Perception method and device and storage medium

Abstract

The invention relates to a sensing method and device and a storage medium, and the method comprises the steps: receiving a sensing measurement quantity, the sensing measurement quantity is used for positioning a sensing object, and the sensing measurement quantity comprises any one of the following items: a receiving moment when a receiving node receives a reflected first sensing signal; the difference value between the receiving moment when the receiving node receives the reflected first sensing signal and the first moment is obtained; wherein the first moment comprises any one of the following items: a receiving moment when the receiving node receives the reflected second sensing signal; and public moments. In the above embodiment, the problem that a perceived object cannot be perceived is solved, and it is ensured that the perceiving processing node can determine the distance difference value through the difference value between the receiving moment when the receiving node receives the reflected perceived signal and another moment when the receiving node receives the reflected perceived signal or the difference value between the receiving moment and the public moment. Therefore, the position of the perceived object can be determined based on the distance difference between different sending nodes or receiving nodes, and the perceiving accuracy of the perceived object is ensured.

Description

Perception method, apparatus, and storage medium TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of communication, and particularly relates to a perception method, an apparatus, and a storage medium. BACKGROUND

[0002] With the rapid development of mobile communication technology, a method for perceiving an object through a perception system is proposed, or it can also be considered as a method for positioning an object. For some perceived objects, the object is not a terminal or a network device and does not have the ability to send or receive signals, so the perception needs to be realized through signal reflection of the perceived object.

[0003] SUMMARY

[0004] The scheme provided by the present disclosure solves the problem that the perceived object cannot be perceived, ensures that the perception processing node can determine the distance difference through the difference between the reception time of the reflected perception signal received by the receiving node and another time or the difference from the public time, and further ensures that the position of the perceived object can be determined based on the distance difference between different sending nodes or receiving nodes, thereby ensuring the accuracy of the perception of the perceived object.

[0005] The present disclosure provides a perception method, an apparatus, and a storage medium.

[0006] According to a first aspect of an embodiment of the present disclosure, a perception method is provided, the method is performed by a perception processing node, and the method comprises:

[0007] receiving a perception measurement quantity, the perception measurement quantity being used for positioning a perceived object, and the perception measurement quantity comprising any one of the following:

[0008] a reception time at which a receiving node receives a reflected first perception signal;

[0009] a difference between the reception time at which the receiving node receives the reflected first perception signal and a first time;

[0010] wherein the first time comprises any one of the following:

[0011] a reception time at which the receiving node receives a reflected second perception signal;

[0012] a public time.

[0013] According to a second aspect of an embodiment of the present disclosure, a perception method is provided, the method is performed by a receiving node, and the method comprises:

[0014] transmit a perception measurement, the perception measurement being for positioning a perceived object, the perception measurement comprising any of:

[0015] a reception time at which the receiving node received the reflected first perception signal;

[0016] a difference between the reception time at which the receiving node received the reflected first perception signal and a first time;

[0017] wherein the first time comprises any of:

[0018] a reception time at which the receiving node received the reflected second perception signal;

[0019] a common time.

[0020] According to a third aspect of embodiments of the disclosure, a perception method is provided, the method comprising:

[0021] transmit a perception measurement, the perception measurement being for positioning a perceived object, the perception measurement comprising any of:

[0022] a reception time at which the receiving node received the reflected first perception signal;

[0023] a difference between the reception time at which the receiving node received the reflected first perception signal and a first time;

[0024] wherein the first time comprises any of:

[0025] a reception time at which the receiving node received the reflected second perception signal;

[0026] a common time;

[0027] a perception processing node receives a perception measurement.

[0028] According to a fourth aspect of embodiments of the disclosure, a perception apparatus is provided, comprising:

[0029] a transceiver configured to receive a perception measurement, the perception measurement being for positioning a perceived object, the perception measurement comprising any of:

[0030] a reception time at which the receiving node received the reflected first perception signal;

[0031] a difference between the reception time at which the receiving node received the reflected first perception signal and a first time;

[0032] wherein the first time comprises any of:

[0033] a reception time at which the receiving node receives the reflected second sensing signal;

[0034] a common time.

