Communication method and device, equipment and storage medium

Abstract

The invention provides a communication method and device, equipment and a storage medium. The method comprises the following steps: receiving a sensing reference signal sent by a first node; the sensing reference signal is measured, target information is obtained, and the target information comprises at least one of channel frequency domain response (CFR), a CFR time difference value and a sensing measurement value; and sending the target information to a second node. And the positioning accuracy of the sensing target is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, and particularly relates to a communication method, device, equipment and storage medium. BACKGROUND

[0002] A channel model of integrated sensing and communication (ISAC) can introduce a wireless sensing function in a wireless mobile communication system. For example, ISAC can determine the position of a target through wireless signals.

[0003] At present, a sensing sending node can emit wireless signals to an environment where a sensing target is located, and a sensing receiving node can receive wireless signals reflected, scattered and multipath transmitted by the environment, and determine the position of the sensing target in the environment based on the received wireless signals. However, there are many interference signals in the wireless signals received by the sensing receiving node, which leads to low positioning accuracy of the sensing target. SUMMARY

[0004] The present application provides a communication method, device, equipment and storage medium, which are used to solve the technical problem of low positioning accuracy in the prior art.

[0005] In a first aspect, the present application provides a communication method, comprising:

[0006] receiving a sensing reference signal sent by a first node;

[0007] measuring the sensing reference signal to obtain target information, the target information comprising at least one of the following: channel frequency domain response (CFR), CFR time difference value, sensing measurement value;

[0008] sending the target information to a second node.

[0009] In an implementation manner, the target information further comprises at least one of the following:

[0010] interference cancellation indication information, the interference cancellation indication information being used to indicate whether the sensing measurement value is a sensing measurement value after interference cancellation;

[0011] sensing measurement related information.

[0012] In an implementation manner, the sensing measurement related information comprises at least one of the following:

[0013] receiving beam direction;

[0014] receiving antenna group;

[0015] timestamp information of the CFR, the timestamp information of the CFR comprising a start timestamp and / or an end timestamp of the CFR;

[0016] timestamp information of the CFR, the timestamp information of the CFR comprising a start timestamp and / or an end timestamp of the CFR;

[0017] timestamp information of the CFR time difference value, the timestamp information of the CFR time difference value comprising a start timestamp and / or an end timestamp of the CFR time difference value;

[0018] signal quality indication information.

[0019] In an embodiment, the CFR in the target information is determined according to the sensing reference signal; and / or,

[0020] the CFR time difference value in the target information is determined according to the CFR corresponding to the sensing reference signal at different sending time instants on the same subcarrier position; and / or,

[0021] the sensing measurement value in the target information is determined according to the CFR time difference value corresponding to the available subcarrier or the available subcarrier position.

[0022] In an embodiment, the receiving of the sensing reference signal sent by the first node comprises:

[0023] receiving resource configuration information of the sensing reference signal sent by the second node, the resource configuration information comprising relevant configuration information of time domain resource, frequency domain resource and / or space domain resource of the sensing reference signal;

[0024] receiving the sensing reference signal sent by the first node according to the resource configuration information.

[0025] In an embodiment, the receiving of the sensing reference signal sent by the first node according to the resource configuration information comprises:

[0026] receiving the sensing reference signal sent by the first node according to the time domain resource position indicated by the relevant configuration information of the time domain resource, the frequency domain resource position indicated by the relevant configuration information of the frequency domain resource and / or the space domain beam weight value indicated by the relevant configuration information of the space domain resource.

[0027] In an embodiment, in the case of single-base sensing, the first node and the third node are the same node; or,

[0028] in the case of double-base sensing, the first node and the third node are different nodes.

[0029] In a second aspect, the present application provides a communication method, comprising:

[0030] receiving target information sent by at least one third node, the target information comprising at least one of: a channel frequency response (CFR), a CFR time difference value, a sensing measurement value;

[0031] determining a position of a sensing target according to the target information.

[0032] In an embodiment, the target information further comprises at least one of:

[0033] interference cancellation indication information, the interference cancellation indication information being used to indicate whether the sensing measurement value is a sensing measurement value after interference cancellation;

[0034] sensing measurement related information.

[0035] In an embodiment, the sensing measurement related information comprises at least one of:

[0036] a receiving beam direction;

[0037] a receiving antenna group;

[0038] timestamp information of the sensing measurement value, the timestamp information of the sensing measurement value comprising a start timestamp and / or an end timestamp of the sensing measurement value;

[0039] timestamp information of the CFR, the timestamp information of the CFR comprising a start timestamp and / or an end timestamp of the CFR;

[0040] timestamp information of the CFR time difference value, the timestamp information of the CFR time difference value comprising a start timestamp and / or an end timestamp of the CFR time difference value;

[0041] signal quality indication information.

[0042] In an embodiment, the determining the position of the sensing target according to the target information comprises:

[0043] determining the sensing measurement value according to the target information;

[0044] determining the position of the sensing target according to the sensing measurement value.

[0045] In an embodiment, in a case where the target information comprises the CFR, the sensing measurement value is determined according to a CFR time difference value corresponding to an available subcarrier or an available subcarrier position, wherein the CFR time difference value is determined according to CFRs corresponding to sensing reference signals at different sending moments on a same subcarrier position.

[0046] In an embodiment, when the target information comprises the CFR time difference value, the sensing measurement value is determined according to the CFR time difference value corresponding to the available subcarrier or the available subcarrier position.

[0047] In an embodiment, the determining the position of the sensing target according to the sensing measurement value comprises:

[0048] The sensing measurement value comprises sensing measurement values in a speed domain, a distance domain, and / or an angle domain.

[0049] If the number of sensing measurement values in each domain is 1, the position of the sensing target is determined according to the sensing measurement value in each domain; or,

[0050] If the number of sensing measurement values in each domain is greater than 1, a plurality of weights corresponding to a plurality of sensing measurement values in each domain are determined, and the position of the sensing target is determined according to the plurality of sensing measurement values in each domain and the plurality of weights.

[0051] In an embodiment, the determining the position of the sensing target according to the plurality of sensing measurement values in each domain and the plurality of weights comprises:

[0052] For any one of the speed domain, the distance domain, and the angle domain, the plurality of sensing measurement values in the domain are weighted to obtain target sensing measurement values according to the plurality of sensing measurement values in the domain and the plurality of weights.

[0053] The position of the sensing target is determined according to the target sensing measurement value of each domain.

[0054] In an embodiment, the weight is related to the timestamp information and / or the signal quality indication information in the sensing measurement related information.

[0055] In an embodiment, before receiving the target information sent by the at least one third node, the method further comprises:

[0056] The resource configuration information of the sensing reference signal is sent to the first node and the at least one third node, and the resource configuration information comprises related configuration information of time domain resources, frequency domain resources, and / or space domain resources of the sensing reference signal.

[0057] In a third aspect, the present application provides a communication method, which comprises:

[0058] The resource configuration information of the sensing reference signal sent by the second node is received, and the resource configuration information comprises related configuration information of time domain resources, frequency domain resources, and / or space domain resources of the sensing reference signal.

[0059] According to the resource configuration information, the sensing reference signal is sent to at least one third node.

[0060] In an implementation, the sending of the sensing reference signal to at least one third node according to the resource configuration information comprises:

[0061] According to a time domain resource position indicated by related configuration information of the time domain resource, a frequency domain resource position indicated by related configuration information of the frequency domain resource, and / or a space domain beam weight value indicated by related configuration information of the space domain resource, the sensing reference signal is sent to at least one third node.

[0062] In an implementation, in the case of single-base sensing, the first node and the third node are the same node; or,

[0063] In the case of double-base sensing, the first node and the third node are different nodes.

[0064] In a fourth aspect, the present application provides a communication device applied to a third node, the communication device comprising a receiving module, a measuring module, and a sending module, wherein:

[0065] The receiving module is configured to receive a sensing reference signal sent by a first node.

[0066] The measuring module is configured to measure the sensing reference signal and obtain target information, the target information comprising at least one of the following: a channel frequency domain response (CFR), a CFR time difference value, and a sensing measurement value.

[0067] The sending module is configured to send the target information to a second node.

[0068] In a fifth aspect, the present application provides a communication device applied to a second node, the communication device comprising a receiving module and a determining module, wherein:

[0069] The receiving module is configured to receive target information sent by at least one third node, the target information comprising at least one of the following: a channel frequency domain response (CFR), a CFR time difference value, and a sensing measurement value.

[0070] The determining module is configured to determine a position of a sensing target according to the target information.

[0071] In a sixth aspect, the present application provides a communication device applied to a first node, the communication device comprising a receiving module and a sending module, wherein:

[0072] The receiving module is configured to receive resource configuration information of the sensing reference signal sent by the second node, wherein the resource configuration information comprises relevant configuration information of time domain resources, frequency domain resources and / or space domain resources of the sensing reference signal.

[0073] The sending module is configured to send the sensing reference signal to at least one third node according to the resource configuration information.

[0074] In a seventh aspect, a processor readable storage medium is provided, which stores a computer program for causing a processor to perform the method in the first aspect or the method in the second aspect.

[0075] The communication method, device, equipment and storage medium are provided. The first node can receive configuration information of a sensing reference signal sent by a second node, wherein the configuration information can comprise relevant configuration information of time domain resources, frequency domain resources and / or space domain resources of the sensing reference signal. The first node can send the sensing reference signal to at least one third node according to the configuration information. The third node can receive the sensing reference signal sent by the first node, measure the sensing reference signal, obtain target information, and send the target information to the second node. The target information can comprise at least one of channel frequency domain response (CFR), a CFR time difference value, and a sensing measurement value. The second node can receive the target information sent by the at least one third node, and determine the position of a sensing target according to the target information. In the above method, because the second node can flexibly configure the configuration information of the sensing reference signal, the utilization rate of communication resources can be improved. Because the CFR in the target information can be used for interference cancellation of the sensing reference signal, and the interference signal of a direct path and an environmental object has been eliminated in the CFR time difference value, the second node can accurately determine the position of the sensing target according to the target information, avoid the influence of reflection of the direct path and the environmental object on the positioning accuracy of the sensing target, and improve the positioning accuracy of the sensing target.

[0076] When it is understood that the content described in the above summary section is not intended to limit the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0077] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative labor.

[0078] FIG. 1A A schematic diagram of a single base station sensing scenario provided for an embodiment of the application;

[0079] FIG. 1B A schematic diagram of another single base station sensing scenario provided for an embodiment of the application;

[0080] FIG. 2A A schematic diagram of a dual base station sensing scenario provided for an embodiment of the application;

[0081] FIG. 2B A schematic diagram of another dual base station sensing scenario provided for an embodiment of the application;

[0082] FIG. 2C A schematic diagram of another dual base station sensing scenario provided for an embodiment of the application;

[0083] FIG. 2D A schematic diagram of another dual base station sensing scenario provided for an embodiment of the application;

[0084] FIG. 2E A schematic diagram of another dual base station sensing scenario provided for an embodiment of the application;

[0085] FIG. 3A A schematic diagram of an architecture of a communication system provided for an embodiment of the application;

[0086] FIG. 3B A schematic diagram of another architecture of a communication system provided for an embodiment of the application;

[0087] FIG. 4 A schematic diagram of a communication method provided for an embodiment of the application;

[0088] FIG. 5 A schematic diagram of another communication method provided for an embodiment of the application;

[0089] FIG. 6 Another communication method provided for an embodiment of the application;

[0090] FIG. 7 A schematic diagram of a method of transmitting and receiving sensing reference signals provided for an embodiment of the application;

[0091] FIG. 8 A schematic diagram of a time domain resource location and a frequency domain resource location provided for an embodiment of the application;

[0092] FIG. 9 A schematic diagram of another method of transmitting and receiving sensing reference signals provided for an embodiment of the application;

[0093] FIG. 10 A schematic diagram of a method of transmitting target information provided for an embodiment of the application;

[0094] FIG. 11 A method for determining a location of a sensing target for a second node is provided in the embodiments of the present application.

[0095] FIG. 12 A method for determining a location of a sensing target for a second node is provided in the embodiments of the present application.

[0096] FIG. 13 A method for determining a location of a sensing target for a second node is provided in the embodiments of the present application.

[0097] FIG. 14 A method for determining a location of a sensing target for a second node is provided in the embodiments of the present application.

[0098] FIG. 15 A method for determining a location of a sensing target for a second node is provided in the embodiments of the present application.

[0099] FIG. 16 A method for determining a location of a sensing target for a second node is provided in the embodiments of the present application.

