Perception method and communication device

Abstract

The invention provides a sensing method and a communication device, which can improve sensing performance and can be applied to a communication system. The method comprises the steps that a first node obtains first information and sends sensing signals corresponding to K target positions according to the first information; wherein the first information is used for indicating that the information of the sensing signals corresponding to the K target positions respectively comprises one or more of the following information: transmitting power, transmitting duration or the number of occupied time domain units. The information of the sensing signal corresponding to the kth target position in the K target positions meets a preset condition. Wherein k and K are positive integers, and k is smaller than or equal to K.

Description

Technical Field

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

[0002] In integrated sensing and communication (ISAC) scenarios, wireless signals from communication systems can be used for environmental perception, such as sensing imaging.

[0003] In a sensing scenario, due to differences in the surface material and / or orientation of target objects, the scattering coefficients at different locations within the target area (the area to be sensed) will vary. Locations with stronger scattering coefficients will interfere with the perception of locations with weaker scattering coefficients, resulting in poor sensing performance. Specifically, locations with stronger scattering coefficients have a greater impact on the perception of other locations, while locations with weaker scattering coefficients are more easily affected by other locations, thus leading to poor sensing performance.

[0004] Therefore, how to improve perception performance is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] This application provides a sensing method and communication device that can reduce the interference of a location with a stronger scattering coefficient on a location with a weaker scattering coefficient, thereby improving sensing performance.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] Firstly, a sensing method is provided. This method includes: a first node acquiring first information and transmitting sensing signals corresponding to K target locations based on the first information. The first information, used to indicate the sensing signals corresponding to the K target locations, includes one or more of the following: transmission power, transmission duration, or the number of time-domain units occupied. The information of the sensing signal corresponding to the k-th target location among the K target locations satisfies a preset condition. Here, k and K are both positive integers, and k ≤ K.

[0008] Based on the method provided in the first aspect, the first node can send the sensing signals corresponding to the K target locations according to the information of the sensing signals corresponding to the K target locations indicated by the first information. Since the information of the sensing signals corresponding to the K target locations meets the preset conditions, the actual sent sensing signals can meet the corresponding conditions. For example, the actual sent sensing signals can be matched with the scattering coefficients of the target locations in the actual scene, reducing the dynamic range of the intensity of the scattered signals in the channel, thereby improving the sensing performance.

[0009] As an example, the first node can be a terminal device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the terminal device. Alternatively, the first node can be an access network device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the access network device.

[0010] In one possible implementation, the first node obtaining the first information includes: the first node receiving the first information. In this way, the first node can obtain the first information from other nodes, which can reduce the computational complexity of the first node.

[0011] In one possible implementation, the preset conditions include one or more of the following: at least one of the following: the transmission power, transmission duration, or number of time-domain units occupied by the sensing signal corresponding to the k-th target location is negatively correlated with the first imaging intensity corresponding to the k-th target location. This reduces the energy of the sensing signal transmitted to locations with high scattering coefficients, thereby reducing the energy of the scattered signals at those locations and thus reducing interference with signals scattered at other locations. Alternatively, or, in, Let be the transmission power of the sensing signal transmitted n times at the k-th target location. Let be the transmission duration of the sensing signal transmitted n times at the k-th target location, Enoise represent the power of the noise at the first node, min represents taking the minimum value, SNRthreshold represents the signal-to-noise ratio threshold of the signal transmitted by the first node, and Wthreshold represents the energy threshold of the signal transmitted by the first node. n is a positive integer. Both Enoise and Wthreshold are positive numbers. This ensures that the sensed signal meets the signal-to-noise ratio requirements, thereby suppressing the influence of noise and obtaining more accurate sensing results.

[0012] In one possible implementation, the transmission power and transmission duration of the sensing signal corresponding to the k-th target location satisfy the following relationship: or, or, or, or, or, Where ∝ represents a direct proportional relationship. This represents the imaging intensity of the sensing signal transmitted for the (n-1)th time at the k-th target location, where the first imaging intensity is... The β1, β2, or β3 are all positive numbers and are constants.

[0013] In one possible implementation, the transmission power and transmission duration of the k-th sensing signal are determined based on the noise at the first node and the signal-to-noise ratio (SNR) threshold of the signal transmitted by the first node. This ensures that the sensing signal meets the SNR requirement, thereby suppressing the influence of noise and obtaining more accurate sensing results.

[0014] In one possible implementation, the transmission power and duration of the sensing signal corresponding to the k-th target location satisfy the capabilities of the first node. The capabilities of the first node include one or more of the following: the power range of the sensing signal supported by the first node, the duration range of the sensing signal supported by the first node, the angle range of the sensing signal supported by the first node, the frequency band or carrier supported by the first node, the number of antenna elements of the first node, or the spacing between the antenna elements of the first node. Thus, the sensing signal can be transmitted within the capabilities of the first node.

[0015] In one possible implementation, the method provided by the first aspect may further include: the first node sending second information. The second information is used to indicate the capabilities of the first node. Thus, sensing signals can be sent within the capabilities of the first node.

[0016] In one possible implementation, the method provided by the first aspect may further include: the first node receiving third information. The third information is obtained by scattering the sensing signals corresponding to K target positions from the target object. Thus, the first node can process the third information to obtain the sensing result.

[0017] Secondly, a sensing method is provided. This method includes: a second node acquiring first information and transmitting the first information. The first information, used to indicate the sensing signals corresponding to each of the K target locations, includes one or more of the following: transmission power, transmission duration, or the number of time-domain units occupied. The information of the sensing signal corresponding to the k-th target location among the K target locations satisfies a preset condition. Where k and K are both positive integers, and k ≤ K.

[0018] Based on the method provided in the second aspect, the second node generates and sends the first information. In this way, the first node can send the sensing signals corresponding to the K target locations according to the sensing signals corresponding to the K target locations indicated by the first information. Since the sensing signals corresponding to the K target locations meet the preset conditions, the actual transmitted sensing signals can meet the corresponding conditions. For example, the actual transmitted sensing signals can be matched with the scattering coefficients of the target locations in the actual scene, reducing the dynamic range of the intensity of the scattered signals in the channel, thereby improving the sensing performance.

[0019] As an example, the second node can be an access network device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the access network device. Alternatively, the second node can be a terminal device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the terminal device.

[0020] In one possible implementation, the preset conditions include one or more of the following: at least one of the following: the transmission power, transmission duration, or number of time-domain units occupied by the sensing signal corresponding to the k-th target location is negatively correlated with the first imaging intensity corresponding to the k-th target location. Alternatively, or, in, Let be the transmission power of the sensing signal transmitted n times at the k-th target location. Let be the transmission duration of the sensing signal transmitted n times at the k-th target location, Enoise represent the power of the noise at the first node, min represents taking the minimum value, SNRthreshold represents the signal-to-noise ratio threshold of the signal transmitted by the first node, and Wthreshold represents the energy threshold of the signal transmitted by the first node. n is a positive integer. Both Enoise and Wthreshold are positive numbers.

[0021] In one possible implementation, the transmission power and transmission duration of the sensing signal corresponding to the k-th target location satisfy the following relationship: or, or, or, or, or, Where ∝ represents a direct proportional relationship. This represents the imaging intensity of the sensing signal transmitted for the (n-1)th time at the k-th target location, where the first imaging intensity is... The β1, β2, or β3 are all positive numbers and are constants.

[0022] In one possible implementation, the transmission power and transmission duration of the k-th sensing signal are determined based on the noise on the first node and the signal-to-noise ratio threshold of the signal transmitted by the first node.

[0023] In one possible implementation, the transmission power and transmission duration of the sensing information corresponding to the k-th target location satisfy the capabilities of the first node. The capabilities of the first node include: the power range of the sensing signals supported by the first node, the duration range of the sensing signals supported by the first node, the angle range of the sensing signals supported by the first node, the frequency band or carrier supported by the first node, the number of antenna elements of the first node, or the spacing between the antenna elements of the first node.

[0024] In one possible implementation, the method provided by the second aspect may further include: the second node receiving second information. The second information is used to indicate the capabilities of the first node.

[0025] In one possible implementation, the method provided by the second aspect may further include: the second node receiving third information. The third information is obtained by scattering the sensing signals corresponding to the K target positions by the target object.

[0026] Furthermore, the technical effects of the sensing method described in the second aspect can be referred to the technical effects of the sensing method described in the first aspect, and will not be repeated here.

[0027] Thirdly, a communication device is provided. This communication device is used to execute the sensing method described in any one of the implementations of the first to second aspects.

[0028] In this application, the communication device described in the third aspect can be a terminal device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the terminal device. Alternatively, the communication device can be an access network device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the access network device.

[0029] It should be understood that the communication device described in the third aspect includes modules, units, or means that implement the sensing method described in any of the first to second aspects. These modules, units, or means can be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units for performing the functions involved in the aforementioned sensing method.

[0030] Fourthly, a communication device is provided. The communication device includes a processor configured to execute the sensing method described in any of the possible implementations of the first to second aspects.

[0031] In one possible design, the communication device described in the fourth aspect may further include a transceiver. This transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device described in the fourth aspect and other communication devices.

[0032] In one possible design, the communication device described in the fourth aspect may further include a memory. This memory may be integrated with the processor or disposed separately. The memory may be used to store computer programs and / or data related to the sensing method described in any of the first to second aspects.

[0033] Alternatively, the memory can also be located outside the communication device.

[0034] In this application, the communication device described in the fourth aspect can be a terminal device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the terminal device. Alternatively, the communication device can be an access network device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the access network device.

[0035] Fifthly, a communication device is provided. The communication device includes a processor coupled to a memory, the processor executing a computer program stored in the memory, such that the communication device performs the sensing method described in any possible implementation of the first to second aspects.

[0036] In one possible design, the communication device described in the fifth aspect may further include a transceiver. This transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device described in the fifth aspect and other communication devices.

[0037] In this application, the communication device described in the fifth aspect can be a terminal device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the terminal device. Alternatively, the communication device can be an access network device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the access network device.

[0038] A sixth aspect provides a communication device, comprising: a processor and a memory; the memory being used to store a computer program, which, when executed by the processor, causes the communication device to perform the sensing method described in any one of the first to second aspects.

[0039] In one possible design, the communication device described in the sixth aspect may further include a transceiver. This transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the communication device described in the sixth aspect and other communication devices.

[0040] In this application, the communication device described in the sixth aspect can be a terminal device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the terminal device. Alternatively, the communication device can be an access network device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the access network device.

[0041] In a seventh aspect, a communication system is provided. The communication system includes one or more terminal devices and one or more network devices.

[0042] Eighthly, a computer-readable storage medium is provided, comprising: a computer program or instructions; when the computer program or instructions are executed on a computer, causing the computer to perform the sensing method described in any possible implementation of the first to second aspects.

