Synchronization method and device for perception, computer readable storage medium and computer program product

Abstract

A synchronization method and apparatus for perception, a computer readable storage medium, and a computer program product, the method comprising: a perception initiator sends a synchronization signal to a perception receiver, correspondingly, the perception receiver receives the synchronization signal, the synchronization signal being used for determining a synchronization error between the perception initiator and the perception receiver; and the sensing receiving end determines a synchronization error between the sensing initiating end and the sensing receiving end according to the synchronization signal. By adopting the scheme of the invention, the synchronization performance with higher precision can be obtained, and the perception accuracy can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, in particular to a synchronization method and device for sensing, a computer readable storage medium and a computer program product. BACKGROUND

[0002] The sixth-generation mobile communications (6G) may introduce sensing function. In an integrated sensing and communication (ISAC) system, higher synchronization accuracy is required for sensing. However, the synchronization accuracy of the traditional communication system cannot meet the requirement of sensing, thereby affecting the accuracy of the sensing result. SUMMARY

[0003] The present application solves the technical problem of how to improve the synchronization accuracy in a sensing scenario.

[0004] To solve the above technical problem, the present application provides a synchronization method for sensing, comprising: sending a synchronization signal, the synchronization signal being used to determine the synchronization error between a sensing initiator and a sensing receiver.

[0005] Optionally, the synchronization method further comprises at least one of the following behaviors: receiving feedback information, the feedback information comprising the synchronization error; sending a sensing signal, the time advance of the sensing signal being corrected based on the synchronization error.

[0006] Optionally, the sending of the synchronization signal comprises: sending a first reference signal, the spatial transmission delay or transmission distance of the first reference signal being known; sending a second reference signal, the second reference signal being used to sense a sensing target.

[0007] Optionally, the first reference signal and the second reference signal are the same or different reference signals.

[0008] Optionally, the synchronization method further comprises: sending first information, the first information being used to indicate the binding relationship between the first reference signal and the second reference signal, or being used to indicate the second reference signal.

[0009] Optionally, the synchronization method further comprises: sending second information, the second information comprising timestamp information, the timestamp information being used to indicate the sending time of the synchronization signal.

[0010] Optionally, the synchronization method further comprises: receiving third information, the third information being used to trigger a synchronization process.

[0011] Optionally, the synchronization method further includes: sending a fourth message, the fourth message being used to trigger the synchronization process.

[0012] Optionally, the transmission time of the synchronization signal and the transmission time interval of the fourth information are preset with an offset value, and the preset offset value is associated with the synchronization signal.

[0013] Optionally, the synchronization signal is sent periodically.

[0014] Optionally, the transmission of synchronization signals includes: transmitting multiple synchronization signals, each synchronization signal being used to determine the synchronization error between the sensing initiator and the corresponding sensing receiver, wherein different synchronization signals correspond to different sensing receivers.

[0015] To address the aforementioned technical problems, embodiments of the present invention also provide a synchronization method for sensing, comprising: receiving a synchronization signal; and determining a synchronization error between a sensing initiator and a sensing receiver based on the synchronization signal.

[0016] Optionally, the synchronization method further includes: receiving a first echo signal, wherein the first echo signal is a signal generated by the sensing signal acting on the sensing target; and obtaining a sensing result based on the first echo signal and the synchronization error processing.

[0017] Optionally, the synchronization method further includes: sending feedback information, the feedback information including the synchronization error.

[0018] Optionally, receiving the synchronization signal includes: receiving a first reference signal, wherein the spatial transmission delay or transmission distance of the first reference signal is known; and receiving a second echo signal, wherein the second echo signal is a signal generated by the second reference signal acting on the sensing target.

[0019] Optionally, determining the synchronization error between the sensing initiator and the sensing receiver based on the synchronization signal includes: calculating the synchronization error based at least on the reception time of the first reference signal and the reception time of the second echo signal.

[0020] Optionally, the first reference signal and the second reference signal may be the same or different reference signals.

[0021] Optionally, the synchronization method further includes: receiving first information, the first information being used to indicate the binding relationship between the first reference signal and the second reference signal, or to indicate the second reference signal.

[0022] Optionally, the synchronization method further includes: receiving second information, the second information including timestamp information, the timestamp information being used to indicate the transmission time of the synchronization signal; determining the synchronization error between the sensing initiator and the sensing receiver based on the synchronization signal includes: determining the synchronization error based on the transmission time and reception time of the synchronization signal.

[0023] Optionally, the synchronization method further includes: receiving fourth information, the fourth information being used to trigger the synchronization process.

[0024] Optionally, the reception time of the synchronization signal and the reception time interval of the fourth information are preset with an offset value, and the preset offset value is associated with the synchronization signal.

[0025] Optionally, the synchronization signal is sent periodically.

[0026] To address the aforementioned technical problems, embodiments of the present invention also provide a synchronization device for sensing, comprising: a transmitting module for transmitting a synchronization signal, wherein the synchronization signal is used to determine the synchronization error between the sensing initiator and the sensing receiver.

[0027] To address the aforementioned technical problems, embodiments of the present invention also provide a synchronization device for sensing, comprising: a receiving module for receiving a synchronization signal; and a processing module for determining the synchronization error between a sensing initiator and a sensing receiver based on the synchronization signal.

[0028] To address the aforementioned technical problems, embodiments of the present invention also provide a computer-readable storage medium, which is a non-volatile or non-transient storage medium storing a computer program thereon. When the computer program is run by a processor, it executes the steps of the above-described method.

[0029] To address the aforementioned technical problems, embodiments of the present invention also provide a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the above-described method.

[0030] To address the aforementioned technical problems, embodiments of the present invention also provide a synchronization device for sensing, comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor executes the steps of the above-described method when running the computer program.

[0031] Compared with the prior art, the technical solution of the embodiments of the present invention has the following beneficial effects:

[0032] This disclosure provides a synchronization method for sensing, comprising: a sensing initiator sending a synchronization signal to a sensing receiver, and correspondingly, the sensing receiver receiving the synchronization signal, wherein the synchronization signal is used to determine the synchronization error between the sensing initiator and the sensing receiver; and the sensing receiver determining the synchronization error between the sensing initiator and the sensing receiver based on the synchronization signal.