[0035] According to a fifth aspect of embodiments of the disclosure, a sensing device is provided, comprising:

[0036] a transceiver configured to transmit a sensing measurement, the sensing measurement being used for positioning a sensing object, the sensing measurement comprising any one of:

[0037] a reception time at which the receiving node receives the reflected first sensing signal;

[0038] a difference between the reception time at which the receiving node receives the reflected first sensing signal and a first time;

[0039] wherein the first time comprises any one of:

[0040] a reception time at which the receiving node receives the reflected second sensing signal;

[0041] a common time.

[0042] According to a sixth aspect of embodiments of the disclosure, a sensing processing node is provided, comprising:

[0043] one or more processors;

[0044] wherein the sensing processing node is configured to perform the method of any one of the first aspect.

[0045] According to a seventh aspect of embodiments of the disclosure, a receiving node is provided, comprising:

[0046] one or more processors;

[0047] wherein the receiving node is configured to perform the method of any one of the second aspect.

[0048] According to an eighth aspect of embodiments of the disclosure, a communication system is provided, comprising:

[0049] a sensing processing node configured to implement the sensing method of the first aspect, and a receiving node configured to implement the sensing method of the second aspect.

[0050] According to a ninth aspect of embodiments of the disclosure, a storage medium is provided, the storage medium storing instructions that, when executed on a communication device, cause the communication device to perform the method of any one of the first aspect or the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0051] The accompanying drawings, which are included to provide a further understanding of the present disclosure and constitute a part of the present disclosure, illustrate embodiments of the present disclosure and together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the present disclosure, but do not limit the present disclosure. In the drawings:

[0052] FIG. 1A is a schematic diagram of an architecture of a communication system according to an embodiment of the present disclosure;

[0053] FIG. 1B is a schematic diagram of an architecture of a communication system according to an embodiment of the present disclosure;

[0054] FIG. 2 is a schematic diagram of interactions of a sensing method according to an embodiment of the present disclosure;

[0055] FIG. 3A is a schematic diagram of a flow of a sensing method according to an embodiment of the present disclosure;

[0056] FIG. 3B is a schematic diagram of a flow of a sensing method according to an embodiment of the present disclosure;

[0057] FIG. 4 is a schematic diagram of a flow of a sensing method according to an embodiment of the present disclosure;

[0058] FIG. 5 is a schematic diagram of a flow of a sensing method according to an embodiment of the present disclosure;

[0059] FIG. 6 is a schematic diagram of a flow of a sensing method according to an embodiment of the present disclosure;

[0060] FIG. 7A is a schematic diagram of a structure of a sensing apparatus according to an embodiment of the present disclosure;

[0061] FIG. 7B is a schematic diagram of a structure of a sensing apparatus according to an embodiment of the present disclosure;

[0062] FIG. 8A is a schematic diagram of a structure of a communication device according to an embodiment of the present disclosure;

[0063] FIG. 8B is a schematic diagram of a structure of a chip according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0064] The present disclosure provides a sensing method, apparatus and storage medium.

[0065] According to a first aspect of embodiments of the present disclosure, a sensing method is provided, the method is performed by a terminal, and the method comprises:

[0066] receiving a sensing measurement quantity, the sensing measurement quantity being used for positioning a sensing object, the sensing measurement quantity comprising any one of the following:

[0067] a receiving node receives a receiving moment of the reflected first sensing signal;

[0068] a difference between a time when the receiving node receives the reflected first sensing signal and the first time;

[0069] The first time includes any of the following:

[0070] a time when the receiving node receives the reflected second sensing signal;

[0071] a common time.

[0072] In the above embodiments, the problem that the sensing object cannot be sensed is solved, and it is ensured that the sensing processing node can determine the distance difference based on the difference between the time when the receiving node receives the reflected sensing signal and another time or the difference from the common time, and then ensure that the position of the sensing object can be determined based on the distance difference between different sending nodes or receiving nodes, thereby ensuring the accuracy of sensing the sensing object.

