Feedback method and device of perception information, equipment and storage medium

Abstract

The application discloses a feedback method and device of sensing information, equipment and a storage medium, and relates to the technical field of sensing. The method is executed by a first node, and the method comprises: sending sensing information, wherein the sensing information comprises phase information. By sending the sensing information comprising the phase information, the sensitivity of the phase to displacement is utilized, and the accuracy of sensing micro-movement is improved.

Description

Feedback method, device, equipment and storage medium for perception information Technical Field

[0001] The embodiments of the present application relate to the field of perception technology, and in particular to a method, apparatus, device, and storage medium for feedback of perception information. Background Art

[0002] Perception refers to the use of electromagnetic waves (including light waves) and / or sound waves to detect parameters of the physical environment to achieve environmental perception technologies such as target positioning, action recognition, and imaging. For example, in a target positioning perception scenario, a sensing node locates the perceived target by transmitting and receiving wireless signals.

[0003] In related technologies, the sensing method used for positioning is to measure distance based on the time difference between wireless signal propagation. Specifically, the distance is determined by the difference between the time a wireless signal is sent and the time it is received. In this method, the resolution of the distance measurement is positively correlated with the bandwidth; that is, the higher the bandwidth, the higher the resolution of the distance measurement.

[0004] For micro-motions, which are relatively small, the method of determining distance based on the time difference of wireless signal propagation requires extremely high bandwidth, resulting in high overhead for transmitting the sensing signal during the sensing process. Reducing the overhead of sensing signals is a challenge that needs to be addressed.

[0005] Summary of the Invention

[0006] The present invention provides a method, device, equipment, and storage medium for sensing information feedback. The technical solution is as follows:

[0007] According to one aspect of an embodiment of the present application, a method for feedback of perception information is provided, the method being performed by a first node, the method including:

[0008] Sensing information is sent, where the sensing information includes phase information.

[0009] According to one aspect of an embodiment of the present application, a method for feedback of perception information is provided, the method being performed by a second node, the method including:

[0010] Perception information is received, the perception information including phase information.

[0011] According to one aspect of an embodiment of the present application, a device for feedback of perception information is provided, the device comprising: a sending module;

[0012] The sending module is used to send perception information, where the perception information includes phase information.

[0013] According to one aspect of an embodiment of the present application, a device for feedback of perception information is provided, the device comprising: a receiving module;

[0014] The receiving module is used to receive perception information, where the perception information includes phase information.

[0015] According to one aspect of an embodiment of the present application, a sensing device is provided, the sensing device including a transceiver;

[0016] The transceiver is used to send perception information, where the perception information includes phase information.

[0017] According to one aspect of an embodiment of the present application, a sensing device is provided, the sensing device including a transceiver;

[0018] The transceiver is used to receive perception information, where the perception information includes phase information.

[0019] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is used for execution by a processor to implement the above-mentioned method for feedback of perception information.

[0020] According to one aspect of an embodiment of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions. When the chip is running, it is used to implement the above-mentioned feedback method of perception information.

[0021] According to one aspect of an embodiment of the present application, a computer program product or computer program is provided, wherein the computer program product or computer program includes computer instructions, wherein the computer instructions are stored in a computer-readable storage medium, and a processor reads and executes the computer instructions from the computer-readable storage medium to implement the above-mentioned method for feedback of perceptual information.

[0022] The technical solutions provided in the embodiments of the present application can bring the following beneficial effects:

[0023] By sending perception information containing phase information to the second node, the sensitivity of phase to micro-motion is utilized, which solves the problem that energy and amplitude are difficult to perceive micro-motion, improves the accuracy of the perception results, and makes the perception of micro-motion no longer dependent on large bandwidth, reducing the overhead of perception signals and improving the efficiency of perception. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 shows a schematic diagram of different modes of perception;

[0026] Figure 2 shows a schematic diagram of different ways of perceiving the process;

[0027] Figure 3 shows a schematic diagram of different ways of perceiving the process;

[0028] FIG4 is a schematic diagram showing a sensing method for positioning in the related art;

[0029] FIG5 is a schematic diagram showing a sensing method for positioning in the related art;

[0030] FIG6 is a schematic diagram showing a sensing method for positioning in the related art;

[0031] FIG7 shows a block diagram of a perception system provided by an embodiment of the present application;

[0032] FIG8 shows a flow chart of a feedback method of a perception system provided by an embodiment of the present application;

[0033] FIG9 shows a flow chart of a feedback method of a perception system provided by an embodiment of the present application;

[0034] FIG10 shows a phase time-varying diagram provided by an embodiment of the present application;

[0035] FIG11 shows a phase time-varying diagram provided by an embodiment of the present application;

[0036] FIG12 shows a flow chart of a feedback method of a perception system provided by an embodiment of the present application;

[0037] FIG13 shows a structural block diagram of a feedback device of a perception system provided by an embodiment of the present application;

[0038] FIG14 shows a structural block diagram of a feedback device of a perception system provided by an embodiment of the present application;

[0039] FIG15 shows a schematic structural diagram of a sensing device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0041] The network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. A person skilled in the art will appreciate that, with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0042] Perception refers to the technology that uses electromagnetic waves (including light waves) and / or sound waves to detect parameters of the physical environment to achieve environmental perception such as target positioning, action recognition, and imaging. The nodes involved in perception are as follows:

[0043] Sensing sending node: the sending node of the sensing signal.

[0044] Sensing receiving node: a receiving node that senses the signal.

[0045] Perception nodes: Perception sending nodes and perception receiving nodes are collectively referred to as perception nodes, that is, nodes that perform perception.

[0046] Perception Management Node: A node that manages and controls perception tasks. The Perception Management Node assigns perception tasks to the Perception Nodes, and the Perception Nodes feed back the perception results to the Perception Management Node after performing the perception.

[0047] Perception trigger node: A node that initiates perception, sets the configuration of the perception scenario, and parses the perception feedback sent by the perception node.

[0048] As the spectrum for wireless communications and sensing gradually overlap, integrated communication and sensing technology merges these two functions, leveraging wireless resources to implement sensing. This allows sensing services to be delivered over a wider area using widely deployed cellular networks; joint sensing can be achieved through base stations and multiple terminals, achieving higher sensing accuracy; and sensing functions can be implemented by reusing wireless hardware modules to reduce costs. In short, integrated communication and sensing technology empowers future wireless communications systems with sensing capabilities, providing a foundation for the development of smart transportation, smart cities, smart factories, drones, and other services.

[0049] The terms "sensing service" and "sensing task" can be understood as having the same or different meanings. In cases where these meanings are different, a sensing service can be considered a higher-level concept for the same type of sensing task, or can be understood in other ways, which are not limited in this embodiment. A sensing service / task can sense only one parameter or a combination of multiple parameters, with the parameter being at least one of the following: speed; latency; distance; or energy.

[0050] Perception can be achieved through at least one of eight modes. Figure 1 shows the eight modes of perception.

[0051] Mode 1: Base station autonomous sensing. In Mode 1, the sensing sending node and the sensing receiving node are the same base station. That is, the base station sends a sensing signal to the sensing target. After the sensing signal is reflected by the sensing target, the same base station receives the reflected signal (i.e., the sensing signal after being reflected by the sensing target).

[0052] Mode 2: Terminals transmit and receive sensing independently. In Mode 2, the sensing sending node and the sensing receiving node are the same terminal. That is, the terminal sends a sensing signal to the sensing target, which is then reflected by the sensing target and then received by the same terminal.

[0053] Mode 3: Base station cooperative sensing. In Mode 3, the sensing sending node and the sensing receiving node are different base stations. That is, one base station sends a sensing signal to the sensing target, which is then reflected by the sensing target and received by another base station.

[0054] Mode 4: Terminal Collaborative Sensing. In Mode 4, the sensing sending node and the sensing receiving node are different terminals. That is, one terminal sends a sensing signal to the sensing target, which is then reflected by the sensing target and received by another terminal.

[0055] Mode 5: Base station-terminal collaborative sensing. In Mode 5, the base station is the sensing sending node, and the terminal is the sensing receiving node. Specifically, the base station sends a sensing signal to the sensing target, which is then reflected by the sensing target and received by the terminal.

[0056] Mode 6: Terminal-Base Station Collaborative Sensing. In Mode 6, the sensing sending node is the terminal, and the sensing receiving node is the base station. Specifically, the terminal sends a sensing signal to the sensing target, which is then reflected by the sensing target and received by the base station.

[0057] Mode 7: The sensing target is the sensing sending node. In Mode 7, the sensing sending node is the terminal, and the sensing receiving node is the base station. Since the sensing target (terminal) is the sensing sending node, the sensing signal is sent from the sensing sending node (terminal) to the sensing receiving node (base station) without reflection. The base station can directly interpret the sensing result after receiving it.

[0058] Mode 8: The sensing target is the sensing receiving node. In Mode 8, the sensing sending node is the base station, and the sensing receiving node is the terminal. Since the sensing target (terminal) is the sensing receiving node, after receiving the sensing signal, the terminal needs to feed back the sensing result to the base station so that the base station can obtain the sensing result.

[0059] In the eight sensing modes shown in Figure 1, there is only a single sensing node (for example, in modes 1 and 2, a single node is both a sensing sending node and a sensing receiving node) or a pair of sensing nodes (for example, in modes 3 through 8, the sensing sending node and the sensing receiving node are different paired nodes). However, in wireless communication systems, there are a large number of terminal devices (for example, mobile phones, Internet of Things (IoT) devices, etc.). When multiple sensing nodes (i.e., base stations, mobile phones, IoT devices, etc. that send and / or receive sensing signals) are present around a sensing target, the joint participation of multiple sensing nodes in sensing can improve the accuracy of sensing, meet more complex sensing service requirements, and provide richer sensing services. When there are multiple sensing nodes in the system, a sensing management node may exist to control and manage the entire sensing system to improve efficiency. This sensing management node can be a base station, a terminal, or a core network element.

[0060] Please refer to FIG2 , which shows three schematic processes of perception.

[0061] Process 1: As shown in Figure 2(a) to Figure 2(b), the sensing node transmits the sensing information to the sensing management node. The sensing management node can be an independent entity. The sensing management node can configure and / or trigger the sending / receiving of sensing signals, that is, the sensing management node can configure and / or trigger the measurement process using sensing signals.

[0062] FIG2( a ) shows that the perception node sends the perception information to the perception management node; FIG2( b ) shows that the perception node sends the perception information to the perception management node after receiving the perception feedback configuration information sent by the perception management node.

[0063] Process 2: As shown in Figure 2(c) to Figure 2(d), the sensing node needs to first transmit the sensing information to the sensing target, and the sensing target then transmits the sensing information to the sensing management node. There may be one or more sensing nodes.

