suppressed clutter signal may include which characteristic values ​​the first sensing device specifically suppressed. For example, the characteristic value information indicates the ordering information of the characteristic values ​​suppressed by the first sensing device among at least one characteristic value corresponding to the channel information corresponding to the first signal (e.g., indicating that the Xth characteristic value is suppressed).

[0189] The second information, indicating the Doppler characteristic information of the suppressed clutter signal, may include details of which Doppler spectrum characteristics the first sensing device specifically suppressed. For example, the second information may indicate a threshold condition, showing that the first sensing device suppressed Doppler spectra that did not meet that threshold condition. Please refer to the preceding description for information on this threshold condition.

[0190] The second information can be sent to the second sensing device or to the SF. Optionally, if the second information is sent to the second sensing device, the second sensing device can also send the second information to the SF. For example, if the SF receives the second information, it can determine whether the sensing result from the first sensing device is accurate based on the second information. For example, if the second information indicates a moving noise signal, it means that the first sensing device has suppressed the moving noise signal, and the first information or suppression information also indicates suppression of the moving noise signal, then the SF determines that the sensing result is accurate; or, if the second information does not indicate a moving noise signal, it means that the first sensing device has not suppressed the moving noise signal, and the first information or suppression information indicates suppression of the moving noise signal, then the SF determines that the sensing result is inaccurate.

[0191] For example, the second information indicates a second region, while the first information or suppression information indicates suppression of clutter signals within the first region. If the second region and the first region are the same region, SF determines that the sensing result is accurate; or, if the second region and the first region are different regions, SF determines that the sensing result is inaccurate.

[0192] For example, the second information indicates a second subspace, while the first information or suppression information indicates suppression of clutter signals within the first subspace. If the second subspace is the same as the first subspace, SF determines that the sensing result is accurate; or, if the second subspace is a different subspace from the first subspace, SF determines that the sensing result is inaccurate.

[0193] For example, the second information indicates the characteristic value information corresponding to the suppressed clutter signal, and the first information or suppression information indicates the characteristic value information of the clutter signal to be suppressed. If the characteristic value information indicated by the first information or suppression information is consistent with the characteristic value information indicated by the second information, SF can determine that the sensing result is accurate; or, if the characteristic value information indicated by the first information or suppression information is inconsistent with the characteristic value information indicated by the second information, SF can determine that the sensing result is inaccurate.

[0194] For example, the second information indicates the Doppler characteristic information of the suppressed clutter signal, and the first information or suppression information indicates the Doppler characteristic information of the clutter signal to be suppressed. If the Doppler characteristic information indicated by the first information or suppression information is consistent with the Doppler characteristic information indicated by the second information, SF can determine that the sensing result is accurate; or, if the Doppler characteristic information indicated by the first information or suppression information is inconsistent with the Doppler characteristic information indicated by the second information, SF can determine that the sensing result is inaccurate.

[0195] If the SF determines that the perception result is accurate, the SF can perform further perception based on the perception result; or, if the SF determines that the perception result is inaccurate, the SF can ignore the perception result, for example, not perform further perception based on the perception result.

[0196] In this embodiment, the first information can indicate clutter signal suppression information. For example, the first sensing device can suppress the clutter signal based on the first information. Optionally, the first sensing device can use the signal after suppressing the clutter signal for sensing. Since the interference caused by the clutter signal is reduced, the sensing accuracy can be improved.

[0197] Please refer to Figure 6 This is the second sensing method provided in the embodiments of this application. Figure 6 It can be considered as... Figure 5 An example of the embodiment shown, Figure 6 The application scenario is a single-site sensing scenario for network devices, where the first sensing device and the second sensing device are both network devices in the embodiments of this application. Figure 6 Each step in the process can be considered an optional step. Figure 6 The dashed line is no longer used to represent the middle.

[0198] S601, The network device interacts with SF to exchange information about the network device's capabilities.

[0199] For example, the network device can send its capability information to the SF. This capability information can indicate the network device's sensing capabilities, such as whether the network device supports suppressing clutter signals. In various embodiments of this application, the SF can also be replaced by the LMF, for example, the SF and LMF may be co-located, or the LMF may have sensing capabilities. This application uses the SF as an example in its embodiments.