[0033] In existing communication scenarios, the requirements for synchronization accuracy are relatively low. The synchronization accuracy obtained by the sensing transceiver based on synchronization technologies such as frame synchronization in the communication scenario cannot meet the sensing requirements, affecting the accuracy of the sensing results. In contrast, the solution disclosed in this publication designs a synchronization signal specifically for sensing, enabling the sensing transceiver to perform synchronization in the sensing scenario based on this synchronization signal to obtain higher precision synchronization performance. Higher precision synchronization performance is conducive to obtaining more accurate sensing results and improving the accuracy of sensing.

[0034] Furthermore, the synchronization process between the sensing transceiver ends can specifically include: the sensing initiator sending a first reference signal to the sensing receiver, and the sensing receiver receiving the first reference signal, wherein the spatial transmission delay or transmission distance of the first reference signal is known; the sensing initiator sending a second reference signal, which is used to sense the sensing target, and the sensing receiver receiving a second echo signal, which is the signal generated by the second reference signal acting on the sensing target. The transmission path of the first reference signal can be understood as a reference path. Based on the difference between the spatial transmission delay of the first reference signal transmitted through the reference path reaching the sensing receiver and the spatial transmission delay of the second reference signal and the second echo signal transmitted through the sensing path reaching the sensing receiver, the sensing receiver can accurately calculate the synchronization error with the sensing initiator.

[0035] Furthermore, the synchronization process between the sensing transceiver ends can specifically include: the sensing initiator sending a synchronization signal to the sensing receiver, and the sensing receiver receiving the synchronization signal, wherein the synchronization signal is used to determine the synchronization error between the sensing initiator and the sensing receiver; the sensing initiator sending second information to the sensing receiver, and the sensing receiver receiving the second information, wherein the second information includes timestamp information, which is used to indicate the transmission time of the synchronization signal; the sensing receiver determining the synchronization error based on the transmission time and reception time of the synchronization signal. Thus, by actively indicating the transmission time of the synchronization signal sent by the sensing initiator to the sensing receiver, the sensing receiver can conveniently and quickly calculate the accurate transmission delay of the synchronization signal based on the actual arrival and transmission times of the synchronization signal, thereby determining the synchronization error with the sensing initiator. Attached Figure Description

[0036] Figure 1This is a signaling interaction diagram of a synchronization method for sensing according to the first embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the synchronization principle based on a reference path in a typical application scenario of an embodiment of the present invention;

[0038] Figure 3 This is a signaling interaction diagram of a synchronization method for sensing according to the second embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram of the synchronization principle based on a reference path in another typical application scenario of the present invention;

[0040] Figure 5 This is a schematic diagram of the synchronization principle based on a reference path in another typical application scenario of this invention;

[0041] Figure 6 This is a schematic diagram of a synchronization device for sensing according to the third embodiment of the present invention;

[0042] Figure 7 This is a schematic diagram of a synchronization device for sensing according to the fourth embodiment of the present invention. Detailed Implementation

[0043] As mentioned in the background section, the synchronization accuracy of traditional communication systems cannot meet the needs of sensing, thus affecting the accuracy of sensing results.

[0044] Specifically, synchronization in existing communication scenarios typically includes carrier synchronization, bit synchronization, frame synchronization, and network synchronization. These synchronization methods generally have relatively low requirements for synchronization accuracy. For example, in frame synchronization, the transmitting and receiving ends only need to synchronize within a cyclic prefix (CP) range to achieve normal communication. If the sensing transceiver achieves synchronization accuracy within the CP range based on the synchronization technology in the communication scenario, there will still be a time delay deviation within that CP range. In a sensing scenario, the sensing receiver needs to convert the received echo signal into spectral domains such as velocity spectrum and angle spectrum for processing to obtain the sensing result. Therefore, the time delay deviation within the aforementioned CP range will also manifest as a phase deviation in the spectral domain. The sensing receiver cannot distinguish whether the phase change in the spectral domain is caused by the time delay deviation or by the sensing target, leading to errors in the final sensing result.

[0045] To address the aforementioned technical problems, this disclosure provides a synchronization method for sensing, comprising: a sensing initiator sending a synchronization signal to a sensing receiver, and correspondingly, the sensing receiver receiving the synchronization signal, wherein the synchronization signal is used to determine the synchronization error between the sensing initiator and the sensing receiver; and the sensing receiver determining the synchronization error between the sensing initiator and the sensing receiver based on the synchronization signal.

[0046] Therefore, by designing a dedicated synchronization signal for sensing, the sensing transceiver can achieve higher-precision synchronization performance by synchronizing within the sensing scenario based on this signal. Higher-precision synchronization performance leads to more accurate sensing results and improves the overall accuracy of sensing.

[0047] The communication sensing integration (hereinafter referred to as sensing integration) system of this disclosure embodiment can include multiple sensing scenarios. In each sensing scenario, a sensing node acting as a sensing initiator sends a sensing signal, and a sensing node acting as a sensing responder receives the signal generated after the sensing signal is applied to the sensing target and processes the received signal using a sensing algorithm. The processed sensing result can be reported to the base station or sensing function (SF) via the uplink channel, or it can be used by the sensing node that received the signal, or it can be used by other user equipment (UE). The sensing function can be a network element of the core network, denoted as an SF network element. The sensing node can be a UE or a network device. The difference between different sensing scenarios lies in the different executing entities of the sensing nodes.

[0048] In mono-static sensing mode, the sensing initiator and the sensing receiver are the same sensing node. That is, the sensing node itself sends sensing signals and receives the signals returned after the sensing signals are applied to the sensing target. The signal received by the sensing receiver in mono-static sensing mode is called the sensing echo signal. Sensing types using mono-static sensing mode can include UE-initiated and network-device-initiated sensing.