[0064] Figure 2(c) shows that sensing node 1 and sensing node 2 respectively send sensing information to the sensing target, which then transmits the sensing information to the sensing management node. Figure 2(d) shows that the sensing management node sends sensing feedback configuration information to sensing node 1 and sensing node 2 respectively to configure the sensing signal. After receiving the sensing feedback configuration information sent by the sensing management node, sensing node 1 and sensing node 2 respectively send the sensing information to the sensing target, which then transmits the sensing information to the sensing management node.

[0065] Please refer to FIG3 , which shows the perception process from the perspectives of the terminal, base station, and core network element based on FIG2 .

[0066] Method 1: As shown in Figure 3(a) to Figure 3(b), the sensing node is the terminal, the sensing management node is the base station, and the terminal transmits the sensing information to the base station.

[0067] Figure 3(a) shows that the terminal sends perception information to the base station; Figure 3(b) shows that after receiving the perception feedback configuration information sent by the base station, the terminal triggers and configures the perception measurement and sends the perception information to the base station.

[0068] Method 2: As shown in Figure 3(c) to Figure 3(f), the sensing node is the terminal, the sensing management node is the core network element, and the terminal transmits the sensing information to the core network element.

[0069] Figure 3(c) shows that the terminal sends perception information to the core network element; Figure 3(d) shows that after receiving the perception feedback configuration information sent by the core network element, the terminal triggers and configures the perception measurement and sends the perception information to the core network element; Figure 3(e) shows that after the terminal sends the perception information to the base station, the base station sends the perception information to the core network element; Figure 3(f) shows that the terminal sends the first perception information to the core network element, and the base station sends the second perception information to the core network element.

[0070] Method 3: As shown in Figure 3(g) to Figure 3(h), the sensing node and the sensing management node are both terminals. Taking the sensing node as terminal 1 and the sensing management node as terminal 2 as an example, terminal 1 sends the sensing information to terminal 2.

[0071] Figure 3(g) shows that the terminal sends the perception information to terminal 2; Figure 3(h) shows that after receiving the perception feedback configuration information sent by terminal 2, terminal 1 triggers and configures the perception measurement and sends the perception information to terminal 2.

[0072] Method 4: As shown in Figure 3(i) to Figure 3(j), the perception node is terminal 1, the perception management node is the core network element, and the perception target is terminal 2. Terminal 1 transmits the perception information to terminal 2, and terminal 2 transmits the perception information to the core network element.

[0073] There can be multiple sensing nodes, taking Terminal 1-1 and Terminal 1-2 as an example. Figure 3(i) shows Terminal 1-1 and Terminal 1-2 sending sensing information to Terminal 2, which then transmits the sensing information to the core network element. Figure 3(j) shows the core network element sending sensing feedback configuration information to Terminal 1-1 and Terminal 1-2, triggering and configuring sensing measurements. Terminal 1-1 and Terminal 1-2 then send sensing information to Terminal 2, which then transmits the sensing information to the core network element.

[0074] Method 5: As shown in Figure 3(k) to Figure 3(l), the sensing node is terminal 1, the sensing management node is terminal 2, and the sensing target is terminal 3. Terminal 1 uses a sidelink to transmit the sensing information to terminal 3, and terminal 3 transmits the received sensing information to terminal 2.

[0075] There can be multiple sensing nodes, taking terminal 1-1 and terminal 1-2 as an example. Figure 3(k) shows that terminal 1-1 and terminal 1-2 respectively send sensing information to terminal 3, which then transmits the sensing information to terminal 2. Figure 3(l) shows that terminal 2 sends sensing feedback configuration information to terminal 1-1 and terminal 1-2, triggering and configuring sensing measurements. Terminal 1-1 and terminal 1-2 respectively send sensing information to terminal 3, which then transmits the sensing information to terminal 2.

[0076] In addition, setting the perception node in the above perception process as a base station is also applicable to different methods of the above perception process, that is, not shown in Figure 3, but the perception process also includes various methods of replacing the terminal in Figure 3 (a) to Figure 3 (l) with a base station.

[0077] 4 to 6 illustrate different sensing methods for positioning.

[0078] Please refer to Figure 4, which shows a schematic diagram of the uplink time difference of arrival (UTDOA) positioning method. In this method, a terminal sends an uplink sounding reference signal (SRS) to a base station. The terminal's position relative to the base station is calculated based on the time difference between the terminal's arrival at different base stations. Since a trajectory with a constant distance to two fixed points is a hyperbola, a hyperbola is constructed with the base station as the focus and the distance difference determined by the time difference as the major axis. The intersection of the hyperbolas is the terminal's location. Figure 4 uses base stations B and C as examples to illustrate the process of determining the terminal's position: the time when the SRS sent by the terminal reaches base stations B and C is T1 and T2, respectively. The distances d1 and d2 of the terminal relative to the base stations are calculated. Then, a hyperbola is constructed with the distance difference d1 and d2 as the major axis and base stations B and C as the foci. The intersection of the hyperbolas is the terminal's location. UTDOA has low terminal requirements, a simple process, and high industry maturity, making it one of the most widely used positioning technologies. This technology requires multi-station collaborative positioning and has strict requirements for inter-station synchronization. It is suitable for indoor Pico Site scenarios.

[0079] Please refer to Figure 5, which shows a schematic diagram of the Angle of Arrival (AOA) positioning method. This positioning method performs positioning based on the angle of incidence of the signal. When using only the AOA positioning method, two base stations can complete terminal positioning. In Figure 5, taking the terminal as a mobile station (MS) as an example, the MS determines the position of the MS based on the angles of incidence α1 and α2 of the signals transmitted by the MS to base stations (BS) 1 and BS2, respectively. However, in order for AOA to accurately measure the angle of incidence of electromagnetic waves (including light waves) and / or sound waves, the receiver (such as the BS in Figure 5) must be equipped with a highly directional antenna array. Actual deployment requires extremely high engineering conditions, requiring very accurate recording of the base station deployment location and strict alignment of the base station antenna array to ensure the accuracy of the angle of incidence measurement. Due to these strict engineering requirements, the AOA positioning algorithm has been explored but has not yet been commercialized on a large scale. This technology requires a high number of base station antennas and is suitable for outdoor macro base station scenarios.

[0080] Please refer to Figure 6, which shows a schematic diagram of the Round Trip Time (RTT) method. RTT is obtained by measuring the downlink Positioning Reference Signal (PRS) and uplink SRS respectively to obtain the RTT between the located terminal and multiple base stations, thereby determining the location of the terminal. Figure 6 shows the distance d between base stations A, B, and C and the terminal obtained by base stations A, B, and C transmitting PRS and SRS to the terminal respectively. A d B d C , with the base station as the center and the distance between the base station and the terminal as the radius, a circle is drawn. The intersection of multiple circles is the location of the terminal being located. This positioning method supports both single-station and multi-station positioning. When only one base station is involved in positioning, RTT must be combined with AOA. RTT technology does not require strict synchronization between stations and can be used both indoors and outdoors.

[0081] For UTDOA and RTT, the measured distance is based on the time difference of wireless signal propagation, that is, d = c*t, where c is the speed of light, that is, 3*10 8 m / s, where t is the difference between the transmission and reception times of a wireless signal, typically derived from the first path (or strongest path) delay of the time domain channel. The resolution / sampling interval Tc of the time domain signal is related to the system bandwidth BW: Tc = 1 / 2 * BW. Therefore, the ranging resolution is c / 2 * BW.

[0082] For micro-motion, the movement amplitude is small, for example, the chest cavity change caused by breathing is ±5mm. If the above measurement method is adopted, a signal with a bandwidth of at least 30GHz is required. On the one hand, the perception signal with such a large bandwidth has a large overhead. On the other hand, it is not easy to find a signal with such a large bandwidth, especially in the medium and low frequency bands, where the typical bandwidth is only 20M, and the millimeter wave band has only a bandwidth of 100M. In the feedback method of perception information provided in the present application, the sensitivity of the phase to micro-motion is utilized to improve the accuracy of the perception results, so that the perception of micro-motion no longer depends on a large bandwidth, reducing the overhead of the perception signal and improving the efficiency of perception.

[0083] Please refer to FIG. 7 , which shows a block diagram of a perception system provided by an exemplary embodiment of the present application. The perception system may include: a perception signal receiving node 10 , a perception node 20 , and a perception target 30 .

[0084] The perception signal receiving node 10 is a node that receives perception signals. It can be a base station, a terminal, or a core network element. The perception signal receiving node 10 can play various roles in the perception system. For example, the perception signal receiving node 10 can be a perception triggering node, initiating perception, configuring perception scenarios, and parsing perception feedback (e.g., perception information) sent by perception nodes. Alternatively, the perception signal receiving node 10 can be a perception management node, managing perception tasks.

[0085] Sensing nodes 20 include sensing sending nodes and sensing receiving nodes. They can include base stations, terminals, IoT devices, or various wireless communication-capable handheld devices, vehicle-mounted devices, wearable devices, computing devices, or other processing devices connected to wireless modems, as well as various forms of user equipment and mobile stations. There are typically multiple sensing nodes 20, and one or more sensing nodes 20 can be distributed within the area controlled by each sensing signal receiving node 10.

[0086] The sensing target 30 is the target object to be sensed, including a person or object to be sensed. For example, if the sensing application is to monitor indoor intrusion, the sensing target 30 is an indoor intruder; if the sensing application is to measure vehicle speed, the sensing target 30 is a target vehicle on the road.

[0087] After receiving the sensing task assigned by the sensing management node, the sensing node 20 senses the sensing target 30 by sending or receiving a sensing signal. After completing the sensing, the sensing node 20 sends the sensing information to the sensing signal receiving node 10. For example, in FIG2 , the sensing node sends the sensing information to the sensing management node. In some embodiments, the sensing information includes phase information.

[0088] Please refer to Figure 8, which shows a flow chart of a method for feedback of perception information provided by one embodiment of the present application. The method is executed by a first node, which may be the perception node 20 in the perception system shown in Figure 7. The method may include the following steps:

[0089] Step 220: Send perception information, where the perception information includes phase information.

[0090] Perception refers to the use of electromagnetic waves (including light waves) and / or sound waves to obtain environmental or target information. Perception information refers to information from which environmental or target information can be extracted.

[0091] The first node is a sensing node. In some embodiments, the first node is a sensing receiving node. That is, after receiving a sensing signal (or referred to as a received signal), the first node transmits sensing information obtained from the sensing signal to the second node. The first node can be either a base station or a terminal.

[0092] The second node is a node that receives perception information. In some embodiments, the second node may be the perception information receiving node 10 in the perception system shown in FIG7 . In some embodiments, the second node is a perception management node. The second node may be any of a base station, a terminal, a server, or a core network element.

[0093] It should be noted that this method is applicable to various sensing modes shown in Figure 1. In some embodiments, the sensing sending node and the sensing receiving node may be the same node; in other embodiments, the sensing sending node and the sensing receiving node are different nodes.

[0094] In some embodiments, the first node sends sensing information to the second node, where the sensing information includes phase information.

[0095] The phase information includes at least one of the following information:

[0096] Phase;

[0097] Spectral information of phase;

[0098] Phase regularity information;

[0099] Phase statistics.