[0100] FIG. 17 A method for determining a location of a sensing target for a second node is provided in the embodiments of the present application. DETAILED DESCRIPTION

[0101] In the embodiments of the present application, the term "and / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after it.

[0102] In the embodiments of the present application, the term "a plurality of" means two or more, and other quantifiers are similar.

[0103] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0104] The embodiments of the present application provide a communication method, device, equipment and storage medium, which can perform interference cancellation processing on a sensing reference signal, and determine the location of a sensing target according to the sensing reference signal after interference cancellation processing, thereby improving the accuracy of determining the location of the sensing target.

[0105] Among them, the method and the device are based on the same application concept, and since the principles of the method and the device for solving problems are similar, the implementation of the device and the method can be referred to each other, and the repeated parts will not be described again.

[0106] The technical solutions provided by the embodiments of the present application can be applied to various systems. For example, the applicable systems can be a long term evolution (LTE) system, an LTE frequency division duplex (FDD) system, an LTE time division duplex (TDD) system, a long term evolution advanced (LTE-A) system, a universal mobile system (UMTS), a worldwide interoperability for microwave access (WiMAX) system, a 5G new radio (NR) system and its evolution communication system, a 6G (sixth generation mobile communication technology) system, etc. The various systems can include terminal devices and network devices. The system can also include a core network part, such as an evolved packet system (EPC), a 5G core network (5GC), etc.

[0107] The terminal device involved in the embodiments of the present application can refer to a device that provides voice and / or data connectivity for a user, a handheld device with wireless connection function, or other processing devices connected to a wireless modem, etc. In different systems, the name of the terminal device can also be different, for example, in the 5G system or the 6G system, the terminal device can be called user equipment (User Equipment, UE). The wireless terminal device can be a USB storage device, other personal computer memory devices and a dongle, and can also communicate with one or more core networks (Core Network, CN) through a radio access network (Radio Access Network, RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or called "cellular" phone) and a computer with a mobile terminal device, for example, it can be a portable, pocket, handheld, computer built-in or vehicle-mounted mobile device, which exchanges language and / or data with the radio access network. For example, personal communication service (Personal Communication Service, PCS) phones, cordless phones, session initiated protocol (Session Initiated Protocol, SIP) phones, wireless local loop (Wireless Local Loop, WLL) stations, personal digital assistants (Personal Digital Assistant, PDA), personal computers, tablet computers, machine type communication (Machine-type Communication, MTC) terminal devices, etc. The wireless terminal device can also be called a system, a subscriber unit, a subscriber station, a mobile station, a mobile, a remote station, an access point, a remote terminal, an access terminal, a user terminal, a user agent, a user device, and a wireless access device and a router / modem that meet the definition limit, etc. The embodiments of the present application are not limited.

[0108] The network device involved in this application embodiment can be a base station, which may include multiple cells providing services to terminals. Depending on the specific application, the base station may also be called an access point, or a device in the access network that communicates with wireless terminal devices through one or more sectors on the air interface, or other names. The network device can be used to exchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network device involved in this application embodiment can be an evolved Node B (eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a next generation system, or a Home evolved Node B (HeNB), relay node, femto, pico, network testing equipment, etc., and is not limited in this application embodiment. In some network architectures, network devices may include centralized unit (CU) nodes and distributed unit (DU) nodes, which may also be geographically separated.

[0109] The communication system architecture provided in this application embodiment can include a single-base sensing scenario and a dual-base sensing scenario. In the single-base sensing scenario, the sensing transmitting node (the node that transmits the sensing reference signal) and the sensing receiving node (the node that receives the sensing reference signal) can be the same node, while in the dual-base sensing scenario, the sensing transmitting node and the sensing receiving node can be different nodes.

[0110] Below, in conjunction with FIG. 1A-FIG. 1B The single-base sensing scenario provided in the embodiments of this application will be described.

[0111] FIG. 1A This is a schematic diagram of a single-base sensing scenario provided in an embodiment of this application. Please refer to... FIG. 1A This includes a base station and a sensing target. The base station can be either a sensing transmitting node or a sensing receiving node. The base station can transmit a sensing reference signal (used to sense the sensing target in the environment) to the environment where the sensing target is located. The sensing target can reflect this sensing reference signal, and the base station can receive the reflected sensing reference signal from the sensing target.

[0112] FIG. 1BAnother schematic diagram of the single-base perception scenario provided by the embodiment of the present application is provided. Please refer to FIG. 1B , which comprises a terminal device and a perception target. The terminal device can be a perception sending node or a perception receiving node. The terminal device can transmit a perception reference signal to an environment where the perception target is located. The perception target can reflect the perception reference signal. The terminal device can receive the perception reference signal reflected by the perception target.

[0113] It should be noted that, FIG. 1A and FIG. 1B are examples of the single-base perception scenario in the embodiment of the present application, and are not a limitation on the single-base perception scenario.

[0114] Next, the dual-base perception scenario provided by the embodiment of the present application is described in combination with FIG. 2A-FIG. 2E .

[0115] FIG. 2A A schematic diagram of the dual-base perception scenario provided by the embodiment of the present application is provided. Please refer to FIG. 2A , which comprises a base station, a perception target and a terminal device. The base station can be a perception sending node, and the terminal device can be a perception receiving node. The base station can transmit a perception reference signal to an environment where the perception target is located. The perception target can reflect the perception reference signal. The terminal device can receive the perception reference signal reflected by the perception target.

[0116] FIG. 2B Another schematic diagram of the dual-base perception scenario provided by the embodiment of the present application is provided. Please refer to FIG. 2B , which comprises a terminal device, a perception target and a base station. The terminal device can be a perception sending node, and the base station can be a perception receiving node. The terminal device can transmit a perception reference signal to an environment where the perception target is located. The perception target can reflect the perception reference signal. The base station can receive the perception reference signal reflected by the perception target.

[0117] FIG. 2C Another schematic diagram of the dual-base perception scenario provided by the embodiment of the present application is provided. Please refer to FIG. 2C , which comprises a first base station, a perception target and a second base station. The first base station can be a perception sending node, and the second base station can be a perception receiving node. The first base station can transmit a perception reference signal to an environment where the perception target is located. The perception target can reflect the perception reference signal. The second base station can receive the perception reference signal reflected by the perception target.

[0118] FIG. 2D Another schematic diagram of the dual-base perception scenario provided by the embodiment of the present application is provided. Please refer to FIG. 2D, including: a first terminal device, a sensing target and a second terminal device. Wherein, the first terminal device can be a sensing sending node, and the second terminal device can be a sensing receiving node. The first terminal device can transmit a sensing reference signal to an environment where the sensing target is located, the sensing target can reflect the sensing reference signal, and the second terminal device can receive the sensing reference signal reflected by the sensing target.

[0119] FIG. 2E Another schematic diagram of a double-base sensing scenario provided by an embodiment of the present application is provided. Please refer to FIG. 2E , including: a terminal device, a sensing target and a base station. Wherein, the terminal device can be a sensing sending node or a sensing receiving node, and the base station can be a sensing sending node or a sensing receiving node. The terminal device can transmit a sensing reference signal 1 to an environment where the sensing target is located, the sensing target can reflect the sensing reference signal 1, and the base station can receive the sensing reference signal 1 reflected by the sensing target. The base station can transmit a sensing reference signal 2 to the environment where the sensing target is located, the sensing target can reflect the sensing reference signal 2, and the terminal device can receive the sensing reference signal 2 reflected by the sensing target.

[0120] It should be noted that, FIG. 2A-FIG. 2E The above is an example of a double-base sensing scenario in the embodiment of the present application, and is not a limitation of the double-base sensing scenario.

[0121] Next, the architecture of the communication system in the embodiment of the present application will be described. FIG. 3A-FIG. 3B

[0122] FIG. 3A A schematic diagram of the architecture of a communication system provided by an embodiment of the present application is provided. In FIG. 3A the embodiment shown, the architecture of the communication system can include a single-base sensing scenario, please refer to FIG. 3A , including: a sensing sending node (sensing receiving node) and a network control node. Wherein, the sensing sending node (sensing receiving node) can be in communication connection with the network control node. The sensing sending node (sensing receiving node) can be a terminal device or a network device. The network control node can be a base station, a sensing function (SF) or other network entity. The network control node can locate the sensing target.

[0123] FIG. 3B Another schematic diagram of the architecture of a communication system provided by an embodiment of the present application is provided. In FIG. 3B the embodiment shown, the architecture of the communication system can include a double-base sensing scenario, please refer to FIG. 3B ​The communication system includes a sensing sending node, a sensing receiving node and a network control node. The network control node is communicatively connected with the sensing sending node and the sensing receiving node, and the sensing sending node is communicatively connected with the sensing receiving node.

[0124] It should be noted that FIG. 3A-FIG. 3B The architecture of the communication system is an example of the architecture of the communication system in the embodiments of the present application, and is not a limitation on the architecture of the communication system.

[0125] In the related art, the channel model of integrated sensing communication can introduce the function of wireless sensing in the field of wireless mobile communication. For example, ISAC can determine the position of a sensing target in the environment through wireless signals. At present, the sensing sending node can transmit a sensing reference signal to the environment where the sensing target is located, and the sensing receiving node can receive the sensing reference signal and determine the position of the sensing target in the environment based on the received sensing reference signal. However, since the objects in the environment can reflect and scatter the sensing reference signal, and the direct path between the sensing sending node and the sensing receiving node can also cause interference to the sensing reference signal, the sensing reference signal received by the sensing receiving node includes environmental interference and direct path interference. Therefore, the positioning of the sensing target based on the received sensing reference signal will result in low positioning accuracy.

[0126] In order to solve the technical problems in the related art, the embodiments of the present application provide a communication method. The third node can receive a sensing reference signal sent by the first node, determine a channel frequency response (CFR) corresponding to the sensing reference signal, perform time difference processing on the CFR corresponding to the sensing reference signal at different sending times on the same subcarrier position to obtain a CFR time difference value, determine a sensing measurement value according to the CFR time difference value corresponding to the available subcarrier or the available subcarrier position, determine at least one of the CFR, the CFR time difference value and the sensing measurement value as target information, and send the target information to the second node. The second node can determine the position of the sensing target according to the target information. In this way, the interference signals of the direct path and the environmental objects can be avoided to affect the positioning of the sensing target, and the positioning accuracy of the sensing target can be improved.

[0127] The communication method provided by the present application will be described below in conjunction with specific embodiments.

[0128] FIG. 4 The communication method provided by the embodiments of the present application is a schematic diagram. Applied to the third node, please refer to FIG. 4 The communication method includes the following steps.

[0129] S401, receiving a sensing reference signal sent by a first node.

[0130] In the single-base sensing case, the first node and the third node can be the same node. For example, in the single-base sensing case, the sensing transmitting node and the sensing receiving node are the same node, and thus the sensing reference signal received by the third node can be the sensing reference signal transmitted by the third node (i.e., the first node). For example, FIG. 1A The third node in the first node can be a base station, FIG. 1B The third node in the first node can be a terminal device.

[0131] In the double-base sensing case, the first node and the third node can be different nodes. For example, in the double-base sensing case, the first node can be a sensing transmitting node, and the third node can be a sensing receiving node. The first node can transmit a sensing reference signal, and an object in the environment can reflect the sensing reference signal. The third node can receive the reflected reference signal.

[0132] The sensing reference signal can be used to detect a sensing target in the environment. For example, the sensing reference signal can be used to detect a sensing target included in the environment, and the sensing reference signal can also be used to detect the position of the sensing target in the environment. For example, the environment can include a moving car, and the sensing reference signal can be used to detect the car in the environment, and the sensing reference signal can also be used to detect the position of the car in the environment. For example, the sensing receiving node can determine the characteristics (such as time delay, frequency offset, and phase change, etc.) of the received sensing reference signal, and then determine the sensing target in the environment and the position of the sensing target according to the characteristics of the received sensing reference signal.

[0133] S402, measuring the sensing reference signal to obtain target information.

[0134] The target information can be used to determine the position of the sensing target. The target information can include at least one of the following:

[0135] CFR;

[0136] CFR time difference value;

[0137] Sensing measurement value.

[0138] The CFR corresponding to the sensing reference signal can indicate the transmission characteristics of the sensing reference signal at multiple frequencies. For example, the CFR can indicate phase information, time delay information, and Doppler frequency offset information of the sensing reference signal at multiple frequencies.

[0139] The CFR time difference value can indicate a difference between the CFRs corresponding to the perception reference signals at different time instants. For example, the first node can send a perception reference signal A at time instant 1 and a perception reference signal B at time instant 2, and the CFR time difference value corresponding to the time instants 1 and 2 can indicate a difference between the CFR corresponding to the perception reference signal A and the CFR corresponding to the perception reference signal B. Since the CFR time difference value can reflect a change in the channel over time, the CFR time difference value can reflect a change in the channel from the time instant 1 to the time instant 2.