[0073] In combination with some embodiments of the first aspect, in some embodiments, the sensing measurement quantity includes a sensing measurement quantity of one or more paths, and the one or more paths refer to routes of the sensing signal propagation.

[0074] In the above embodiments, for the sensing signal sent by the sending node, the transmission route of the sensing signal includes multiple routes, and the sensing measurement quantity includes a measurement quantity of one or more transmission routes, thereby ensuring the comprehensiveness of the sensing measurement quantity reported by the receiving node, and then ensuring the accuracy of subsequent positioning of the sensing object.

[0075] In combination with some embodiments of the first aspect, in some embodiments, the one or more paths include at least one of the following:

[0076] a path with a time difference less than a time delay threshold;

[0077] a path with a time difference belonging to a time delay range;

[0078] a path with an angle of arrival belonging to an angle range.

[0079] In the above embodiments, by receiving the path satisfying certain conditions, it is ensured that the reported path is selected, thereby ensuring the accuracy of the sensing measurement quantity corresponding to the reported path.

[0080] In combination with some embodiments of the first aspect, in some embodiments, the method further includes:

[0081] receiving capability information, and the capability information is used to indicate a maximum number of the paths reported by the receiving node.

[0082] In some embodiments of the first aspect, in some embodiments, the receiving node configures one or more configuration information, and one of the configuration information is used to configure one sensing signal.

[0083] In the above embodiments, by configuring one or more sensing signals, the receiving node can send different sensing signals to locate the sensing object, thereby ensuring the accuracy of locating the sensing object.

[0084] In some embodiments of the first aspect, in some embodiments, the configuration information comprises at least one of:

[0085] a configuration identifier, the configuration identifier being used to indicate the configuration information;

[0086] a beam identifier, the beam identifier being used to indicate a beam of the receiving node for sending the sensing measurement;

[0087] a time domain resource;

[0088] a frequency domain resource.

[0089] In the above embodiments, by including at least one of the configuration identifier, the beam identifier, the bandwidth, the time domain resource, or the frequency domain resource, the configuration information ensures the comprehensiveness of configuring the sensing signal.

[0090] In some embodiments of the first aspect, in some embodiments, the method further comprises:

[0091] receiving error information, the error information being used to indicate a measurement error of the receiving node on the sensing measurement.

[0092] In the above embodiments, by reporting the measurement error, the sensing processing node can adjust the sensing measurement based on the measurement error, thereby ensuring the accuracy of locating the sensing object based on the adjusted sensing measurement.

[0093] In some embodiments of the first aspect, in some embodiments, the sensing measurement corresponds to time information.

[0094] The time information comprises at least one of:

[0095] a sending time point, the sending time point being used to indicate a time point of the sending node for sending the sensing signal;

[0096] a receiving time point, the receiving time point being used to indicate a time point of the receiving node for receiving the reflected sensing signal;

[0097] an effective duration, the effective duration being used to indicate a duration of the sensing measurement being effective.

[0098] In the above embodiments, the perception measurement corresponds to time information, ensuring the accuracy of the perception measurement, and further ensuring the accuracy of subsequent positioning of the perception object based on the perception measurement.

[0099] In a second aspect, the embodiments of the present disclosure provide a perception method, the method is performed by a network device, and the method comprises:

[0100] sending a perception measurement, the perception measurement being used for positioning a perception object, the perception measurement comprising any one of the following:

[0101] a receiving time at which the receiving node receives the reflected first perception signal;

[0102] a difference between the receiving time at which the receiving node receives the reflected first perception signal and a first time;

[0103] The first time comprises any one of the following:

[0104] a receiving time at which the receiving node receives the reflected second perception signal;

[0105] a common time.

[0106] In combination with some embodiments of the second aspect, in some embodiments, the perception measurement comprises perception measurements of one or more paths, the one or more paths referring to routes of propagation of the perception signal.