[0049] In bi-static sensing mode, the sensing initiator and sensing receiver can be different sensing nodes. That is, sensing node A sends a sensing signal, and sensing node B receives the signal generated after the sensing signal is applied to the sensing target. The signal received by the sensing receiver in bi-static sensing mode is usually called the received signal. In this embodiment, for ease of description, the signals received by the sensing receiver in both bi-static and bi-static sensing modes are collectively referred to as sensing echo signals. Sensing types using bi-static sensing mode can include: network device sending and UE receiving, network device a sending and network device b receiving, UE sending and network device receiving, and UEa sending and UEb receiving. For ease of description, in this embodiment, the sensing initiator is referred to as end a, and the sensing receiver is referred to as end b. In some embodiments, for the a-send-b-receive sensing method, end a can also receive the sensing echo signal; that is, in this case, the sensing initiator can perform bi-static sensing mode while simultaneously performing bi-static sensing mode.

[0050] In multi-static sensing mode, at least one of the sensing initiator and sensing receiver has a multiple number of sensing nodes. That is, multiple sensing nodes A send sensing signals, and one or more sensing nodes B receive the signals generated after each sensing signal is applied to the sensing target; or, one or more sensing nodes A send sensing signals, and multiple sensing nodes B receive the signals generated after at least one sensing signal is applied to the sensing target. Sensing types using multi-static sensing mode can include: one network device sending and multiple network devices receiving; one network device sending and multiple UEs receiving; one UE sending and multiple UEs receiving; one UE sending and multiple network devices receiving; multiple network devices sending and one network device receiving; multiple UEs sending and one network device receiving; multiple UEs sending and one UEb receiving; and multiple network devices sending and one UE receiving.

[0051] For cooperative perception mode, it can be a combination of any two or more of the aforementioned perception scenarios. In autonomous driving applications, cooperative perception enables vehicles to share information to perceive the environment beyond their line of sight and field of view. For example, vehicles within the same area share collective perception information to collaboratively perceive the environment; this is called cooperative perception or collaborative sensing. Perception types using cooperative perception mode can include: multiple UEs or network devices performing mono-station perception, multiple pairs of perception nodes performing bi-station perception, a single UE or network device performing mono-station perception and a pair of perception nodes performing bi-station perception, and a single perception node performing mono-station or bi-station perception on multiple sub-bands.

[0052] To make the above-mentioned objectives, features and beneficial effects of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0053] Figure 1This is a signaling interaction diagram of a synchronization method for sensing according to the first embodiment of the present invention.

[0054] In specific implementation, in the synchronization method for sensing provided in steps S101 to S104 below, the steps implemented by the sensing receiver can be executed by a chip with synchronization function in the UE / network device that serves as the sensing receiver, or by a baseband chip in the UE / network device that serves as the sensing receiver; the steps implemented by the sensing initiator can be executed by a chip with synchronization function in the UE / network device that serves as the sensing initiator, or by a baseband chip in the UE / network device that serves as the sensing initiator.

[0055] This implementation scheme is preferably applicable to sensing scenarios in dual-station sensing mode, collaborative sensing mode, and multi-station sensing mode. Depending on the sensing scenario, the number of sensing initiators can be one or more, and the number of sensing receivers can also be one or more. Furthermore, this implementation scheme can be executed for high-precision synchronization for any sensing initiator and sensing receiver in the current sensing scenario. Next, the synchronization process between a single sensing initiator and a single sensing receiver will be used as an example to specifically illustrate this implementation scheme.

[0056] Specifically, refer to Figure 1 The synchronization method for sensing described in this embodiment may include the following steps:

[0057] S101, the sensing initiator sends a synchronization signal to the sensing receiver. Correspondingly, the sensing receiver receives the synchronization signal. The synchronization signal is used to determine the synchronization error between the sensing initiator and the sensing receiver.

[0058] More specifically, the synchronization signal can be a signal specifically used for time-domain synchronization between sensing transceivers in a sensing scenario. Here, "specifically used" means that both sensing transceivers are clearly aware that the synchronization signal is the same signal used to determine the synchronization error between them. The specific content of the synchronization signal is not limited in this embodiment.

[0059] In some embodiments, the synchronization signal can be a sensing signal, which can be distinguished by its sequence, type, etc., as being used for sensing or for synchronization. For example, an SF network element can pre-indicate that a specific type (and / or a specific sequence) of sensing signal is a synchronization signal. Accordingly, when the sensing initiator performs a synchronization operation with the sensing receiver, it first sends the sensing signal indicated as a synchronization signal to the sensing receiver for synchronization, and then sends the sensing signal used for sensing (i.e., the sensing signal not indicated as a synchronization signal) to sense the sensing target.

[0060] In some embodiments, the synchronization signal and / or sensing signal may be, for example, a Sounding Reference Signal (SRS), or other communication signals used for sensing, such as a Channel State Information-Reference Signal (CSI-RS), a Positioning Reference Signal (PRS), or a Synchronization Signal / Physical Broadcast Channel Block (SS / PBCH BLOCK, i.e., SSB), or a signal or channel specifically designed for sensing. For example, the protocol may define SRS for synchronization and CSI-RS for sensing. Accordingly, in S101, the sensing initiator sends SRS to synchronize with the sensing receiver in the time domain. After synchronization is completed, the sensing initiator sends CSI-RS to sense the target.

[0061] In a specific implementation, continue to refer to Figure 1 S101 may specifically include:

[0062] S1011, the sensing initiator sends a first reference signal to the sensing receiver. Correspondingly, the sensing receiver receives the first reference signal. The spatial transmission delay or transmission distance of the first reference signal is known.

[0063] S1012, the sensing initiator sends a second reference signal. Correspondingly, the sensing receiver receives a second echo signal. The second reference signal is used to sense the target, and the second echo signal is the signal generated when the second reference signal is applied to the target.

[0064] Specifically, the first reference signal and the second reference signal can be used together for synchronization in a sensing scene; therefore, they can be broadly understood as synchronization signals. Figure 2The transmission path of the first reference signal can be understood as a reference path, and the transmission path of the second reference signal (and the second echo signal generated based on the second reference signal) can be understood as a reflected path. The reference path is a transmission path specifically determined for the synchronization process in the sensing scenario of this embodiment, and its spatial transmission delay or transmission distance is known to the sensing transceiver. The reflected path is the actual signal transmission path for sensing between the sensing initiator and the sensing receiver. Since the sensing transceiver has not yet completed synchronization when the second reference signal is sent, the second reference signal can be understood as a sensing signal used for synchronization, i.e., part of the synchronization signal in S101.