[0100] Among them, the spectral information of the phase includes all or part of the frequency domain information obtained by transforming the phase information within the time window, for example, the frequency components and their corresponding spectral coefficients obtained after Fourier transforming the phase; the regular information of the phase includes at least one of the phase change period, the phase change frequency, and the phase change amplitude; the statistical information of the phase includes at least one of the statistical distribution of the phase and the proportion of the phase reaching the threshold, and the threshold is a preset phase threshold.

[0101] The aforementioned phase includes at least one of the following phases:

[0102] The phase of the received signal;

[0103] The phase of the channel, which is estimated from the received signal;

[0104] The phase of the received signal after processing.

[0105] Among them, the channel can be determined based on the received signal. One way is to determine the channel by estimating the received signal. In some embodiments, the channel is determined by applying least squares (LS) estimation to the received signal, that is, dividing the received signal by the transmitted signal; in other embodiments, the channel is determined by applying minimum mean square error (MMSE) estimation to the received signal, that is, multiplying the received signal by MMSE filtering. It should be noted that LS estimation and MMSE estimation are only two possible implementation methods. The method of determining the channel by estimating the received signal is not limited to this. Any estimation method that can estimate the received signal to determine the channel should be within the scope of protection; another way is to perform operations between the received signal and the transmitted signal to extract partial channel information. For example, for a frequency modulated continuous wave signal, the frequency difference between the received signal and the transmitted signal is taken, and the obtained frequency difference is proportional to the channel propagation time. That is, the channel propagation time information can be obtained in this way. This application does not limit the operation form of multiplication and division in the estimation method.

[0106] The processed received signal refers to information obtained after processing the received signal. In some embodiments, the received signal is subjected to noise reduction processing; in other embodiments, the received signals obtained from different carriers are divided; in other embodiments, the received signals from different symbols / time slots are divided, etc. It should be noted that the above are only possible signal processing implementations, but the signal processing methods for the received signal are not limited to these. Any method capable of signal processing the received signal should be within the scope of protection.

[0107] It's important to note that the phase of a received signal corresponds one-to-one to the received signal, and the phase of a channel also corresponds one-to-one to the channel (path). In this context, a channel typically refers to a component of the received signal in the time domain or a path in the time domain channel. The phase of a received signal / channel can also refer to the phase of the received signal / channel after multipath fusion. In this context, a channel typically refers to a frequency domain signal or channel.

[0108] The signal transmission path is any one of a direct path, a designated path, or N paths. That is, the channel is at least one of the following channels: a direct path channel; a designated path channel; an N path channel; where N is a positive integer.

[0109] It should be noted that during the propagation process, wireless signals can reach the receiving end directly or be reflected, refracted, or scattered to the receiving end by objects in the environment. Therefore, the receiving end often receives the superposition of multiple path signals. Multiple paths are distinguished through certain technical means, such as the delay difference of the time domain channel. However, the degree of resolution is related to the structure of the transmitted signal (for example, bandwidth) and the processing capability of the receiving end. The direct path or designated path or one of the N paths involved in this application refers to a path that can be distinguished under a certain signal structure and the processing capability of the receiving end. Due to the limited structure of the transmitted signal (for example, bandwidth) and the processing capability of the receiving end, the resolution is limited, and a distinguished path may also be composed of a combination of multiple paths. Therefore, the concept of the above path is relative and is a path defined under certain conditions.

[0110] The direct path, also known as line-of-sight (LOS), refers to the propagation path along which a sensing signal originates from a sensing transmitting node and reaches a sensing receiving node without encountering any obstruction. It can also refer to the propagation path along which a sensing signal reflects from a target and reaches a sensing receiving node without encountering any obstruction. The direct path can be determined based on certain properties of the receiving signal or channel, such as the shortest latency or the highest energy. A designated path refers to the path along which the sensing signal propagates, or a path with certain properties, such as the path with the second-shortest latency. N paths refer to the fact that a wireless signal traverses multiple different propagation paths during propagation, and multiple signals in the N paths may have different latency, amplitude, and phase upon reaching the sensing receiving node. The phases of the N paths can be independent phase information for the N paths, or composite phase information; that is, the phases of the N paths can be N phases corresponding to each of the N paths, or a single composite phase for multiple paths within the N paths.

[0111] The straight diameter and the designated diameter are one of the N diameters. The straight diameter is the shortest diameter among the N diameters; the designated diameter can be the straight diameter or any diameter other than the straight diameter among the N diameters.

[0112] The following describes different types of phase information.

[0113] (1) Phase information is phase:

[0114] The phase is at least one of the following:

[0115] The phase of the direct path channel;

[0116] The phase of the specified path channel;

[0117] The phase of the N-path channel, where N is a positive integer.

[0118] In some embodiments, when the path is a direct path or a specified path, that is, the phase is the phase of the direct path channel or the phase of the specified path channel, and the phase includes at least one of the following phases:

[0119] A phase measured at a first moment, where the first moment is any moment in the sensing process;

[0120] M phases measured at M moments, where M is a positive integer greater than 1.

[0121] In some embodiments, when the path is a direct path or a specified path, that is, the phase is the phase of the direct path channel or the specified path channel, the perception information also includes at least one of the following information: the delay of the direct path channel or the specified path channel; the distance of the direct path channel or the specified path channel; the energy of the direct path channel or the specified path channel; the amplitude of the direct path channel or the specified path channel.

[0122] For a phase measured at the first moment, a path of the time domain channel can be expressed as h((t) = A exp(-jθ), where h(t) is a path of the time domain channel, A represents the channel amplitude, θ is the phase, j represents an imaginary number, and exp is an exponential function. Usually, θ is strongly correlated with the propagation distance, that is, Where d is the signal propagation distance, and λ is the signal wavelength. At higher frequencies, the wavelength is shorter. For example, at a frequency of 3 GHz and a wavelength of 0.1 m, even a 1 mm movement will cause a 3.6-degree phase change. As can be seen, phase is also sensitive to subtle movements. Therefore, micro-motion information derived from phase information is more accurate. Furthermore, it does not rely on a large bandwidth; the phase of a single carrier alone can sensitively capture micro-motion information.

[0123] For the M phases measured at M moments, the phase information at multiple moments can be fed back together. On the one hand, by analyzing the phases at multiple moments, the motion patterns of the reflection point can be determined. For example, if the perceived target is a person, the person's breathing rate or heart rate can be extracted by jointly analyzing the phases at multiple moments. On the other hand, the phase information at multiple moments can be fed back together, allowing for joint encoding, improving coding efficiency and enhancing the transmission efficiency and reliability of the information.

[0124] In some other embodiments, when there are N paths, that is, the phase is the phase of the N-path channel, and the phase includes at least one of the following phases:

[0125] N phases measured at the second moment, where the second moment is any moment in the sensing process;

[0126] M*N phases measured at M moments, that is, N phases are measured at each of the M moments;

[0127] Wherein, M is a positive integer greater than 1, and N is a positive integer.

[0128] When the phase is the phase of an N-path channel, the perception information also includes at least one of the following information: a delay of at least one path in the N-path channel; a distance of at least one path in the N-path channel; an energy of at least one path in the N-path channel; and an amplitude of at least one path in the N-path channel.

[0129] In some embodiments, when the number X of phases measured at the second moment is less than N, N x phases out of the N phases corresponding to the second moment are default values ​​(in some embodiments, padded with 0); or, when the number X of phases measured at the second moment is greater than N, the N phases corresponding to the second moment are N phases selected from the X phases.

[0130] Optionally, the third moment is any moment among the M moments, and when the number X of phases measured at the third moment among the M moments is less than N, N x phases among the N phases corresponding to the third moment are default values ​​(in some embodiments, 0 is padded); or, when the number X of phases measured at the third moment among the M moments is greater than N, the N phases corresponding to the third moment are N phases selected from the X phases.

[0131] In some embodiments, when the number of phases X is greater than N, the N phases are at least one of the following phases:

[0132] The phases corresponding to the N paths with the strongest energy among the X phases;

[0133] The phases corresponding to the N paths with the shortest delays among the X phases.

[0134] In some embodiments, if the N paths are all the paths with the maximum energy and their energies are equal, then N phases are randomly selected from the X phases; or, the X phases are arranged in descending order of the energy of the paths, and the first N phases are selected, that is, the N phases are the N phases arranged in descending order of the energy of the paths.

[0135] In some embodiments, if the N paths are all the paths with the shortest time delay and their time delays are equal, then N phases are randomly selected from the X phases; or, the X phases are arranged in ascending order of the time delay of the paths, and the first N phases are selected, that is, the N phases are the N phases arranged in ascending order of the time delay of the paths.

[0136] That is, in the case of the number of phases X measured at the second or third moment, if X < N, the N phases are complemented with default values, that is, the phases of N - X paths are default values (in some embodiments, 0); if X > N, the phase information of the N paths with the strongest energy or the shortest time delay is selected from the X paths.

[0137] For the N phases measured at the second moment, the phase information of multiple reflection points can be obtained at one moment. On the one hand, multi-target detection can be achieved, and on the other hand, it is also beneficial for target recognition. For example, for the detection of moving targets, the phase changes with time, and through this feature, moving targets can be identified and stationary targets can be excluded.

[0138] For the M * N phases measured at M moments, the phase information of multiple reflection points at multiple moments can be obtained. On the one hand, multi-target detection can be achieved, and on the other hand, it is also beneficial for target recognition. For example, for the detection of moving targets, the phase changes with time, and through this feature, moving targets can be identified and stationary targets can be excluded. By jointly analyzing multiple reflection points, the model of complex motion can also be restored by methods such as clustering or AI.

[0139] (2) The phase information is the spectral information of the phase:

[0140] The spectral information of the phase is a phase spectrum obtained by frequency analysis of a time domain signal measured within a time window, that is, the spectral information of the phase can be obtained by transforming the phase measured within a time window. In some embodiments, the spectral information of the phase is obtained by Fast Fourier Transform (FFT); in other embodiments, the spectral information of the phase is obtained by Discrete Fourier Transform (DFT); in other embodiments, the spectral information of the phase is obtained by Hilbert transform. It should be noted that the method for obtaining the spectral information of the phase is not limited to the aforementioned method, and any method of converting a time domain signal into a frequency domain signal to obtain the spectral information of the phase is within the scope of protection.

[0141] In some embodiments, the phase spectral information includes all or part of the frequency domain information obtained by transforming the phase information within the time window. In some embodiments, the phase spectral information includes all frequency components obtained by transforming the phase information within the time window; in other embodiments, the phase spectral information includes the frequency components corresponding to the P spectral coefficients with the strongest energy obtained by transforming the phase information within the time window, where P is a positive integer less than M.

[0142] In some embodiments, the spectral information of the phase also includes spectral coefficients of the frequency components.