[0107] In combination with some embodiments of the second aspect, in some embodiments, the one or more paths comprise at least one of the following:

[0108] a path with a time difference less than a time delay threshold;

[0109] a path with a time difference belonging to a time delay range;

[0110] a path with an angle of arrival belonging to an angle range.

[0111] In combination with some embodiments of the second aspect, in some embodiments, the method further comprises:

[0112] sending capability information, the capability information being used for indicating a maximum number of the paths reported by the receiving node.

[0113] In combination with some embodiments of the second aspect, in some embodiments, the receiving node configures one or more configuration information, one configuration information being used for configuring one perception signal.

[0114] In combination with some embodiments of the second aspect, in some embodiments, the configuration information comprises at least one of the following:

[0115] a configuration identifier, the configuration identifier being used to indicate the configuration information;

[0116] a beam identifier, the beam identifier being used to indicate a beam in which the receiving node transmits the sensing measurement;

[0117] a time domain resource;

[0118] a frequency domain resource.

[0119] With reference to the second aspect, in some embodiments, the method further includes:

[0120] transmitting error information, the error information being used to indicate a measurement error of the sensing measurement by the receiving node.

[0121] With reference to the second aspect, in some embodiments, the sensing measurement corresponds to time information;

[0122] the time information includes at least one of:

[0123] a transmission time point, the transmission time point being used to indicate a time point at which the transmitting node transmits the sensing signal;

[0124] a reception time point, the reception time point being used to indicate a time point at which the receiving node receives the reflected sensing signal;

[0125] a valid time length, the valid time length being used to indicate a duration in which the sensing measurement is valid.

[0126] In a third aspect, the embodiments of the present disclosure provide a sensing method, and the method includes:

[0127] a receiving node transmits a sensing measurement, the sensing measurement being used to locate a sensing object, and the sensing measurement includes any one of:

[0128] a reception time point at which the receiving node receives the reflected first sensing signal;

[0129] a difference between the reception time point at which the receiving node receives the reflected first sensing signal and a first time point;

[0130] wherein the first time point includes any one of:

[0131] a reception time point at which the receiving node receives the reflected second sensing signal;

[0132] a common time point;

[0133] a sensing processing node receives a sensing measurement.

[0134] In a fourth aspect, the embodiments of the present disclosure provide a sensing device, comprising at least one of a transceiver module and a processing module; wherein the terminal is configured to perform the optional implementation manners of the first aspect.

[0135] In a fifth aspect, the embodiments of the present disclosure provide a sensing device, comprising at least one of a transceiver module and a processing module; wherein the terminal is configured to perform the optional implementation manners of the second aspect.

[0136] In a sixth aspect, the embodiments of the present disclosure provide a sensing processing node, comprising:

[0137] one or more processors;

[0138] The sensing processing node is configured to perform the method in any of the first aspect.

[0139] In a seventh aspect, the embodiments of the present disclosure provide a receiving node, comprising:

[0140] one or more processors;

[0141] The receiving node is configured to perform the method in any of the second aspect.

[0142] In an eighth aspect, the embodiments of the present disclosure provide a storage medium, which stores first information, and when the first information is run on a communication device, the communication device performs the method in any of the first aspect or the second aspect.

[0143] In a ninth aspect, the embodiments of the present disclosure provide a program product, which is executed by a communication device, so that the communication device performs the method in any of the first aspect or the second aspect.

[0144] In a tenth aspect, the embodiments of the present disclosure provide a computer program, which, when run on a communication device, causes the communication device to perform the method in any of the first aspect or the second aspect.

[0145] In an eleventh aspect, the embodiments of the present disclosure provide a chip or chip system. The chip or chip system comprises processing circuitry configured to perform the method in any of the first aspect or the second aspect.

[0146] It can be understood that the terminal, the storage medium, the program product, the computer program, the chip or the chip system are all used to perform the method proposed by the embodiments of the present disclosure. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, which will not be repeated here.