[0065] In some embodiments, taking a perception scenario where the network device transmits and the UE receives as an example, the network device can determine the beam direction that is most likely in the line-of-sight (LOS) direction based on the CSI information reported by the UE in the past. Further, this beam direction is the reference path, and the network device can transmit a first reference signal in this beam direction; correspondingly, the UE receives the first reference signal in this beam direction.

[0066] In some embodiments, taking the perception scenario of network device transmitting and UE receiving as an example, the specific spatial location of the UE can be determined by using the UE positioning result, and then a beam direction that can be used as a reference path can be locked. Furthermore, the network device can transmit a first reference signal in this beam direction, and correspondingly, the UE receives the first reference signal in this beam direction.

[0067] Furthermore, based on the specific spatial location of the UE, the time deviation T1 between the network device's transmission time and the actual downlink arrival time can be calculated (e.g., Figure 2 (As shown).

[0068] Furthermore, based on the difference between the spatial transmission delay of the first reference signal transmitted via the reference path reaching the sensing receiver and the spatial transmission delay of the second reference signal and the second echo signal transmitted via the sensing path reaching the sensing receiver, the sensing receiver can accurately calculate the synchronization error with the sensing initiator. Therefore, even when there is a time synchronization error between the sensing receiver and the sensing initiator, it is still possible to perform distance and / or velocity estimation or other parameter estimation of the sensing target to eliminate the influence of the error.

[0069] Continue to refer to Figure 1 The synchronization method for sensing described in this embodiment may further include the following steps:

[0070] S102, the sensing receiver determines the synchronization error between the sensing initiator and the sensing receiver based on the synchronization signal.

[0071] Specifically, S102 may further include the step: S1021, the sensing receiver calculates the synchronization error based at least on the reception time of the first reference signal and the reception time of the second echo signal.

[0072] Combination Figure 2 The sensing initiator (e.g., a network device) transmits a first reference signal on the reference path at time x0. The actual downlink arrival time of the first reference signal is time x. If the sensing receiver (e.g., a UE) has a synchronization error, it will actually receive the first reference signal at time x'. Similarly, the sensing initiator (e.g., a network device) transmits a second reference signal on the sensing path at time y0. The actual downlink arrival time of the second echo signal is time y. If the sensing receiver (e.g., a UE) has a synchronization error, it will actually receive the second echo signal at time y'. In this case, the deviation between x' and x, and the deviation between y' and y (denoted as delta_T) are the synchronization errors that need to be compensated for (or eliminated) using this implementation scheme.

[0073] In some embodiments, the specific value of delta_T can be calculated directly.

[0074] In some embodiments, instead of directly calculating the specific value of delta_T, delta_T can be characterized based on the deviation delta_L between the spatial transmission delays of the reference path and the sensing path. Specifically, combining Figure 1 and Figure 2 It can be seen that the spatial transmission delay on the reference path is L1 = T1 + delta_T, and the spatial transmission delay on the sensing path is L2 = T2 + delta_T. Here, the deviation between the actual downlink arrival time and transmission time on the reference path is T1 = x - x0, and the deviation between the actual downlink arrival time and transmission time on the sensing path is T2 = y - y0. delta_L = T1 - T2 = L1 - L2.

[0075] During the calculation, L1 is equal to the length of the reference path divided by the speed of light, and L2 is unknown. However, the sensing receiver (e.g., UE) can determine the difference between L1 and L2 as y'-x'-2*OFDM length.

[0076] Therefore, delta_L can be determined based on the difference between L1 and L2, and the sensing receiver can determine the synchronization error based on delta_L.

[0077] In some embodiments, the first reference signal and the second reference signal can be the same reference signal. For example, the first reference signal and the second reference signal can be reference signals of the same type and the same sequence. The sensing initiator transmits the same reference signal on both the reference path and the sensing path (e.g., transmitting the same reference signal on different beams; for example, in a periodic SRS, the sensing initiator can use beam 1 to transmit SRS in the current period and beam 2 to transmit SRS in the next period). The sensing receiver receives the reference signal and the echo signal generated by the reference signal acting on the sensing target on the reference path and the sensing path, respectively. Thus, the network side does not need to pre-indicate the specific content of the synchronization signal; in response to receiving a reference signal (i.e., the first reference signal) on the reference path, the sensing receiver can directly determine that the same reference signal received on the sensing path is the second reference signal.

[0078] In some embodiments, the first reference signal and the second reference signal can be different reference signals. For example, the first reference signal and the second reference signal can be reference signals of the same type but different sequences. Alternatively, the first reference signal and the second reference signal can be reference signals of different types and different sequences. For example, the first reference signal can be an SSB, and the second reference signal can be a CSI-RS. The network side can pre-indicate the type and sequence number of the reference signal used as a synchronization signal, and the sensing receiver determines accordingly that the reference signal of a specific type and sequence number received on the reference path is the first reference signal, and the reference signal of a specific type and sequence number received on the sensing path is the second reference signal.

[0079] In some embodiments, prior to S101, the synchronization method for sensing described in this embodiment may further include the step of: the sensing initiator sending first information to the sensing receiver, and correspondingly, the sensing receiver receiving the first information. The first information is used to indicate the binding relationship between the first reference signal and the second reference signal.

[0080] Specifically, a first reference signal and a second reference signal can be pre-bound. When the sensing initiator triggers the sensing receiver to execute the synchronization process described in this embodiment, it synchronously carries the first information to perform joint binding triggering. Here, binding means that the first reference signal and the second reference signal that have a binding relationship are used together to determine the synchronization error, while the first reference signal and the second reference signal that do not have a binding relationship will not be used together.

[0081] For example, the first information could indicate (SSB-1, CSI-RS-2) and (SSB-3, CSI-RS-4). In response to receiving the first information, the sensing receiver can determine that SSB-1 is the first reference signal, CSI-RS-2 is the second reference signal and the two are bound together, and that SSB-3 is the first reference signal, CSI-RS-4 is the second reference signal and the two are bound together. If the sensing receiver receives SSB-1, it expects to receive CSI-RS-2 to calculate the synchronization error based on S1021. If the sensing receiver receives SSB-3, it expects to receive CSI-RS-4 to calculate the synchronization error based on S1021. If the sensing receiver receives SSB-1 and then receives CSI-RS-4, it will not calculate the synchronization error based on the received information of these two reference signals.