[0140] The perception measurement value can be used to determine the position of the perception target. For example, the perception measurement value can include a perception measurement value in a speed domain, a distance domain, and / or an angle domain. For example, the perception measurement value can include a value of ranging (time delay), angle, and speed (Doppler frequency offset). For example, the third node can determine the perception measurement value based on the perception reference signal after interference cancellation. For example, the third node can cancel the direct-path interference and the environmental interference in the perception reference signal by performing time difference processing on the CFR corresponding to the perception reference signal.

[0141] S403, sending the target information to the second node.

[0142] The second node can be a network control node. For example, the perception receiving node can send the CFR to the network control node; the perception receiving node can determine the CFR time difference value based on the CFR and send the CFR time difference value to the network control node; and the perception receiving node can determine the perception measurement value based on the CFR time difference value and send the perception measurement value to the network control node. For example, the network control node can receive the CFR, the CFR time difference value, and / or the perception measurement value sent by the perception receiving node, and determine the position of the perception target based on the CFR, the CFR time difference value, and / or the perception measurement value.

[0143] The embodiments of the present application provide a communication method, wherein the third node can receive the perception reference signal sent by the first node, measure the perception reference signal, and obtain target information. The third node can send the target information to the second node. In this way, since the target information can include at least one of the CFR, the CFR time difference value, and the perception measurement value, and since the CFR or the CFR time difference value can cancel the interference signal in the perception reference signal, the second node can accurately determine the position of the perception target based on the target information, avoid the direct-path interference signal and the environmental interference signal from interfering with the position of the perception target, and improve the positioning accuracy of the perception target.

[0144] On the basis of any one of the above embodiments, the following will be described in combination with FIG. 5 Another communication method will be described.

[0145] FIG. 5 Another communication method is provided for the embodiments of the present application. The method is applied to a second node, please see FIG. 5 , the method flow includes:

[0146] S501, receiving target information sent by at least one third node.

[0147] The target information includes at least one of the following:

[0148] CFR;

[0149] CFR time difference value;

[0150] sensing measurement value.

[0151] Optionally, the second node can receive target information sent by one third node, and the second node can also receive target information sent by multiple third nodes. For example, if the communication system includes one third node, the second node can receive target information sent by the third node, and if the communication system includes multiple third nodes, the second node can receive target information sent by multiple third nodes. For example, if the communication system includes one sensing receiving node, the network control node can receive target information sent by the sensing receiving node, and if the communication system includes multiple sensing receiving nodes, the network control node can receive target information sent by multiple sensing receiving nodes, which can improve the robustness of the sensing target positioning.

[0152] S502, determining the position of the sensing target according to the target information.

[0153] Optionally, the sensing target can be any moving target in the environment, and the embodiments of the present application do not limit this. For example, the sensing target can be a moving vehicle, a moving pedestrian, etc. in the environment.

[0154] If the second node receives target information sent by a third node, the second node can determine the location of the sensing target according to the target information. If the second node receives target information sent by multiple third nodes, the second node can determine the location of the sensing target according to the multiple target nodes. For example, the sensing receiving nodes in the communication system can include a sensing receiving node A and a sensing receiving node B. If the sensing receiving node A successfully sends target information to the network control node, and the sensing receiving node B fails to send target information to the network control node, the network control node can determine the location of the sensing target according to the target information sent by the sensing receiving node A. If the sensing receiving node A and the sensing receiving node B both successfully send target information to the network control node, the network control node can determine the location of the sensing target according to the target information sent by the sensing receiving node A and the target information sent by the sensing receiving node B.

[0155] Optionally, the network control node can determine a sensing measurement value according to the target information, and determine the location of the sensing target according to the sensing measurement value. For example, the network control node can determine a sensing result according to the sensing measurement value, where the sensing result can include the location of the sensing target, the speed of the sensing target, or the identification result of whether the sensing target exists and the number of the sensing targets.

[0156] The embodiment of the present application provides a communication method. The second node can receive target information sent by at least one third node, and determine the location of the sensing target according to the target information. Since the CFR or the CFR time difference value can eliminate the interference signal in the sensing reference signal, the third node can accurately determine the location of the sensing target according to the target information, avoid the direct path interference signal and the environmental interference signal from interfering with the location of the sensing target. In addition, the second node can determine the location of the sensing target based on the target information sent by multiple third nodes, thereby improving the positioning accuracy of the sensing target and the robustness of the positioning of the sensing target.

[0157] On the basis of any one of the above embodiments, the following will be described in combination with FIG. 6 Another communication method is described.

[0158] FIG. 6 Another communication method provided by the embodiment of the present application is described. The method is applied to a first node, and please refer to FIG. 6 The method flow includes:

[0159] S601, receiving resource configuration information of a sensing reference signal sent by a second node.

[0160] The resource configuration information can include relevant configuration information of time domain resources, frequency domain resources, and / or space domain resources of the sensing reference signal. For example, the resource configuration information can include configuration information related to time domain resources of the sensing reference signal, which can indicate time domain resource positions at which the sensing reference signal is sent; the resource configuration information can include configuration information related to frequency domain resources of the sensing reference signal, which can indicate frequency domain resource positions at which the sensing reference signal is sent; and the resource configuration information can include configuration information related to space domain resources of the sensing reference signal, which can indicate space domain beam weight values at which the sensing reference signal is sent. For example, the resource configuration information can include indexes of time domain resources, indexes of frequency domain resources, and indexes of a set of beam weight values.

[0161] S602, according to the resource configuration information, sending the sensing reference signal to at least one third node.

[0162] The first node can determine time domain resource positions, frequency domain resource positions, and / or space domain beam weight values at which the sensing reference signal is sent according to the resource configuration information, and send the sensing reference signal to at least one third node according to the time domain resource positions, the frequency domain resource positions, and / or the space domain beam weight values.

[0163] The embodiments of the present application provide a communication method. A first node can receive resource configuration information of a sensing reference signal sent by a second node, and send the sensing reference signal to at least one third node according to the resource configuration information. The resource configuration information can include relevant configuration information of time domain resources, frequency domain resources, and / or space domain resources of the sensing reference signal. Therefore, the third node can accurately receive the sensing reference signal sent by the first node according to the same resource configuration information, thereby reducing interference on the sensing reference signal and improving accuracy of the sensing reference signal, which can improve positioning accuracy of a sensing target.

[0164] On the basis of any one of the above embodiments, the following will be described in combination with FIG. 7 The method for the first node to send the sensing reference signal to at least one third node is described.

[0165] FIG. 7 A method for sending and receiving a sensing reference signal is provided in the embodiments of the present application. Please refer to FIG. 7 , which includes:

[0166] S701, the second node sends resource configuration information of the sensing reference signal to the first node and at least one third node. The second node can notify the first node and the third node of the type of the sensing reference signal in advance. The type of the sensing reference signal can include an aperiodic sensing reference signal, a semi-persistent sensing reference signal, and a periodic sensing reference signal. For example, the second node can notify or activate the aperiodic sensing reference signal, the semi-persistent sensing reference signal, and the periodic sensing reference signal to the second node and the third node based on downlink control information (DCI) signaling, radio resource control (RRC) signaling, media access control (MAC) control element (CE) signaling, X2 interface (for connecting different base stations), and high-layer sensing signaling.

[0167] The same moment can be configured with one type of sensing reference signal type. For example, a periodic sensing reference signal, or a semi-persistent sensing reference signal, or an aperiodic sensing reference signal can be sent at the 10th ms. The resource configuration information can set the priority of multiple types of sensing reference signals. If multiple types of sensing reference signals exist at the same moment, the type of the sensing reference signal at the moment is the type of the sensing reference signal with the highest priority. For example, the latest configured sensing reference signal type has the highest priority, or the priority of the reference signal type from high to low is: aperiodic, semi-persistent, or periodic.

[0168] The second node can pre-configure the resource configuration information of the sensing reference signal (related configuration information of the time domain resource, frequency domain resource, and / or space domain resource of the sensing reference signal), and send the resource configuration information to the first node and the second node.

[0169] The time domain resource of the sensing reference signal can be the time domain resource position for sending or receiving the sensing reference signal. For example, the time domain resource of the semi-persistent sensing reference signal and the periodic sensing reference signal can include the time interval T_duration for sending the sensing reference signal, the number N1 of continuous sending of the sensing reference signal, and the repetition period T_period. For example, the unit of T_duration and T_period can be OFDM symbol, slot, subframe, radio frame, or second. For example, if T_duration is 10 ms, N1 is 100, and T_period is 1 s, the time domain resource position can be the position of 100 sensing reference signals sent in one period (the number of repetition periods is 1), wherein each sensing reference signal is separated by 10 ms.

[0170] wherein a value of T duration is determined based on a maximum unambiguous measurement range of Doppler frequency offset of the sensing target. For example, T duration ≥ 1 / f d max, fd max represents the maximum unambiguous measurement range of Doppler frequency offset, and a unit is Hz. For example, if fd max = 200 Hz, then T duration ≥ 0.005 s (1 / 200).

[0171] It should be noted that the second node can determine the maximum unambiguous measurement value of Doppler frequency offset according to a sensing application scenario, a type of candidate sensing target in the system, a motion speed range, and the like, which are not limited in the embodiments of the present application.

[0172] wherein the second node can determine N1 and T period according to T duration. For example, if T duration is 0.01 s, N1 can satisfy the following relationship: N1*T duration ≥ 1 / delta fd, wherein delta fd represents a resolution of Doppler frequency offset, and a unit is Hz. For example, if T duration is 0.01 and delta fd is 2 Hz, then N1 ≥ 50 (0.5 / 0.01). For example, if N1 is 100 and T duration is 0.01 s, then T period ≥ N1*T duration, i.e., T period ≥ 1 s.

[0173] It should be noted that the aperiodic sensing reference signal does not include T period.

[0174] wherein the related configuration information of time domain resource can indicate a time domain resource position of transmitting or receiving the sensing reference signal. For example, if T duration is 0.01 s, N1 is 100, and T period is 1 s, the related configuration information of time domain resource can include an identifier indicating that T duration is 0.01 s, an identifier indicating that N1 is 100, and an identifier indicating that T period is 1 s.

[0175] wherein the frequency domain resource of the sensing reference signal can be a frequency domain resource position of transmitting or receiving the sensing reference signal. For example, if the sensing reference signal can be transmitted or received on subcarrier 1, the frequency domain resource of the sensing reference signal can be subcarrier 1 (frequency domain resource position), and if the sensing reference signal can be transmitted or received on subcarrier 1 and subcarrier 2, the frequency domain resource of the sensing reference signal can be subcarrier 1 and subcarrier 2.

[0176] The related configuration information of the frequency domain resource can indicate a frequency domain resource position for transmitting or receiving the sensing reference signal. For example, the related configuration information of the frequency domain resource can include an index of a subcarrier, and the subcarrier indicated by the index can be a subcarrier (a frequency domain resource position) for transmitting or receiving the sensing reference signal. For example, if the related configuration information of the frequency domain resource includes an index of subcarrier 1 and an index of subcarrier 2, the sensing reference signal can be transmitted or received on subcarrier 1 and subcarrier 2.

[0177] The spatial domain resource of the sensing reference signal can be a spatial domain beam weight for transmitting or receiving the sensing reference signal. For example, if the sensing reference signal can be transmitted or received through spatial domain beam weight 1, the spatial domain resource of the sensing reference signal can be spatial domain beam weight 1, and if the sensing reference signal can be transmitted or received through spatial domain beam weight 1 and spatial domain beam weight 2, the spatial domain resource of the sensing reference signal can be spatial domain beam weight 1 and spatial domain beam weight 2.

[0178] The related configuration information of the spatial domain resource can indicate a spatial domain beam weight for transmitting or receiving the sensing reference signal. For example, the related configuration information of the spatial domain resource can include an index of a spatial domain beam weight, and the spatial domain beam weight indicated by the index can be a spatial domain beam weight for transmitting or receiving the sensing reference signal. For example, if the related configuration information of the spatial domain resource includes an index of spatial domain beam weight 1 and an index of spatial domain beam weight 2, the sensing reference signal can be transmitted or received through spatial domain beam weight 1 and spatial domain beam weight 2.