[0043] Ninth aspect, a computer program product is provided, including a computer program or instructions that, when run on a computer, cause the computer to perform the sensing method described in any possible implementation of the first to second aspects.

[0044] Furthermore, the technical effects of the communication devices described in the third to ninth aspects above can be referred to the technical effects of the sensing methods described in the first to second aspects above, and will not be repeated here. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the architecture of the communication system provided in the embodiments of this application;

[0046] Figure 2 A schematic diagram of a perception scene provided in an embodiment of this application;

[0047] Figure 3 A schematic diagram of scattering points provided in the embodiments of this application;

[0048] Figure 4 A schematic diagram illustrating the relationship between the power and time delay of a scattering point, provided in an embodiment of this application;

[0049] Figure 5 This is a schematic diagram of a sensing result of a scattering point provided in an embodiment of this application;

[0050] Figure 6 A flowchart illustrating a sensing method provided in an embodiment of this application;

[0051] Figure 7 A schematic diagram illustrating the relationship between power and time delay at another scattering point provided in an embodiment of this application;

[0052] Figure 8 A schematic diagram of the sensing results when the power of the scattering points is the same, provided in an embodiment of this application;

[0053] Figure 9 A schematic diagram of the perception results obtained by the method provided in the embodiments of this application;

[0054] Figure 10 A scenario diagram provided for an embodiment of this application;

[0055] Figure 11 A flowchart illustrating another sensing method provided in an embodiment of this application;

[0056] Figure 12 This is another scenario illustration provided for an embodiment of this application;

[0057] Figure 13 A flowchart illustrating another sensing method provided in an embodiment of this application;

[0058] Figure 14 This is another scenario illustration provided for an embodiment of this application;

[0059] Figure 15 A flowchart illustrating another sensing method provided in an embodiment of this application;

[0060] Figure 16 This is another scenario illustration provided for an embodiment of this application;

[0061] Figure 17 A flowchart illustrating another sensing method provided in an embodiment of this application;

[0062] Figure 18 Schematic diagram of the communication device provided in the embodiments of this application Figure 1 ;

[0063] Figure 19 Schematic diagram of the communication device provided in the embodiments of this application Figure 2 . Detailed Implementation

[0064] In the description of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can mean A or B. "And / or" in this application is merely a description of the relationship between the related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. A and B can be singular or plural.

[0065] In the description of this application, unless otherwise stated, "multiple" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0066] Furthermore, to facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0067] It is understood that in the embodiments of this application, words such as "exemplarily" and "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or implementation described as "exemplary" in this application should not be construed as being more preferred or advantageous than other embodiments or implementations. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner.

[0068] It is understandable that the terms "information," "signal," "message," "channel," and "signaling" can sometimes be used interchangeably. It should be noted that when the distinction is not emphasized, their intended meanings are consistent. Similarly, "of," "corresponding (relevant)," and "corresponding" can sometimes be used interchangeably. Again, it should be noted that when the distinction is not emphasized, their intended meanings are consistent.

[0069] It is understood that the term "embodiment" used throughout the specification means that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, various embodiments throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It is understood that in the various embodiments of this application, the sequence number of each process does not imply the order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0070] It is understood that the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0071] It is understood that in this application, "...when" and "if" both refer to the corresponding processing that will be carried out under certain objective circumstances, and are not limited to a specific time, nor do they require a judgment action to be performed during implementation, nor do they imply any other limitations.

[0072] It is understood that some optional features in the embodiments of this application can be implemented independently in certain scenarios without relying on other features, such as the current solution on which they are based, to solve the corresponding technical problems and achieve the corresponding effects. Alternatively, they can be combined with other features as needed in certain scenarios. Correspondingly, the apparatus given in the embodiments of this application can also implement these features or functions, which will not be elaborated here.

[0073] It is understood that in this application, "instruction" can include direct and indirect instructions, as well as explicit and implicit instructions. When describing "a certain instruction information instructs A" or "instruction information of A," it can include whether the instruction information directly or indirectly instructs A, but does not necessarily mean that the instruction information carries A. The information indicated by a certain piece of information is called the information to be instructed. In the specific implementation process, there are many ways to instruct the information to be instructed, such as, but not limited to, directly instructing the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly instruct the information to be instructed by instructing other information, where there is a relationship between the other information and the information to be instructed. It can also instruct only a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various information, thereby reducing instruction overhead to some extent. At the same time, the common parts of various information can be identified and uniformly indicated to reduce the instruction overhead caused by individually indicating the same information. Furthermore, the specific instruction method can also be any existing instruction method, such as, but not limited to, the above-mentioned instruction methods and their various combinations. As described above, for example, when multiple pieces of information of the same type need to be indicated, the indication methods for different pieces of information may differ. In specific implementation, the required indication method can be selected according to specific needs. This application embodiment does not limit the selected indication method; therefore, the indication methods involved in this application embodiment should be understood to cover various methods that enable the party to be indicated to obtain the information to be indicated. The information to be indicated can be sent as a whole or divided into multiple sub-information pieces and sent separately. Furthermore, the sending period or timing of these sub-information pieces can be the same or different. This application does not limit the specific sending method. The sending period or timing of these sub-information pieces can be predefined, for example, predefined according to a protocol, or configured by the transmitting device by sending configuration information to the receiving device.

[0074] In this application, "send" and "receive" indicate the direction of signal transmission. For example, "send information to XX" can be understood as the destination of the information being XX, which can include direct transmission via the air interface or indirect transmission via the air interface from other units or modules. "Receive information from YY" can be understood as the source of the information being YY, which can include direct reception from YY via the air interface or indirect reception from YY via the air interface from other units or modules. "Send" can also be understood as the "output" of a chip interface, and "receive" can also be understood as the "input" of a chip interface. In other words, sending and receiving can occur between devices, such as between network devices and terminal devices, or within a device, such as between components, modules, chips, software modules, or hardware modules within the device via buses, traces, or interfaces.

[0075] In this application, unless otherwise specified, the same or similar parts between the various embodiments can be referred to each other. Unless otherwise specified or logically conflicting, the terminology and / or descriptions between different embodiments are consistent and can be mutually referenced. Different embodiments can be combined to form new embodiments based on their inherent logical relationships. The following descriptions of the embodiments of this application do not constitute a limitation on the scope of protection of this application.

[0076] The technical solutions of this application embodiment can be applied to various communication systems, such as wireless fidelity (WiFi) systems, vehicle-to-everything (V2X) communication systems, device-to-device (D2D) communication systems, vehicle-to-everything (V2X) communication systems, 4th generation (4G) mobile communication systems, such as long term evolution (LTE) systems, 5th generation (5G) mobile communication systems, such as new radio (NR) systems, and future communication systems, etc.

[0077] This application will present various aspects, embodiments, or features relating to systems that may include multiple devices, components, modules, etc. It should be understood and appreciated that individual systems may include additional devices, components, modules, etc., and / or may not include all the devices, components, modules, etc. discussed in conjunction with the accompanying drawings. Furthermore, combinations of these approaches are also possible.

[0078] The network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0079] The network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0080] To facilitate understanding of the embodiments of this application, let's first take... Figure 1 The communication system illustrated herein is used as an example to illustrate a communication system applicable to embodiments of this application. For example, Figure 1 This is a schematic diagram of the architecture of a communication system to which the method provided in the embodiments of this application applies. Figure 1 As shown, the communication system includes network equipment and terminal equipment.

[0081] like Figure 1 As shown, the communication system includes at least one network device (such as network device 110a and network device 110b) and at least one terminal device (such as terminal devices 120a to 120j).

[0082] Terminal devices can connect to network devices wirelessly, and network devices can connect to the core network via wired or wireless means. Figure 1 (Not shown in the image) connected.

[0083] Among them, network devices and terminal devices can exchange information.

[0084] Terminal equipment can be a terminal with transceiver capabilities. This terminal equipment can also be referred to as user equipment (UE), access terminal, subscriber unit, user station, mobile station (MS), mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user agent, or user apparatus. The terminal devices in the embodiments of this application may be mobile phones, cellular phones, smartphones, tablets, wireless data cards, personal digital assistants (PDAs), wireless modems, handsets, laptop computers, machine-type communication (MTC) terminals, computers with wireless transceiver capabilities, virtual reality (VR) terminals, augmented reality (AR) terminals, smart home devices (e.g., refrigerators, televisions, air conditioners, electricity meters, speakers, etc.), intelligent robots, robotic arms, workshop equipment, wireless terminals in autonomous driving, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in telemedicine, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, vehicle-mounted terminals, and roadside units with terminal functions. The terminal device can be an onboard unit (RSU), flight equipment (e.g., intelligent robots, hot air balloons, drones, airplanes), automated guided vehicles (AGVs), electronic door locks, Internet of Things (IoT) devices, etc. The terminal device in this application can also be a car, or an onboard module, onboard component, onboard chip, or onboard unit built into a vehicle as one or more components or units. The terminal device can also be other devices with terminal functions; for example, it can be a device that functions as a terminal in D2D communication.The embodiments of this application do not limit the form of the terminal device. The device used to implement the function of the terminal device can be the terminal device itself; it can also be any device that supports the terminal device in implementing the function, such as a communication module, chip, chip system, other components or parts, or circuits or functional components. This device can be applied to or used in conjunction with the terminal device. The chip system can be composed of chips or can include chips and other discrete devices. The various forms of terminal devices described above can also be referred to as terminal-side devices.

[0085] In this application embodiment, the network device can be a device with wireless transceiver capabilities. For example, the network device can be a device located in the access network (AN) of a communication system, which can be used to provide access services for terminals. In one possible scenario, the network device can be a radio access network (RAN) device, such as a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission and reception point (TRP), or a base station in a future communication system. In future mobile communication systems, the network device may also have other naming conventions, all of which are covered within the protection scope of this application embodiment, and this application does not impose any limitations on them. Alternatively, the network device may also include 5G, such as a gNB in ​​a new radio (NR) system, or one or a group of antenna panels (including multiple antenna panels) of a 5G base station, or it may also be a network node constituting a gNB, a transmission and reception point (TRP or transmission point (TP)) or a transmission measurement function (TMF). Alternatively, the network device can be a macro base station (such as... Figure 1 110a), micro base stations or indoor stations (such as Figure 1The network device can be a relay node or donor node (as described in section 110b), or a wireless controller in a cloud radio access network (CRAN) scenario. Optionally, the network device can also be a wireless router, server, wearable device, vehicle, or in-vehicle equipment. For example, the access network device in V2X technology can be a roadside unit (RSU). The network device can also be a terminal performing network device functions in a D2D communication system or a machine-to-machine (M2M) communication system. All or part of the functions of the network device in this application can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (e.g., a cloud platform). The network device in this application can also be a logical node, logical module, or software capable of implementing all or part of the network device functions.