[0143] In some embodiments, the phase information within the time window is at least one of the following information:

[0144] Phase information of the direct path channel;

[0145] Phase information of the specified path channel;

[0146] Phase information of N-path channels, where N is a positive integer.

[0147] In some embodiments, when the path is a direct path or a specified path, that is, the phase information within the time window is the phase information of the direct path channel or the phase information of the specified path channel, the spectral information of the phase is obtained by transforming the M phase information measured at M moments; where M is a positive integer greater than 1.

[0148] In some embodiments, when the phase information is phase information of a direct path channel or a designated path channel, the perception information further includes at least one of the following information:

[0149] The delay of the direct path channel or the designated path channel;

[0150] The distance of the direct path channel or the designated path channel;

[0151] · Energy of the direct path channel or the specified path channel;

[0152] · Amplitude of the direct path channel or the specified path channel.

[0153] For the spectral information obtained by transforming the M phase information measured at M moments, the spectral information directly reflects the frequency components of the phase information and directly reflects the frequency of motion. Compared with the feedback of phase information, the amount of feedback in this way is small, and it directly corresponds to the demand, improving the efficiency of information transmission and avoiding the operation of the sensing information receiving node (the second node).

[0154] In some other embodiments, the phase information within the time window is the phase information of N path channels, and the spectral information of the phase is obtained by transforming the M*N phase information measured at M moments; where M is a positive integer greater than 1 and N is a positive integer.

[0155] When the phase is the phase of N path channels, the sensing information further includes at least one of the following information: the delay of at least one path among the N path channels; the distance of at least one path among the N path channels; the energy of at least one path among the N path channels; the amplitude of at least one path among the N path channels.

[0156] In some embodiments, the fourth moment is any one of the M moments. When the number of phases X measured at the fourth moment among the M moments is less than N, the N-X phases among the N phases corresponding to the fourth moment are default values; or, when the number of phases X measured at the fourth moment among the M moments is greater than N, the N phases corresponding to the fourth moment are N phases selected from the X phases.

[0157] In some embodiments, when the number of phases X is greater than N, the N phases are at least one of the following phases:

[0158] · Phases corresponding to the N paths with the strongest energy among the X phases;

[0159] · Phases corresponding to the N paths with the shortest delay among the X phases.

[0160] That is, when the number of phases X measured at the fourth moment, if X < N, then the N phases are complemented with default values, that is, the phase information of N-X paths is the default value (in some embodiments, 0); if X > N, then the phase information of N paths with the strongest energy or the shortest delay is selected from the X paths.

[0161] By transforming the M*N phase information measured at M moments to obtain spectral information, we can simultaneously obtain phase spectral information for multiple reflection points. This not only enables multi-target detection, but also facilitates target identification. For example, when detecting moving targets, phase spectral information greater than 0 allows us to identify moving targets and exclude stationary ones. Furthermore, by analyzing the joint spectrum of multiple reflection points, we can also restore complex motion models through methods such as clustering.

[0162] In some embodiments, the time window is at least one of the following:

[0163] The first time window agreed upon in the communication protocol;

[0164] A second time window configured by a second node, where the second node is a receiving node of the perception information;

[0165] A third time window configured by the perception management node.

[0166] The second node and the perception management node may be the same node or different nodes.

[0167] In some embodiments, the protocol stipulates that the first time window is L; in other embodiments, the perception management node configures the length of the third time window to be L or 2L based on the length L of the service cycle range (L1, L2).

[0168] (3) Phase information is the regular information of phase:

[0169] Phase regularity information includes at least one of the following information:

[0170] Phase change cycle;

[0171] Frequency of phase changes;

[0172] The magnitude of the phase change.

[0173] The amplitude of the phase may be the height of a wave crest, or the difference between a wave crest and a wave trough, etc.

[0174] In some embodiments, the phase is a phase that satisfies a preset condition. In some embodiments, the phase is a phase that reaches a preset threshold.

[0175] (4) Phase information is the statistical information of the phase:

[0176] Phase statistical information includes at least one of the following information:

[0177] Statistical distribution of phase;

[0178] The proportion of phases that reach a threshold; wherein the threshold is a preset threshold for phase values.

[0179] In some embodiments, the perception information may include information related to the target (e.g., the perception target) in addition to the phase-related information described above. That is, the perception information may also include at least one of the following information:

[0180] The distance to the target;

[0181] The location of the target;

[0182] The target's echo energy;

[0183] The quality of the received signal.

[0184] The target is a broad concept, which can be a specific object, such as a person or a car; or it can be an area, such as a perception bin or a geographic location bin, or a perceived coordinate position.

[0185] The quality of the received signal includes at least one of the following: energy of the received signal; signal to interference plus noise ratio (SINR); and LOS path probability.

[0186] In some embodiments, before sending the perception information, the first node first receives perception feedback configuration information (such as the perception feedback configuration information shown in FIG. 2 or FIG. 3 ) sent by the second node. The perception feedback configuration information indicates what information the first node should carry when sending the perception information. In other words, the first node receives the perception feedback configuration information, which indicates the phase information to carry when sending the perception information.

[0187] In some embodiments, the perception feedback configuration information is used to indicate which type of phase-related information the first node needs to carry when sending perception information, that is, the perception feedback configuration information includes the type of phase information carried by the first node when sending perception information.

[0188] In some embodiments, the sensory feedback configuration information further includes at least one of the following information:

[0189] Time window information; that is, when the phase information is spectral information of the phase, the perceptual feedback configuration information may also indicate the length of the time window;

[0190] Number of paths;

[0191] Whether to include spectral coefficients; that is, when the phase information is spectral information of the phase, the perception feedback configuration information may also indicate whether the perception information needs to carry spectral coefficients corresponding to frequency components.

[0192] The number of paths can be one or multiple.

[0193] In some embodiments, the "perception" in the embodiments of the present application can also be replaced by "monitoring", "positioning", "ranging", "speed measurement", "angle measurement", "target imaging", "target detection", "target tracking", "target identification", etc.

[0194] In summary, the method provided in the embodiment of the present application improves the accuracy of the perception results by sending perception information containing phase information and utilizing the sensitivity of phase to displacement to reflect the micro-movement; it makes it unnecessary to rely on large bandwidth for feedback on micro-movements, reduces the overhead of perception signals, and improves the efficiency of perception.

[0195] In addition, by feeding back the phase information at multiple moments together, the movement law of the reflection point can be obtained based on the phase at multiple moments, and the coding efficiency can be improved by jointly encoding the phase information at multiple moments, thereby improving the transmission spectrum efficiency and reliability of the information.

[0196] In addition, by obtaining the phase information of multiple reflection points at the same time, multi-target detection can be achieved, and moving targets can be identified while excluding stationary targets.

[0197] In addition, through the joint analysis of multiple reflection points, the model of complex motion can be restored through clustering, AI and other methods.

[0198] Please refer to Figure 9, which shows a flow chart of a method for feedback of perception information provided by one embodiment of the present application. The method is executed by a first node and a second node. The first node may be the perception node 20 in the perception system shown in Figure 7, and the second node may be the perception management node 10 in the perception system shown in Figure 7. The method may include the following steps:

[0199] Step 330: Receive perception feedback configuration information;

[0200] Perception refers to the use of electromagnetic waves (including light waves) and / or sound waves to obtain target or environmental information; perceived information refers to information from which environmental information or target information can be extracted.

[0201] The first node is a sensing node. In some embodiments, the first node is a sensing receiving node, that is, after receiving a sensing signal, the first node sends sensing information obtained from the sensing signal to the second node. The first node can be either a base station or a terminal.

[0202] The second node is a receiving node of the perception information. The second node may be a perception management node in the perception scenario. The second node may be any one of a base station, a terminal, a server, or a core network element.

[0203] In some embodiments, before sending the perception information, the first node first receives perception feedback configuration information sent by the second node. The perception feedback configuration information indicates what information the first node should carry when sending the perception information. That is, the first node receives the perception feedback configuration information, which indicates the phase information to carry when sending the perception information.

[0204] In some embodiments, the perception feedback configuration information is used to indicate which type of phase-related information the first node needs to carry when sending perception information, that is, the perception feedback configuration information includes the type of phase information carried by the first node when sending perception information.

[0205] In some embodiments, the sensory feedback configuration information further includes at least one of the following information:

[0206] Time window information;

[0207] Number of paths;

[0208] Whether to include spectral coefficients.

[0209] The number of paths can be one or multiple.

[0210] Step 340: Send perception information.

[0211] Perceptual information refers to information from which environmental information or target information can be extracted.

[0212] In some embodiments, the first node sends sensing information to the second node, where the sensing information includes phase information.

[0213] The phase information includes at least one of the following information: phase; spectrum information of the phase; regularity information of the phase; and statistical information of the phase.

[0214] The phase includes at least one of the following phases: a phase of a received signal; a phase of a channel; and a phase of a processed received signal. The channel is estimated from the received signal.

[0215] The signal transmission path may be any of the following: a direct path, a designated path, or a path among N paths. That is, the channel phase information is at least one of the following: phase information of a direct path channel; phase information of a designated path channel; or phase information of a channel among N paths, where N is a positive integer.

[0216] In some embodiments, the diameter is measured at one moment; or, the diameter is measured multiple times at M moments, where M is a positive integer greater than 1.

[0217] The following uses human respiration detection as an example to illustrate different implementations of phase information included in the perception information:

[0218] (1) Feedback of phase information of one path

[0219] At the tth moment, the first node receives the echo signal of a path reflected from the human chest cavity (for example, the echo signal of the direct path) and extracts its frequency domain channel Where X[k] is the sent perception signal and Y[k] is the received perception signal:

[0220] Wherein, k is the index of the frequency domain, and N is the number of frequency domain variables to be subjected to Inverse Fast Fourier Transform (IFFT).

[0221] For this frequency domain channel Do IFFT to get the time domain channel

[0222] For the LOS path, that is, there is no obstruction between the first node and the second node, its phase θ is obtained by finding the peak index of the time domain channel and then taking the phase:

[0223] Wherein, n is the index of the time domain, and its value range is {0, 1…, N-1}, Angle() is the function of obtaining the phase, and max() is the function of obtaining the maximum value.

[0224] The first node feeds back the phase information θ to the second node.

[0225] In some embodiments, the first node provides feedback after each measurement, or the first node combines and feeds back θ obtained by measurements at multiple moments.

[0226] In some embodiments, the plurality of time instants corresponds to a measured time window, which may be a time window configured by the second node.

[0227] (2) Feedback of phase information of multiple paths

[0228] At time t, the first node receives the echo signal of multiple paths reflected from the human chest cavity (for example, the echo signal of N paths), and extracts its frequency domain channel Where X[k] is the sent perception signal and Y[k] is the received perception signal:

[0229] Perform IFFT on the frequency domain channel to obtain the time domain channel:

[0230] Take the phase of multiple peak points of the time domain channel:

[0231] Wherein, i is a positive integer less than or equal to N.

[0232] The first node sends multiple phase information θ i Feedback to the second node.