[0200] The network device and the SF may not need to exchange the network device's capability information; for example, the SF can obtain the network device's capability information through other means. Therefore, S601 is an optional step.

[0201] S602 and SF send a first request message to the network device. Correspondingly, the network device receives the first request message.

[0202] If the network device is a network device under the ORAN architecture, such as the network device including a CU, or the network device being a CU, then the CU can receive the first request message.

[0203] The first request message is, for example, a sensing request or a sensing measurement request. The first request message may include... Figure 5 The first information described in the illustrated embodiment, such as S602 and Figure 5 S501 in the illustrated embodiment can be the same step.

[0204] S603, The network device processes the first signal for sensing based on the first information.

[0205] For example, the network device sends a third signal for sensing and receives a signal (referred to as a first signal) after the third signal has been reflected, scattered, or diffracted by a sensing target in the environment (e.g., including expected sensing targets and / or non-sensing targets). Upon receiving the first signal, the network device can execute S603. Optionally, the network device can also obtain the sensing result based on the first signal after suppressing clutter signals. The third signal is, for example, a channel state information reference signal (CSI-RS) and / or a synchronization signal and a physical broadcast channel (PBCH) block (SSB).

[0206] Among them, S603 and Figure 5 S502 in the illustrated embodiment can be the same step, so more details can be found in S502.

[0207] S604. The network device sends the sensing results. Correspondingly, the SF receives the sensing results.

[0208] The network device can send this sensing result to SF. Optionally, the network device can also send a second piece of information to SF, which can be found in [reference needed]. Figure 5 The following is a description of the embodiments shown.

[0209] S605 and SF process the perception result.

[0210] The SF can perform further sensing based on the sensing result. For example, the SF can reconstruct objects in the environment based on sensing results from one or more sensing devices (including the UE and / or network devices). Optionally, if the SF also receives second information from the network device, the SF can determine whether the sensing result is accurate based on the second information. If the sensing result is accurate, the SF can perform further sensing based on the sensing result; or, if the sensing result is inaccurate, the SF can ignore the sensing result, for example, not perform further sensing based on the sensing result. For more related information, please refer to [link / reference]. Figure 5 The example shown.

[0211] Please refer to Figure 7 This is the third sensing method provided in the embodiments of this application. Figure 7 It can be considered as... Figure 5 Another example of the embodiment shown, Figure 7 The application scenario is a single-site perception scenario of the UE, wherein the first sensing device and the second sensing device are both UEs in the embodiments of this application. Figure 7 Each step in the process can be considered an optional step. Figure 7 The dashed line is no longer used to represent the middle.

[0212] S701, UE and SF exchange network device capability information.

[0213] For example, the UE can send its capability information to the SF. This capability information can indicate the UE's sensing capabilities, such as whether the UE supports suppressing clutter signals. The UE and the SF can exchange information via network devices (such as access network devices).

[0214] The UE and SF may not need to exchange the UE's capability information; for example, the SF can obtain the UE's capability information through other means. Therefore, S701 is an optional step.

[0215] S702 and SF send a first request message to the UE. Correspondingly, the UE receives the first request message.

[0216] The first request message is, for example, a sensing request or a sensing measurement request. The first request message may include... Figure 5 The first information described in the illustrated embodiment, such as S702 and Figure 5 S501 in the illustrated embodiment can be the same step.

[0217] S703, the UE processes the first signal for sensing based on the first information.

[0218] For example, the UE sends a third signal for sensing and receives a signal (referred to as a first signal) after the third signal has been reflected, scattered, or diffracted by a sensing target in the environment (e.g., including expected sensing targets and / or non-sensing targets). Upon receiving the first signal, the UE can execute S703. Optionally, the UE can also obtain the sensing result based on the first signal after suppressing clutter signals.