[0086] In another possible scenario, multiple network devices collaborate to assist terminal devices in achieving wireless access, with each network device performing a portion of the base station's functions. For example, network devices can be central units (CUs), distributed units (DUs), CU-control plane (CPs), CU-user plane (UPs), or radio units (RUs), etc. CUs and DUs can be configured separately or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio equipment or radio units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs).

[0087] In different systems, CU (or centralized unit control plane (CU-CP)) and centralized unit user plane (CU-UP)), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an open radioaccess network (O-RAN or ORAN) system, CU can also be called an open centralized unit (O-CU) (open CU), DU can also be called an open distributed unit (O-DU), CU-CP can also be called an open centralized unit control plane (O-CU-CP), CU-UP can also be called an open centralized unit user plane (O-CU-UP), and RU can also be called an open radio unit (O-RU). For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the CU (or CU-CP, CU-UP), DU and RU units in this application can be implemented through a software module, a hardware module, or a combination of software and hardware modules.

[0088] In this embodiment, the form of the network device is not limited. The device used to implement the function of the network device can be the network device itself; it can also be any device that supports the network device in implementing that function, such as a communication module, chip, chip system, other components or parts, or circuits or functional components. This device can be applied to the network device or used in conjunction with the network device. The chip system can be composed of chips or can include chips and other discrete devices. The network devices of the various forms described above can also be referred to as network-side devices.

[0089] It should be noted that the solutions in the embodiments of this application can also be applied to other communication systems, and the corresponding names can be replaced by the names of the corresponding functions in other communication systems.

[0090] It should be understood that Figure 1 This is a simplified diagram for ease of understanding only. The communication system may also include other network devices and / or other terminal devices. Figure 1 It was not drawn in the middle.

[0091] The technologies involved in the embodiments of this application are described below.

[0092] Sensing imaging: Sensing imaging technology can image the environment using sensing signals. As an example, environmental imaging results can be obtained from the scattered signals (hereinafter referred to as scattered signals, also known as echo signals) of sensing signals (such as wireless signals). In integrated sensing and communication (ISAC) scenarios, sensing imaging can be performed using wireless signals from a communication system. In this case, the device transmitting the sensing signal (i.e., the wireless signal) can be a device in the communication system, such as an access network device or a terminal device. Radio frequency imaging methods can include bistatic sensing and monostatic sensing. Sensing signals can also be called detection signals or other possible names; this application does not limit the specific names used in its embodiments.

[0093] In dual-base sensing, the end transmitting the sensing signal and the end receiving the scattered signal are different devices. The end receiving the scattered signal can process the scattered signal to obtain the sensing result, such as an image of the environment. Optionally, the sensing signal can also be used for communication. As an example, the end transmitting the sensing signal can be a terminal device, and the end receiving the scattered signal can be an access network device (such as a base station).

[0094] In single-base sensing, the device that transmits the sensing signal and the device that receives the scattered signal are the same. This device can obtain the sensing result, such as the image of the environment, based on the received scattered signal. For example, the device that transmits the sensing signal and the device that receives the scattered signal are both the same access network device (such as a base station).

[0095] Combination Figure 2 For example, in Figure 2 In the illustrated sensing scenario, terminal devices 1 to 3, network devices 1 to 3, and the object to be sensed (e.g., a building) are all located around the building. In the case of sensing the building using bistatic sensing, assume terminal device 1 sends a sensing signal #1 to the target area on the building. The sensing signal #1 is scattered by the building, generating a scattered signal #1, which network device 1 can receive. The scattered signal #1 received by network device 1 is processed to obtain the sensing of the target area of ​​the building. Similarly, in bistatic sensing, terminal device 2 can send a sensing signal #2, thus forming a scattered signal #2. Terminal device 3 can also send a sensing signal #3, thus forming a scattered signal #3. The scattered signal #2 or the scattered signal #3 received by network device 1 is processed to obtain the sensing result of the target area of ​​the building.

[0096] In the case of imaging a building using single-base sensing, network device 1 can send a sensing signal #4 to the target area of ​​the building. The building scatters the sensing signal #4 to obtain a scattered signal #4, which network device 1 receives. The scattered signal #4 is then processed to obtain the sensing result of the target area of ​​the building. Similarly, in a single-base sensing scenario, network device 2 can send a sensing signal #5 and receive the scattered signal #5. Network device 3 can also send a sensing signal #6 and receive the scattered signal #6. The scattered signal #5 received by network device 2 or the scattered signal #6 received by network device 3 can be processed to obtain the sensing result of the target area of ​​the building.

[0097] In perception, perception performance can be represented by chamfer distance (CD) and F-score. Chamfer distance represents the distance between the ground truth point cloud and the reconstructed point cloud (also called the imaging point cloud) of the target region. A smaller chamfer distance indicates better perception performance, while a larger chamfer distance indicates worse performance. The F-score represents the coverage between the reconstructed point cloud and the ground truth point cloud of the target region. A larger F-score indicates better perception performance, while a smaller F-score indicates worse performance.

[0098] Optionally, the CD distance can satisfy the relationship shown in formula (1):

[0099]

[0100] Alternatively, the F-score can satisfy the relationship shown in the following formula (2):

[0101]

[0102] Where P(d) is, satisfying the relationship shown in the following formula (3):

[0103]

[0104] R(d) is a function that satisfies the relationship shown in formula (4) below:

[0105]

[0106] Where S1 represents the ground truth point cloud, S2 represents the reconstructed point cloud, || represents the modulus operation, ∥∥2 represents the L2 norm, P(d) represents the precision of the predicted image point cloud with an error threshold of d, and R(d) represents the recall of the predicted image point cloud with an error threshold of d.

[0107] It should be understood that the above calculation methods for CD distance and F score are for illustrative purposes only. In actual implementation, there may be other variations in the calculation methods for CD distance and / or F score, which will not be elaborated here.

[0108] It should be understood that the range of values ​​in the above formulas (3) and (4) are only for illustrative purposes. In actual implementation, any "≤" in formulas (3) and (4) can be replaced with "<".

[0109] In actual radio frequency sensing scenarios, due to differences in the surface material and / or orientation of the target object, the intensity of the scattering coefficient at different locations in the target area (the area to be sensed) will be inconsistent.

[0110] Locations with stronger scattering coefficients can interfere with the perception of locations with weaker scattering coefficients, resulting in poor perception performance. Specifically, locations with stronger scattering coefficients have a greater impact on the perception of other locations, while locations with weaker scattering coefficients are more easily affected by other locations, thus leading to poor perception performance.

[0111] The following example uses sensory imaging to illustrate this, assuming the distribution of scattering points is as follows: Figure 3 As shown, any two of the x-axis, y-axis, and z-axis are perpendicular to each other. Figure 3 In this context, the unit is meter (m). The relationship between the channel power and time delay corresponding to each scattering point is as follows: Figure 4 As shown, where, Figure 3 The power variation range of the channel corresponding to the scattering point is 55 dB, or in other words, the dynamic range of the intensity of the scattered signal at the scattering point is approximately 55 dB. At this point, a strong scattering point exists in the sensing scene. Figure 3 A side view of the sensory imaging result corresponding to the scattering point in the image is shown below. Figure 5 As shown in (a) in the figure, Figure 3 A top view of the sensory imaging results corresponding to the scattering points in the image is shown below. Figure 5 As shown in (b) in the diagram. Combined with... Figure 5 It can be seen that obvious side lobes are generated near the strong scattering point, resulting in low image quality. Under these circumstances, the chamfered CD distance of the reconstructed point cloud is 2.3620m and the F score is 0.7963.

[0112] Therefore, how to improve perception performance is a technical problem that urgently needs to be solved.

[0113] To improve sensing performance, embodiments of this application provide a sensing method. In this method, a first node can send sensing signals corresponding to K target locations based on the information of sensing signals corresponding to K target locations indicated by first information. Since the information of the sensing signals corresponding to the K target locations meets preset conditions, the actually sent sensing signals can meet the corresponding conditions. For example, the actually sent sensing signals can be matched with the scattering coefficients of the target locations in the actual scene, reducing the dynamic range of the intensity of the scattered signals in the channel, thereby improving sensing performance.

[0114] It should be noted that the sensing method provided in the embodiments of this application can be applied to... Figure 1 For any two devices shown, such as between terminal devices, between network devices, and between terminal devices and network devices, the specific implementation can be referred to the following method embodiments, which will not be repeated here.

[0115] The following will combine Figures 6-17 The sensing method provided in the embodiments of this application will be described in detail.

[0116] For example, Figure 6 This is a flowchart illustrating the sensing method provided in an embodiment of this application. This sensing method can be applied to... Figure 1 Communication between any two devices shown.

[0117] like Figure 6 As shown, the sensing method includes the following steps:

[0118] S601, the first node obtains the first information.

[0119] The first node can be a terminal device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the terminal device. Alternatively, the first node can be an access network device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the access network device.

[0120] The first information indicates the information of the sensing signal corresponding to each of the K target locations. The sensing signal information includes one or more of the following: transmission power, transmission duration, or the number of time-domain units occupied. The information of the sensing signal corresponding to the k-th target location among the K target locations satisfies a preset condition. Here, k and K are both positive integers, and k ≤ K.

[0121] Time-domain unit: A time-domain unit may include one or more time slots, or one or more time-domain symbols, such as OFDM symbols. The duration of a time slot varies depending on the sub-carrier spacing (SCS). A larger sub-carrier spacing results in a shorter time slot; conversely, a smaller sub-carrier spacing results in a longer time slot. For ease of understanding, the following embodiments use one time slot as an example for each time-domain unit, and this will not be elaborated further. It is understood that time-domain units can also be divided according to other time granularities, which will not be discussed further here.

[0122] The K target locations are the locations that the first node needs to perceive. These K target locations can be locations on different target objects or locations on the same target object. For example, if there is only one target object, the K target locations can be locations on the same target object; if there are multiple target objects, the K target locations can be locations on different target objects.

[0123] The sensing signals corresponding to each of the K target locations include the sensing signal for each of the K target locations. The sensing signal for each target location is the signal used to sense each target location, or the signal used to sense each target location.

[0124] Transmission power is the power used to transmit the sensing signal; transmission duration is the duration of the sensing signal, or the length of time the sensing signal is transmitted, or the number of time-domain units occupied by the sensing signal. Transmission duration and the number of time-domain units occupied by the sensing signal are directly proportional, and the number of time-domain units occupied by the sensing signal can be used to determine the transmission duration. The information of the sensing signals corresponding to two different target locations out of K target locations can be the same or different. The information of the sensing signal corresponding to the k-th target location is used to transmit the sensing signal corresponding to the k-th target location. As an example, the transmission power in the information of the sensing signal corresponding to the k-th target location is the power used to transmit the sensing signal to the k-th target location. The transmission duration in the information of the sensing signal corresponding to the k-th target location is the length of time used to transmit the sensing signal to the k-th target location.