[0147] This disclosure provides sensing methods, apparatus, and storage media. In some embodiments, the terms "sensing method" and "wake-up signal processing method," "signal communication method," etc., can be used interchangeably; the terms "sensing apparatus" and "wake-up signal processing apparatus," "signal communication apparatus," etc., can be used interchangeably; and the terms "information processing system," "communication system," etc., can be used interchangeably.

[0148] This disclosure is not exhaustive, but merely illustrative of some embodiments, and is not intended to limit the scope of protection of this disclosure. Unless otherwise specified, each step in a particular embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a particular embodiment can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment can be arbitrarily interchanged. Furthermore, the optional implementation methods in a particular embodiment can be arbitrarily combined; moreover, the embodiments can be arbitrarily combined, for example, some or all steps of different embodiments can be arbitrarily combined, and a particular embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0149] In each of the disclosed embodiments, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of the embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0150] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the scope of this disclosure.

[0151] In this embodiment of the disclosure, unless otherwise stated, elements expressed in the singular form, such as "a," "an," "the," "the," "the," "the," "the," "the," "this," etc., can mean "one and only one," or "one or more," "at least one," etc. For example, when using articles such as "a," "an," "the," etc. in translation, the noun following the article can be understood as either a singular expression or a plural expression.

[0152] In the embodiments disclosed herein, "multiple" refers to two or more.

[0153] In some embodiments, the terms “at least one of”, “one or more”, “a plurality of”, “multiple”, etc., may be used interchangeably.

[0154] In some embodiments, the description of "at least one of A, B", "A and / or B", "in a case A, in another case B", "in response to a case A, in response to a case B", and the like, can include the following technical solutions according to the case: in some embodiments, A (A is executed regardless of B); in some embodiments, B (B is executed regardless of A); in some embodiments, A and B are selectively executed (A and B are selected from A and B); in some embodiments, A and B (A and B are executed). When there are more branches such as A, B, C, and the like, the above is similar.

[0155] In some embodiments, the description of "A or B" and the like can include the following technical solutions according to the case: in some embodiments, A (A is executed regardless of B); in some embodiments, B (B is executed regardless of A); in some embodiments, A and B are selectively executed (A and B are selected from A and B). When there are more branches such as A, B, C, and the like, the above is similar.

[0156] The prefix words "first", "second", and the like in the embodiments of the present disclosure are only used to distinguish different description objects, and do not constitute a limitation on the position, order, priority, quantity, or content of the description objects. The description of the description objects should refer to the description in the context of the claims or embodiments, and should not be limited by the prefix words. For example, the description object is "field", and the ordinal words before "field" in "first field" and "second field" do not limit the position or order between "fields". "First" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of "first field" and "second field". For another example, the description object is "level", and the ordinal words before "level" in "first level" and "second level" do not limit the priority between "levels". For another example, the quantity of the description object is not limited by the ordinal words, and can be one or more. For example, "first device", where the quantity of "device" can be one or more. In addition, the objects modified by different prefix words can be the same or different, for example, the description object is "device", and "first device" and "second device" can be the same device or different devices, and their types can be the same or different; for another example, the description object is "information", and "first information" and "second information" can be the same information or different information, and their contents can be the same or different.

[0157] In some embodiments, "including A", "containing A", "for indicating A", "carrying A" can be interpreted as directly carrying A, or indirectly indicating A.

[0158] In some embodiments, the terms "time / frequency", "time / frequency domain", and the like refer to the time domain and / or the frequency domain.

[0159] In some embodiments, the terms "in response to", "in response to determining", "in the case of", "when", "if", "if" and the like can be replaced with each other.

[0160] In some embodiments, the terms "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", "above" and the like can be replaced with each other, and the terms "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", "below" and the like can be replaced with each other.

[0161] In some embodiments, the apparatuses and devices can be interpreted as physical or virtual, and their names are not limited to the names described in the embodiments, and in some cases can also be understood as "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", "subject" and the like.