[0179] Optionally, the second node can send the resource configuration information according to a sensing mode (e.g., single base sensing mode or double base sensing mode), and the type of the second node (terminal device or base station) and the type of the third node (terminal device or base station). For example, the second node can send the resource configuration information of the sensing reference signal based on the high layer sensing signaling of the SF, in a single base sensing mode in which a base station sends the sensing reference signal and the base station receives the sensing reference signal; in a single base sensing mode in which a terminal device sends the sensing reference signal and the terminal device receives the sensing reference signal, the second node can send the resource configuration information of the sensing reference signal based on the high layer sensing signaling of the SF or the DCI signaling, MAC-CE signaling and RRC signaling between the base station and the terminal device, in a network coverage Sidelink (communication between devices) scenario; the second node can send the resource configuration information of the sensing reference signal based on the high layer sensing signaling of the SF or the X2 interface, in a double base sensing mode in which a first base station sends the sensing reference signal and a second base station receives the sensing reference signal; the second node can send the resource configuration information of the sensing reference signal based on the high layer sensing signaling of the SF or the signaling between the base station and the terminal device, in a double base sensing mode in which the terminal device sends the sensing reference signal and the base station receives the sensing reference signal.

[0180] Optionally, the third node can also receive the resource configuration information of the reference signal sent by the first node. For example, the first node can be a base station, the first node can configure the resource configuration information of the sensing reference signal and send the resource configuration information to the third node, and the first node can send the sensing reference signal to the third node according to the resource configuration information after sending the resource configuration information.

[0181] S702, the first node sends the sensing reference signal to at least one third node according to the resource configuration information.

[0182] The first node can send the perception reference signal to the at least one third node according to the following feasible implementation manners: sending the perception reference signal to the at least one third node according to the time domain resource position indicated by the related configuration information of the time domain resource, the frequency domain resource position indicated by the related configuration information of the frequency domain resource, and / or the spatial domain beam weight value indicated by the related configuration information of the spatial domain resource. For example, the first node can send the perception reference signal on the same frequency domain resource position, the same spatial domain beam weight value, multiple equally-spaced time domain resource positions, where the same frequency domain position refers to the same carrier frequency point, the same index value of the subcarrier frequency domain position, the same spatial domain beam weight value refers to the same transmission filter and the same transmission beam direction (or the same Quasi Co-Location (QCL) association relationship), and the multiple equally-spaced time domain resource positions have the same T_duration, and the unit of T_duration can be OFDM symbol, slot, radio frame, or ms.

[0183] For example, if the time domain resource position indicated by the related configuration information of the time domain resource is to send a perception reference signal every 10 ms, 100 perception reference signals are sent in a period, and the number of repetition cycles is 1 (i.e., only one period is sent), the frequency domain resource position indicated by the related configuration information of the frequency domain resource is subcarrier 1 and subcarrier 2, and the spatial domain beam weight value indicated by the related configuration information of the spatial domain resource is spatial domain beam weight value 1 and spatial domain beam weight value 2, the first node can send the perception reference signal on subcarrier 1 and subcarrier 2, the beam direction of the perception reference signal includes the beam direction corresponding to spatial domain beam weight value 1 and the beam direction corresponding to spatial domain beam weight value 2, and on subcarrier 1 and subcarrier 2, a perception reference signal is sent every 10 ms, and 100 perception reference signals are sent on each subcarrier.

[0184] In the following, the time domain resource position and the frequency domain resource position are described in detail. FIG. 8 The time domain resource position and the frequency domain resource position are described in detail.

[0185] FIG. 8 A schematic diagram of the time domain resource position and the frequency domain resource position provided by the embodiments of the present application is shown in FIG. 1. Please refer to FIG. 1. FIG. 8 , including frequency domain resources and time domain resources. The frequency domain resources include subcarrier 1, subcarrier 2, subcarrier 3, and subcarrier 4, and the time domain resources include symbol A, symbol B, symbol C, and symbol D. The positions corresponding to subcarrier 1 and symbol A are marked as 1, the positions corresponding to subcarrier 1 and symbol C are marked as 1, the positions corresponding to subcarrier 3 and symbol A are marked as 1, and the positions corresponding to subcarrier 3 and symbol C are marked as 1. That is, in FIG. 8 , the time domain resource position is symbol A and symbol C, the frequency domain resource position is subcarrier 1 and subcarrier 2, and the first node FIG. 8The perception reference signal can be transmitted at a position corresponding to symbol A, symbol B, subcarrier 1 and subcarrier 2.

[0186] S703, the third node receives the perception reference signal transmitted by the first node according to the resource configuration information.

[0187] The third node can receive the perception reference signal transmitted by the first node according to the following feasible implementation manner: receiving the perception reference signal transmitted by the first node according to the time domain resource position indicated by the related configuration information of the time domain resource, the frequency domain resource position indicated by the related configuration information of the frequency domain resource and / or the spatial domain beam weight value indicated by the related configuration information of the spatial domain resource.

[0188] It should be noted that the method in which the third node receives the perception reference signal transmitted by the first node according to the resource configuration information can refer to the method in which the first node transmits the perception reference signal to the at least one third node according to the resource configuration information, and the embodiments of the present application are not limited thereto.

[0189] The embodiments of the present application provide a method for transmitting and receiving a perception reference signal. The second node transmits resource configuration information of a perception reference signal to a first node and a third node. The first node transmits the perception reference signal to the at least one third node according to the resource configuration information. The third node receives the perception reference signal transmitted by the first node according to the resource configuration information. In this way, the first node can transmit the perception reference signal at the same frequency domain resource position, the same spatial domain beam weight value and multiple equally spaced time domain resource positions based on the resource configuration information transmitted by the second node. The third node can receive the perception reference signal at the same frequency domain resource position, the same spatial domain beam weight value and multiple equally spaced time domain resource positions based on the resource configuration information transmitted by the second node. The accuracy of transmitting and receiving the perception reference signal is improved, and the accuracy of the perception reference signal is further improved.

[0190] On the basis of any one of the above embodiments, the following will be described in combination with FIG. 9 Another method in which the first node transmits the perception reference signal to the at least one third node will be described.

[0191] FIG. 9 Another method for transmitting and receiving a perception reference signal provided by the embodiments of the present application is shown in the schematic diagram. Please refer to FIG. 9 , which includes:

[0192] S901, the first node transmits the perception reference signal to the at least one third node according to the resource configuration information and / or a preset agreement.

[0193] The preset agreement can be a manner in which the first node and the third node agree in advance to send the sensing reference signal, and the preset agreement can include related configuration information of time domain resources, frequency domain resources and / or space domain resources for sending the sensing reference signal. In this way, the first node and the third node do not need to be notified by the second node to synchronize the manner of sending and receiving the sensing reference signal, signaling overhead is saved, and the stability of sending the sensing signal is improved.

[0194] Optionally, the first node can determine the time domain resource position, the frequency domain resource position and / or the space domain beam weight value of the sensing reference signal according to the resource configuration information, and send the sensing reference signal according to the time domain resource position, the frequency domain resource position and / or the space domain beam weight value.

[0195] Optionally, the first node can determine the time domain resource position, the frequency domain resource position and / or the space domain beam weight value of the sensing reference signal according to the preset agreement, and send the sensing reference signal according to the time domain resource position, the frequency domain resource position and / or the space domain beam weight value.

[0196] Optionally, the first node can determine the time domain resource position, the frequency domain resource position and / or the space domain beam weight value of the sensing reference signal according to the preset agreement. If the first node receives the resource configuration information sent by the second node, the first node can determine new time domain resource position, frequency domain resource position and / or space domain beam weight value according to the resource configuration information sent by the second node, and send the sensing reference signal to at least one third node according to the new time domain resource position, frequency domain resource position and / or space domain beam weight value. In this way, in the case that the second node does not send the resource configuration information, the first node can send the sensing reference signal to at least one third node according to the preset agreement, and in the case that the second node sends the resource configuration information, the first node can send the sensing reference signal to at least one third node according to the resource configuration information, thereby improving the robustness of sending the sensing reference signal and improving the flexibility of sending the sensing reference signal.

[0197] S902, the third node receives the sensing reference signal sent by the first node according to the resource configuration information and / or the preset agreement.

[0198] Optionally, the third node can determine the time domain resource position, the frequency domain resource position and / or the space domain beam weight value of the sensing reference signal according to the resource configuration information, and receive the sensing reference signal according to the time domain resource position, the frequency domain resource position and / or the space domain beam weight value.

[0199] Optionally, the third node can determine the time domain resource position, the frequency domain resource position and / or the space domain beam weight value of the sensing reference signal according to the preset agreement, and receive the sensing reference signal according to the time domain resource position, the frequency domain resource position and / or the space domain beam weight value.

[0200] Optionally, the third node can determine the time domain resource position, the frequency domain resource position and / or the spatial domain beam weight value of the sensing reference signal according to the preset agreement, and if the third node receives the resource configuration information sent by the second node, the third node can determine the new time domain resource position, the frequency domain resource position and / or the spatial domain beam weight value according to the resource configuration information sent by the second node, and receive the sensing reference signal sent by the first node according to the new time domain resource position, the frequency domain resource position and / or the spatial domain beam weight value.

[0201] The embodiment of the present application provides another method for sending and receiving the sensing reference signal. The first node sends the sensing reference signal to at least one third node according to the resource configuration information and / or the preset agreement, and the third node receives the sensing reference signal sent by the first node according to the resource configuration information and / or the preset agreement. In this way, in the case that the second node does not send the resource configuration information, the first node and the third node can send and receive the sensing reference signal according to the preset agreement, and in the case that the second node sends the resource configuration information, the first node and the third node can send and receive the sensing reference signal according to the resource configuration information, thereby improving the robustness of the sensing reference signal sending and improving the sending flexibility of the sensing reference signal.

[0202] On the basis of any one of the above-mentioned embodiments, the following will be described in combination with FIG. 10 The method for the third node to send the target information to the second node is described.

[0203] FIG. 10 A method for sending target information provided by the embodiment of the present application is shown in the following schematic diagram. FIG. 10 , including:

[0204] S1001, the third node measures the sensing reference signal to obtain target information.

[0205] The target information includes at least one of the following:

[0206] Channel frequency domain response (CFR);

[0207] CFR time difference value;

[0208] Sensing measurement value.

[0209] The CFR in the target information is determined according to the sensing reference signal, and / or the CFR time difference value in the target information is determined according to the CFR corresponding to the sensing reference signals at different sending moments on the same subcarrier position, and / or the sensing measurement value in the target information is determined according to the CFR time difference value corresponding to the available subcarriers or available subcarrier positions. For example, the third node can determine the CFR corresponding to the sensing reference signal according to the sensing reference signal. The third node can perform time difference processing on the CFR corresponding to the sensing reference signals at different sending moments on the same subcarrier position to obtain the CFR time difference value. The third node can determine the sensing measurement value according to the CFR time difference value corresponding to the available subcarriers or available subcarrier positions. For example, the available subcarriers can be used to send the sensing reference signal. For example, the available subcarriers can be pre-set subcarriers used to send the sensing reference signal. For example, the available subcarrier position can be used to indicate the available subcarrier. For example, the available subcarrier position can be the index of the available subcarrier.

[0210] The third node can determine the CFR corresponding to the sensing reference signal according to the sent sensing reference signal and the received sensing reference signal. For example, the sent sensing reference signal is a known sensing reference signal. The third node can perform Fast Fourier Transform (FFT) processing on the sent sensing reference signal and the received sensing reference signal, and determine the CFR corresponding to the sensing reference signal according to the sent sensing reference signal and the received sensing reference signal after the FFT processing.

[0211] For example, the first node sends the sensing reference signal 1 to the third node, the third node receives the sensing reference signal 2 (the two sensing reference signals may be different due to the existence of the interference signal), the third node performs FFT processing on the sensing reference signal 1 to obtain the sensing reference signal 3 (a frequency domain signal), and the third node can perform FFT processing on the sensing reference signal 2 to obtain the sensing reference signal 4 (a frequency domain signal). The third node can compare the difference between the sensing reference signal 3 and the sensing reference signal 4 to obtain the CFR.