[0125] Optionally, the information of the sensing signal may further include: a transmission angle. The transmission angle refers to the angle of the beam used to transmit the sensing signal. Optionally, the transmission angle includes an elevation angle and / or an azimuth angle. The elevation angle is the elevation angle of the beam used when transmitting the sensing signal, and the azimuth angle is the azimuth angle of the beam used when transmitting the sensing signal. The transmission angle in the information of the sensing signal corresponding to the k-th target location is the angle used to transmit the sensing signal corresponding to the k-th target location.

[0126] Specifically, for the nth transmission of a sensing signal at the kth target location, the transmission angle in the sensing signal information corresponding to the kth target location can be the angle of the sensing signal corresponding to the most recently transmitted target location. The angle of the 0th transmission of the sensing signal corresponding to the kth target location is preset; in other words, if n = 1, the transmission angle of the sensing signal corresponding to the kth target location can be preset. n is an integer greater than or equal to 1.

[0127] Alternatively, the emission angle in the sensing signal information corresponding to the k-th target position can be preset.

[0128] In one possible implementation, the transmission power and duration of the sensing signal corresponding to the k-th target location satisfy the capabilities of the first node. The capabilities of the first node include one or more of the following: the power range of the sensing signal supported by the first node, the duration range of the sensing signal supported by the first node, the angle range of the sensing signal supported by the first node, the frequency band or carrier supported by the first node, the number of antenna elements of the first node, or the spacing between the antenna elements of the first node. Thus, the sensing signal can be transmitted within the capabilities of the first node.

[0129] In other words, the transmission power of the sensing signal corresponding to the k-th target location is within the power range of the sensing signal transmission supported by the first node; the transmission duration of the sensing signal corresponding to the k-th target location is within the transmission duration range of the sensing signal supported by the first node. Furthermore, if the sensing signal information also includes the transmission angle, optionally, the transmission angle of the sensing signal corresponding to the k-th target location satisfies the capability of the first node. For example, the pitch angle of the sensing signal corresponding to the k-th target location is within the range of pitch angles supported by the first node, and the azimuth angle of the sensing signal corresponding to the k-th target location is within the range of azimuth angles supported by the first node. For instance, the range of pitch angles supported by the first node is [θmin, θmax], and the range of azimuth angles supported by the first node is... θmin is the minimum pitch angle that the first node can support for sensing, and θmax is the maximum pitch angle that the first node can support for sensing. The minimum azimuth angle required to support perception for the first node. Let θk be the maximum azimuth angle supported by the first node. Then, the elevation angle θk of the sensing signal corresponding to the k-th target position satisfies the relationship shown in formula (5):

[0130] 0min≤0≤0max(5)

[0131] The azimuth angle of the sensing signal corresponding to the k-th target location The following relationship is satisfied: (6)

[0132]

[0133] It should be understood that the range of values ​​in the above formulas (5) and (6) are only for illustrative purposes. In actual implementation, any "≤" in formulas (5) and (6) can be replaced with "<".

[0134] In one possible implementation, the preset conditions include at least one of conditions 1 to 3.

[0135] Condition 1: At least one of the following, namely the transmission power, transmission duration, or number of time domain units occupied by the sensing signal corresponding to the k-th target location, is negatively correlated with the first imaging intensity corresponding to the k-th target location.

[0136] The first imaging intensities corresponding to two different target locations among K target locations can be the same or different.

[0137] Optionally, the first imaging intensity corresponding to the k-th target location can be preset.

[0138] Alternatively, for the nth transmitted sensing signal at the kth target location, the first imaging intensity corresponding to the kth target location can refer to the imaging intensity of the (n-1)th transmitted sensing signal at the kth target location. Here, the imaging intensity of the 0th transmitted sensing signal at the kth target location is preset; in other words, if n=1, the first imaging intensity corresponding to the kth target location can be preset. Alternatively, the imaging intensities of the 0th transmitted sensing signals at different target locations among the K target locations can also be randomly determined. It should be understood that the imaging intensities of the 0th transmitted sensing signals at different target locations among the K target locations can be the same or different. n is an integer greater than or equal to 1.

[0139] Optionally, the transmission power and transmission duration of the sensing signal corresponding to the k-th target location satisfy the relationship shown in any one of the following formulas (7) to (12):

[0140]

[0141]

[0142]

[0143]

[0144]

[0145]

[0146] in, Let be the transmission power of the sensing signal corresponding to the k-th target location. Let be the transmission duration of the sensing signal corresponding to the k-th target location, and ∝ indicates a direct proportional relationship. This represents the imaging intensity of the sensing signal transmitted for the (n-1)th time at the k-th target location, where the first imaging intensity is... The β1, β2, or β3 are all positive numbers and are constants.

[0147] In this way, the energy of the sensing signal sent to the location with the large scattering coefficient can be reduced, thereby reducing the energy of the scattered signal at the location with the large scattering coefficient, and thus reducing the interference to the scattered signal at other locations.

[0148] It should be understood that, in the embodiments of this application, the relationship between the transmission power and / or transmission duration of the sensing signal corresponding to the kth target location and the first imaging intensity is used as an example. In actual implementation, there may be other possible implementation methods, which will not be elaborated here.

[0149] Condition 2, the transmission power of the sensing signal corresponding to the k-th target position satisfies the relationship shown in the following formula (13):

[0150]

[0151] Condition 3: The transmission power and transmission duration of the sensing signal corresponding to the k-th target location satisfy the relationship shown in the following formula (14):

[0152]

[0153] Where Enoise represents the power of the noise at the first node, min indicates taking the minimum value, SNRthreshold represents the signal-to-noise ratio threshold of the signal transmitted by the first node, and Wthreshold represents the energy threshold of the signal transmitted by the first node. n is a positive integer. Both Enoise and Wthreshold are positive numbers.

[0154] It should be understood that the range of values ​​in the above formulas (13) and (14) are only for illustrative purposes. In actual implementation, any "≥" in formulas (13) and (14) can be replaced with ">".

[0155] In this way, the sensing signal can meet the signal-to-noise ratio requirements, thereby suppressing the influence of noise and obtaining more accurate sensing results.

[0156] Optionally, the signal-to-noise ratio (SNR) threshold of the signal transmitted by the first node is related to the required sensing result. As an example, the higher the required resolution of the sensing result, the higher the SNR threshold of the signal transmitted by the first node; the lower the required resolution of the sensing result, the lower the SNR threshold of the signal transmitted by the first node.

[0157] Alternatively, the signal-to-noise ratio (SNR) threshold of the signal transmitted by the first node may be related to the sensing algorithm used. For example, the stronger the anti-interference capability of the sensing algorithm, the lower the SNR threshold of the signal transmitted by the first node; conversely, the weaker the anti-noise capability of the sensing algorithm, the higher the SNR threshold of the signal transmitted by the first node. For instance, the SNR threshold of the signal transmitted by the first node when using a beamforming sensing algorithm is higher than the SNR threshold when using a compressed sensing algorithm.

[0158] Optionally, similar to the signal-to-noise ratio (SNR) threshold of the first node's transmitted signal, the energy threshold of the first node's transmitted signal is related to the requirements of the sensing results, or the energy threshold of the first node's transmitted signal is related to the sensing algorithm used. In this case, the implementation of the energy threshold of the first node's transmitted signal can be found in the relevant introduction to the SNR threshold of the first node's transmitted signal, and will not be elaborated upon here.

[0159] Alternatively, the energy threshold for the signal transmitted by the first node may be related to the coverage area corresponding to the first node. The larger the coverage area corresponding to the first node, the larger the energy threshold for the signal transmitted by the first node; the smaller the coverage area corresponding to the first node, the smaller the energy threshold for the signal transmitted by the first node.

[0160] It should be understood that the above-mentioned preset conditions in the embodiments of this application are for illustrative purposes. In actual implementation, there may be other possible implementations of the preset conditions, which will not be elaborated here.

[0161] In one possible implementation, the transmission power and / or transmission duration of the k-th sensing signal are determined based on the noise on the first node and the signal-to-noise ratio threshold of the signal transmitted by the first node.

[0162] For example, the transmission power of the kth sensing signal satisfies the relationship shown in formula (13) above, or the transmission power of the kth sensing signal satisfies the relationship shown in formula (14) above.

[0163] In this way, the sensing signal can meet the signal-to-noise ratio requirements, thereby suppressing the influence of noise and obtaining more accurate sensing results.

[0164] The above S601 can be implemented in either method one or method two:

[0165] Method 1: The first node determines the first information itself.

[0166] The first node can determine the first information based on at least one of the following: the second information, and the first imaging intensity corresponding to each of the K target locations.

[0167] The second piece of information is used to indicate the capabilities of the first node.

[0168] Method 2: The first node obtains the first information, including: the second node sending the first information. Correspondingly, the first node receives the first information.

[0169] In this way, the first node can obtain the first information from other nodes, which can reduce the computational complexity of the first node.

[0170] Optionally, the second node can determine the first information on its own. The principle of the second node determining the first information on its own can be found in the relevant introduction on the determination of the first information on its own, and will not be repeated here.

[0171] S602, the first node sends the sensing signals corresponding to the K target locations according to the first information.

[0172] In other words, the first node sends the sensing signal corresponding to the kth target location based on the information of the sensing signal corresponding to the kth target location among the K target locations.

[0173] For example, if the first information indicates that the transmission power of the sensing signal corresponding to the kth target location among the K target locations is Pkn and the transmission duration is Tkn, then the first node transmits the sensing signal corresponding to the kth target location among the K locations using the transmission power Pkn, and the duration for the first node to transmit the sensing signal corresponding to the kth target location is Tkn.

[0174] The sensing signals corresponding to each of the K target locations are carried on resources allocated to the sensing signals corresponding to each target location. In other words, the sensing signal corresponding to the kth target location is carried on the resources corresponding to the kth target location. The resources described in the embodiments of this application may be one or more of the following: time-domain resources, frequency-domain resources, spatial-domain resources, or code-domain resources.

[0175] In this embodiment of the application, the time-domain resource may include one or more time-domain units.

[0176] The power of the sensing signal corresponding to the k-th target location transmitted by the first node is the transmission power in the information of the sensing signal corresponding to the k-th target location.

[0177] As an example, the first node can configure resources based on the first information, thereby sending sensing signals corresponding to K target locations.

[0178] In one possible implementation, Figure 6 The provided method may also include S603.

[0179] S603, the first node sends the second information. Correspondingly, the second node receives the second information.

[0180] The second node can be a terminal device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the terminal device. Alternatively, the communication device can be an access network device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the access network device.

[0181] In this way, sensing signals can be sent within the capabilities of the first node.