[0162] In some embodiments, "network" can be interpreted as an apparatus included in the network, such as an access network device, a core network device, and the like.

[0163] In some embodiments, an “access network device (AN device)” can also be referred to as a “radio access network device (RAN device),” a “base station (BS),” a “radio base station,” a “fixed station,” and in some embodiments can also be understood as a “node,” an “access point,” a “transmission point (TP),” a “reception point (RP),” a “transmission / reception point (TRP),” a “panel,” an “antenna panel,” an “antenna array,” a “cell,” a “macro cell,” a “small cell,” a “femto cell,” a “pico cell,” a “sector,” a “cell group,” a “serving cell,” a “carrier,” a “component carrier,” a “bandwidth part (BWP),” and the like.

[0164] In some embodiments, a "terminal" or "terminal device" can be referred to as a "user equipment," a "user terminal," a "mobile station," a "mobile terminal," a subscriber station, a mobile unit, a subscriber unit, a wireless unit, a remote unit, a mobile device, a wireless device, a wireless communication device, a remote device, a mobile subscriber station, an access terminal, a mobile terminal, a wireless terminal, a remote terminal, a handset, a user agent, a mobile client, a client, and / or the like.

[0165] In some embodiments, data, information, and / or the like can be obtained in compliance with laws and regulations of a country in which the data, information, and / or the like is obtained.

[0166] In some embodiments, data, information, and / or the like can be obtained after consent of a user.

[0167] In addition, each element, each row, or each column in a table of embodiments of the present disclosure can be implemented as an independent embodiment, and a combination of any element, any row, or any column can also be implemented as an independent embodiment.

[0168] FIG. 1A is a schematic diagram of an architecture of a communication system according to embodiments of the present disclosure. As shown in FIG. 1A, the method provided by embodiments of the present disclosure can be applied to a communication system 100, which can include a sending node 101, a receiving node 102, a perception processing node 103, and a perception object 104. Optionally, the sending node 101 has a sending capability for sending a perception signal. Optionally, the receiving node 102 has a receiving capability.

[0169] In some embodiments, the sending node 101 sends a sensing signal, the receiving node 102 receives the reflected sensing signal after the sensing signal is reflected by the sensing object 104, obtains a sensing measurement, and sends the sensing measurement to the sensing processing node 103, and the sensing processing node 103 processes the sensing measurement to obtain the position of the sensing object 104.

[0170] Optionally, referring to FIG. 1B, the sensing network function in the communication system can be understood as the sensing processing node 103 in FIG. 1A, at least one of the base station A, the base station B, the terminal A or the terminal B can be understood as the sending node 101 or the receiving node 102, and at least one of 1, 2, 3, 4, 5 or 6 in FIG. 1A is the sensing object 104. There are six working modes of the communication system shown in FIG. 1B.

[0171] Mode 1: Base station self-transmission and self-reception (i.e., TRP monostatic). The base station sends a sensing signal, and the base station receives a measurement reflected / scattered wave after the sensing signal passes through the environment or an object in the environment.

[0172] Mode 2: Base station A transmission and base station B reception (i.e., TRP-TRP bistatic). The base station A sends a sensing signal, and the base station B receives a measurement reflected / scattered wave after the sensing signal passes through the environment or an object in the environment.

[0173] Mode 3: Terminal transmission and base station reception (i.e., UE-TRP bistatic). The terminal sends a sensing signal, and the base station receives a measurement reflected / scattered wave after the sensing signal passes through the environment or an object in the environment.

[0174] Mode 4: Base station transmission and terminal reception (i.e., TRP-UE bistatic). The base station sends a sensing signal, and the terminal receives a measurement reflected / scattered wave after the sensing signal is reflected by the measured object.

[0175] Mode 5: Terminal self-transmission and self-reception (i.e., UE monostatic). The terminal sends a sensing signal, and the terminal receives a measurement reflected / scattered wave after the sensing signal passes through the environment or an object in the environment.