[0212] The third node can determine a CFR time difference value according to the CFRs of the sensing reference signals at different sending time instants on the same subcarrier position. For example, the sensing reference signal A and the sensing reference signal B are sent on the same subcarrier, the sensing reference signal A is sent at time instant t1, and the sensing reference signal B is sent at time instant t2. If the CFR corresponding to the sensing reference signal A is H(k, t1), and the CFR corresponding to the sensing reference signal B is H(k, t2), the CFR time difference value corresponding to t1-t2 can be H(k, t2)-H(k, t1). It should be noted that t1 and t2 can be two adjacent time instants with an interval of T_duration, or two time instants with an interval of N2 T_duration (2≤N2≤N1, if N1 is 100, N2 can also be 100). The embodiments of the present application do not limit this. For example, in the embodiment shown in FIG. 8, the third node can determine a CFR time difference value according to the CFR of the sensing reference signal corresponding to symbol A on subcarrier 1 and the CFR of the sensing reference signal corresponding to symbol C. In this way, the CFR time difference value can eliminate the influence of the direct path between the first node and the third node and the environmental object (an object that is stationary in the environment) with a Doppler frequency shift of 0, thereby improving the accuracy of positioning the sensing target. FIG. 8

[0213] It should be noted that after the third node receives the plurality of sensing reference signals, the third node can determine one CFR time difference value, or can determine a plurality of CFR time difference values. The embodiments of the present application do not limit this. For example, there are 100 sensing reference signals on the same subcarrier, the third node can determine one CFR time difference value according to the CFR of the first sensing reference signal and the CFR of the last sensing reference signal, or can perform time difference processing on the CFRs of two adjacent sensing reference signals to obtain a plurality of CFR time difference values.

[0214] The third node can determine the sensing measurement value according to the following possible implementation manners: processing the CFR time difference values corresponding to the available subcarriers or the available subcarrier positions to obtain the sensing measurement value.

[0215] For example, the third node can process the CFR time difference values according to a self-correlation algorithm, a two-dimensional FFT algorithm, or a super-resolution algorithm (for example, a MUSIC or ESPRIT algorithm) to obtain the time delay, the angle, and the Doppler frequency shift. For example, the third node can estimate the joint measurement value of the distance (that is, the time delay) and the Doppler frequency shift according to a two-dimensional FFT algorithm of a range-doppler map (RDM) spectrum.

[0216] ​The following describes the CFAR detection process of the two-dimensional RDM spectrum in detail, which includes the following three steps.

[0217] Step 1: Construct the time difference value CFR matrix H_matrix_diff, where H_matrix_diff is a matrix obtained according to the CFR time difference values of different frequency domain subcarriers (at least one CFR time difference value exists for each same frequency domain subcarrier).

[0218] Step 2: Perform IFFT operation on the time difference value CFR matrix H_matrix_diff in the time delay dimension (corresponding to the distance dimension), and perform FFT operation on the time difference value CFR matrix H_matrix_diff in the speed dimension, to obtain the two-dimensional RDM spectrum.

[0219] Step 3: Determine the threshold value according to the CFAR algorithm, and determine whether the sensing target exists. Generally, the input of the CFAR detector includes a detection unit D (a region to be detected in the RDM spectrum) and 2n reference units (regions in the RDM spectrum), which are located on both sides of the detection unit, with n units in front and n units behind. The protection unit can be used in the single target case to prevent target energy from leaking to the reference unit and affecting the detection effect.

[0220] where S is the reference threshold level, S=T×Z, Z can be the estimate of the total clutter power level, and T is the threshold factor. In the case where the level (signal strength or power level) of D is greater than S, the third node can determine that the region corresponding to the detection unit has a sensing target. In the case where the level of D is less than or equal to S, the third node can determine that the region corresponding to the detection unit does not have a sensing target.

[0221] In this way, when the sensing target exists is determined, the third node can determine the sensing measurement value according to the position of the sensing target in the two-dimensional RDM spectrum, thereby improving the accuracy of the sensing measurement value.

[0222] Optionally, the third node can calculate the average of the CFR time difference values of different subcarriers at two time points, that is, H_ave(t2)-H_ave(t1)=average[H(k,t2)-H(k,t1)], and perform FFT processing on the average of the CFR time difference values at different time points to obtain the value of the Doppler frequency offset.

[0223] Optionally, if the third node determines that the sensing reference signal does not exist in the interference signal reflected by the environmental object (for example, there is no object in the environment), the calculated Doppler frequency offset satisfies the following formula:

[0224]

[0225] Wherein, A can be a proportional value related to the Doppler frequency offset;

[0226] H(k, t3) = exp(j*2pi*fc*Tao+j*2pi*k*Tao)*exp(j*2pi*fd*t3)+H background (t3)

[0227] H(k, t2) = exp(j*2pi*fc*Tao+j*2pi*k*Tao)*exp(j*2pi*fd*t2)+H background (t2)

[0228] H(k, t1) = exp(j*2pi*fc*Tao+j*2pi*k*Tao)*exp(j*2pi*fd*t1)+H background (t1)

[0229] Wherein, H background (t3) = H background (t2) = H background (t1), respectively, represent the channel response at t1, t2 and t3 without passing through the sensing target. fc represents the carrier frequency, fd represents the Doppler frequency offset, and Tao represents the air interface transmission delay. t1 < t2 < t3.

[0230] H(k, t3) - H(k, t1) = exp(j*2pi*fc*Tao+j*2pi*k*Tao)*[exp(j*2pi*fd*t3)-exp(j*2pi*fd*t1)];

[0231] H(k, t2) - H(k, t1) = exp(j*2pi*fc*Tao+j*2pi*k*Tao)*[exp(j*2pi*fd*t2)-exp(j*2pi*fd*t1)];

[0232] [H(k, t3) - H(k, t1)] / [H(k, t2) - H(k, t1)] = [exp(j*2pi*fd*t3)-exp(j*2pi*fd*t1)] / [exp(j*2pi*fd*t2)exp(j*2pi*fd*t1)];

[0233] If t1=0ms, t2=t1+T_duration=T_duration, t3=t1+2*T_duration=2*T_duration, substituting into the above formula can obtain:

[0234] [H(k, t3) - H(k, t1)] / [H(k, t2) - H(k, t1)] = [exp(j*2pi*fd*t3) - 1] / [exp(j*2pi*fd*t2) - 1].

[0235] Assuming X=exp(j*2pi*fd*t2), A=[H(k, t3)-H(k, t1)] / [H(k, t2)-H(k, t1)], can obtain:

[0236] X^2-A*X+(A-1)=0, solving the equation can obtain X_est, thereby calculating the Doppler frequency offset:

[0237] fd=angle(X_est) / (2*pi*t2).

[0238] Wherein, angle represents taking the phase value, the unit is [0, 2*pi].

[0239] Wherein, in the case that the target information includes the perception measurement value, the target information can further include at least one of the following:

[0240] Interference cancellation indication information;

[0241] Perception measurement related information.

[0242] Wherein, the interference cancellation indication information can be used to indicate whether the perception measurement value is the perception measurement value after interference cancellation. For example, the interference cancellation indication information can be 1 (the perception measurement value is determined based on the CFR time difference value, that is, the perception measurement value is the perception measurement value after interference cancellation), so that after the second node receives the target information, the second node can determine that the perception measurement value has been processed based on interference cancellation, and therefore the second node can determine the position of the perception target according to the perception measurement value. For example, the interference cancellation indication information can also be 0 (the perception measurement value is not determined based on the CFR time difference value, that is, the perception measurement value is not the perception measurement value after interference cancellation), so that after the second node receives the target information, the second node can determine that the perception measurement value has not been processed based on interference cancellation, and therefore the second node can determine a new perception measurement value based on the CFR or the CFR time difference value in the target information, and determine the position of the perception target according to the new perception measurement value, which can improve the positioning accuracy of the perception target.

[0243] Wherein, the perception measurement related information can include at least one of the following:

[0244] receiving beam direction;

[0245] receiving antenna group;

[0246] timestamp information of the sensing measurement value;

[0247] timestamp information of the CFR;

[0248] timestamp information of the CFR time difference value;

[0249] signal quality indication information.

[0250] The receiving beam direction can indicate the receiving direction of the sensing reference signal corresponding to the sensing measurement value, and the receiving antenna group can also indicate the receiving direction of the sensing reference signal corresponding to the sensing measurement value. In this way, the second node can determine whether the multiple sensing measurement values sent by the same third node can be processed by merging according to the receiving beam direction and the receiving antenna group. For example, the sensing measurement value 1 and the sensing measurement value 2 are sensing measurement values of the same type. If the receiving directions of the sensing reference signals corresponding to the sensing measurement value 1 and the sensing measurement value 2 are the same, the second node can process the sensing measurement value 1 and the sensing measurement value 2 by merging. If the receiving directions of the sensing reference signals corresponding to the sensing measurement value 1 and the sensing measurement value 2 are different, the second node can process the sensing measurement value 1 and the sensing measurement value 2 respectively.

[0251] The timestamp information of the sensing measurement value includes the starting timestamp and / or the ending timestamp of the sensing measurement value. For example, the third node can measure multiple sensing signals to obtain a sensing measurement value. The starting timestamp of the sensing measurement value can be the timestamp at which the measurement starts, and the ending timestamp of the sensing measurement value can be the timestamp at which the measurement ends.

[0252] The timestamp information of the CFR includes the starting timestamp and / or the ending timestamp of the CFR. For example, the timestamp information of the CFR can be used to indicate the time range of measuring the CFR. For example, the starting timestamp of the CFR can be the timestamp at which the measurement of the CFR starts, and the ending timestamp of the CFR can be the timestamp at which the measurement of the CFR ends.

[0253] The timestamp information of the CFR time difference value includes the starting timestamp and / or the ending timestamp of the CFR time difference value. For example, if the CFR time difference value is H(k, t2)-H(k, t1), the starting timestamp can correspond to the time t1, and the ending timestamp can correspond to the time t2, that is, t1 is less than t2; or the starting timestamp can correspond to the time t2, and the ending timestamp can correspond to the time t1, that is, t2 is less than t1.

[0254] The signal quality indication information can be used to indicate the quality of the sensing reference signal corresponding to the sensing measurement value. For example, the signal quality indication information can indicate the reference signal receiving power (RSRP), the reference signal receiving quality (RSRQ), or the like of the sensing reference signal corresponding to the sensing measurement value.

[0255] S1002, the third node sends target information to the second node.

[0256] The target information sent by the third node to the second node can include the CFR, the CFR and the CFR time difference value, the CFR, the CFR time difference value, and the sensing measurement value, and the like. The embodiments of the present application are not limited in this regard.

[0257] The embodiments of the present application provide a method for sending target information. The third node measures the sensing reference signal, obtains the target information, and sends the target information to the second node. The target information includes at least one of the following: the channel frequency domain response CFR, the CFR time difference value, and the sensing measurement value. When the target information includes the sensing measurement value, the target information further includes the interference cancellation indication information and / or the sensing measurement related information. In this way, the second node can quickly and accurately locate the sensing target according to the target information, thereby improving the positioning efficiency and positioning accuracy of the sensing target.

[0258] On the basis of any one of the above embodiments, the following will be described in combination with FIG. 11 The method for the second node to determine the position of the sensing target is described.

[0259] FIG. 11 A method for the second node to determine the position of the sensing target is provided. Please refer to FIG. 11 , including:

[0260] S1101, the second node receives target information sent by at least one third node.

[0261] S1102, the second node determines the position of the sensing target according to the target information.

[0262] The second node can determine the position of the sensing target according to the following feasible implementation manner: determining the sensing measurement value according to the target information, and determining the position of the sensing target according to the sensing measurement value.

[0263] In a case where the target information comprises the CFR, the perception measurement value is determined according to the CFR time difference value corresponding to the available subcarrier or the available subcarrier position, wherein the CFR time difference value is determined according to the CFR corresponding to the perception reference signals at different sending moments on the same subcarrier position.

[0264] In a case where the target information comprises the CFR time difference value, the perception measurement value is determined according to the CFR time difference value corresponding to the available subcarrier or the available subcarrier position.

[0265] It should be noted that the second node can determine the perception measurement according to the CFR and the CFR time difference value, and the method for determining the perception measurement by the third node can be referred to, which will not be described herein again.

[0266] The perception measurement value comprises a perception measurement value in a speed domain, a distance domain and / or an angle domain. For example, the perception measurement value in the speed domain can be a speed (Doppler frequency offset), the perception measurement value in the distance domain can be a distance, and the perception measurement value in the angle domain can be an angle. The third node determines the position of the perception target according to the perception measurement value. Specifically, if the number of the perception measurement values in each domain is 1, the position of the perception target is determined according to the perception measurement value in each domain, and if the number of the perception measurement values in each domain is greater than 1, a plurality of weights corresponding to a plurality of perception measurement values in each domain are determined, and the position of the perception target is determined according to the plurality of perception measurement values and the plurality of weights in each domain.

[0267] The second node receives the target information sent by one third node, and determines the perception measurement value in a plurality of domains according to the target information. If the number of the perception measurement values in each domain is 1, the second node can determine the position of the perception target according to the perception measurement values in the plurality of domains.