[0219] Optionally, the third signal may be, for example, a sounding reference signal (SRS). The third signal can be configured by the network device. For example, in addition to sending a first request message to the UE, the SF also sends a second request message to the network device, which may request the network device to configure a third signal for the UE. After receiving the second request message, the network device can configure the third signal for the UE, and the UE can send the third signal according to the network device's configuration.

[0220] Among them, S703 and Figure 5 S502 in the illustrated embodiment can be the same step, so more details can be found in S502.

[0221] S704, the UE sends the sensing result. Correspondingly, the SF receives the sensing result.

[0222] The UE can send this sensing result to the SF. Optionally, the UE can also send second information to the SF, which can be found in [reference needed]. Figure 5 The following is a description of the embodiments shown.

[0223] S705 and SF process the sensing results.

[0224] The SF can perform further sensing based on the sensing result. For example, the SF can reconstruct objects in the environment based on sensing results from one or more sensing devices (including the UE and / or network devices). Optionally, if the SF also receives second information from the network device, the SF can determine whether the sensing result is accurate based on the second information. If the sensing result is accurate, the SF can perform further sensing based on the sensing result; or, if the sensing result is inaccurate, the SF can ignore the sensing result, for example, not perform further sensing based on the sensing result. For more related information, please refer to [link / reference]. Figure 5 The example shown.

[0225] Please refer to Figure 8 This is the fourth sensing method provided in the embodiments of this application. Figure 8 It can be considered as... Figure 5 Another example of the embodiment shown, Figure 8The application scenario is a dual-site sensing scenario where the UE transmits and the network device receives, where the first sensing device is the network device and the second sensing device is the UE. Figure 8 Each step in the process can be considered an optional step. Figure 8 The dashed line is no longer used to represent the middle.

[0226] S801, UE's ability to interact with network devices and SF.

[0227] For example, the UE can send its capability information to network devices and / or the SF. This capability information can indicate the UE's sensing capabilities, such as whether the UE supports suppressing clutter signals. The UE and the SF can exchange information via network devices (e.g., access network devices).

[0228] For example, the network device can send its capability information to SF. This capability information can indicate the network device's sensing capabilities, such as whether the network device supports suppressing clutter signals.

[0229] Alternatively, the UE may not need to exchange its capability information with the network device and / or SF; for example, the network device and / or SF can obtain the UE's capability information through other means. Similarly, the network device and SF may not need to exchange their capability information; for example, the SF can obtain the network device's capability information through other means. Therefore, S801 is an optional step.

[0230] S802 and SF send a first request message to the network device. Correspondingly, the network device receives the first request message.

[0231] The first request message is, for example, a sensing request or a sensing measurement request. The first request message may include... Figure 5 The first information described in the illustrated embodiment, such as S802 and Figure 5 S501 in the illustrated embodiment can be the same step.

[0232] S803, The network device processes the first signal for sensing based on the first information.

[0233] For example, the UE sends a third signal for sensing, which arrives at the network device after being reflected, scattered, or diffracted by sensing targets in the environment (e.g., including expected sensing targets and / or non-sensing targets). The signal arriving at the network device is referred to as the first signal, as described in S804. Once the network device receives the first signal, it can execute S803. Optionally, the network device can also obtain the sensing result based on the first signal after suppressing clutter signals.

[0234] Optionally, the third signal may be, for example, an SRS (Self-Rating System). The third signal can be configured by the network device. For example, after receiving the first request message, the network device can configure a third signal for the UE, and the UE can send the third signal according to the network device's configuration. Optionally, the first request message may also request the network device to configure a third signal for the UE.

[0235] Among them, S803 and Figure 5 S502 in the illustrated embodiment can be the same step, so more details can be found in S502.

[0236] S805: The network device sends the sensing results. Correspondingly, the SF receives these sensing results.

[0237] The network device can send this sensing result to SF. Optionally, the network device can also send a second piece of information to SF, which can be found in [reference needed]. Figure 5 The following is a description of the embodiments shown.

[0238] S806 and SF process the perception result.