[0182] In one possible implementation, in a single-base sensing scenario, Figure 6 The provided method may also include S604.

[0183] S604, the first node receives the third information.

[0184] The third piece of information is obtained by scattering the sensing signals corresponding to the K target positions by the target object.

[0185] Optionally, the third information includes the scattering signals corresponding to each of the K target locations. The scattering signal corresponding to the k-th target location is obtained by scattering the sensing signal corresponding to the k-th target location from the k-th target location. The scattering signals corresponding to each of the K target locations can be used to generate imaging results for the K target locations.

[0186] Alternatively, the third information may include signals obtained by processing the scattering signals corresponding to the K target locations, such as the imaging results of the K target locations or information that can be used to generate the imaging results of the K target locations.

[0187] In this way, the first node can process the third information to obtain the perception result.

[0188] In one possible implementation, in a dual-base perception scenario, Figure 6 The provided method may also include S605.

[0189] S605, the second node receives the third information.

[0190] The third piece of information is obtained by scattering the sensing signals corresponding to the K target positions by the target object.

[0191] It should be understood that in S604 and S605, the transmission path of the third information may be the same or different. Therefore, the signal strength of the third signal may be the same or different.

[0192] It should be understood that S604 and S605 are optional steps. If S604 is executed, S605 does not need to be executed; if S605 is executed, S604 does not need to be executed.

[0193] In one possible implementation, Figure 6 The provided method may also include S606.

[0194] S606, the second node obtains the first imaging intensity corresponding to each of the K target locations.

[0195] The second node can obtain the first imaging intensity corresponding to each target position from its internal storage, or it can obtain the first imaging intensity corresponding to each target position from other nodes, which will not be elaborated further.

[0196] The following combination Figure 3 The scattering points shown are used to analyze the technical effects of the embodiments of this application. For example... Figure 7 As shown, assuming Figure 3 There are no strong scattering points among the scattering points shown, or in other words Figure 3 The channels corresponding to the scattering points shown all have the same power, meaning the dynamic range of the scattered signal intensity at each scattering point is 0 dB. Therefore, in this case... Figure 3 A side view of the sensory imaging results of the scattering points shown is as follows: Figure 8 As shown in (a) in the figure, Figure 3 A top view of the radio frequency imaging results of the scattering points shown is as follows Figure 8 As shown in (b) in the diagram. From Figure 8 The results show that the obtained imaging is located near the true scattering point. Furthermore, the corresponding CD distance is 1.4265m, and the F score is 0.9346. Therefore, this sensing performance is relatively good compared to... Figure 4 The perceived performance is better within the dynamic range shown.

[0197] based on Figure 6 The provided method can obtain Figure 3 A side view of the imaging results of the scattering points shown is as follows Figure 9 As shown in (a) above, the top view is as follows: Figure 9 As shown in (b) in the diagram. Combined with... Figure 9 It can be seen that the imaging result of the scattering point is located near the scattering point. Furthermore, the CD distance corresponding to the imaging result of the scattering point is 1.6562m (less than 2.3620m), and the F score is 0.8260 (greater than 0.7963). Therefore, using... Figure 6The CD distance corresponding to the imaging results of the scattering points obtained by the provided scheme is less than Figure 5 The CD distance of the corresponding imaging results, and using Figure 6 The F-score of the scattering points obtained by the provided scheme is greater than Figure 5 The corresponding F-score of the imaging result. Combining the fact that a smaller chamfer distance results in better perception performance, and a larger F-score also indicates better perception performance, it can be concluded that using... Figure 6 The proposed method can improve perception performance.

[0198] In summary, based on Figure 6 The provided method allows the first node to send sensing signals corresponding to the K target locations based on the information of the sensing signals corresponding to the K target locations indicated by the first information. Since the information of the sensing signals corresponding to the K target locations meets preset conditions, the actual sensing signals sent can meet the corresponding conditions. For example, the actual sensing signals sent can be matched with the actual scene, thereby improving the sensing performance.

[0199] The above Figure 6 The provided method can be applied to both two-base sensing scenarios and one-base sensing scenarios, wherein the node used to transmit the sensing signal and the node used to receive the scattered signal are different nodes. For ease of understanding, the above is further described below with reference to different embodiments. Figure 6 The methods provided.

[0200] In some possible embodiments, there is one receiving node and multiple transmitting nodes. The receiving node can be used to configure information about the sensing signal and to receive information obtained from the scattering of the sensing signal transmitted by each transmitting node (such as the scattered signal obtained from the scattering of the sensing signal). Each of the multiple transmitting nodes can transmit the sensing signal. The following example uses transmitting node #1, transmitting node #2, and receiving node #1 as illustrations. Figure 10 As shown, receiving node #1 can interact with transmitting node #1 and transmitting node #2. For example, receiving node #1 can configure sensing signal information for transmitting node #1 and transmitting node #2. Transmitting node #1 can send sensing signals based on the configured sensing signal information, and transmitting node #2 can also send sensing signals based on the configured sensing signal information. Receiving node #1 can receive information obtained by scattering the sensing signals emitted by transmitting node #1 and transmitting node #2, such as scattered signals. In this case, the flowchart of the sensing method is shown below. Figure 11 As shown.

[0201] S1101, Transmitting node #1 sends information #1. Correspondingly, receiving node #1 receives information #1.

[0202] Information #1 is used to indicate the capabilities of transmitting node #1. The capabilities of transmitting node #1 include one or more of the following: the power range of the transmitted sensing signals supported by transmitting node #1, the duration range of the transmitted sensing signals supported by transmitting node #1, the angle range of the transmitted sensing signals supported by transmitting node #1, the frequency band or carrier supported by transmitting node #1, the number of antenna elements of transmitting node #1, or the antenna element spacing of transmitting node #1.

[0203] For information on the implementation of the capabilities of transmitting node #1, please refer to the relevant introduction on the capabilities of the first node. For information on the implementation of information #1, please refer to... Figure 6 The second information in the provided method is described in detail. For the implementation of S1101, please refer to the relevant description of S603.

[0204] It should be understood that launch node #1 can be the above-mentioned Figure 6 In the provided method, the first node, at this time, relative to the transmitting node #1, information #1 is the second information.

[0205] S1102, transmitting node #2 sends information #2. Correspondingly, receiving node #1 receives information #2.

[0206] Information #2 is used to indicate the capabilities of transmitting node #2. The capabilities of transmitting node #2 include one or more of the following: the power range of the transmitted sensing signals supported by transmitting node #2, the duration range of the transmitted sensing signals supported by transmitting node #2, the angle range of the transmitted sensing signals supported by transmitting node #2, the frequency band or carrier supported by transmitting node #2, the number of antenna elements of transmitting node #2, or the antenna element spacing of transmitting node #2.

[0207] For information on the implementation of the capabilities of transmitting node #2, please refer to the relevant introduction to the capabilities of the first node. For information on the implementation of information #2, please refer to... Figure 6 The second information in the provided method is described in detail. For the implementation of S1102, please refer to the relevant description of S603.

[0208] It should be understood that launch node #2 can be as described above. Figure 6 In the provided method, the first node, at this time, relative to the transmitting node #2, information #1 is the second information.

[0209] S1103, Receive node #1 obtains information #3.

[0210] Information #3 indicates the information of the sensing signals corresponding to each of the K1 target locations. The sensing signal information includes one or more of the following: transmission power, transmission duration, or the number of time-domain units occupied by the sensing signal. The information of the sensing signal corresponding to the k1th target location among the K1 target locations satisfies preset condition #1. Here, k1 and K1 are both positive integers, and k1 ≤ K1.

[0211] In addition, information #3 may also include resources for sending sensing signals corresponding to each of the K1 target locations.

[0212] For details on the implementation of K1 target locations, preset condition #1, and information #1, please refer to [reference needed]. Figure 6 The provided method includes descriptions of the K target positions, preset conditions, and first information. The difference lies in that preset condition #1 applies to the k1-th target position. For the implementation principle of S1103, please refer to [link / reference needed]. Figure 6 The details of Method 1 in S601 provided will not be elaborated upon here.

[0213] If the transmitting node #1 is as described above Figure 6 In the provided method, the first node, for transmitting node #1, information #3 is the first information.

[0214] S1104, Receive node #1 obtains information #4.

[0215] Information #4 indicates the information of the sensing signals corresponding to each of the K2 target locations. The sensing signal information includes one or more of the following: transmission power, transmission duration, or the number of time-domain units occupied by the sensing signal. The information of the sensing signal corresponding to the k2-th target location among the K2 target locations satisfies preset condition #2. Here, k2 and K2 are both positive integers, and k2 ≤ K2.

[0216] In addition, information #4 may also include resources for sending sensing signals corresponding to the K2 target locations.

[0217] For details on the implementation of K2 target locations, preset condition #2, and information #2, please refer to [reference needed]. Figure 6 The provided method includes descriptions of the K target locations, preset conditions, and first information. The difference lies in that preset condition #2 refers specifically to the k1-th target location. For the implementation principle of S1104, please refer to [link / reference needed]. Figure 6 The details of method S601 provided are omitted.

[0218] If the transmitting node #2 is as described above Figure 6 In the provided method, the first node, for transmitting node #2, information #4 is the first information.

[0219] In one possible implementation, the information for the sensing signals corresponding to each of the K1 target locations further includes resources for transmitting the sensing signals corresponding to each of the K1 target locations. Similarly, the information for the sensing signals corresponding to each of the K2 target locations further includes resources for transmitting the sensing signals corresponding to each of the K2 target locations. It is understood that both the resources for transmitting the sensing signals corresponding to the K1 target locations and the resources for transmitting the sensing signals corresponding to the K2 target locations can be determined by the receiving node #1.

[0220] Optionally, the resources used to transmit the sensing signals corresponding to each of the K1 target locations are different from the resources used to transmit the sensing signals corresponding to each of the K2 target locations. It should be understood that in the embodiments of this application, the resources may include one or more of the following: time-domain resources, frequency-domain resources, spatial-domain resources, or code-domain resources; different resources may refer to different time-domain resources, different frequency-domain resources, different spatial-domain resources, or different code-domain resources, which will not be elaborated further.

[0221] S1105, Receiver node #1 sends information #3. Correspondingly, transmitter node #1 receives information #3.

[0222] For the implementation of S1105, please refer to [reference needed]. Figure 6 The details of Method 2 of S601 provided will not be elaborated upon here.

[0223] S1106, Receiver node #1 sends information #4. Correspondingly, transmitter node #2 receives information #4.

[0224] For the implementation of S1106, please refer to [reference needed]. Figure 6 The details of Method 2 of S601 provided will not be elaborated upon here.

[0225] S1107, transmitting node #1 sends the sensing signals corresponding to the K1 target locations according to information #3.