[0268] The second node receives the target information sent by a plurality of third nodes, and determines the perception measurement value in a plurality of domains according to the target information. If the number of the perception measurement values in each domain is greater than 1, the second node can weight the perception measurement values in each domain, and determine the position of the perception target according to the weighted perception measurement values in each domain, so as to improve the positioning accuracy of the perception target. For example, if one angle is included in the angle domain and one Doppler frequency offset is included in the distance domain, the second node can determine the position of the perception target according to the angle and the Doppler frequency offset, if two angles are included in the angle domain and two Doppler frequency offsets are included in the distance domain, the second node can weight the two angles and weight the two Doppler frequency offsets, and determine the position of the perception target according to the weighted angle and the weighted Doppler frequency offset.

[0269] The weight corresponding to the perception measurement value can be used for weighted processing of the perception measurement value. For example, the greater the weight corresponding to the perception measurement value, the greater the proportion of the perception measurement value in the weighted processing, and the smaller the weight corresponding to the perception measurement value, the smaller the proportion of the perception measurement value in the weighted processing.

[0270] The third node can determine a plurality of weights corresponding to a plurality of perception measurement values in each domain according to the perception measurement related information. For example, the weight can be related to the timestamp information and / or the signal quality indication information in the perception measurement related information. For example, the greater the timestamp indicated by the timestamp information of the perception measurement value, the greater the weight corresponding to the perception measurement value, and the smaller the timestamp indicated by the timestamp information of the perception measurement value, the smaller the weight corresponding to the perception measurement value. For example, if the timestamp indicated by the timestamp information of the perception measurement value is greater, it means that the measurement time of the perception measurement value is closer to the current time (the data is newer), and therefore the weight corresponding to the perception measurement value is greater, and if the timestamp indicated by the timestamp information of the perception measurement value is smaller, it means that the measurement time of the perception measurement value is farther away from the current time (the data is older), and therefore the weight corresponding to the perception measurement value is smaller. For example, the timestamp corresponding to the perception measurement value 1 is greater than the timestamp corresponding to the perception measurement value 2, and the weight corresponding to the perception measurement value 1 can be 0.8, and the weight corresponding to the perception measurement value 2 can be 0.2.

[0271] It should be noted that the timestamp can be a start timestamp or an end timestamp, and the embodiments of the present application do not limit the same.

[0272] It should be noted that the method of determining the weight according to the timestamp information of the CFR, or the method of determining the weight according to the timestamp information of the CFR time difference value, can refer to the method of determining the weight according to the timestamp information of the perception measurement value, and the embodiments of the present application will not be described again.

[0273] Optionally, the second node determines the weight corresponding to the perception measurement value according to a plurality of types of timestamp information. For example, the second node can determine the weight corresponding to the perception measurement value according to the timestamp information of the perception measurement value and the timestamp information of the CFR time difference value, wherein the timestamp information of the perception measurement value can affect a sub-weight 1, the timestamp information of the CFR time difference value (determining the CFR time difference value of the perception measurement value) can affect a sub-weight 2, the sum of the sub-weight 1 and the sub-weight 2 is 1, the timestamp indicated by the timestamp information of the perception measurement value can be positively correlated with the sub-weight 1, and the timestamp indicated by the timestamp information of the CFR can be positively correlated with the sub-weight 2.

[0274] For example, the higher the signal quality indicated by the signal quality indication information of the perception measurement value, the greater the weight corresponding to the perception measurement value; the lower the signal quality indicated by the signal quality indication information of the perception measurement value, the smaller the weight corresponding to the perception measurement value. For example, the higher the signal quality indicated by the signal quality indication information of the perception measurement value, the better the signal quality of the perception reference signal used to determine the perception measurement value, and thus the greater the weight corresponding to the perception measurement value; the lower the signal quality indicated by the signal quality indication information of the perception measurement value, the poorer the signal quality of the perception reference signal used to determine the perception measurement value, and thus the smaller the weight corresponding to the perception measurement value. For example, the signal quality corresponding to the perception measurement value 1 is greater than the signal quality corresponding to the perception measurement value 2, the weight corresponding to the perception measurement value 1 can be 0.6, and the weight corresponding to the perception measurement value 2 can be 0.4.

[0275] For example, the second node can determine the weight corresponding to the perception measurement value according to the timestamp and the signal quality corresponding to the perception measurement value. For example, the timestamp can affect the sub-weight 1, and the signal quality can affect the sub-weight 2, the maximum of the sub-weight 1 is 0.6, and the maximum of the sub-weight 2 is 0.4, the timestamp corresponding to the perception measurement value 1 is greater than the timestamp corresponding to the perception measurement value 2, and the signal quality corresponding to the perception measurement value 1 is lower than the signal quality corresponding to the perception measurement value 2, so that the sub-weight 1 corresponding to the perception measurement value 1 is 0.4, the sub-weight 1 corresponding to the perception measurement value 2 is 0.2, the sub-weight 2 corresponding to the perception measurement value 1 is 0.1, and the sub-weight 2 corresponding to the perception measurement value 2 is 0.3, so that the weight corresponding to the perception measurement value 1 is 0.5 (the sub-weight 1 plus the sub-weight 2), and the weight corresponding to the perception measurement value 2 is 0.5.

[0276] It should be noted that the second node can determine the specific value of the weight corresponding to the perception measurement value according to any feasible implementation manner, and the embodiments of the present application do not limit this.

[0277] The second node determines the position of the perception target according to the plurality of perception measurement values and the plurality of weights in each domain, and specifically can be: for any one of the speed domain, the distance domain, and the angle domain, performing weighted processing on the plurality of perception measurement values in the domain according to the plurality of perception measurement values and the plurality of weights in the domain to obtain a target perception measurement value, and determining the position of the perception target according to the target perception measurement value of each domain.

[0278] The target perception measurement value is a perception measurement value after multiple perception measurement values in a domain are weighted. For example, the distance domain can include distance 1 and distance 2 (the distance can be the distance between the first node and the perception target), if distance 1 is 100 meters, distance 2 is 90 meters, the weight corresponding to distance 1 is 0.9, and the weight corresponding to distance 2 is 0.1, the target perception measurement value (target distance) in the distance domain can be 99 meters, which can improve the accuracy of the target perception measurement value.

[0279] The second node can determine the position of the perception target according to the target perception measurement value of each domain. For example, the second node can determine the target perception measurement value in each domain according to the target information from different third nodes, and determine the position of the perception target according to multiple target perception measurement values, and track the position of the perception target, thereby improving the positioning accuracy of the perception target.

[0280] The embodiment of the present application provides a method for a second node to determine the position of a perception target. The second node receives target information sent by at least one third node, and determines a perception measurement value according to the target information. If the number of perception measurement values in each domain is 1, the position of the perception target is determined according to the perception measurement value. If the number of perception measurement values in each domain is greater than 1, multiple weights corresponding to multiple perception measurement values in each domain are determined, and the position of the perception target is determined according to the multiple perception measurement values and the multiple weights in each domain. In this way, the positioning accuracy of the perception target can be improved.

[0281] On the basis of any one of the above embodiments, the following will be described in combination with FIG. 12 Another communication method is described.

[0282] FIG. 12 Another communication method provided by the embodiment of the present application is shown in the figure. Please refer to FIG. 12 The communication method includes:

[0283] S1201, the second node sends resource configuration information of the perception reference signal to the first node and the third node.

[0284] The resource configuration information includes related configuration information of the time domain resource, the frequency domain resource and / or the space domain resource of the perception reference signal.

[0285] S1202, the first node sends the perception reference signal to at least one third node according to the resource configuration information.

[0286] S1203, the third node receives the perception reference signal sent by the first node according to the resource configuration information.

[0287] S1204, the third node measures the sensing reference signal to obtain target information.

[0288] The target information includes at least one of the following:

[0289] CFR;

[0290] CFR time difference value;

[0291] sensing measurement value.

[0292] S1205, the third node sends the target information to the second node.

[0293] S1206, the second node determines the position of the sensing target according to the target information.

[0294] Optionally, after the second node determines the position of the sensing target, the second node can also send the position of the sensing target to the first node, so that the first node can determine the resource allocation and scheduling strategy related to the sensing target. For example, after the SF determines the position of the vehicle, the SF can send the position of the vehicle to the base station, and the base station can allocate communication resources to the vehicle according to the position of the vehicle.

[0295] The embodiment of the application provides a communication method, wherein the second node sends resource configuration information of the sensing reference signal to the first node and the third node, the first node sends the sensing reference signal to at least one third node according to the resource configuration information, the third node receives the sensing reference signal sent by the first node according to the resource configuration information, the third node measures the sensing reference signal to obtain target information, and sends the target information to the second node, and the second node determines the position of the sensing target according to the target information. In this way, the first node and the third node can accurately send and receive the sensing reference signal based on the resource configuration information, and the accuracy of the sensing reference signal is improved. Since the CFR or the CFR time difference value can eliminate the interference signal in the sensing reference signal, the second node can accurately determine the position of the sensing target according to the target information, avoid the direct path interference signal and the environmental interference signal, and cause interference to the position of the sensing target, and the positioning accuracy of the sensing target is improved.

[0296] FIG. 13 A structural schematic diagram of a communication device provided by the embodiment of the application is provided. Please refer to FIG. 13 The communication device 1300 includes a receiving module 1301, a measuring module 1302, and a sending module 1303, wherein:

[0297] The receiving module 1301 is configured to receive the sensing reference signal sent by the first node.

[0298] The measurement module 1302 is configured to measure the sensing reference signal, and obtain target information, the target information including at least one of the following: a channel frequency response (CFR), a CFR time difference value, and a sensing measurement value.

[0299] The sending module 1303 is configured to send the target information to a second node.

[0300] In an embodiment, the target information further includes at least one of the following:

[0301] interference cancellation indication information, the interference cancellation indication information being used to indicate whether the sensing measurement value is a sensing measurement value after interference cancellation;

[0302] sensing measurement related information.

[0303] In an embodiment, the sensing measurement related information includes at least one of the following:

[0304] a receiving beam direction;

[0305] a receiving antenna group;

[0306] timestamp information of the sensing measurement value, the timestamp information of the sensing measurement value including a starting timestamp and / or an ending timestamp of the sensing measurement value;

[0307] timestamp information of the CFR, the timestamp information of the CFR including a starting timestamp and / or an ending timestamp of the CFR;

[0308] timestamp information of the CFR time difference value, the timestamp information of the CFR time difference value including a starting timestamp and / or an ending timestamp of the CFR time difference value;

[0309] signal quality indication information.

[0310] In an embodiment, the CFR in the target information is determined according to the sensing reference signal; and / or,

[0311] the CFR time difference value in the target information is determined according to CFRs corresponding to sensing reference signals at different sending time instants on the same subcarrier position; and / or,

[0312] the sensing measurement value in the target information is determined according to a CFR time difference value corresponding to an available subcarrier or an available subcarrier position.

[0313] In an embodiment, the receiving module 1301 is specifically configured to:

[0314] receive resource configuration information of a sensing reference signal sent by a second node, the resource configuration information including relevant configuration information of time domain resources, frequency domain resources and / or space domain resources of the sensing reference signal;

[0315] receive the sensing reference signal sent by the first node according to the resource configuration information.

[0316] In an implementation, the receiving module 1301 is specifically configured to:

[0317] receive the sensing reference signal sent by the first node according to a time domain resource position indicated by the relevant configuration information of the time domain resources, a frequency domain resource position indicated by the relevant configuration information of the frequency domain resources and / or a space domain beam weight value indicated by the relevant configuration information of the space domain resources.

[0318] In an implementation, in the case of single-base sensing, the first node and the third node are the same node; or,

[0319] In the case of double-base sensing, the first node and the third node are different nodes.

[0320] FIG. 14 A structural schematic diagram of a communication apparatus is provided in an embodiment of the present application. Please refer to FIG. 14 The communication apparatus 1400 includes a receiving module 1401 and a determining module 1402, wherein:

[0321] The receiving module 1401 is configured to receive target information sent by at least one third node, the target information including at least one of the following: a channel frequency domain response (CFR), a CFR time difference value, a sensing measurement value;

[0322] The determining module 1402 is configured to determine a position of a sensing target according to the target information.

[0323] In an implementation, the target information further includes at least one of the following:

[0324] interference cancellation indication information, the interference cancellation indication information being used to indicate whether the sensing measurement value is a sensing measurement value after interference cancellation;

[0325] sensing measurement related information.