[0239] The SF can perform further sensing based on the sensing result. For example, the SF can reconstruct objects in the environment based on sensing results from one or more sensing devices (including the UE and / or network devices). Optionally, if the SF also receives second information from the network device, the SF can determine whether the sensing result is accurate based on the second information. If the sensing result is accurate, the SF can perform further sensing based on the sensing result; or, if the sensing result is inaccurate, the SF can ignore the sensing result, for example, not perform further sensing based on the sensing result. For more related information, please refer to [link / reference]. Figure 5 The example shown.

[0240] Please refer to Figure 9 This is the fifth sensing method provided in the embodiments of this application. Figure 9 It can be considered as... Figure 5 Another example of the embodiment shown, Figure 9 The application scenario is a dual-site sensing scenario where the network device transmits and the UE receives, where the first sensing device is the UE and the second sensing device is the network device. Figure 9 Each step in the process can be considered an optional step. Figure 9 The dashed line is no longer used to represent the middle.

[0241] S901, UE's ability to interact with network devices and SF.

[0242] For example, the UE can send its capability information to network devices and / or the SF. This capability information can indicate the UE's sensing capabilities, such as whether the UE supports suppressing clutter signals. The UE and the SF can exchange information via network devices (e.g., access network devices).

[0243] For example, the network device can send its capability information to SF. This capability information can indicate the network device's sensing capabilities, such as whether the network device supports suppressing clutter signals.

[0244] Alternatively, the UE may not need to exchange its capability information with the network device and / or SF; for example, the network device and / or SF can obtain the UE's capability information through other means. Similarly, the network device and SF may not need to exchange their capability information; for example, the SF can obtain the network device's capability information through other means. Therefore, S901 is an optional step.

[0245] S902 and SF send a first request message to the UE. Correspondingly, the UE receives the first request message.

[0246] The first request message is, for example, a sensing request or a sensing measurement request. The first request message may include... Figure 5 The first information described in the illustrated embodiment, such as S802 and Figure 5 S501 in the illustrated embodiment can be the same step.

[0247] S903, the UE processes the first signal for sensing based on the first information.

[0248] For example, the network device sends a third signal for sensing. This third signal reaches the UE after being reflected, scattered, or diffracted by sensing targets in the environment (e.g., including expected sensing targets and / or non-sensing targets). The signal reaching the UE is referred to as the first signal. This step can be referred to in S904. Upon receiving the first signal, the UE can execute S903. Optionally, the UE can also obtain the sensing result based on the first signal after suppressing clutter signals.

[0249] Optionally, the third signal may be, for example, CSI-RS and / or SSB. The third signal can be configured by the network device for the UE. For example, in addition to sending a first request message to the UE, the SF also sends a second request message to the network device, which may request or instruct the network device to configure a third signal for the UE. Upon receiving the second request message, the network device can configure the third signal for the UE, thereby enabling the UE to receive the third signal.

[0250] Among them, S903 and Figure 5 S502 in the illustrated embodiment can be the same step, so more details can be found in S502.

[0251] S905: The UE sends the sensing results. Correspondingly, the SF receives the sensing results.

[0252] The UE can send this sensing result to the SF. Optionally, the UE can also send second information to the SF, which can be found in [reference needed]. Figure 5 The following is a description of the embodiments shown.

[0253] S906 and SF process the perception result.

[0254] The SF can perform further sensing based on the sensing result. For example, the SF can reconstruct objects in the environment based on sensing results from one or more sensing devices (including the UE and / or network devices). Optionally, if the SF also receives second information from the network device, the SF can determine whether the sensing result is accurate based on the second information. If the sensing result is accurate, the SF can perform further sensing based on the sensing result; or, if the sensing result is inaccurate, the SF can ignore the sensing result, for example, not perform further sensing based on the sensing result. For more related information, please refer to [link / reference]. Figure 5 The example shown.

[0255] In summary, in the various embodiments of this application, the first information can indicate clutter signal suppression information. For example, the first sensing device can suppress the clutter signal based on the first information. Optionally, the first sensing device can use the signal after suppressing the clutter signal for sensing. Since the interference caused by the clutter signal is reduced, the sensing accuracy can be improved.