[0082] Furthermore, the first information can be carried through downlink control information (DCI).

[0083] In some embodiments, prior to S101, the synchronization method for sensing described in this embodiment may further include the step of: the sensing initiator sending first information to the sensing receiver, and correspondingly, the sensing receiver receiving the first information. The first information may be used to indicate a second reference signal.

[0084] Specifically, a unified first reference signal can be predefined, which can serve as the reference benchmark for all subsequent second reference signals; that is, one first reference signal can be associated with at least one second reference signal. Furthermore, the location (e.g., time domain location) of the second reference signal that the sensing receiver needs to receive this time is dynamically indicated by the first information.

[0085] For example, SSB-x can be predefined as the first reference signal, and the first information indicates the identifier of the second reference signal used for this synchronization. In response to receiving the first information, the sensing receiver receives SSB-x and the second reference signal indicated by the first information, and executes S1021 to calculate the synchronization error.

[0086] Furthermore, the first information can be carried through a DCI or a Medium Access Control-Control Element (MAC-CE). In response to receiving a signal carrying the DCI, the sensing receiver can determine that it receives a first reference signal at an offset of u time slots from the received DCI and a second reference signal at an offset of v time slots. The specific value of u is associated with the first reference signal and pre-configured via the network side or protocol, and the specific value of v is associated with the second reference signal and pre-configured via the network side or protocol.

[0087] In a specific implementation, continue to refer to Figure 1 The synchronization method for sensing described in this embodiment may further include the following steps:

[0088] S103, the sensing initiator sends a sensing signal. Correspondingly, the sensing receiver receives the first echo signal. The first echo signal is the signal generated when the sensing signal acts on the sensing target.

[0089] Specifically, the sensing signal and the corresponding first echo signal can be signals transmitted through the sensing path. That is, the sensing signal, the first echo signal, the second reference signal, and the second echo signal are transmitted based on the same sensing path (such as beam direction). Therefore, the synchronization error calculated based on the aforementioned S1021 can compensate for the first echo signal to ensure that the sensing receiver eliminates the calculation deviation of the sensing result caused by the synchronization error in the first echo signal.

[0090] In some embodiments, the sensing signal and the second reference signal can be the same reference signal, the difference being that the former is used to acquire the sensing result, and the latter is used for synchronization. In practical applications, the sensing signal and the second reference signal can also be different reference signals.

[0091] In a specific implementation, continue to refer to Figure 1 The synchronization method for sensing described in this embodiment may further include the following steps:

[0092] S104, the sensing receiver obtains the sensing result based on the first echo signal and synchronization error processing.

[0093] Specifically, before converting the sensing results from the time domain to the velocity spectrum (or angle spectrum) domain based on the sensing algorithm, the sensing receiver can first extract the synchronization error from the sensing results in the time domain. Thus, the phase converted to the velocity spectrum (or angle spectrum) domain is basically only related to the sensing target, which is beneficial to accurately obtain the sensing results such as the moving speed and angle of the sensing target.

[0094] Therefore, in response to the calculated synchronization error, the sensing receiver can automatically correct the sensing results in subsequent sensing processes, eliminating the estimation bias of the sensing results caused by the synchronization error.

[0095] In one specific implementation, following S1021, this implementation plan may further include the step of: the sensing receiver sending feedback information to the sensing initiator, and correspondingly, the sensing initiator receiving the feedback information. The feedback information includes synchronization error.

[0096] Specifically, the sensing initiator can proactively or in response to the initiator's instruction to feed back the synchronization error as feedback information.

[0097] Furthermore, in response to receiving feedback information, the above S103 can be replaced by: the sensing initiator sending a sensing signal, wherein the timing advance of the sensing signal is corrected based on the synchronization error. Correspondingly, the sensing receiver receives a first echo signal, which is the echo signal generated when the corrected sensing signal is applied to the sensing target.

[0098] Assuming the synchronization error is x' ahead of x (or y' ahead of y) m time units (the unit can be a time slot or a symbol), the sensing initiator can delay sending the sensing signal by m time units (i.e., the original TA value minus m) to compensate for this synchronization error. Here, the original TA value is the timing advance (TA) determined during the initial interaction between the sensing transceiver and receiver; the original TA value can be zero.

[0099] Assuming the synchronization error is x' later than x (or y' later than y) m time units (the unit can be a time slot or a symbol), the sensing initiator can send the sensing signal m time lengths earlier (that is, the original TA value plus m) to compensate for the synchronization error.

[0100] In this specific implementation, since the synchronization error is eliminated at the sensing initiation end, the aforementioned S104 can be omitted. Accordingly, the sensing receiver can directly calculate the sensing result based on the first echo signal.

[0101] Therefore, by compensating for synchronization errors at the sensing initiation end, the first echo signal received by the sensing receiver has already eliminated the influence of time errors, allowing for direct calculation of accurate distance / angle estimates using sensing algorithms. This helps reduce the complexity at the sensing receiver, especially in sensing scenarios where the sensing receiver is a UE, thus reducing UE complexity and power consumption.

[0102] Therefore, by adopting this implementation scheme and designing a dedicated synchronization signal for sensing, the sensing transceiver can achieve higher-precision synchronization performance by synchronizing within the sensing scenario based on this signal. Higher-precision synchronization performance facilitates obtaining more accurate sensing results and improves the accuracy of sensing.

[0103] Figure 3 This is a signaling interaction diagram of a synchronization method for sensing according to the second embodiment of the present invention.

[0104] In specific implementation, in the synchronization method for sensing provided in steps S301 to S305 below, the steps implemented by the sensing receiver can be executed by a chip with synchronization function in the UE / network device that serves as the sensing receiver, or by a baseband chip in the UE / network device that serves as the sensing receiver; the steps implemented by the sensing initiator can be executed by a chip with synchronization function in the UE / network device that serves as the sensing initiator, or by a baseband chip in the UE / network device that serves as the sensing initiator.