[0233] In some embodiments, the first node feeds back the θ measured at each time, or the first node feeds back the θ measured at multiple times. i Incorporate feedback.

[0234] In some embodiments, the plurality of time instants corresponds to a measured time window, which may be a time window configured by the second node.

[0235] (3) Feedback of the spectrum information of the phase of a path

[0236] At time t within a fourth time window, the first node receives an echo signal of a path reflected from the human chest cavity (e.g., an echo signal of a direct path). The fourth time window may be a time window configured by the second node, directly configured by the second node, or configured by the second node based on actual conditions (e.g., the time window is equal to the update period).

[0237] Extract the frequency domain channel of the echo signal Where X[k] is the sent perception signal and Y[k] is the received perception signal:

[0238] Perform IFFT on the frequency domain channel to obtain the time domain channel:

[0239] For the LOS path, its phase is obtained by finding the peak index of the time domain channel and then taking the phase:

[0240] FIG10 shows a phase time-varying diagram measured in the fourth time window, which includes phase information [θ0, θ1, ..., θ T-1 ], where the horizontal axis is time, the vertical axis is phase angle, and T is the length of the time window. Perform FFT transformation on the phase information measured in the fourth time window:

[0241] In some embodiments, the spectrum information of the phase may be all or part of the frequency components obtained after FFT transformation. For example, the frequency component f0=0.2 Hz with the largest spectrum coefficient is carried in the sensing information and sent to the second node.

[0242] In some embodiments, a normalization step may be added during the FFT transformation, for example, adding a normalization coefficient 1 / T; however, adding the normalization step requires that the first node and the second node have consistent understanding of the FFT transformation.

[0243] (4) Feedback of spectral information of the phase of multiple paths

[0244] At time t within a fifth time window, the first node receives multiple-path echo signals (e.g., echo signals of N-path channels) reflected from the human chest. The fifth time window may be a time window configured by the second node, directly configured by the second node, or configured by the second node based on actual conditions (e.g., the time window is equal to the update period).

[0245] Extract the frequency domain channel of the echo signal Where X[k] is the sent perception signal and Y[k] is the received perception signal:

[0246] Perform IFFT on the frequency domain channel to obtain the time domain channel:

[0247] For the LOS path, its phase is obtained by finding the peak index of the time domain channel and then taking the phase:

[0248] FIG11 shows the phase time-varying diagram measured in the fifth time window, taking the LOS path and the non-line of sight (NLOS) path as an example, which includes the phase information corresponding to time of the two paths [θ0, θ1, …, θ T-1 ], where the horizontal axis is time, the vertical axis is phase angle, and T is the length of the time window. Perform FFT transformation on the phase information measured in the fifth time window:

[0249] In some embodiments, the spectrum information of the phase may be all or part of the frequency components obtained after FFT transformation. For example, the frequency components f0=0.2 Hz and f0′=0 Hz with the largest spectrum coefficients of the two paths are carried in the sensing information and sent to the second node.

[0250] In some embodiments, a normalization step may be added during the FFT transformation, for example, adding a normalization coefficient 1 / T; however, adding the normalization step requires that the first node and the second node have consistent understanding of the FFT transformation.

[0251] It should be noted that step 330 in the embodiment of the present application is an optional step and can be omitted or replaced in different embodiments. Step 330 can be implemented as an independent embodiment, such as being implemented separately as a method for sending perception feedback configuration information.

[0252] In summary, the method provided in the embodiment of the present application improves the accuracy of the perception results by sending perception information containing phase-related information and using the sensitivity of phase to motion to reflect the micro-movement; it makes it possible to provide feedback on micro-movements without relying on large bandwidth, reduces the overhead of perception signals, and improves the efficiency of perception.

[0253] In addition, by feeding back the phase information at multiple moments together, on the one hand, the movement law of the reflection point can be obtained by analyzing the phase at multiple moments, and on the other hand, the phase information at multiple moments can be jointly encoded to improve the coding efficiency and enhance the transmission spectrum efficiency and reliability of the information.

[0254] In addition, by obtaining the phase information of multiple reflection points at the same time, on the one hand, multi-target detection can be achieved, and on the other hand, it is also conducive to target recognition, which can identify moving targets and exclude stationary targets.

[0255] In addition, through the joint analysis of multiple reflection points, the model of complex motion can be restored through clustering, AI and other methods.

[0256] Please refer to Figure 12, which shows a flow chart of a method for providing feedback of perception information according to one embodiment of the present application. This method is performed by a second node, which may be the perception information receiving node 10 in the perception system shown in Figure 7, or a perception management node in the perception scenario. This method may include the following steps:

[0257] Step 420: Receive perception information, where the perception information includes phase information.

[0258] Perception refers to the use of electromagnetic waves (including light waves) and / or sound waves to obtain target or environmental information; perceived information refers to information from which environmental information or target information can be extracted.

[0259] The first node is a sensing node. In some embodiments, the first node is a sensing receiving node. That is, after receiving a sensing signal (or referred to as a received signal), the first node transmits sensing information obtained from the sensing signal to the second node. The first node can be either a base station or a terminal.

[0260] The second node is a node that receives the perception information. The second node can be any one of a base station, a terminal, a server, or a core network element.

[0261] It should be noted that this method is applicable to various modes of perception shown in FIG1 . In some embodiments, the perception sending node and the perception receiving node may be the same node; in other embodiments, the perception sending node and the perception receiving node are different nodes.

[0262] In some embodiments, the second node receives the sensing information sent by the first node, where the sensing information includes phase information.

[0263] The phase information includes at least one of the following information:

[0264] Phase;

[0265] Spectral information of phase;

[0266] Phase regularity information;

[0267] Phase statistics.

[0268] Among them, the spectral information of the phase includes all or part of the frequency domain information obtained by transforming the phase information within the time window, for example, the frequency components and their corresponding spectral coefficients obtained after Fourier transforming the phase; the regular information of the phase includes at least one of the phase change period, the phase change frequency, and the phase change amplitude; the statistical information of the phase includes at least one of the statistical distribution of the phase and the proportion of the phase reaching the threshold, and the threshold is a preset phase threshold.

[0269] The aforementioned phase includes at least one of the following phases:

[0270] The phase of the received signal;

[0271] The phase of the channel, which is estimated from the received signal;

[0272] The phase of the received signal after processing.

[0273] Among them, the channel can be determined based on the received signal. One way is to determine the channel by estimating the received signal. For example, the channel is determined by applying the least squares (LS) method to the received signal, that is, dividing the received signal by the transmitted signal. Another example is to determine the channel by applying the minimum mean square error (MMSE) method to the received signal, that is, multiplying the received signal by the MMSE filter. It should be noted that LS estimation and MMSE estimation are only two possible implementation methods. The method of determining the channel by estimating the received signal is not limited to this. Any estimation method that can estimate the received signal to determine the channel should be within the scope of protection. Another way is to perform operations between the received signal and the transmitted signal to extract part of the channel information. For example, for a frequency modulated continuous wave signal, the frequency difference between the received signal and the transmitted signal is taken, and the obtained frequency difference is proportional to the channel propagation time. That is, the channel propagation time information can be obtained in this way. This application does not limit the operation form of multiplication and division in the estimation method.

[0274] The processed received signal refers to information obtained after processing the received signal, such as performing noise reduction on the received signal, dividing received signals obtained from different carriers, dividing received signals from different symbols / time slots, etc. It should be noted that the aforementioned are only possible signal processing implementations, but the methods of signal processing the received signal are not limited to these. Any method capable of signal processing the received signal shall be within the scope of protection.

[0275] It's important to note that the phase of a received signal corresponds one-to-one to the received signal, and the phase of a channel also corresponds one-to-one to the channel (path). That is, one phase is specific to one received signal / channel (path). In this context, a channel typically refers to a component of a received signal in the time domain or a path of a time domain channel. The phase of a received signal / channel can also refer to the phase of the received signal / channel after multipath fusion. In this context, a channel typically refers to a frequency domain signal or channel.

[0276] The signal transmission path may be any of the following: a direct path, a designated path, or N paths. That is, the channel is at least one of the following channels: a direct path channel; a designated path channel; or an N path channel, where N is a positive integer.

[0277] It should be noted that during the propagation process, wireless signals can reach the receiving end directly, or they can be reflected, refracted, or scattered to the receiving end by objects in the environment. Therefore, the receiving end often receives the superposition of multiple warp signals. Multiple paths are distinguished through certain technical means, such as the delay difference of the time domain channel. However, the degree of resolution is related to the structure of the transmitted signal (for example, bandwidth) and the processing capability of the receiving end. The direct path or designated path or one of the N paths involved in this application refers to a path that can be distinguished under a certain signal structure and the processing capability of the receiving end. Due to the limited structure of the transmitted signal (for example, bandwidth) and the processing capability of the receiving end, the resolution is limited, and a distinguished path may also be composed of a combination of multiple physical paths. Therefore, the concept of the above path is relative and is a path defined under certain conditions.

[0278] The direct path, also known as line-of-sight (LOS) transmission, refers to the propagation path of a sensing signal from a sensing transmitting node directly to a sensing receiving node without encountering any obstruction. It can also refer to the propagation path of a sensing signal from a target without encountering any obstruction and directly reaching the sensing receiving node. The direct path can be determined based on certain properties of the receiving signal or channel, such as the shortest latency or the highest energy. The designated path refers to the path along which the sensing signal propagates, or a path with certain properties, such as the path with the second shortest latency. N paths refer to the fact that a wireless signal traverses multiple different propagation paths during propagation. Multiple signals in the N paths may have different latency, amplitude, and phase when they reach the sensing receiving node. The phases corresponding to the N paths can be independent phase information for the N paths or composite phase information; that is, the phases of the N paths can be N phases corresponding to each of the N paths, or a single composite phase for multiple paths within the N paths.

[0279] The following describes different types of phase information.

[0280] (1) Phase information is phase:

[0281] The phase is at least one of the following:

[0282] The phase of the direct path channel;

[0283] The phase of the specified path channel;

[0284] The phase of the N-path channel, where N is a positive integer.

[0285] In some embodiments, when the path is a direct path or a specified path, that is, the phase is the phase of the direct path channel or the phase of the specified path channel, and the phase includes at least one of the following phases:

[0286] A phase measured at a first moment, where the first moment is any moment in the sensing process;

[0287] M phases measured at M moments, where M is a positive integer greater than 1.

[0288] In some embodiments, when the path is a direct path or a specified path, that is, the phase is the phase of the direct path channel or the specified path channel, the perception information also includes at least one of the following information: the delay of the direct path channel or the specified path channel; the distance of the direct path channel or the specified path channel; the energy of the direct path channel or the specified path channel; the amplitude of the direct path channel or the specified path channel.