[0326] In an implementation, the sensing measurement related information includes at least one of the following:

[0327] a receiving beam direction;

[0328] a receiving antenna group;

[0329] timestamp information of the perception measurement value, the timestamp information of the perception measurement value comprising a start timestamp and / or an end timestamp of the perception measurement value;

[0330] timestamp information of the CFR, the timestamp information of the CFR comprising a start timestamp and / or an end timestamp of the CFR;

[0331] timestamp information of the CFR time difference value, the timestamp information of the CFR time difference value comprising a start timestamp and / or an end timestamp of the CFR time difference value;

[0332] signal quality indication information.

[0333] In an embodiment, the determining module 1402 is specifically configured to:

[0334] determine the perception measurement value according to the target information;

[0335] determine the position of the perception target according to the perception measurement value.

[0336] In an embodiment, when the target information comprises the CFR, the perception measurement value is determined according to the CFR time difference value corresponding to the available subcarrier or the available subcarrier position, wherein the CFR time difference value is determined according to the CFR corresponding to the perception reference signals at different sending moments on the same subcarrier position.

[0337] In an embodiment, when the target information comprises the CFR time difference value, the perception measurement value is determined according to the CFR time difference value corresponding to the available subcarrier or the available subcarrier position.

[0338] In an embodiment, the determining module 1402 is specifically configured to:

[0339] the perception measurement value comprises a perception measurement value in a speed domain, a distance domain, and / or an angle domain;

[0340] if the number of the perception measurement values in each domain is 1, determining the position of the perception target according to the perception measurement value in each domain; or,

[0341] if the number of the perception measurement values in each domain is greater than 1, determining a plurality of weights corresponding to a plurality of perception measurement values in each domain respectively, and determining the position of the perception target according to the plurality of perception measurement values in each domain and the plurality of weights.

[0342] In an embodiment, the determining module 1402 is specifically configured to:

[0343] According to the plurality of perception measurement values in the domain and the plurality of weights, the plurality of perception measurement values in the domain are weighted to obtain a target perception measurement value.

[0344] According to the target perception measurement value of each domain, the position of the perception target is determined.

[0345] In an implementation, the weight is related to the timestamp information and / or the signal quality indication information in the perception measurement related information.

[0346] In an implementation, the communication device further includes a sending module 1403, configured to:

[0347] Send resource configuration information of the perception reference signal to the first node and the at least one third node, the resource configuration information including related configuration information of time domain resources, frequency domain resources and / or space domain resources of the perception reference signal.

[0348] FIG. 15 Another structural schematic diagram of a communication device provided by the embodiments of the present application is provided. Please refer to FIG. 15 The communication device 1500 includes a receiving module 1501 and a sending module 1502, wherein:

[0349] The receiving module 1501 is configured to receive resource configuration information of a perception reference signal sent by a second node, the resource configuration information including related configuration information of time domain resources, frequency domain resources and / or space domain resources of the perception reference signal.

[0350] The sending module 1502 is configured to send the perception reference signal to at least one third node according to the resource configuration information.

[0351] In an implementation, the sending module 1502 is specifically configured to:

[0352] According to a time domain resource position indicated by the related configuration information of the time domain resources, a frequency domain resource position indicated by the related configuration information of the frequency domain resources and / or a space domain beam weight value indicated by the related configuration information of the space domain resources, the perception reference signal is sent to at least one third node.

[0353] In an implementation, in the case of single-base perception, the first node and the third node are the same node; or,

[0354] In the case of double-base perception, the first node and the third node are different nodes.

[0355] It should be noted that the division of the unit in the embodiments of the present application is illustrative, and is only a logical function division. Actual implementation can have another division manner. In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0356] The integrated unit realized in the form of a software functional unit and sold or used as an independent product can be stored in a processor-readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part of the prior art that contributes to the technical solutions or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform all or part of the steps of the methods of the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0357] It should be noted that the above device provided by the present application can realize all method steps realized by the above method embodiments, and can achieve the same technical effects. The same parts and beneficial effects of the method embodiments in this embodiment will not be described in detail.

[0358] FIG. 16 A structural schematic diagram of a terminal device provided by an embodiment of the present application is provided. Referring to FIG. 16, FIG. 16 The terminal device includes a memory 1610, a transceiver 1620, and a processor 1630.

[0359] The memory 1610 is configured to store a computer program.

[0360] The transceiver 1620 is configured to transceive data under the control of the processor.

[0361] The processor 1630 is configured to read the computer program in the memory and perform the following operations:

[0362] receive a sensing reference signal sent by a first node;

[0363] measure the sensing reference signal to obtain target information, the target information comprising at least one of: a channel frequency response (CFR), a CFR time difference value, a sensing measurement value;

[0364] send the target information to a second node.

[0365] In an embodiment, the target information further comprises at least one of:

[0366] interference cancellation indication information, the interference cancellation indication information indicating whether the sensing measurement value is a sensing measurement value after interference cancellation;

[0367] sensing measurement related information.

[0368] In an embodiment, the sensing measurement related information comprises at least one of:

[0369] a receive beam direction;

[0370] a receive antenna group;

[0371] timestamp information of the sensing measurement value, the timestamp information of the sensing measurement value comprising a start timestamp and / or an end timestamp of the sensing measurement value;

[0372] timestamp information of the CFR, the timestamp information of the CFR comprising a start timestamp and / or an end timestamp of the CFR;

[0373] timestamp information of the CFR time difference value, the timestamp information of the CFR time difference value comprising a start timestamp and / or an end timestamp of the CFR time difference value;

[0374] signal quality indication information.

[0375] In an embodiment, the CFR in the target information is determined according to the sensing reference signal; and / or,

[0376] the CFR time difference value in the target information is determined according to CFRs corresponding to sensing reference signals at different sending time instants on a same subcarrier position; and / or,

[0377] the sensing measurement value in the target information is determined according to a CFR time difference value corresponding to an available subcarrier or an available subcarrier position.

[0378] In an embodiment, the receiving the sensing reference signal sent by the first node comprises:

[0379] receive resource configuration information of the sensing reference signal sent by the second node, the resource configuration information comprising relevant configuration information of time domain resources, frequency domain resources and / or space domain resources of the sensing reference signal;

[0380] receive the sensing reference signal sent by the first node according to the resource configuration information.

[0381] In an implementation, the receiving the sensing reference signal sent by the first node according to the resource configuration information comprises:

[0382] receiving the sensing reference signal sent by the first node according to a time domain resource position indicated by the relevant configuration information of the time domain resources, a frequency domain resource position indicated by the relevant configuration information of the frequency domain resources and / or a space domain beam weight value indicated by the relevant configuration information of the space domain resources.

[0383] In an implementation, in the case of single-base sensing, the first node and the third node are the same node; or,

[0384] In the case of double-base sensing, the first node and the third node are different nodes.

[0385] Optionally, the processor 1630 can further be configured to read a computer program in the memory and perform the following operations:

[0386] receive resource configuration information of the sensing reference signal sent by the second node, the resource configuration information comprising relevant configuration information of time domain resources, frequency domain resources and / or space domain resources of the sensing reference signal;

[0387] send the sensing reference signal to at least one third node according to the resource configuration information.

[0388] In an implementation, the sending the sensing reference signal to at least one third node according to the resource configuration information comprises:

[0389] send the sensing reference signal to at least one third node according to a time domain resource position indicated by the relevant configuration information of the time domain resources, a frequency domain resource position indicated by the relevant configuration information of the frequency domain resources and / or a space domain beam weight value indicated by the relevant configuration information of the space domain resources.

[0390] In an implementation, in the case of single-base sensing, the first node and the third node are the same node; or,

[0391] In the case of double-base sensing, the first node and the third node are different nodes.

[0392] In an implementation, the terminal device can further include a user interface 1640, which can also be an interface capable of external connection or internal connection with a required device for different terminal devices, including but not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

[0393] wherein, in FIG. 16 The bus architecture can include any number of interconnected buses and bridges, which link various circuits, including the one or more processors represented by the processor 1603 and the memory represented by the memory 1610. The bus architecture can also link various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and thus, not further described herein. The bus interface provides an interface. The transceiver 1620 can be a plurality of elements, including a transmitter and a receiver, which provide a means for communicating with various other apparatuses over a transmission medium, including a wireless channel, a wired channel, optical cable, and the like. The processor 1630 is responsible for managing the bus architecture and general processing, and the memory 1601 can store data used by the processor 1630 in executing operations.

[0394] Optionally, the processor 1630 can be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD), and the processor can also adopt a multi-core architecture.

[0395] The processor 1630 is configured to execute any of the methods provided by the embodiments of the present application by invoking the computer program stored in the memory 1610.

[0396] It should be noted that the above-mentioned entity device provided by the present application can realize all the method steps of the entity device in the above-mentioned method embodiments, and can achieve the same technical effects, and thus, the same parts and beneficial effects in the method embodiments will not be described in detail.

[0397] FIG. 17 A structural schematic diagram of a network device provided by the embodiments of the present application is shown in FIG. 13. FIG. 17The network device comprises a memory 1710, a transceiver 1720, and a processor 1730:

[0398] The memory 1710 is configured to store a computer program.

[0399] The transceiver 1720 is configured to transceive data under the control of the processor.

[0400] The processor 1730 is configured to read the computer program in the memory and perform the following operations:

[0401] receiving a sensing reference signal sent by a first node;

[0402] measuring the sensing reference signal to obtain target information, the target information comprising at least one of the following: channel frequency response (CFR), CFR time difference value, sensing measurement value;

[0403] sending the target information to a second node.

[0404] In an embodiment, the target information further comprises at least one of the following:

[0405] interference cancellation indication information, the interference cancellation indication information being used to indicate whether the sensing measurement value is a sensing measurement value after interference cancellation;

[0406] sensing measurement related information.

[0407] In an embodiment, the sensing measurement related information comprises at least one of the following:

[0408] receiving beam direction;

[0409] receiving antenna group;

[0410] timestamp information of the sensing measurement value, the timestamp information of the sensing measurement value comprising a start timestamp and / or an end timestamp of the sensing measurement value;

[0411] timestamp information of the CFR, the timestamp information of the CFR comprising a start timestamp and / or an end timestamp of the CFR;

[0412] timestamp information of the CFR time difference value, the timestamp information of the CFR time difference value comprising a start timestamp and / or an end timestamp of the CFR time difference value;

[0413] signal quality indication information.

[0414] In an embodiment, the CFR in the target information is determined according to the sensing reference signal; and / or,

[0415] The CFR time difference value in the target information is determined according to the CFRs corresponding to the perception reference signals at different sending time instants on the same subcarrier position; and / or

[0416] The perception measurement value in the target information is determined according to the CFR time difference value corresponding to the available subcarriers or available subcarrier positions.

[0417] In an implementation, the receiving the perception reference signal sent by the first node comprises:

[0418] Receiving resource configuration information of the perception reference signal sent by the second node, the resource configuration information comprising relevant configuration information of time domain resources, frequency domain resources and / or space domain resources of the perception reference signal;

[0419] According to the resource configuration information, receiving the perception reference signal sent by the first node.

[0420] In an implementation, the receiving the perception reference signal sent by the first node according to the resource configuration information comprises:

[0421] According to the time domain resource position indicated by the relevant configuration information of the time domain resources, the frequency domain resource position indicated by the relevant configuration information of the frequency domain resources and / or the space domain beam weight value indicated by the relevant configuration information of the space domain resources, receiving the perception reference signal sent by the first node.

[0422] In an implementation, in the case of single-base perception, the first node and the third node are the same node; or,

[0423] In the case of double-base perception, the first node and the third node are different nodes.

[0424] Optionally, the processor 1730 can further be configured to read a computer program in the memory and perform the following operations:

[0425] Receiving target information sent by at least one third node, the target information comprising at least one of the following: channel frequency domain response (CFR), CFR time difference value, perception measurement value;

[0426] According to the target information, determining the position of the perception target.

[0427] In an implementation, the target information further comprises at least one of the following:

[0428] Interference cancellation indication information, the interference cancellation indication information being used to indicate whether the perception measurement value is a perception measurement value after interference cancellation;

[0429] Perception measurement related information.

[0430] In an embodiment, the perception measurement related information comprises at least one of:

[0431] a receive beam direction;

[0432] a receive antenna group;

[0433] timestamp information of the perception measurement value, the timestamp information of the perception measurement value comprising a start timestamp and / or an end timestamp of the perception measurement value;

[0434] timestamp information of the CFR, the timestamp information of the CFR comprising a start timestamp and / or an end timestamp of the CFR;

[0435] timestamp information of the CFR time difference value, the timestamp information of the CFR time difference value comprising a start timestamp and / or an end timestamp of the CFR time difference value;

[0436] signal quality indication information.