[0226] As an example, transmitting node #1 can configure resources according to information #3, thereby sending sensing signals corresponding to K1 target locations.

[0227] For details on the implementation of S1107, please refer to [link / reference]. Figure 6 The details of S602 in the provided method will not be elaborated upon. With the transmitting node #1 as the first node, for transmitting node #1, the K1 target locations are as described above. Figure 6 The K target locations in the provided method, i.e., K1, are equivalent to Figure 6 In the provided method, K and k1 are equivalent to Figure 6 The provided method refers to the sensing signals corresponding to each of the K1 target locations.

[0228] S1108, Transmitting node #2 sends the sensing signals corresponding to the K2 target locations according to information #4.

[0229] As an example, transmitting node #2 can configure resources according to information #4, thereby sending sensing signals corresponding to K2 target locations.

[0230] For the implementation of S1108, please refer to [reference needed]. Figure 6 The details of S602 in the provided method will not be elaborated upon. With launch node #2 as the first node, the K2 target locations for launch node #2 are as described above. Figure 6 The K target locations in the provided method, i.e., K2, are equivalent to Figure 6 In the provided method, K and k2 are equivalent to Figure 6 The provided method refers to the sensing signals corresponding to each of the K2 target locations.

[0231] S1109, Receiver node #1 receives information #5.

[0232] Information #5 is obtained by scattering the sensing signals corresponding to each of the K1 target positions by the target object. With transmitting node #1 as the first node, information #5 is the third piece of information for transmitting node #1.

[0233] For information on the implementation of #5, please refer to [link / reference]. Figure 6 The provided method includes a description of the third information; for details on the implementation of S1109, please refer to [link / reference]. Figure 6 The details of S605 in the provided method will not be elaborated upon.

[0234] S1110, Receiver node #1 receives information #6.

[0235] Information #6 is obtained by scattering the sensing signals corresponding to the K2 target positions from the target object. For details on the implementation of information #6, please refer to [link / reference needed]. Figure 6 The provided method includes a description of the third information; for details regarding the implementation of S1110, please refer to [link / reference]. Figure 6 The details of S605 in the provided method will not be elaborated upon.

[0236] With transmitting node #2 as the first node, information #6 is the third information for transmitting node #2.

[0237] about Figure 11 The technical effects of the provided method can be referred to the above. Figure 6 The technical effects of the provided method will not be elaborated upon.

[0238] Understandable Figure 11The provided method may also include S1111.

[0239] S1111, Receive node #1 obtains information #7.

[0240] Information #7 includes the first imaging intensity corresponding to each of the K1 target locations. For details on the implementation of the first imaging intensity corresponding to each of the K1 target locations, please refer to [link / reference needed]. Figure 6 The provided method includes a description of the first imaging intensity corresponding to each of the K target locations. Information #7 also includes the first imaging intensity corresponding to each of the K2 target locations.

[0241] For details on the implementation of the first imaging intensity corresponding to each of the K2 target locations, please refer to [reference needed]. Figure 6 The method provided includes a description of the first imaging intensity corresponding to each of the K target locations. For the implementation of S1111, please refer to the relevant description of S606, which will not be repeated here.

[0242] about Figure 11 The technical effects of the provided method can be referred to the above. Figure 6 The technical effects of the provided method will not be elaborated upon.

[0243] It should be understood that Figure 11 The order of the steps in the provided method is for illustrative purposes only. In actual implementation, the execution order of S1101-S1111 is not limited, as long as it conforms to logic.

[0244] In other possible embodiments, there is a central node, at least one transmitting node, and at least one receiving node. The central node can be used to configure information about the sensing signal, the transmitting node can be used to transmit the sensing signal, and the receiving node can receive information obtained from the scattering of the sensing signal transmitted by the transmitting node. The following example uses central node #1, transmitting node #3, and receiving node #2 as illustrations. Figure 12 As shown, the central node #1 can interact with both the transmitting node #3 and the receiving node #2. For example, the central node #1 can configure information about the sensing signal for the transmitting node #3 and configure resources for the receiving node #2 to receive the scattered signal. The transmitting node #3 can send the sensing signal based on the configured sensing signal information, and the receiving node #2 can receive information such as the scattered signal obtained by the scattering of the sensing signal transmitted by the transmitting node #3, based on the resources used to receive the scattered signal. In this case, the flowchart of the sensing method is shown below. Figure 13 As shown.

[0245] S1301, transmitting node #3, i.e., the first node, sends information #8. Correspondingly, central node #1, i.e., the second node, receives information #8.

[0246] Information #8, or the second information, is used to indicate the capabilities of transmitting node #3. The capabilities of transmitting node #3 include one or more of the following: the power range of the transmitted sensing signals supported by transmitting node #3, the duration range of the transmitted sensing signals supported by transmitting node #3, the angular range of the transmitted sensing signals supported by transmitting node #3, the frequency band or carrier supported by transmitting node #3, the number of antenna elements of transmitting node #3, or the antenna element spacing of transmitting node #3.

[0247] For information on the implementation of the capabilities of transmitting node #3, please refer to the relevant introduction on the capabilities of the first node. For information on the implementation of message #8, please refer to... Figure 6 The second information in the provided method is described in detail. For the implementation of S1301, please refer to the relevant introduction of S603.

[0248] S1302, Receiver node #2 sends information #9. Correspondingly, central node #1 receives information #9.

[0249] Message #9 is used to indicate the capabilities of receiving node #2.

[0250] The capabilities of receiver node #2 include: the bandwidth supported by receiver node #2, antenna ports, available time domain resources, and supported code division methods.

[0251] The code division methods can include Gold code, Kasami code, etc., which will not be elaborated here.

[0252] S1303, the central node #1 obtains information #10, which is the first information.

[0253] Information #10 indicates the information of the sensing signals corresponding to each of the K3 target locations. The sensing signal information includes one or more of the following: transmission power, transmission duration, or the number of time-domain units occupied by the sensing signal. The information of the sensing signal corresponding to the k3rd target location among the K3 target locations satisfies preset condition #3. Here, k3 and K3 are both positive integers, and k3 ≤ K3. K3 is equivalent to... Figure 6 In the provided method, K and k3 are equivalent to Figure 6 k in the provided method.

[0254] Furthermore, information #10 may also include resources for transmitting the sensing signals corresponding to each of the K3 target locations. These resources may include one or more of the following: time-domain resources, frequency-domain resources, spatial-domain resources, or code-domain resources. It should be understood that the resources for transmitting the sensing signals corresponding to each of the K3 target locations satisfy the capabilities of the receiving node #2. The code-domain resources for transmitting the sensing signals corresponding to each of the K3 target locations may be determined based on the code division scheme supported by the receiving node #2.

[0255] For information on the implementation of #10, please refer to [link / reference]. Figure 6 The details regarding the first piece of information in the provided method will not be elaborated upon here. For the implementation of S1303, please refer to [link / reference needed]. Figure 6 The details of Method 1 in S601 provided will not be elaborated upon here.

[0256] S1304, Central node #1 obtains information #11.

[0257] Information #11 is used to indicate one or more of the following for receiving node #2 to receive the scattered signal: bandwidth, time domain resources, frequency domain resources, or receiving antenna port.

[0258] S1305, Central Node #1 sends information #10. Correspondingly, Transmitting Node #3 receives information #10.

[0259] For the implementation of S1305, please refer to [link / reference]. Figure 6 The details of Method 2 in S601 provided will not be elaborated upon here.

[0260] S1306, Central node #1 sends message #11. Correspondingly, receiving node #2 receives message #11.

[0261] S1307, Transmitting node #3 sends the sensing signals corresponding to the locations of K3 targets according to information #10.

[0262] As an example, transmitting node #3 can configure resources according to information #10, thereby sending sensing signals corresponding to each of the K3 target locations.

[0263] For details on the implementation of S1307, please refer to [link / reference]. Figure 6 The details of S602 in the provided method will not be elaborated upon.

[0264] S1308, Receiver node #2 receives information #12, i.e., the third information.

[0265] It should be understood that receiving node #2 can receive information #12 on the resource indicated by information #11.

[0266] For the implementation of information #12, please refer to [link / reference]. Figure 6 The relevant information regarding the third party in the provided method will not be elaborated upon.

[0267] Understandable Figure 13 The provided method may also include S1309.

[0268] S1309, Central node #1 obtains information #13.

[0269] Information #13 includes the first imaging intensity corresponding to each of the K3 target locations. For details on the implementation of the first imaging intensity corresponding to each of the K3 target locations, please refer to [link / reference]. Figure 6 The provided method descriptions and implementation details for S1309 can be found in the documentation. Figure 6 The details of S606 in the provided method will not be elaborated upon.

[0270] about Figure 13 The technical effects of the provided method can be referred to the above. Figure 6 The technical effects of the provided method will not be elaborated upon.

[0271] It should be understood that Figure 13 The order of the steps in the provided method is for illustrative purposes only. In actual implementation, the execution order of S1301-S1309 is not limited, as long as it conforms to logic.

[0272] In a single-base sensing scenario, the node used to send sensing signals and the node used to receive the scattered signals are the same node.

[0273] In some possible embodiments, there is a sensing node and a central node, wherein the central node can be used to configure information for the sensing signal, and the transmitting node can be used to transmit the sensing signal and receive information obtained from the scattering of the sensing signal transmitted by the transmitting node. The following example uses sensing node #1 and central node #2 for illustration. Figure 14 As shown, central node #2 can interact with sensing node #1. For example, central node #2 can configure sensing signal information for sensing node #1. Sensing node #1 can send sensing signals based on the configured sensing signal information and receive information such as scattered signals obtained from the sensing signals emitted by sensing node #1. In this case, the flowchart of the sensing method is as follows. Figure 15 As shown.

[0274] S1501, Sensing node #1 (i.e., the first node) sends information #14 (i.e., the second information). Correspondingly, central node #2 (i.e., the second node) receives information #14.

[0275] Information #14 is used to indicate the capabilities of sensing node #1. The capabilities of sensing node #1 include one or more of the following: the power range of the sensing signals that sensing node #1 supports for transmission, the duration range of the sensing signals that sensing node #1 supports for transmission, the angle range of the sensing signals that sensing node #1 supports for transmission, the frequency band or carrier that sensing node #1 supports, the number of antenna elements of sensing node #1, or the spacing between the antenna elements of sensing node #1.

[0276] For information on the implementation of the capabilities of perception node #1, please refer to the relevant introduction to the capabilities of the first node. For information on the implementation of information #14, please refer to [link / reference needed]. Figure 6 The second information in the provided method is described in detail. For the implementation of S1501, please refer to the relevant description of S603.

[0277] S1502, the central node #2 obtains information #15, which is the first information.