[0105] Specifically, refer to Figure 3 The synchronization method for sensing described in this embodiment may include the following steps:

[0106] S301, the sensing initiator sends a synchronization signal to the sensing receiver. Correspondingly, the sensing receiver receives the synchronization signal. The synchronization signal is used to determine the synchronization error between the sensing initiator and the sensing receiver.

[0107] Specifically, the synchronization signal can be the first reference signal in the first embodiment described above, that is, the signal transmitted through the reference path.

[0108] Further reference Figure 3 The synchronization method for sensing described in this embodiment may include the following steps:

[0109] S302, the sensing initiator sends second information to the sensing receiver. Correspondingly, the sensing receiver receives the second information, which includes timestamp information used to indicate the transmission time of the synchronization signal.

[0110] In some embodiments, reference Figure 4 The second information can be carried in the DCI, which can be used to dynamically schedule the sensing receiver to perform the synchronization process of this implementation scheme. Furthermore, the second information can also be carried in the DCI to indicate the transmission time x0 of the synchronization signal sent by the sensing initiator.

[0111] In some embodiments, reference Figure 5 The synchronization signal can be transmitted periodically, with the period being, for example, an integer multiple of the OFDM symbol. The second information can be carried in the system message. Furthermore, the system message can carry the second information, which indicates the transmission time x0 of any given synchronization signal. The system message can be, for example, a System Information Block (SIB) or a Master Information Block (MIB).

[0112] Continue to refer to Figure 3The synchronization method for sensing described in this embodiment may include the following steps:

[0113] S303, the sensing receiver determines the synchronization error based on the transmission time and reception time of the synchronization signal.

[0114] Specifically, refer to Figure 4 and Figure 5 Since the transmission time x0 of the synchronization signal is known, T1 can be calculated, and the reception time x' of the synchronization signal is known, the sensing receiver can directly calculate delta_T = x' - T1 - x0.

[0115] Therefore, by actively indicating the transmission time of the synchronization signal sent by the sensing initiator to the sensing receiver, the sensing receiver can easily and quickly calculate the accurate transmission delay of the synchronization signal based on the actual arrival and transmission time of the synchronization signal, thereby determining the synchronization error between itself and the sensing initiator.

[0116] In a specific implementation, following S303, refer to... Figure 3 This implementation scheme may further include the step: S304, the sensing receiver sends feedback information to the sensing initiator, and correspondingly, the sensing initiator receives the feedback information. The feedback information includes synchronization error.

[0117] In response to receiving feedback information, the sensing receiver executes step S305, corrects the timing advance based on the synchronization error, and transmits the sensing signal based on the corrected timing advance. Correspondingly, the sensing receiver receives the first echo signal, which is the signal generated after the sensing signal is applied to the sensing target.

[0118] Since the synchronization error has been compensated at the sensing initiator, the sensing receiver can execute S306 to obtain the sensing result based on the first echo signal processing.

[0119] Therefore, by compensating for the synchronization error in the calculation, it is beneficial to improve the estimation performance of the sensing receiver for distance, speed, angle, etc.

[0120] In a common embodiment of the first and second embodiments described above, the synchronization process can be executed periodically. Accordingly, the first reference signal and the second reference signal can be periodically repeating reference signals.

[0121] In a common embodiment of the first and second embodiments described above, the synchronization process can also be executed in one go. Before S101 or S301, this implementation may further include the step of: the sensing initiator receiving third information, which is used to trigger the synchronization process.

[0122] Specifically, in a perception scenario where the UE is the initiator of perception, the network side can trigger the UE to execute the synchronization process of this implementation scheme through third-party information in order to obtain more accurate perception results.

[0123] In some embodiments, the network side that sends third-party information may be a third-party device independent of the sensing transceiver, such as an SF network element, or a network device that is not a sensing initiator or sensing receiver.

[0124] In some embodiments, in a multi-site sensing mode or a collaborative sensing mode, if one of the sensing initiators is a network device, the network device can send third information to trigger other UEs that are also sensing initiators to perform a synchronization process.

[0125] In a variation, prior to S101 or S301, this implementation may further include the step of: the sensing initiator sending fourth information to the sensing receiver, and correspondingly, the sensing receiver receiving the fourth information. The fourth information is used to trigger the synchronization process.

[0126] Specifically, in a sensing scenario where the sensing initiator is a network device, the sensing initiator can determine whether the synchronization process described in this implementation scheme needs to be executed. If it is determined that synchronization is required, the peer (i.e., the sensing receiver) can be triggered to cooperate in executing the synchronization process via a fourth message. For example, during the sensing process, the sensing receiver can feed back the sensing results to the sensing initiator. If the sensing initiator finds that the accuracy of the sensing results is poor, it can send a fourth message to trigger the synchronization process.

[0127] In some embodiments, the first information (or the second information) may be integrated into the fourth information. That is, the first reference signal and / or the second reference signal may be indicated together in the signaling that triggers the synchronization process.

[0128] In some embodiments, the fourth information may be carried via DCI.

[0129] In some embodiments, the reception time of the synchronization signal and the reception time of the fourth information can be spaced apart by a preset offset value, which is associated with the synchronization signal. The preset offset value can be, for example, the aforementioned u or v. That is, in response to receiving the fourth information, the sensing receiver can determine the time-domain position of the received synchronization signal while simultaneously determining that the synchronization process has been triggered.

[0130] In a common embodiment of the first and second embodiments described above, in a multi-station sensing scenario or a collaborative sensing scenario, in response to the existence of multiple sensing receivers, when the sensing initiator executes S101 or S301, it can send multiple synchronization signals to the multiple sensing receivers. Each synchronization signal is used to determine the synchronization error between the sensing initiator and the corresponding sensing receiver, wherein different synchronization signals correspond to different sensing receivers.

[0131] For example, the sensing initiator can send a synchronization signal to each sensing receiver so that each sensing receiver can determine its own synchronization error with the sensing initiator.

[0132] Furthermore, multiple synchronization signals can be identical, which helps reduce implementation complexity.

[0133] Alternatively, at least one synchronization signal can be different from the others, which may be advantageous in reducing interference.