[0437] In an embodiment, the determining the location of the perception target according to the target information comprises:

[0438] determining the perception measurement value according to the target information;

[0439] determining the location of the perception target according to the perception measurement value.

[0440] In an embodiment, in a case that the target information comprises the CFR, the perception measurement value is determined according to a CFR time difference value corresponding to an available subcarrier or an available subcarrier position, wherein the CFR time difference value is determined according to CFRs corresponding to perception reference signals at different sending time instants on a same subcarrier position.

[0441] In an embodiment, in a case that the target information comprises the CFR time difference value, the perception measurement value is determined according to a CFR time difference value corresponding to an available subcarrier or an available subcarrier position.

[0442] In an embodiment, the determining the location of the perception target according to the perception measurement value comprises:

[0443] the perception measurement value comprises perception measurement values in a velocity domain, a distance domain, and / or an angle domain;

[0444] if a number of the perception measurement values in each domain is 1, determining the location of the perception target according to the perception measurement value in each domain; or,

[0445] If the number of the perception measurement values in each domain is greater than 1, a plurality of weights corresponding to the plurality of perception measurement values in each domain are determined, and the position of the perception target is determined according to the plurality of perception measurement values in each domain and the plurality of weights.

[0446] In an embodiment, the determining the position of the perception target according to the plurality of perception measurement values in each domain and the plurality of weights comprises:

[0447] For any one of the speed domain, the distance domain and the angle domain, the plurality of perception measurement values in the domain are weighted according to the plurality of perception measurement values in the domain and the plurality of weights, to obtain target perception measurement values.

[0448] The position of the perception target is determined according to the target perception measurement values of each domain.

[0449] In an embodiment, the weight is related to the timestamp information and / or the signal quality indication information in the perception measurement related information.

[0450] In an embodiment, before receiving the target information sent by the at least one third node, the method further comprises:

[0451] The resource configuration information of the perception reference signal is sent to the first node and the at least one third node, and the resource configuration information comprises related configuration information of time domain resources, frequency domain resources and / or space domain resources of the perception reference signal.

[0452] Optionally, the processor 1730 can also be configured to read the computer program in the memory and perform the following operations:

[0453] The resource configuration information of the perception reference signal sent by the second node is received, and the resource configuration information comprises related configuration information of time domain resources, frequency domain resources and / or space domain resources of the perception reference signal.

[0454] The perception reference signal is sent to at least one third node according to the resource configuration information.

[0455] In an embodiment, the sending the perception reference signal to at least one third node according to the resource configuration information comprises:

[0456] The perception reference signal is sent to at least one third node according to the time domain resource position indicated by the related configuration information of the time domain resources, the frequency domain resource position indicated by the related configuration information of the frequency domain resources and / or the space domain beam weight value indicated by the related configuration information of the space domain resources.

[0457] In an embodiment, in the case of mono-base perception, the first node and the third node are the same node; or,

[0458] In the case of di-base perception, the first node and the third node are different nodes.

[0459] It should be noted that the above entity device provided by the present application can realize all the method steps implemented by the entity device in the above method embodiments, and can achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiments will not be described in detail.

[0460] The embodiment of the present application further provides a processor readable storage medium, which stores a computer program, and the computer program is used for causing a processor to execute the method provided by any one of the above method embodiments.

[0461] The processor readable storage medium can be any available medium or data storage device that can be accessed by a computer, including but not limited to a magnetic storage (such as a floppy disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical storage (such as a CD, a DVD, a BD, a HVD, etc.), and a semiconductor memory (such as a ROM, an EPROM, an EEPROM, a non-volatile memory (NAND FLASH), a solid state disk (SSD)), etc.

[0462] The embodiment of the present application further provides a computer program product, which includes a computer program, and the computer program is executed by a processor to implement the method provided by any one of the above method embodiments.

[0463] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt a computer program product in the form of one or more computer usable storage media (including but not limited to a magnetic disk storage and an optical storage, etc.) containing computer usable program code.

[0464] The computer executable instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operations steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart and / or block diagram block or blocks.

[0465] These processor-executable instructions can also be stored in a processor-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instructions which implement the functions specified in the flowchart and / or block diagram block or blocks.

[0466] These processor-executable instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operations steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart and / or block diagram block or blocks.

[0467] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A communication method characterized by comprising: The application is applied to a third node, comprising: receiving a sensing reference signal sent by a first node; measuring the sensing reference signal to obtain target information, the target information comprising at least one of the following: channel frequency domain response (CFR), CFR time difference value, sensing measurement value; sending the target information to a second node.

2. The method of claim 1, wherein, The target information further comprises at least one of the following: interference cancellation indication information, the interference cancellation indication information being used to indicate whether the sensing measurement value is a sensing measurement value after interference cancellation; sensing measurement related information.

3. The method of claim 2, wherein, The sensing measurement related information comprises at least one of the following: receiving beam direction; receiving antenna group; timestamp information of the sensing measurement value, the timestamp information of the sensing measurement value comprising a starting timestamp and / or an ending timestamp of the sensing measurement value; timestamp information of the CFR, the timestamp information of the CFR comprising a starting timestamp and / or an ending timestamp of the CFR; timestamp information of the CFR time difference value, the timestamp information of the CFR time difference value comprising a starting timestamp and / or an ending timestamp of the CFR time difference value; signal quality indication information.

4. The method of claim 1, wherein, The CFR in the target information is determined according to the sensing reference signal; and / or, The CFR time difference value in the target information is determined according to CFRs corresponding to sensing reference signals at different sending time instants on the same subcarrier position; and / or, The sensing measurement value in the target information is determined according to a CFR time difference value corresponding to available subcarriers or available subcarrier positions.

5. The method according to any one of claims 1 to 4, characterized in that, The receiving of the sensing reference signal sent by the first node comprises: receiving resource configuration information of the sensing reference signal sent by the second node, the resource configuration information comprising relevant configuration information of time domain resources, frequency domain resources and / or space domain resources of the sensing reference signal; receiving the sensing reference signal sent by the first node according to the resource configuration information.

6. The method of claim 5, wherein, The receiving of the sensing reference signal sent by the first node according to the resource configuration information comprises: receiving the sensing reference signal sent by the first node according to time domain resource positions indicated by the relevant configuration information of the time domain resources, frequency domain resource positions indicated by the relevant configuration information of the frequency domain resources and / or space domain beam weight values indicated by the relevant configuration information of the space domain resources.

7. The method according to any one of claims 1 to 4, characterized in that, In the case of single-base sensing, the first node and the third node are the same node; or, In the case of double-base sensing, the first node and the third node are different nodes.

8. A communication method characterized by comprising: The application is applied to a second node, comprising: receiving target information sent by at least one third node, the target information comprising at least one of the following: channel frequency domain response (CFR), CFR time difference value, sensing measurement value; determining the position of a sensing target according to the target information.

9. The method of claim 8, wherein, The target information further comprises at least one of the following: interference cancellation indication information, the interference cancellation indication information being used to indicate whether the sensing measurement value is a sensing measurement value after interference cancellation; sensing measurement related information.

10. The method of claim 9, wherein, The sensing measurement related information comprises at least one of the following: receiving beam direction; receiving antenna group; timestamp information of the sensing measurement value, the timestamp information of the sensing measurement value comprising a start timestamp and / or an end timestamp of the sensing measurement value; timestamp information of the CFR, the timestamp information of the CFR comprising a start timestamp and / or an end timestamp of the CFR; timestamp information of the CFR time difference value, the timestamp information of the CFR time difference value comprising a start timestamp and / or an end timestamp of the CFR time difference value; signal quality indication information.

11. The method according to any one of claims 8-10, characterized in that, The method further comprises: determining a position of the sensing target according to the target information, comprising: determining the sensing measurement value according to the target information; 12. The method of claim 11, wherein, determining the position of the sensing target according to the sensing measurement value.

13. The method of claim 11, wherein, In a case where the target information comprises the CFR, the sensing measurement value is determined according to a CFR time difference value corresponding to an available subcarrier or an available subcarrier position, wherein the CFR time difference value is determined according to CFRs corresponding to sensing reference signals at different sending moments on a same subcarrier position.

14. The method of claim 11, wherein, In a case where the target information comprises the CFR time difference value, the sensing measurement value is determined according to a CFR time difference value corresponding to an available subcarrier or an available subcarrier position. The method further comprises: The sensing measurement value comprises sensing measurement values in a speed domain, a distance domain, and / or an angle domain. In a case where the number of sensing measurement values in each domain is 1, the position of the sensing target is determined according to the sensing measurement value in each domain; or 15. The method of claim 14, wherein, In a case where the number of sensing measurement values in each domain is greater than 1, a plurality of weights corresponding to a plurality of sensing measurement values in each domain are determined, and the position of the sensing target is determined according to the plurality of sensing measurement values in each domain and the plurality of weights. The method further comprises: For any one of the speed domain, the distance domain, and the angle domain, a plurality of sensing measurement values in the domain are weighted to obtain target sensing measurement values according to the plurality of sensing measurement values in the domain and the plurality of weights; 16. The method according to claim 14 or 15, characterized in that The position of the sensing target is determined according to the target sensing measurement value of each domain.

17. The method according to any one of claims 8-10, characterized by, The weights are related to the timestamp information and / or the signal quality indication information in the sensing measurement related information. Before receiving the target information sent by the at least one third node, the method further comprises:

18. A method of communication, comprising: sending, to the first node and the at least one third node, resource configuration information of the sensing reference signal, the resource configuration information comprising related configuration information of time domain resources, frequency domain resources, and / or space domain resources of the sensing reference signal. The method is applied to a first node, and the first node comprises: receiving, from a second node, resource configuration information of a sensing reference signal, the resource configuration information comprising related configuration information of time domain resources, frequency domain resources, and / or space domain resources of the sensing reference signal; sending, to at least one third node, the sensing reference signal according to the resource configuration information. The method is applied to a first node, and the first node comprises: receiving, from a second node, resource configuration information of a sensing reference signal, the resource configuration information comprising related configuration information of time domain resources, frequency domain resources, and / or space domain resources of the sensing reference signal; sending, to at least one third node, the sensing reference signal according to the resource configuration information.

19. The method of claim 18, wherein, The sending, according to the resource configuration information, of the sensing reference signal to at least one third node comprises: sending, according to a time domain resource position indicated by the related configuration information of the time domain resource, a frequency domain resource position indicated by the related configuration information of the frequency domain resource, and / or a space domain beam weight value indicated by the related configuration information of the space domain resource, of the sensing reference signal to at least one third node.

20. The method of claim 18 or 19, wherein, In the case of single-base sensing, the first node and the third node are the same node; or, In the case of double-base sensing, the first node and the third node are different nodes.

21. A communications device, characterized by Applied to a third node, the communication device comprises a receiving module, a measuring module, and a sending module, wherein: The receiving module is configured to receive a sensing reference signal sent by a first node. The measuring module is configured to measure the sensing reference signal to obtain target information, the target information comprising at least one of the following: a channel frequency domain response (CFR), a CFR time difference value, and a sensing measurement value. The sending module is configured to send the target information to a second node.

22. A communications device, characterized by Applied to a second node, the communication device comprises a receiving module and a determining module, wherein: The receiving module is configured to receive target information sent by at least one third node, the target information comprising at least one of the following: a channel frequency domain response (CFR), a CFR time difference value, and a sensing measurement value. The determining module is configured to determine the position of a sensing target according to the target information.

23. A communications device, characterized by Applied to a first node, the communication device comprises a receiving module and a sending module, wherein: The receiving module is configured to receive resource configuration information of a sensing reference signal sent by a second node, the resource configuration information comprising related configuration information of a time domain resource, a frequency domain resource, and / or a space domain resource of the sensing reference signal. The sending module is configured to send the sensing reference signal to at least one third node according to the resource configuration information.

24. A terminal device, comprising: comprising a memory, a transceiver, and a processor: The memory is configured to store a computer program. The transceiver is configured to transceive data under the control of the processor. The processor is configured to read the computer program in the memory and perform the method of any one of claims 1-7, or the method of any one of claims 18-20.

25. A network device, comprising: comprising a memory, a transceiver, and a processor: The memory is configured to store a computer program. The transceiver is configured to transceive data under the control of the processor. The processor is configured to read the computer program in the memory and perform the method of any one of claims 1-7, or the method of any one of claims 8-17, or the method of any one of claims 18-20.

26. A processor-readable storage medium, comprising: The processor readable storage medium stores a computer program, the computer program being configured to cause the processor to perform the method of any one of claims 1-7, or the method of any one of claims 8-17, or the method of any one of claims 18-20.

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