[0278] Information #15 indicates the information of the sensing signals corresponding to each of the K4 target locations. The sensing signal information includes one or more of the following: transmission power, transmission duration, or the number of time-domain units occupied by the sensing signal. The information of the sensing signal corresponding to the k4th target location among the K4 target locations satisfies preset condition #4. Here, k4 and K4 are both positive integers, and k4 ≤ K4. K4 is equivalent to... Figure 6 In the provided method, K and k4 are equivalent to Figure 6 k in the provided method.

[0279] Furthermore, information #15 may also include resources for transmitting sensing signals corresponding to the K4 target locations. For implementation details of information #15, please refer to [reference needed]. Figure 6 The provided method includes an introduction to the first piece of information. For details on the implementation of information #15, please refer to [link / reference]. Figure 6 The details of Method 1 in S601 provided will not be elaborated upon here.

[0280] S1503, Central Node #2 sends information #15. Correspondingly, Sensing Node #1 receives information #15.

[0281] For details on the implementation of S1503, please refer to [link / reference]. Figure 6 The details of S602 in the provided method will not be elaborated upon.

[0282] S1504, Sensing node #1 sends sensing signals corresponding to the K4 target locations according to information #15.

[0283] As an example, sensing node #1 can configure resources according to information #15, thereby sending sensing signals corresponding to K4 target locations.

[0284] For the implementation of S1504, please refer to [link / reference]. Figure 6 The details of S602 in the provided method will not be elaborated upon.

[0285] S1505, Sensing node #1 receives information #16, i.e., the third information.

[0286] For the implementation of information #16, please refer to [link / reference]. Figure 6 The provided method includes a description of the third information; for details on the implementation of S1505, please refer to [link / reference]. Figure 6 The details of S604 in the provided method will not be elaborated upon.

[0287] Understandable Figure 15 The provided method may also include S1506.

[0288] S1506, Central node #2 obtains information #17.

[0289] Information #17 includes the first imaging intensity corresponding to each of the K4 target locations. For details on the implementation of the first imaging intensity corresponding to each of the K4 target locations, please refer to [link / reference]. Figure 6 The relevant descriptions in the provided methods, and the implementation of S1506 can be found in the relevant descriptions of S606, which will not be repeated here.

[0290] about Figure 15 The technical effects of the provided method can be referred to the above. Figure 6 The technical effects of the provided method will not be elaborated upon.

[0291] In other possible embodiments, there is a sensing node and a central node. The central node can be used to configure information about the sensing signal. Furthermore, the central node can also be used to transmit the sensing signal and receive information scattered from the sensing signal. The transmitting node can be used to transmit the sensing signal and receive information scattered from the sensing signal transmitted by the transmitting node. The following example uses sensing node #2 and central node #3 for illustration. Figure 16 As shown, the central node #3 can interact with the sensing node #2. For example, the central node #3 can configure sensing signal information for the sensing node #2, and also configure its own sensing signal information. The sensing node #2 can send sensing signals based on the configured sensing signal information and receive information scattered from the sensing signals emitted by the sensing node #2. The central node #3 can also send sensing signals based on the configured sensing signal information and receive information scattered from the sensing signals emitted by the central node #3, such as scattered signals. In this case, the flowchart of the sensing method is as follows. Figure 17 As shown.

[0292] S1701, Sensing node #2 sends information #18. Correspondingly, central node #3 receives information #18.

[0293] Information #18 is used to indicate the capabilities of sensing node #2. The capabilities of sensing node #2 include one or more of the following: the power range of the sensing signals supported by sensing node #2, the duration range of the sensing signals supported by sensing node #2, the angle range of the sensing signals supported by sensing node #2, the frequency band or carrier supported by sensing node #2, the number of antenna elements of sensing node #2, or the spacing between the antenna elements of sensing node #2.

[0294] For information on the implementation of the capabilities of perception node #2, please refer to the relevant introduction to the capabilities of the first node. For information on the implementation of information #18, please refer to [link / reference needed]. Figure 6 The second information in the provided method is described in detail. For the implementation of S1701, please refer to the relevant description of S603.

[0295] It should be understood that the sensing node #2 can be as described above. Figure 6 In the first node of the provided method, information #18 is the second information relative to perception node #2.

[0296] S1702, the central node #3 obtains information #19 at least based on information #18.

[0297] Information #19 indicates the information of the sensing signals corresponding to each of the K5 target locations. The sensing signal information includes one or more of the following: transmission power, transmission duration, or the number of time-domain units occupied by the sensing signal. The information of the sensing signal corresponding to the k5th target location among the K5 target locations satisfies preset condition #5. Here, k5 and K5 are both positive integers, and k5 ≤ K5. K5 is equivalent to... Figure 6 In the provided method, K and k5 are equivalent to Figure 6 k in the provided method.

[0298] In addition, information #19 may also include resources for transmitting sensing signals corresponding to the K5 target locations.

[0299] For details on the implementation of S1702, please refer to [link / reference]. Figure 6 The details of Method 1 in S601 provided will not be elaborated upon here.

[0300] If the sensing node #2 is as described above Figure 6 In the provided method, the first node, for the perception node #2, is information #19, which is the first information.

[0301] S1703, Central node #3 obtains information #20.

[0302] Information #20 indicates the information of the sensing signals corresponding to each of the K6 target locations. The sensing signal information includes one or more of the following: transmission power, transmission duration, or the number of time-domain units occupied by the sensing signal. The information of the sensing signal corresponding to the k6th target location among the K6 target locations satisfies preset condition #6. Here, k6 and K6 are both positive integers, and k6 ≤ K6. K6 is equivalent to... Figure 6 In the provided method, K and k6 are equivalent to Figure 6 k in the provided method.

[0303] In addition, information #20 may also include resources for transmitting sensing signals corresponding to the K6 target locations.

[0304] If the central node #3 is as described above Figure 6 In the provided method, the first node is, for the central node #3, information #20 is the first information.

[0305] For details on the implementation of S1703, please refer to [link / reference]. Figure 6 The details of Method 1 in S601 provided will not be elaborated upon here.

[0306] S1704, Central Node #3 sends information #19. Correspondingly, Sensing Node #2 receives information #19.

[0307] For details on the implementation of S1704, please refer to the relevant introduction of Method 2 in S601, which will not be elaborated here.

[0308] S1705, Sensing node #2 sends the sensing signals corresponding to the K5 target locations according to information #19.

[0309] As an example, sensing node #2 can configure resources according to information #19, thereby sending sensing signals corresponding to each of the K5 target locations.

[0310] For details on the implementation of S1705, please refer to [link / reference]. Figure 6 The details of S602 in the provided method will not be elaborated upon.

[0311] S1706, Sensing node #2 receives information #21.

[0312] Information #21 is obtained by scattering the sensing signals corresponding to the K5 target positions of the target object. If sensing node #2 is the first node, then information #21 is the third information for sensing node #2.

[0313] For information on the implementation of #21, please refer to [link / reference]. Figure 6 The provided method includes a description of the third information; for details on the implementation of S1706, please refer to [link / reference]. Figure 6The details of S604 in the provided method will not be elaborated upon.

[0314] S1707, the central node #3 sends the sensing signals corresponding to the K6 target locations according to information #20.

[0315] As an example, the central node #3 can configure resources according to information #20, thereby sending the sensing signals corresponding to each of the K6 target locations.

[0316] For details on the implementation of S1707, please refer to [link / reference]. Figure 6 The details of S602 in the provided method will not be elaborated upon.

[0317] S1708, Central node #3 receives information #22.

[0318] Information #22 is obtained by scattering the sensing signals corresponding to the K6 target positions of the target object. If the central node #3 is the first node, then information #22 is the third information for the central node #3.

[0319] For the implementation of S1708, please refer to [reference needed]. Figure 6 The details of S602 in the provided method will not be elaborated upon.

[0320] S1709, Central node #3 obtains information #23.

[0321] Information #23 includes the first imaging intensity corresponding to each of the K5 target locations. For details on the implementation of the first imaging intensity corresponding to each of the K5 target locations, please refer to [link / reference needed]. Figure 6 The provided method includes a description of the first imaging intensity corresponding to each of the K target locations. Information #23 also includes the first imaging intensity corresponding to each of the K6 target locations; for details on the implementation of the first imaging intensity corresponding to each of the K6 target locations, please refer to [link / reference]. Figure 6 The description of the first imaging intensity corresponding to each of the K target locations in the provided method will not be elaborated upon.

[0322] about Figure 17 The technical effects of the provided method can be referred to the above. Figure 6 The technical effects of the provided method will not be elaborated upon.

[0323] It should be understood that Figure 17 The order of the steps in the provided method is for illustrative purposes only. In actual implementation, the execution order of S1701-S1709 is not limited, as long as it conforms to logic.

[0324] The above combination Figures 6-17 The sensing method provided in the embodiments of this application is described in detail below. Figures 18-19 This document describes in detail the communication apparatus used to perform the sensing method provided in the embodiments of this application.

[0325] For example, Figure 18 This is a schematic diagram of the structure of the communication device provided in the embodiments of this application. Figure 1 .like Figure 18 As shown, the communication device 1800 includes a processing module 1801 and a transceiver module 1802. For ease of explanation, Figure 18 Only the main components of the communication device are shown.

[0326] In some embodiments, the communication device 1800 may be adapted to Figure 1 In the communication system shown, the execution Figure 6 The function of the first node in the perception method shown.

[0327] The processing module 1801 is used to acquire first information. This first information, indicating the sensing signals corresponding to each of the K target locations, includes one or more of the following: transmission power, transmission duration, or the number of time-domain units occupied by the sensing signal. The sensing signal corresponding to the k-th target location among the K target locations satisfies a preset condition. Here, k and K are both positive integers, and k ≤ K.

[0328] The transceiver module 1802 is used to send sensing signals corresponding to the K target locations according to the first information.

[0329] Optionally, the transceiver module 1802 may include a receiving module and a transmitting module. Figure 18 (Not shown in the image). The transceiver module is used to implement the sending and receiving functions of the communication device 1800.

[0330] Optionally, the communication device 1800 may also include a storage module. Figure 18 (Not shown in the image), this storage module stores programs or instructions. When the processing module 1801 executes the program or instructions, it enables the communication device 1800 to perform operations. Figure 6 The function of the first node in the perception method shown.

[0331] It should be understood that the processing module 1801 involved in the communication device 1800 can be implemented by a processor or processor-related circuit components, and can be a processor or processing unit; the transceiver module 1802 can be implemented by a transceiver or transceiver-related circuit components, and can be a transceiver or transceiver unit.

[0332] In this embodiment, the communication device 1800 may be a terminal device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the terminal device. Alternatively, the communication device 1800 may be an access network device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the access network device; this application does not limit the specific components or assemblies described herein.

[0333] In addition, the technical effects of the communication device 1800 can be referenced. Figure 6 The technical effects of the sensing method shown will not be elaborated here.