[0134] Figure 6 This is a schematic diagram of a synchronization device 6 for sensing according to a third embodiment of the present invention. Those skilled in the art will understand that the synchronization device 6 for sensing described in this embodiment can be used to implement the above-described... Figures 1 to 5 The method described in the embodiments is a technical solution.

[0135] Specifically, refer to Figure 6 The synchronization device 6 for sensing described in this embodiment may include: a transmitting module 61, used to transmit a synchronization signal, the synchronization signal being used to determine the synchronization error between the sensing initiator and the sensing receiver.

[0136] For more information on the working principle and operation mode of the synchronization device 6 used for sensing, please refer to the above. Figures 1 to 5 The relevant descriptions in the text will not be repeated here.

[0137] In specific implementation, the aforementioned synchronization device 6 for sensing can correspond to a chip with synchronization function in the UE / network device that serves as the sensing initiator, or to a chip with data processing function, such as a system-on-a-chip (SOC), baseband chip, etc.; or to a chip module in the UE / network device that serves as the sensing initiator that includes a chip with communication function; or to a chip module with a chip with data processing function; or to the UE / network device that serves as the sensing initiator.

[0138] Figure 7 This is a schematic diagram of a synchronization device 7 for sensing according to a fourth embodiment of the present invention. Those skilled in the art will understand that the synchronization device 7 for sensing described in this embodiment can be used to implement the above-described... Figures 1 to 5The method described in the embodiments is a technical solution.

[0139] Specifically, refer to Figure 7 The synchronization device 7 for sensing described in this embodiment may include: a receiving module 71 for receiving a synchronization signal; and a processing module 72 for determining the synchronization error between the sensing initiator and the sensing receiver based on the synchronization signal.

[0140] In specific implementations, the aforementioned synchronization device 7 for sensing can correspond to a chip with synchronization function in the UE / network device that serves as the sensing receiver, or to a chip with data processing function, such as a system-on-a-chip (SOC), baseband chip, etc.; or to a chip module in the UE / network device that serves as the sensing receiver that includes a chip with communication function; or to a chip module with a chip with data processing function; or to the UE / network device that serves as the sensing receiver.

[0141] In specific implementation, the modules / units included in the various devices and products described in the above embodiments can be software modules / units, hardware modules / units, or a combination of both.

[0142] For example, for various devices and products applied to or integrated into a chip, each module / unit can be implemented using hardware methods such as circuits, or at least some modules / units can be implemented using software programs that run on a processor integrated within the chip, while the remaining (if any) modules / units can be implemented using hardware methods such as circuits; for various devices and products applied to or integrated into a chip module, each module / unit can be implemented using hardware methods such as circuits, and different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or different components of the chip module, or at least some modules / units can be implemented using hardware methods such as circuits. The components can be implemented using software programs that run on the processor integrated within the chip module. The remaining (if any) modules / units can be implemented using hardware methods such as circuits. For various devices and products applied to or integrated into the terminal, each of its components / units can be implemented using hardware methods such as circuits. Different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or in different components within the terminal. Alternatively, at least some modules / units can be implemented using software programs that run on the processor integrated within the terminal, while the remaining (if any) modules / units can be implemented using hardware methods such as circuits.

[0143] This invention also provides a computer-readable storage medium, which is a non-volatile or non-transitory storage medium storing a computer program. When executed by a processor, the computer program performs the steps of the synchronization method for sensing provided in any of the above embodiments. Preferably, the storage medium may include a computer-readable storage medium such as non-volatile or non-transitory memory. The storage medium may include ROM, RAM, a magnetic disk, or an optical disk, etc.

[0144] This invention also provides another synchronization device for sensing, including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the above-described functions when running the computer program. Figures 1 to 5 The steps of the synchronization method for sensing provided in the corresponding embodiment are described. The synchronization device for sensing can be integrated into the UE / network device that acts as the sensing initiator, or the synchronization device for sensing can be, for example, a UE / network device that acts as the sensing initiator. Alternatively, the synchronization device for sensing can be integrated into the UE / network device that acts as the sensing receiver, or the synchronization device for sensing can be, for example, a UE / network device that acts as the sensing receiver.

[0145] This invention also provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the above-described... Figures 1 to 5 The steps of the method described in the illustrated embodiment.

[0146] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include ROM, RAM, disk, or optical disk, etc.

[0147] The technical solution of this invention is applicable to 5G (5-generation) communication systems, as well as 4G and 3G communication systems, and can also be applied to various communication systems that evolve in the future, such as 6G and 7G.

[0148] This technical solution is also applicable to different network architectures, including but not limited to relay network architecture, dual-link architecture, and Vehicle-to-Everything (V2X) architecture.

[0149] The 5G CN described in this application embodiment can also be referred to as a new core network, 5GNewCore, or next-generation core (NGC), etc. The 5G-CN is set up independently of existing core networks, such as evolved packet cores (EPC).

[0150] The base station (BS) in this application embodiment, also referred to as base station equipment, is a device deployed in a wireless access network to provide wireless communication functions. For example, in a 2G network, equipment providing base station functions includes a base transceiver station (BTS) and a base station controller (BSC); in a 3G network, equipment providing base station functions includes a Node B (NodeB) and a radio network controller (RNC); in a 4G network, equipment providing base station functions includes an evolved Node B (eNB); in wireless local area networks (WLANs), equipment providing base station functions is an access point (AP); in 5G New Radio (NR), equipment providing base station functions includes a continuing evolved Node B (gNB); and other equipment providing base station functions in future new communication systems, etc.

[0151] In this application, the term "terminal" can refer to various forms of user equipment (UE), access terminal, user unit, user station, mobile station, mobile station (MS), remote station, remote terminal, mobile device, user terminal, terminal equipment, wireless communication equipment, user agent, or user device. Terminal equipment can also be a cellular phone, cordless phone, Session Initiation Protocol (SIP) phone, Wireless Local Loop (WLL) station, Personal Digital Assistant (PDA), handheld device with wireless communication capabilities, computing device, or other processing device connected to a wireless modem, in-vehicle device, wearable device, terminal equipment in future 5G networks, or terminal equipment in future evolved Public Land Mobile Networks (PLMNs), etc. This application does not limit the scope of these examples.