[0256] Figure 10 A schematic diagram of a device provided in an embodiment of this application is given. The device 1000 may be... Figure 5 The first sensing device or its circuit system described in the illustrated embodiment is used to implement the method corresponding to the first sensing device in the above method embodiments. Alternatively, the device 1000 may be... Figures 5-9 The SF or its circuit system, as shown in any of the accompanying drawings, is used to implement the method corresponding to the SF in the above method embodiments. Alternatively, the device 1000 may be... Figure 6 , Figure 8 or Figure 9 The network device or circuit system of any of the embodiments shown in the accompanying drawings is used to implement the method corresponding to the network device in the above method embodiments. Alternatively, the device 1000 may be... Figures 7-9 The UE or circuit system of any of the embodiments shown in the accompanying drawings is used to implement the method corresponding to the UE in the above method embodiments. For example, one type of circuit system is a chip system.

[0257] Since the device 1000 in the embodiments of this application can implement the sensing method, the device 1000 can also be called a sensing device. In implementation, the device 1000 may have sensing function but no communication function, or it may have both sensing and communication functions. If the device 1000 has communication function, it may also be called a communication device, etc., without limitation.

[0258] The device 1000 includes at least one processor 1001. The processor 1001 can be used for internal processing within the device to implement certain control processing functions. Optionally, the processor 1001 includes instructions. Optionally, the processor 1001 can store data. Optionally, different processors can be independent devices, located in different physical locations, or located on different integrated circuits. Optionally, different processors can be integrated into one or more processors, for example, integrated onto one or more integrated circuits.

[0259] Optionally, the device 1000 includes one or more memories 1003 for storing instructions. Optionally, the memories 1003 may also store data. The processor and the memories may be separate or integrated together.

[0260] Optionally, the device 1000 includes a communication line 1002 and at least one communication interface 1004. Since the memory 1003, communication line 1002, and communication interface 1004 are all optional, therefore... Figure 10 All are represented by dashed lines.

[0261] Optionally, device 1000 may further include a transceiver and / or an antenna. The transceiver can be used to send information to or receive information from other devices. The transceiver may be referred to as a transceiver unit, transceiver circuit, input / output interface, etc., and is used to implement the transmission and reception functions of device 1000 via the antenna. Optionally, the transceiver includes a transmitter and a receiver. For example, the transmitter can be used to generate a radio frequency (RF) signal from a baseband signal, and the receiver can be used to convert the RF signal back into a baseband signal.

[0262] The processor 1001 may include a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs according to the present application.

[0263] The communication line 1002 may include a path for transmitting information between the aforementioned components.

[0264] Communication interface 1004 uses any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area network (WLAN), wired access network, etc.

[0265] The memory 1003 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 1003 may exist independently and be connected to the processor 1001 via communication line 1002. Alternatively, the memory 1003 may be integrated with the processor 1001.

[0266] The memory 1003 stores computer execution instructions for implementing the scheme of this application, and its execution is controlled by the processor 1001. The processor 1001 executes the computer execution instructions stored in the memory 1003, thereby realizing... Figures 5-9 The steps performed by the first sensing device or network device or SF or UE as shown in any of the embodiments illustrated in the accompanying drawings.

[0267] Optionally, the computer execution instructions in the embodiments of this application may also be referred to as application code, and the embodiments of this application do not specifically limit this.

[0268] In a specific implementation, as one example, the processor 1001 may include one or more CPUs, for example... Figure 10 CPU0 and CPU1 in the CPU.

[0269] In a specific implementation, as one embodiment, the device 1000 may include multiple processors, for example... Figure 10Processors 1001 and 1005 are mentioned. Each of these processors can be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. A processor here can refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0270] when Figure 10 When the device shown is a chip, such as a UE chip, a network device chip, an SF chip, or a first sensing device chip, the chip includes a processor 1001 (which may also include a processor 1005), a communication line 1002, and a communication interface 1004. Optionally, it may include a memory 1003. Specifically, the communication interface 1004 may be an input interface, pins, or circuits, etc. The memory 1003 may be a register, cache, etc. The processor 1001 and processor 1005 may be a general-purpose CPU, microprocessor, ASIC, or one or more integrated circuits for controlling the execution of a program for controlling the sensing method of any of the above embodiments.