[0334] In some embodiments, the communication device 1800 may be adapted to Figure 1 In the communication system shown, the execution Figure 6 The function of the first node in the perception method shown.

[0335] The processing module 1801 is used to acquire first information. The first information, indicating the information of the sensing signals corresponding to each of the K target locations, includes one or more of the following: transmission power, transmission duration, or the number of time-domain units occupied by the sensing signal. The information of the sensing signal corresponding to the k-th target location among the K target locations satisfies preset conditions. Here, k and K are both positive integers, and k ≤ K.

[0336] The transceiver module 1802 is used to send the first message.

[0337] Optionally, the transceiver module 1802 may include a receiving module and a transmitting module. Figure 18 (Not shown in the image). The transceiver module is used to implement the sending and receiving functions of the communication device 1800.

[0338] Optionally, the communication device 1800 may also include a storage module. Figure 18 (Not shown in the image), this storage module stores programs or instructions. When the processing module 1801 executes the program or instructions, it enables the communication device 1800 to perform operations. Figure 6 The function of the second node in any of the perception methods shown in the examples.

[0339] It should be understood that the processing module 1801 involved in the communication device 1800 can be implemented by a processor or processor-related circuit components, and can be a processor or processing unit; the transceiver module 1802 can be implemented by a transceiver or transceiver-related circuit components, and can be a transceiver or transceiver unit.

[0340] In this embodiment, the communication device 1800 may be a terminal device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the terminal device. Alternatively, the communication device 1800 may be an access network device, or a communication module, circuit with communication function, chip, chip system, or other component or assembly within the access network device; this application does not limit the specific components or assemblies described herein.

[0341] In addition, the technical effects of the communication device 1800 can be referenced. Figure 6 The technical effects of any of the sensing methods shown in the examples are not elaborated here.

[0342] For example, Figure 19 Schematic diagram of the communication device provided in the embodiments of this application Figure 2 The communication device can be a terminal device or a network device, or it can be a chip (system) or other component or assembly that can be installed in the terminal device or network device. For example... Figure 19 As shown, the communication device 1900 may include a processor 1901. Optionally, the communication device 1900 may also include a memory 1902 and / or a transceiver 1903. The processor 1901 is coupled to the memory 1902 and the transceiver 1903, for example, they may be connected via a communication bus.

[0343] The following is combined Figure 19 A detailed description of each component of the communication device 1900 is provided below:

[0344] The processor 1901 is the control center of the communication device 1900. It can be a single processor or a collective term for multiple processing elements. For example, the processor 1901 can be one or more central processing units (CPUs), application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement the embodiments of this application, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0345] Optionally, the processor 1901 can perform various functions of the communication device 1900 by running or executing software programs stored in the memory 1902 and calling data stored in the memory 1902.

[0346] In a specific implementation, as one example, the processor 1901 may include one or more CPUs, for example... Figure 19 CPU0 and CPU1 are shown in the diagram.

[0347] In a specific implementation, as one example, the communication device 1900 may also include multiple processors, for example... Figure 19 The processors 1901 and 1904 are shown. Each of these processors can be a single-core processor or a multi-core processor. Here, "processor" can refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0348] The memory 1902 is used to store the software program that executes the solution of this application, and is controlled by the processor 1901 to execute it. The specific implementation method can be referred to the above method embodiment, and will not be repeated here.

[0349] Optionally, the memory 1902 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 1902 may be integrated with the processor 1901 or may exist independently, and may be connected via the interface circuit of the communication device 1900. Figure 19 (Not shown in the image) is coupled to processor 1901, and this embodiment of the application does not specifically limit this.

[0350] Alternatively, the memory may be located outside the communication device.

[0351] Transceiver 1903 is used for communication with other communication devices. For example, if communication device 1900 is a terminal device, transceiver 1903 can be used to communicate with a network device or with another terminal device. As another example, if communication device 1900 is a network device, transceiver 1903 can be used to communicate with a terminal device or with another network device.

[0352] Alternatively, transceiver 1903 may include a receiver and a transmitter. Figure 19 (Not shown separately). The receiver is used to implement the receiving function, and the transmitter is used to implement the sending function.

[0353] Alternatively, the transceiver 1903 can be integrated with the processor 1901, or it can exist independently and be connected via the interface circuit of the communication device 1900. Figure 19 (Not shown in the image) is coupled to processor 1901, and this embodiment of the application does not specifically limit this.

[0354] It should be noted that, Figure 19 The structure of the communication device 1900 shown does not constitute a limitation on the communication device. Actual communication devices may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0355] Furthermore, the technical effects of the communication device 1900 can be referred to the technical effects of the sensing method described in the above method embodiments, and will not be repeated here.

[0356] It should be understood that the processor in the embodiments of this application can be a CPU, but it can also be other general-purpose processors, DSPs, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0357] It should also be understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory can be ROM, programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), EEPROM, or flash memory. Volatile memory can be RAM, which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0358] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0359] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0360] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0361] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0362] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0363] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0364] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0365] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0366] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0367] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0368] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A sensing method, characterized in that, Applied to the first node, the method includes: The first information is obtained, which indicates that the information of the sensing signal corresponding to each of the K target locations includes one or more of the following: transmission power, transmission duration, or the number of time domain units occupied; the information of the sensing signal corresponding to the kth target location among the K target locations satisfies a preset condition; where k and K are both positive integers, and k≤K; Based on the first information, the sensing signals corresponding to each of the K target locations are sent.

2. The method according to claim 1, characterized in that, The acquisition of the first information includes: Receive the first information.

3. The method according to claim 1 or 2, characterized in that, The preset conditions include one or more of the following: At least one of the following, namely the transmission power, transmission duration, or number of time domain units occupied by the sensing signal corresponding to the k-th target location, is negatively correlated with the first imaging intensity corresponding to the k-th target location; or, or, in, Let be the transmission power of the sensing signal transmitted n times at the k-th target location. Here, represents the transmission duration of the nth sensing signal transmitted at the kth target location; Enoise represents the power of the noise at the first node; min indicates taking the minimum value; SNRthreshold represents the signal-to-noise ratio threshold of the signal transmitted by the first node; Wthreshold represents the energy threshold of the signal transmitted by the first node; n is a positive integer. Both Enoise and Wthreshold are positive numbers.

4. The method according to claim 3, characterized in that, The transmission power and transmission duration of the sensing signal corresponding to the k-th target location satisfy the following relationship: or, or, or, or, or, Where ∝ represents a direct proportional relationship. This represents the imaging intensity of the sensing signal transmitted for the (n-1)th time at the k-th target location, where the first imaging intensity is... The β1, β2, or β3 are all positive numbers and are constants.

5. The method according to any one of claims 1-4, characterized in that, The transmission power and transmission duration of the kth sensing signal are determined based on the noise on the first node and the signal-to-noise ratio threshold of the signal transmitted by the first node.

6. The method according to claim 5, characterized in that, The transmission power and transmission duration of the sensing signal corresponding to the k-th target location satisfy the capability of the first node; the capability of the first node includes one or more of the following: the power range of the sensing signal supported by the first node, the duration range of the sensing signal supported by the first node, the angle range of the sensing signal supported by the first node, the frequency band or carrier supported by the first node, the number of antenna elements of the first node, or the spacing between the antenna elements of the first node.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: Send a second message; wherein the second message is used to indicate the capabilities of the first node.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: Receive third information; the third information is obtained by scattering the sensing signals corresponding to the K target positions by the target object.

9. A sensing method, characterized in that, The method includes: Obtain first information; the first information is used to indicate the information of the sensing signal corresponding to each of the K target locations, including one or more of the following: transmission power, transmission duration, or the number of time domain units occupied; the information of the sensing signal corresponding to the kth target location among the K target locations satisfies a preset condition; where k and K are both positive integers, and k≤K; Send the first message.

10. The method according to claim 9, characterized in that, The preset conditions include one or more of the following: At least one of the following, namely the transmission power, transmission duration, or number of time domain units occupied by the sensing signal corresponding to the k-th target location, is negatively correlated with the first imaging intensity corresponding to the k-th target location; or, or, in, Let be the transmission power of the sensing signal transmitted n times at the k-th target location. Let be the transmission duration of the sensing signal transmitted n times at the k-th target location; Enoise represents the power of the noise at the first node; min indicates taking the minimum value; SNRthreshold represents the signal-to-noise ratio threshold of the signal transmitted by the first node; Wthreshold represents the energy threshold of the signal transmitted by the first node; n is a positive integer. Both Enoise and Wthreshold are positive numbers.

11. The method according to claim 10, characterized in that, The transmission power and transmission duration of the sensing signal corresponding to the k-th target location satisfy the following relationship: or, or, or, or, or, Where ∝ represents a direct proportional relationship. This represents the imaging intensity of the sensing signal transmitted for the (n-1)th time at the k-th target location, where the first imaging intensity is... The β1, β2, or β3 are all positive numbers and are constants.

12. The method according to any one of claims 9-11, characterized in that, The transmission power and transmission duration of the kth sensing signal are determined based on the noise on the first node and the signal-to-noise ratio threshold of the signal transmitted by the first node.

13. The method according to any one of claims 9-12, characterized in that, The transmission power and transmission duration of the sensing information corresponding to the kth target location satisfy the capability of the first node; The capabilities of the first node include: the power range of the transmitted sensing signals supported by the first node, the duration range of the transmitted sensing signals supported by the first node, the angle range of the transmitted sensing signals supported by the first node, the frequency band or carrier supported by the first node, the number of antenna elements of the first node, or the antenna element spacing of the first node.

14. The method according to claim 13, characterized in that, The method further includes: Receive second information; wherein the second information is used to indicate the capabilities of the first node.

15. The method according to any one of claims 9-14, characterized in that, The method further includes: Receive third information; the third information is obtained by scattering the sensing signals corresponding to the K target positions by the target object.

16. A communication device, characterized in that, The communication device includes a module for performing the method as described in any one of claims 1-15.

17. A communication device, characterized in that, include: Processor and interface circuits; among which, The interface circuit is used to receive code instructions and transmit them to the processor; The processor is used to run the code instructions to perform the method as described in any one of claims 1-15.

18. A communication device, characterized in that, The communication device includes a processor and a transceiver, the transceiver being used for information exchange between the communication device and other communication devices, and the processor executing program instructions to perform the method as described in any one of claims 1-15.

19. The communication device according to claim 18, characterized in that, The communication device further includes a memory for storing the program instructions.

20. The communication device according to any one of claims 16-19, characterized in that, The communication device is a chip.

21. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a computer program or instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1-15.

22. A computer program product, characterized in that, The computer program product includes: a computer program or instructions that, when run on a computer, cause the computer to perform the method as described in any one of claims 1-15.

Images