[0152] 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. Additionally, the character " / " in this article indicates that the preceding and following related objects have an "or" relationship.

[0153] In the embodiments of this application, "multiple" refers to two or more.

[0154] The descriptions of "first," "second," etc., appearing in the embodiments of this application are for illustrative purposes and to distinguish the objects being described. They have no order and do not indicate any special limitation on the number of devices in the embodiments of this application, nor do they constitute any limitation on the embodiments of this application.

[0155] In this application's embodiments, "connection" refers to various connection methods, such as direct or indirect connection, to achieve communication between devices. This application's embodiments do not impose any limitations on this. In this application's embodiments, "network" and "system" express the same concept; a communication system is a communication network.

[0156] It should be understood that in the embodiments of this application, the processor can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (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.

[0157] 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. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0158] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as 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.

[0159] 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.

[0160] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, and systems can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0161] 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. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can be physically comprised separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or in a combination of hardware and software functional units.

[0162] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute some steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0163] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A synchronization method for perception, characterized in that, Comprising: sending a synchronization signal, the synchronization signal being used to determine a synchronization error between a sensing initiator and a sensing receiver.

2. The synchronization method of claim 1, wherein, Further comprising at least one of: receiving feedback information, the feedback information comprising the synchronization error; sending a sensing signal, a time advance of the sensing signal being corrected based on the synchronization error.

3. The synchronization method according to claim 1 or 2, characterized in that, The sending of the synchronization signal comprises: sending a first reference signal, a spatial transmission delay or transmission distance of the first reference signal being known; sending a second reference signal, the second reference signal being used to sense a sensing target.

4. The synchronization method of claim 3, wherein, The first reference signal and the second reference signal are the same or different reference signals.

5. The synchronization method according to claim 3 or 4, characterized in that, Further comprising: sending first information, the first information being used to indicate a binding relationship of the first reference signal and the second reference signal, or being used to indicate the second reference signal.

6. The synchronization method of claim 1 or 2, wherein, Further comprising: sending second information, the second information comprising timestamp information, the timestamp information being used to indicate a sending time of the synchronization signal.

7. The synchronization method of any one of claims 1 to 6, wherein, Further comprising: receiving third information, the third information being used to trigger a synchronization procedure.

8. The synchronization method of any one of claims 1 to 6, wherein, Further comprising: sending fourth information, the fourth information being used to trigger a synchronization procedure.

9. The synchronization method of claim 8, wherein, The sending time of the synchronization signal and the sending time of the fourth information are separated by a preset offset value, the preset offset value being associated with the synchronization signal.

10. The synchronization method of any one of claims 1 to 9, characterized in that, The synchronization signal is periodically sent.

11. The synchronization method of any one of claims 1 to 10, wherein, The sending of the synchronization signal comprises: sending a plurality of synchronization signals, each synchronization signal being used to determine a synchronization error between the sensing initiator and a corresponding sensing receiver, wherein different synchronization signals correspond to different sensing receivers.

12. A synchronization method for sensing, characterized in that, Comprising: receiving a synchronization signal; determining a synchronization error between a sensing initiator and a sensing receiver according to the synchronization signal.

13. The synchronization method of claim 12, wherein, Further comprising: receiving a first echo signal, the first echo signal being a signal generated by a sensing signal acting on a sensing target; processing a sensing result based on the first echo signal and the synchronization error.

14. The synchronization method according to claim 12 or 13, characterized in that, Further comprising: sending feedback information, the feedback information comprising the synchronization error.

15. The synchronization method of any one of claims 12 to 14, characterized in that, The receiving of the synchronization signal comprises: receiving a first reference signal, a spatial transmission delay or transmission distance of the first reference signal being known; receiving a second echo signal, the second echo signal being a signal generated by a second reference signal acting on a sensing target.

16. The synchronization method of claim 15, wherein, The determining of the synchronization error between the sensing initiator and the sensing receiver according to the synchronization signal comprises: calculating the synchronization error based on at least a receiving time of the first reference signal and a receiving time of the second echo signal.

17. The synchronization method according to claim 15 or 16, characterized in that, The first reference signal and the second reference signal are the same or different reference signals.

18. The synchronization method of any one of claims 15 to 17, characterized in that, Further comprising: receiving first information, the first information being used to indicate a binding relationship of the first reference signal and the second reference signal, or being used to indicate the second reference signal.

19. The synchronization method of any one of claims 12-14, wherein, Further comprising: receiving second information, the second information comprising timestamp information, the timestamp information being used to indicate a sending time of the synchronization signal. The determining of the synchronization error between the sensing initiator and the sensing receiver according to the synchronization signal comprises: determining the synchronization error according to a sending time of the synchronization signal and a receiving time of the synchronization signal.

20. The synchronization method of any of claims 12 to 19, wherein, Further comprising: receive fourth information, the fourth information being used for triggering a synchronization procedure.

21. The synchronization method of claim 20, wherein, The receiving time of the synchronization signal and the receiving time of the fourth information are separated by a preset offset value, the preset offset value being associated with the synchronization signal.

22. The synchronization method of any of claims 12 to 21, wherein, The synchronization signal is periodically transmitted.

23. A synchronization apparatus for sensing, comprising: Comprising: a sending module, configured to send a synchronization signal, the synchronization signal being used for determining a synchronization error between a sensing initiator and a sensing receiver.

24. A synchronization apparatus for sensing, comprising: Comprising: a receiving module, configured to receive a synchronization signal; a processing module, configured to determine a synchronization error between a sensing initiator and a sensing receiver according to the synchronization signal.

25. A computer-readable storage medium, which is a non-volatile storage medium or a non-transitory storage medium, on which a computer program is stored, characterized by The computer program, when executed by the processor, performs the steps of the method of any one of claims 1 to 22.

26. A computer program product comprising computer programs / instructions, characterized in that, The computer program / instructions, when executed by the processor, implement the steps of the method of any one of claims 1 to 22. 27.A synchronization apparatus for perception, comprising a memory and a processor, wherein a computer program is stored on the memory and executable on the processor, and the computer program comprises the following steps of: The processor, when executing the computer program, performs the steps of the method of any one of claims 1 to 22.

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