[0289] For a phase measured at the first moment, a path of the time domain channel can be expressed as h(t) = A exp(-jθ), where h(t) is a path of the time domain channel, A is the channel amplitude, θ is the phase, j is an imaginary number, and exp is an exponential function. Usually, θ is strongly correlated with the propagation distance, that is, Where d is the signal propagation distance, and λ is the signal wavelength. At higher frequencies, the wavelength is shorter. For example, at a frequency of 3 GHz and a wavelength of 0.1 m, even a 1 mm movement will cause a 3.6-degree phase change. As can be seen, phase is also sensitive to subtle movements. Therefore, micro-motion information derived from phase information is more accurate. Furthermore, it does not rely on a large bandwidth; the phase of a single carrier alone can sensitively capture micro-motion information.

[0290] For the M phases measured at M moments, the phase information at multiple moments can be fed back together. On the one hand, by analyzing the phases at multiple moments, the motion patterns of the reflection point can be determined. For example, if the perceived target is a person, the person's breathing rate or heart rate can be extracted by jointly analyzing the phases at multiple moments. On the other hand, the phase information at multiple moments can be fed back together, allowing for joint encoding, improving coding efficiency and enhancing the transmission efficiency and reliability of the information.

[0291] In some other embodiments, when there are N paths, that is, the phase is the phase of the N-path channel, and the phase includes at least one of the following phases:

[0292] N phases measured at the second moment, where the second moment is any moment in the sensing process;

[0293] M*N phases measured at M moments, that is, N phases are measured at each of the M moments;

[0294] Wherein, M is a positive integer greater than 1, and N is a positive integer.

[0295] In the case of the phase of the channel with N paths, the sensing information further includes at least one of the following information: the delay of at least one path in the N-path channel; the distance of at least one path in the N-path channel; the energy of at least one path in the N-path channel; the amplitude of at least one path in the N-path channel.

[0296] In some embodiments, when the number of phases X measured at the second moment is less than N, N - X of the N phases corresponding to the second moment are default values (in some embodiments, filled with 0); or, when the number of phases X measured at the second moment is greater than N, the N phases corresponding to the second moment are N phases selected from the X phases.

[0297] Optionally, the third moment is any one of the M moments. When the number of phases X measured at the third moment among the M moments is less than N, N - X of the N phases corresponding to the third moment are default values (for example, filled with 0); or, when the number of phases X measured at the third moment among the M moments is greater than N, the N phases corresponding to the third moment are N phases selected from the X phases.

[0298] In some embodiments, when the number of phases X is greater than N, the N phases are at least one of the following phases:

[0299] · The phases corresponding to the N paths with the strongest energy among the X phases;

[0300] · The phases corresponding to the N paths with the shortest delay among the X phases.

[0301] In some embodiments, if all N paths are paths with the maximum energy and their energies are equal, then N phases are randomly selected from the X phases; or, the X phases are arranged in descending order of the energy of the paths, and the first N phases are selected, that is, the N phases are the N phases arranged in descending order of the energy of the paths.

[0302] In some embodiments, if all N paths are paths with the shortest delay and their delays are equal, then N phases are randomly selected from the X phases; or, the X phases are arranged in ascending order of the delay of the paths, and the first N phases are selected, that is, the N phases are the N phases arranged in ascending order of the delay of the paths.

[0303] That is, in the case of the number of phases X measured at the second moment or the third moment, if X < N, then the N phases are filled with default values, that is, the phases of N - X paths are default values (in some embodiments, 0); if X > N, then the phase information of the N paths with the strongest energy or the shortest delay is selected from the X paths.

[0304] The N phases measured at the second moment allow for simultaneous acquisition of phase information from multiple reflection points. This not only enables multi-target detection, but also facilitates target identification. For example, when detecting moving targets, the phase changes over time. This characteristic allows for identification of moving targets and exclusion of stationary ones.

[0305] For the M*N phases measured at M moments, phase information for multiple reflection points at multiple moments can be obtained simultaneously. This not only enables multi-target detection, but also facilitates target identification. For example, when detecting moving targets, the phase changes over time. This characteristic can be used to identify moving targets and exclude stationary ones. Joint analysis of multiple reflection points can also restore complex motion models through clustering or AI methods.

[0306] (2) Phase information is the spectral information of the phase:

[0307] The spectral information of the phase is the phase spectrum obtained by frequency analysis of the time domain signal measured within a time window, that is, the spectral information of the phase can be obtained by transforming the phase measured within a time window, for example, by Fast Fourier Transform (FFT) to obtain the spectral information of the phase; for another example, by Discrete Fourier Transform (DFT) to obtain the spectral information of the phase; for another example, by Hilbert transform to obtain the spectral information of the phase. It should be noted that the method for obtaining the spectral information of the phase is not limited to the aforementioned method, and any method of converting the time domain signal into a frequency domain signal to obtain the spectral information of the phase is within the scope of protection.

[0308] In some embodiments, the phase spectrum information includes all or part of the frequency domain information obtained by transforming the phase information within the time window. For example, the phase spectrum information includes all frequency components obtained by transforming the phase information within the time window. For another example, the phase spectrum information includes the frequency components corresponding to the P spectral coefficients with the highest energy obtained by transforming the phase information within the time window, where P is a positive integer less than M.

[0309] In some embodiments, the spectral information of the phase also includes spectral coefficients of the frequency components.

[0310] In some embodiments, the phase information within the time window is at least one of the following information:

[0311] Phase information of the direct path channel;

[0312] Phase information of the specified path channel;

[0313] Phase information of N-path channels, where N is a positive integer.

[0314] In some embodiments, when the path is a direct path or a specified path, that is, the phase information within the time window is the phase information of the direct path channel or the phase information of the specified path channel, the spectral information of the phase is obtained by transforming the M phase information measured at M moments; where M is a positive integer greater than 1.

[0315] In some embodiments, when the phase information is phase information of a direct path channel or a designated path channel, the perception information further includes at least one of the following information:

[0316] The delay of the direct path channel or the designated path channel;

[0317] The distance of the direct path channel or the designated path channel;

[0318] Energy in the direct path channel or the specified path channel;

[0319] The amplitude of the direct path channel or the specified path channel.

[0320] The spectrum information obtained by transforming the M phase information measured at M moments directly reflects the frequency components of the phase information and, therefore, the frequency of the motion. Compared to feeding back phase information, this method requires less feedback and directly meets the needs, improving information transmission efficiency and avoiding computations required by the sensory information receiving node (the second node).

[0321] In other embodiments, the phase information in the time window is the phase information of N radial channels, and the phase spectrum information is obtained by transforming M*N phase information measured at M moments; wherein MM is a positive integer greater than 1, and N is a positive integer.

[0322] When the phase is the phase of an N-path channel, the perception information also includes at least one of the following information: a delay of at least one path in the N-path channel; a distance of at least one path in the N-path channel; an energy of at least one path in the N-path channel; and an amplitude of at least one path in the N-path channel.

[0323] In some embodiments, the fourth moment is any one of the M moments. When the number X of phases measured at the fourth moment among the M moments is less than N, N×N phases among the N phases corresponding to the fourth moment are default values. Alternatively, when the number X of phases measured at the fourth moment among the M moments is greater than N, the N phases corresponding to the fourth moment are N phases selected from the X phases.

[0324] In some embodiments, when the number of phases X is greater than N, the N phases are at least one of the following phases:

[0325] · The phases corresponding to the N strongest-energy paths among the X phases;

[0326] · The phases corresponding to the N paths with the shortest time delays among the X phases.

[0327] That is, in the case of the number of phases X measured at the fourth moment, if X < N, the N phases are filled with default values, that is, the phase information of N - X paths is the default value (in some embodiments, 0); if X > N, the phase information of the N paths with the strongest energy or the shortest time delay is selected from the X paths.

[0328] For the spectral information obtained by transforming the M * N phase information measured at M moments, the spectral information of the phases of multiple reflection points can be obtained simultaneously. On the one hand, multi-target detection can be achieved, and on the other hand, it is also beneficial for target recognition. For example, for the detection of a moving target, the spectral information of the phase is greater than 0. Through this feature, the moving target can be recognized and the stationary target can be excluded; and through the joint spectral analysis of multiple reflection points, the model of complex motion can also be restored by methods such as clustering.

[0329] In some embodiments, the time window is at least one of the following:

[0330] · The first time window stipulated by the communication protocol;

[0331] · The second time window configured by the second node, where the second node is the receiving node of the sensing information;

[0332] · The third time window configured by the sensing management node.

[0333] Among them, the second node and the sensing management node may be the same node or different nodes.

[0334] In some embodiments, the communication protocol stipulates that the first time window is L; in some other embodiments, the sensing management node configures the length of the third time window to be L or 2L according to the length L of the service cycle range (L1, L2).

[0335] (3) The phase information is the regular information of the phase:

[0336] The regular information of the phase includes at least one of the following information:

[0337] · The change period of the phase;

[0338] · The change frequency of the phase;

[0339] · The change amplitude of the phase.

[0340] Among them, the amplitude of the phase can be the height of the wave peak, or the difference between the wave peak and the wave valley, etc.

[0341] In some embodiments, the phase is a phase that satisfies a preset condition, for example, a phase that reaches a preset threshold.

[0342] (4) Phase information is the statistical information of the phase:

[0343] Phase statistical information includes at least one of the following information:

[0344] Statistical distribution of phase;

[0345] The proportion of phases that reach a threshold; wherein the threshold is a preset threshold for phase values.

[0346] In some embodiments, the perception information may include information related to the target (e.g., the perception target) in addition to the phase-related information described above. That is, the perception information may also include at least one of the following information:

[0347] The distance to the target;

[0348] The location of the target;

[0349] The target's echo energy;

[0350] The quality of the received signal.

[0351] The target is a broad concept, which can be a specific object, such as a person or a car; it can also be an area, such as a perception bin, or a perception coordinate position.

[0352] The quality of the received signal includes at least one of the following: energy of the received signal; signal to interference plus noise ratio (SINR); and LOS path probability.

[0353] In some embodiments, before the first node sends the perception information, the second node first sends perception feedback configuration information (such as the perception feedback configuration information shown in FIG. 2 or FIG. 3 ) to the first node. The perception feedback configuration information indicates what information the first node should carry when sending the perception information. That is, the second node sends the perception feedback configuration information indicating the phase information that the first node should carry when sending the perception information.

[0354] In some embodiments, the perception feedback configuration information is used to indicate which type of phase-related information the first node needs to carry when sending perception information, that is, the perception feedback configuration information includes the type of phase information carried by the first node when sending perception information.

[0355] In some embodiments, the sensory feedback configuration information further includes at least one of the following information:

[0356] Time window information; that is, when the phase information is spectral information of the phase, the perceptual feedback configuration information may also indicate the length of the time window;

[0357] Number of paths;

[0358] Whether to include spectral coefficients. That is, when the phase information is spectral information of the phase, the perception feedback configuration information may also indicate whether the perception information needs to carry spectral coefficients corresponding to frequency components.

[0359] The number of paths can be one or multiple.

[0360] In some embodiments, the "perception" in the embodiments of the present application can also be replaced by "monitoring", "positioning", "ranging", "speed measurement", "angle measurement", "target imaging", "target detection", "target tracking", "target identification", etc.