[0271] This application embodiment can divide the device into functional modules according to the above method example. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware or as software functional modules. The module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, other division methods may be used. For example, in the case of dividing the device into functional modules corresponding to each function... Figure 11 This is a schematic diagram of an apparatus. The apparatus 1100 can be a UE, a first sensing device, a network device, or a SF involved in the various method embodiments described above, or it can be a chip in the UE, a chip in the first sensing device, a chip in the network device, or a chip in the SF. The apparatus 1100 includes a processing unit 1102 and a transceiver unit 1101. Since the apparatus 1100 in the embodiments of this application can implement the sensing method, the apparatus 1100 can also be called a sensing apparatus. In implementation, the apparatus 1100 may have sensing functions but no communication functions, or it may have both sensing and communication functions. If the apparatus 1100 has communication functions, it can also be called a communication apparatus, etc., without limitation.

[0272] It should be understood that the device 1100 can be used to implement the steps performed by the UE, the first sensing device, the network device, or the SF in the sensing method of the embodiments of this application, and the relevant features can be referred to above. Figures 5-9 The embodiments shown in any of the accompanying drawings will not be described in detail here.

[0273] Optional, Figure 11 The functions / implementation process of the transceiver unit 1101 and the processing unit 1102 can be obtained through Figure 10 The processor 1001 in the memory calls computer execution instructions stored in the memory 1003 to implement the function. Alternatively, Figure 11 The function / implementation process of the processing unit 1102 can be achieved through... Figure 10 The processor 1001 in the memory calls computer execution instructions stored in the memory 1003 to implement this. Figure 11 The function / implementation process of the transceiver unit 1101 in the middle can be obtained through Figure 10 It is implemented using the communication interface 1004.

[0274] Optionally, when the device 1100 is a chip or circuit, the function / implementation process of the transceiver unit 1101 can also be implemented through pins or circuits. Optionally, the transceiver unit 1101 may include a transmitting unit and / or a receiving unit, wherein the transmitting unit is used to implement the transmitting function and the receiving unit is used to implement the receiving function; or, the transceiver unit 1101 may be an integral module capable of implementing the transmitting and / or receiving functions. Optionally, the transceiver unit 1101 may be implemented using a transceiver.

[0275] This application also provides a computer-readable storage medium storing a computer program or instructions that, when executed, implement the methods performed by the UE, the first sensing device, the network device, or the SF in the aforementioned method embodiments. Thus, the functions described in the above embodiments can be implemented as software functional units and sold or used as independent products. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to it, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0276] This application also provides a computer program product comprising: computer program code, which, when run on a computer, causes the computer to perform the method executed by the UE, the first sensing device, the network device, or the SF in any of the foregoing method embodiments.

[0277] This application also provides a processing apparatus, including a processor and an interface; the processor is used to execute the methods performed by the UE, the first sensing device, the network device, or the SF involved in any of the above method embodiments.

[0278] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0279] The various illustrative logic units and circuits described in the embodiments of this application can be implemented or operate the described functions using a general-purpose processor, digital signal processor (DSP), ASIC, field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. The general-purpose processor can be a microprocessor; alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented using a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors combined with a digital signal processor core, or any other similar configuration.

[0280] The steps of the methods or algorithms described in the embodiments of this application can be directly embedded in hardware, software units executed by a processor, or a combination of both. The software units can be stored in RAM, flash memory, ROM, erasable programmable read-only memory (EPROM), EEPROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium in the art. Exemplarily, the storage medium can be connected to the processor so that the processor can read information from the storage medium and write information to the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and storage medium can be disposed in an ASIC, which can be disposed in the terminal device. Optionally, the processor and storage medium can also be disposed in different components of the terminal device.

[0281] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0282] The contents of the various embodiments of this application can be referenced to each other. Unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0283] It is understood that in the embodiments of this application, the UE and / or the first sensing device and / or the network device and / or the SF can perform some or all of the steps in the embodiments of this application. These steps or operations are merely examples. In the embodiments of this application, other operations or variations of various operations can also be performed. Furthermore, the various steps can be performed in different orders as presented in the embodiments of this application, and it is not necessary to perform all the operations in the embodiments of this application.