[0361] In summary, the method provided in the embodiment of the present application improves the accuracy of the perception results by sending perception information containing phase information and utilizing the sensitivity of phase to displacement to reflect the micro-movement; it makes it unnecessary to rely on large bandwidth for feedback on micro-movements, reduces the overhead of perception signals, and improves the efficiency of perception.

[0362] In addition, by feeding back the phase information at multiple moments together, the movement law of the reflection point can be obtained based on the phase at multiple moments, and the coding efficiency can be improved by jointly encoding the phase information at multiple moments, thereby improving the transmission spectrum efficiency and reliability of the information.

[0363] In addition, by obtaining the phase information of multiple reflection points at the same time, multi-target detection can be achieved, and moving targets can be identified while excluding stationary targets.

[0364] In addition, through the joint analysis of multiple reflection points, the model of complex motion can be restored through clustering, AI and other methods.

[0365] Figure 13 shows a block diagram of a device for feedback of perception information provided by an embodiment of the present application. The device has the function of implementing the method example of the above-mentioned first node, and the function can be implemented by hardware or by executing corresponding software through hardware. The device can be the first node introduced above, or it can be set in the first node. As shown in Figure 13, the device may include a sending module 520 and a receiving module 540, wherein the sending module 520 can be implemented by the transmitter in the perception device shown in Figure 15, and the receiving module 540 can be implemented by the receiver in the perception device shown in Figure 15.

[0366] The sending module 520 is configured to send perception information, where the perception information includes phase information.

[0367] In a possible implementation, the phase information includes at least one of the following information: phase; spectrum information of the phase; regularity information of the phase; and statistical information of the phase.

[0368] In a possible implementation, the phase includes at least one of the following phases: a phase of a received signal; a phase of a channel, where the channel is estimated from the received signal; and a phase of the received signal after processing.

[0369] In a possible implementation, the channel is at least one of the following channels: a direct path channel; a designated path channel; or an N-path channel; where N is a positive integer.

[0370] In one possible implementation, the channel is the direct path channel or the designated path channel, and the phase includes at least one of the following phases: a phase measured at a first moment; M phases measured at M moments; wherein M is a positive integer greater than 1.

[0371] In a possible embodiment, the perception information also includes at least one of the following information: the delay of the direct path channel or the designated path channel; the distance of the direct path channel or the designated path channel; the energy of the direct path channel or the designated path channel; and the amplitude of the direct path channel or the designated path channel.

[0372] In one possible implementation, the channel is the N-path channel, and the phase includes at least one of the following phases: N phases measured at the second moment; M*N phases measured at M moments; where M is a positive integer greater than 1, and N is a positive integer.

[0373] In a possible implementation, the perception information further includes at least one of the following information: a delay of at least one path in the N-path channel; a distance of at least one path in the N-path channel; an energy of at least one path in the N-path channel; or an amplitude of at least one path in the N-path channel.

[0374] In a possible implementation, when the number X of phases measured at the second moment is less than N, N x phases of the N phases corresponding to the second moment are default values; or when the number X of phases measured at the second moment is greater than N, the N phases corresponding to the second moment are N phases selected from the X phases.

[0375] In a possible implementation, when the number X of phases measured at a third moment among the M moments is less than N, N x phases among the N phases corresponding to the third moment are default values; or when the number X of phases measured at a third moment among the M moments is greater than N, the N phases corresponding to the third moment are N phases selected from the X phases.

[0376] In a possible implementation, when the number of phases X is greater than N, the N phases are at least one of the following phases: phases corresponding to the N path with the strongest energy among the X phases; and phases corresponding to the N path with the shortest delay among the X phases.

[0377] In a possible implementation, the phase spectrum information includes all or part of the frequency domain information obtained by transforming the phase information within the time window.

[0378] In one possible implementation, the time window is at least one of the following: a first time window agreed upon by the communication protocol; a second time window configured by the second node, where the second node is a receiving node for the perception information; or a third time window configured by the perception management node.

[0379] In a possible implementation manner, the regularity information of the phase includes at least one of the following information: a change period of the phase; a change frequency of the phase; and a change amplitude of the phase.

[0380] In a possible implementation, the statistical information of the phase includes at least one of the following information: a statistical distribution of the phase; and a proportion of phases that reach a threshold.

[0381] In a possible implementation, the perception information further includes at least one of the following information: the distance to the target; the position of the target; the echo energy of the target; and the quality of the received signal.

[0382] In a possible implementation, the receiving module 540 is configured to receive perception feedback configuration information, where the perception feedback configuration information is used to indicate phase information carried by the first node when sending the perception information.

[0383] In a possible implementation manner, the perception feedback configuration information further includes at least one of the following information: time window information; the number of paths; and whether spectral coefficients are included.

[0384] It should be noted that the sending module 520 can independently implement an embodiment of a method for feedback of perception information or a method for sending perception information; or, the sending module 520 and the receiving module 540 can be combined to implement an embodiment of a method for feedback of perception information; or, the receiving module 540 can independently implement an embodiment of a method for receiving perception feedback configuration information, and so on. This application does not impose any restrictions on this.

[0385] Figure 14 shows a block diagram of a device for feedback of perception information provided by an embodiment of the present application. The device has the function of implementing the method example of the above-mentioned second node, and the function can be implemented by hardware or by executing corresponding software through hardware. The device can be the second node introduced above, or it can be set in the second node. As shown in Figure 14, the device may include a receiving module 620 and a sending module 640, wherein the receiving module 620 can be implemented by the receiver in the perception device shown in Figure 15, and the sending module 640 can be implemented by the transmitter in the perception device shown in Figure 15.

[0386] The receiving module 620 is configured to receive perception information, where the perception information includes phase information.

[0387] In a possible implementation, the phase information includes at least one of the following information: phase; spectrum information of the phase; regularity information of the phase; and statistical information of the phase.

[0388] In a possible implementation, the phase includes at least one of the following phases: a phase of a received signal; a phase of a channel, where the channel is estimated from the received signal; and a phase of the received signal after processing.

[0389] In a possible implementation, the channel is at least one of the following channels: a direct path channel; a designated path channel; or an N-path channel; where N is a positive integer.

[0390] In one possible implementation, the channel is the direct path channel or the designated path channel, and the phase includes at least one of the following phases: a phase measured at a first moment; M phases measured at M moments; wherein M is a positive integer greater than 1.

[0391] In a possible embodiment, the perception information also includes at least one of the following information: the delay of the direct path channel or the designated path channel; the distance of the direct path channel or the designated path channel; the energy of the direct path channel or the designated path channel; and the amplitude of the direct path channel or the designated path channel.

[0392] In one possible implementation, the channel is the N-path channel, and the phase includes at least one of the following phases: N phases measured at the second moment; M*N phases measured at M moments; where M is a positive integer greater than 1, and N is a positive integer.

[0393] In a possible implementation, the perception information further includes at least one of the following information: a delay of at least one path in the N-path channel; a distance of at least one path in the N-path channel; an energy of at least one path in the N-path channel; or an amplitude of at least one path in the N-path channel.

[0394] In a possible implementation, when the number X of phases measured at the second moment is less than N, N x phases of the N phases corresponding to the second moment are default values; or when the number X of phases measured at the second moment is greater than N, the N phases corresponding to the second moment are N phases selected from the X phases.

[0395] In a possible implementation, when the number X of phases measured at a third moment among the M moments is less than N, N x phases among the N phases corresponding to the third moment are default values; or when the number X of phases measured at a third moment among the M moments is greater than N, the N phases corresponding to the third moment are N phases selected from the X phases.

[0396] In a possible implementation, when the number of phases X is greater than N, the N phases are at least one of the following phases: phases corresponding to the N path with the strongest energy among the X phases; and phases corresponding to the N path with the shortest delay among the X phases.

[0397] In a possible implementation, the phase spectrum information includes all or part of the frequency domain information obtained by transforming the phase information within the time window.

[0398] In one possible implementation, the time window is at least one of the following: a first time window agreed upon by the communication protocol; a second time window configured by the second node, where the second node is a receiving node for the perception information; or a third time window configured by the perception management node.

[0399] In a possible implementation manner, the regularity information of the phase includes at least one of the following information: a change period of the phase; a change frequency of the phase; and a change amplitude of the phase.

[0400] In a possible implementation, the statistical information of the phase includes at least one of the following information: a statistical distribution of the phase; and a proportion of phases that reach a threshold.

[0401] In a possible implementation, the perception information further includes at least one of the following information: the distance to the target; the position of the target; the echo energy of the target; and the quality of the received signal.

[0402] In a possible implementation, the sending module 640 is configured to receive perception feedback configuration information, where the perception feedback configuration information is used to indicate phase information carried by the first node when sending the perception information.

[0403] In a possible implementation manner, the perception feedback configuration information further includes at least one of the following information: time window information; the number of paths; and whether spectral coefficients are included.

[0404] It should be noted that the receiving module 620 can independently implement an embodiment of a method for feedback of perception information or a method for receiving perception information; or, the receiving module 620 and the sending module 640 can be combined to implement an embodiment of a method for feedback of perception information; or, the sending module 640 can independently implement an embodiment of a method for sending perception feedback configuration information, and so on. This application does not impose any restrictions on this.

[0405] It should be noted that the device provided in the above embodiment only uses the division of the above-mentioned functional modules as an example to implement its functions. In actual applications, the above-mentioned functions can be assigned to different functional modules according to actual needs, that is, the content structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0406] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0407] Please refer to Figure 15, which shows a schematic diagram of the structure of a sensing device provided by an embodiment of the present application. The sensing device may include: a processor 801, a receiver 802, a transmitter 803, a memory 804 and a bus 805.

[0408] Processor 801 includes one or more processing cores and executes various functional applications and information processing by running software programs and modules. In some embodiments, processor 801 can be used to determine the phase information contained in the perception information sent to the second node after receiving the perception feedback configuration information by the receiving module 540.

[0409] The receiver 802 and the transmitter 803 can be implemented as a transceiver 806, which can be a communication chip. The receiver 802 can be used to implement the functions and steps of the aforementioned receiving module 540 and receiving module 620; the transmitter 803 can be used to implement the functions and steps of the aforementioned sending module 520 and sending module 640.

[0410] The memory 804 is connected to the processor 801 via a bus 805. The memory 804 can be used to store a computer program, and the processor 801 is used to execute the computer program to implement the various steps executed by the node in the above method embodiment.

[0411] In addition, the memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, including but not limited to: RAM (Random-Access Memory) and ROM (Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory or other solid-state storage technology, CD-ROM (Compact Disc Read-Only Memory), DVD (Digital Video Disc) or other optical storage, tape cassettes, magnetic tape, disk storage or other magnetic storage devices.

[0412] Among them, when the sensing device is implemented as a first node, the processor and transceiver involved in the embodiment of the present application can execute the steps performed by the first node in any of the methods shown in Figures 8 to 9 above, which will not be repeated here.

[0413] In a possible implementation, when the sensing device is implemented as a first node, the transmitter 803 is configured to send sensing information, where the sensing information includes phase information.

[0414] Among them, when the sensing device is implemented as a second node, the processor and transceiver involved in the embodiment of the present application can execute the steps performed by the second node in any of the methods shown in Figure 9 or Figure 12 above, which will not be repeated here.

[0415] In a possible implementation, when the sensing device is implemented as a second node, the receiver 802 is configured to receive sensing information, where the sensing information includes phase information.

[0416] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. The computer program is configured to be executed by a processor of the first node or the second node to implement the above-mentioned method for feedback of perception information.

[0417] In some embodiments, the computer-readable storage medium may include: ROM (Read-Only Memory), RAM (Random-Access Memory), SSD (Solid State Drives), or an optical disk, etc. Among them, the random access memory may include ReRAM (Resistance Random Access Memory) and DRAM (Dynamic Random Access Memory).

[0418] An embodiment of the present application further provides a chip, which includes a programmable logic circuit and / or program instructions. When the chip runs on a first node and a second node, it is used to implement the above-mentioned perception information feedback method.

[0419] An embodiment of the present application also provides a computer program product or computer program, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processors of the first node and the second node read and execute the computer instructions from the computer-readable storage medium to implement the above-mentioned perception information feedback method.

[0420] It should be understood that the "indication" mentioned in the embodiments of the present application can be a direct indication, an indirect indication, or an indication of an associated relationship. For example, A indicates B, which can mean that A directly indicates B, for example, B can be obtained through A; it can also mean that A indirectly indicates B, for example, A indicates C, and B can be obtained through C; it can also mean that there is an associated relationship between A and B. In the description of the embodiments of the present application, the term "corresponding" can mean that there is a direct or indirect correspondence between the two, or it can mean that there is an associated relationship between the two, or it can mean a relationship between indication and being indicated, configuration and being configured, etc. The "multiple" mentioned in this article refers to two or more. "And / or" describes the associated relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. In addition, the step numbers described in this document only illustrate a possible execution order between the steps. In some other embodiments, the above steps may not be executed in the order of the numbers, such as two steps with different numbers are executed at the same time, or two steps with different numbers are executed in the opposite order of the diagram. The embodiments of the present application are not limited to this.

[0421] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0422] The above description is merely an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for feedback of perception information, characterized in that: The method is performed by a first node, and includes: Sensing information is sent, the sensing information comprising phase information.

2. The method according to claim 1, characterized in that The phase information includes at least one of the following information: Phase; spectral information of the phase; Regularity information of the phase; Statistics of the phase.

3. The method according to claim 2, characterized in that The phase includes at least one of the following phases: The phase of the received signal; a phase of a channel, wherein the channel is estimated from the received signal; The phase of the received signal after processing.

4. The method according to claim 3, characterized in that The channel is at least one of the following channels: Direct path channel; Specify the path channel; N-path channels; Wherein, N is a positive integer.

5. The method according to claim 4, characterized in that The channel is the direct path channel or the designated path channel, and the phase includes at least one of the following phases: A phase measured at a first moment; M phases measured at M moments; Wherein, M is a positive integer greater than 1.

6. The method according to claim 5, characterized in that The perception information also includes at least one of the following information: The delay of the direct path channel or the designated path channel; The distance of the direct path channel or the designated path channel; The energy of the direct path channel or the designated path channel; The amplitude of the direct path channel or the specified path channel.

7. The method according to claim 4, characterized in that The channel is the N-path channel, and the phase includes at least one of the following phases: N phases measured at the second moment; M*N phases measured at M moments; Wherein, M is a positive integer greater than 1, and N is a positive integer.

8. The method according to claim 7, characterized in that The perception information also includes at least one of the following information: The delay of at least one path in the N path channels; The distance of at least one path among the N path channels; Energy of at least one path among the N path channels; The amplitude of at least one path in the N path channels.

9. The method according to claim 7, characterized in that: When the number X of phases measured at the second moment is less than N, NX phases among the N phases corresponding to the second moment are default values; or, When the number X of phases measured at the second moment is greater than N, the N phases corresponding to the second moment are N phases selected from the X phases.

10. The method according to claim 7, characterized in that When the number X of phases measured at the third moment among the M moments is less than N, NX phases among the N phases corresponding to the third moment are default values; or, When the number X of phases measured at a third moment among the M moments is greater than N, the N phases corresponding to the third moment are the N phases selected from the X phases.

11. The method according to claim 9 or 10, characterized in that: When the number of phases X is greater than N, the N phases are at least one of the following phases: The phases corresponding to the N paths with the strongest energy among the X phases; The phases corresponding to the N paths with the shortest delays among the X phases.

12. The method according to claim 2, characterized in that: The phase spectrum information includes all or part of the frequency domain information obtained by transforming the phase information within the time window.

13. The method according to claim 12, characterized in that The time window is at least one of the following: The first time window agreed upon in the communication protocol; a second time window configured by a second node, the second node being a receiving node of the perception information; The third time window of the perception management node configuration.

14. The method according to claim 2, characterized in that The phase regularity information includes at least one of the following information: The phase variation period; The frequency of the phase change; The magnitude of the change in phase.

15. The method according to claim 2, characterized in that The statistical information of the phase includes at least one of the following information: a statistical distribution of the phase; The percentage of phases that reach the threshold.

16. The method according to any one of claims 1 to 15, characterized in that: The perception information also includes at least one of the following information: The distance to the target; the location of the target; The echo energy of the target; The quality of the received signal.

17. The method according to any one of claims 1 to 15, characterized in that: The method further comprises: Receive perception feedback configuration information, where the perception feedback configuration information is used to indicate phase information carried by the first node when sending the perception information.

18. The method according to claim 17, characterized in that The perception feedback configuration information also includes at least one of the following information: Time window information; The number of diameters; Whether to include spectral coefficients.

19. A method for feedback of perception information, characterized in that: The method is performed by the second node, and the method includes: Perception information is received, the perception information comprising phase information.

20. The method according to claim 19, characterized in that The phase information includes at least one of the following information: Phase; spectral information of the phase; Regularity information of the phase; Statistics of the phase.

21. The method according to claim 20, characterized in that The phase includes at least one of the following phases: The phase of the received signal; a phase of a channel, wherein the channel is estimated from the received signal; The phase of the received signal after processing.

22. The method according to claim 21, characterized in that The channel is at least one of the following channels: Direct path channel; Specify the path channel; N-path channels; Wherein, N is a positive integer.

23. The method according to claim 22, characterized in that The channel is the direct path channel or the designated path channel, and the phase includes at least one of the following phases: A phase measured at a first moment; M phases measured at M moments; Wherein, M is a positive integer greater than 1.

24. The method according to claim 23, characterized in that The perception information also includes at least one of the following information: The delay of the direct path channel or the designated path channel; The distance of the direct path channel or the designated path channel; The energy of the direct path channel or the designated path channel; The amplitude of the direct path channel or the specified path channel.

25. The method according to claim 22, characterized in that The channel is the N-path channel, and the phase includes at least one of the following phases: N phases measured at the second moment; M*N phases measured at M moments; Wherein, M is a positive integer greater than 1, and N is a positive integer.

26. The method according to claim 25, characterized in that The perception information also includes at least one of the following information: The delay of at least one path in the N path channels; The distance of at least one path among the N path channels; Energy of at least one path among the N path channels; The amplitude of at least one path in the N path channels.

27. The method according to claim 25, characterized in that When the number X of phases measured at the second moment is less than N, NX phases among the N phases corresponding to the second moment are default values; or, When the number X of phases measured at the second moment is greater than N, the N phases corresponding to the second moment are N phases selected from the X phases.

28. The method according to claim 25, characterized in that When the number X of phases measured at the third moment among the M moments is less than N, NX phases among the N phases corresponding to the third moment are default values; or, When the number X of phases measured at a third moment among the M moments is greater than N, the N phases corresponding to the third moment are the N phases selected from the X phases.

29. The method according to claim 27 or 28, characterized in that When the number of phases X is greater than N, the N phases are at least one of the following phases: The phases corresponding to the N paths with the strongest energy among the X phases; The phases corresponding to the N paths with the shortest delays among the X phases.

30. The method according to claim 20, characterized in that The phase spectrum information includes all or part of the frequency domain information obtained by transforming the phase information within the time window.

31. The method according to claim 30, characterized in that The time window is at least one of the following: The first time window agreed upon in the communication protocol; a second time window configured by a second node, the second node being a receiving node of the perception information; The third time window of the perception management node configuration.

32. The method according to claim 20, characterized in that The phase regularity information includes at least one of the following information: The phase variation period; The frequency of the phase change; The magnitude of the change in phase.

33. The method according to claim 20, characterized in that The statistical information of the phase includes at least one of the following information: a statistical distribution of the phase; The percentage of phases that reach the threshold.

34. The method according to any one of claims 19 to 33, characterized in that: The perception information also includes at least one of the following information: The distance to the target; the location of the target; The echo energy of the target; The quality of the received signal.

35. The method according to any one of claims 19 to 33, characterized in that The method further comprises: Receive perception feedback configuration information, where the perception feedback configuration information is used to indicate phase information carried by the first node when sending the perception information.

36. The method according to claim 35, characterized in that The perception feedback configuration information also includes at least one of the following information: Time window information; The number of diameters; Whether to include spectral coefficients.

37. A sensory information feedback device, characterized in that: The device comprises: a sending module; The sending module is used to send perception information, where the perception information includes phase information.

38. A sensory information feedback device, characterized in that: The device comprises: a receiving module; The receiving module is used to receive perception information, where the perception information includes phase information.

39. A sensing device, characterized in that: The sensing device comprises: a transceiver; The transceiver is used to send perception information, where the perception information includes phase information.

40. A sensing device, characterized in that: The sensing device comprises: a transceiver; The transceiver is used to receive perception information, where the perception information includes phase information.

41. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which is used to be executed by a processor so that the perception device implements the feedback method of perception information as described in any one of claims 1 to 18, or the feedback method of perception information as described in any one of claims 19 to 36.

42. A chip, characterized in that: The chip includes a programmable logic circuit and / or program instructions. When the chip is running, it can implement the feedback method of perception information as described in any one of claims 1 to 18, or the feedback method of perception information as described in any one of claims 19 to 36.

43. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium. The processor reads and executes the computer instructions from the computer-readable storage medium to enable the perception device to implement the feedback method of perception information as described in any one of claims 1 to 18, or the feedback method of perception information as described in any one of claims 19 to 36.

44. A computer program, characterized in that The computer program includes computer instructions, which are stored in a computer-readable storage medium. The processor reads and executes the computer instructions from the computer-readable storage medium to enable the perception device to implement the feedback method of perception information as described in any one of claims 1 to 18, or the feedback method of perception information as described in any one of claims 19 to 36.

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