Claims

1. A sensing method, characterized in that, The method includes: Receive first information, the first information being used to indicate clutter signal suppression information, wherein the clutter signal is a signal reflected or scattered by a non-perceptible target; The first signal is processed based on the first information for sensing.

2. The method according to claim 1, characterized in that, The suppression information includes one or more of the following: Clutter signal indication information; Methods for suppressing clutter signals; Suppress dynamic clutter signals and / or static clutter signals; Suppress clutter signals in the first region; Suppress clutter signals in the first subspace; or, Doppler characteristics of the clutter signal to be suppressed.

3. The method according to claim 1 or 2, characterized in that, The method further includes: receiving the first signal; Processing a first signal for sensing based on the first information includes: suppressing clutter signals in the first signal based on the first information.

4. The method according to claim 3, characterized in that, The method further includes: The sensing result is obtained based on the first signal after suppressing the clutter signal; Send the perceived results.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Send a second message, which is used to indicate information about the clutter signal.

6. The method according to claim 3 or 4, characterized in that, Suppressing clutter signals in the first signal based on the first information includes: First channel information and second channel information are determined based on the first information, wherein the first channel information is the channel information corresponding to the first signal, and the second channel information is the channel information corresponding to the clutter signal; The clutter signal is suppressed based on the first channel information and the second channel information.

7. The method according to claim 3 or 4, characterized in that, Suppressing clutter signals in the first signal based on the first information includes: Based on the first information, a first autorelated information and a second autorelated information are determined, wherein the first autorelated information is the autorelated information corresponding to the first signal, and the second autorelated information is the autorelated information corresponding to the clutter signal; The clutter signal is suppressed based on the first autorelated information and the second autorelated information.

8. The method according to claim 3 or 4, characterized in that, Suppressing clutter signals in the first signal based on the first information includes: Based on the first information and the information of the subspace corresponding to the first signal, the clutter signal in the first signal is suppressed.

9. The method according to claim 3 or 4, characterized in that, Suppressing clutter signals in the first signal based on the first information includes: Based on the first information and the Doppler information corresponding to the first signal, the clutter signal is suppressed.

10. A sensing method, characterized in that, The method includes: Send a first message, the first message being used to indicate clutter signal suppression information, wherein the clutter signal is a signal reflected or scattered by a non-perceptible target; Receive the sensing results.

11. The method according to claim 10, characterized in that, The suppression information includes one or more of the following: Clutter signal indication information; Methods for suppressing clutter signals; Suppress dynamic clutter signals and / or static clutter signals; Suppress clutter signals within the first region; Suppress clutter signals in the first subspace; or, Doppler characteristics of the clutter signal to be suppressed.

12. The method according to claim 10 or 11, characterized in that, The method further includes: The perception target is reconstructed based on the perception results.

13. The method according to any one of claims 10 to 12, characterized in that, The method further includes: Receive second information, which is used to indicate information about the clutter signal.

14. An apparatus, characterized in that, The apparatus includes a module for performing the method as described in any one of claims 1 to 9, or a module for performing the method as described in any one of claims 10 to 13.

15. An apparatus, characterized in that, The apparatus includes a processor for performing the method as described in any one of claims 1 to 9, or the method as described in any one of claims 10 to 13.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program that, when run on a computer, causes the method as described in any one of claims 1 to 9 to be performed, or causes the method as described in any one of claims 10 to 13 to be performed.

17. A computer program product, characterized in that, The computer program product includes a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 9, or causes the computer to perform the method as described in any one of claims 10 to 13.

18. A sensing system, characterized in that, The sensing system includes access network equipment and sensing network elements, wherein... The access network device is used to perform the method as described in any one of claims 1 to 9; The sensing network element is used to perform the method as described in any one of claims 10 to 13.

19. The sensing system according to claim 18, characterized in that, The sensing system also includes terminal devices, wherein... The terminal device is used to send a first signal for sensing.

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