[0176] Mode 6: Terminal A transmission and terminal B reception (i.e., UE-UE bistatic). The terminal A sends a sensing signal, and the terminal B receives a measurement reflected / scattered wave after the sensing signal passes through the environment or an object in the environment.

[0177] It should be noted that the embodiments of the present disclosure are described by taking the reflection of the sensing signal by the sensing object 104 as an example. In another embodiment, the sensing signal sent by the sending node 101 can also be reflected by other objects and received by the receiving node 102, which is not limited in the embodiments of the present disclosure.

[0178] In some embodiments, the receiving node in the embodiments of the present disclosure not only has a sending function, but also has a receiving function, and therefore the embodiments of the present disclosure are mainly applied to mode 2, mode 3, mode 4 or mode 6 in the above embodiments.

[0179] It should be noted that the communication system 100 can further include other devices, and the present disclosure does not limit the devices included in the communication system 100.

[0180] In some embodiments, the receiving node 101 or the sending node 102 can be a terminal. Optionally, the terminal includes at least one of a mobile phone, a wearable device, a terminal, a car with a communication function, a smart car, a Pad, a computer with a wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, a wireless terminal device in a smart home, and the like, but is not limited thereto.

[0181] In some embodiments, the perception processing node 103 is an entity with a perception function. Alternatively, the perception processing node 103 can be understood as a perception server for storage of a perception measurement quantity, perception calculation, and the like.

[0182] In some embodiments, the sending node 101 or the receiving node 102 can be a network device. Optionally, the network device can include at least one of an access network device and a core network device.

[0183] In some embodiments, the access network device is, for example, a node or device that accesses a terminal to a wireless network, and can include at least one of an evolved NodeB (eNB) in a 5G communication system, a next generation eNB (ng-eNB), a next generation NodeB (gNB), a node B (NB), a home node B (HNB), a home evolved node B (HeNB), a wireless backhaul device, a radio network controller (RNC), a base station controller (BSC), a base transceiver station (BTS), a base band unit (BBU), a mobile switching center, a base station in a 6G communication system, an open base station (Open RAN), a cloud base station (Cloud RAN), a base station in other communication systems, an access node in a Wi-Fi system, but is not limited thereto.

[0184] In some embodiments, the technical solutions of the present disclosure can be applied to an Open RAN architecture, at which time the interfaces between or within the access network devices involved in the embodiments of the present disclosure can become internal interfaces of the Open RAN, and the processes and information interactions between these internal interfaces can be realized through software or programs.

[0185] In some embodiments, the access network device can be composed of a central unit (CU) and a distributed unit (DU), where the CU can also be referred to as a control unit. The CU-DU structure can split the protocol layers of the access network device, with part of the protocol layer functions being controlled by the CU, and the remaining part or all of the protocol layer functions being distributed in the DU and controlled by the CU, but is not limited thereto.

[0186] In some embodiments, the core network device can be one device including one or more network elements, or a plurality of devices or device groups including all or part of the above one or more network elements. The network element can be virtual or physical. The core network includes, for example, at least one of an evolved packet core (EPC), a 5G core network (5GCN), and a next generation core (NGC).

[0187] It can be understood that the communication system described in the embodiments of the present disclosure is for more clearly illustrating the technical solutions of the embodiments of the present disclosure, and does not constitute a limitation on the technical solutions proposed by the embodiments of the present disclosure. Those skilled in the art can know that, with the evolution of system architecture and the appearance of new business scenarios, the technical solutions proposed by the embodiments of the present disclosure are also applicable to similar technical problems.

[0188] The following embodiments of the present disclosure can be applied to the communication system 100 shown in FIG. 1A or part of the subjects, but are not limited thereto. The subjects shown in FIG. 1A are exemplary, and the communication system can include all or part of the subjects in FIG. 1A, or other subjects other than FIG. 1A. The number and form of each subject is arbitrary, each subject can be physical or virtual, the connection relationship between each subject is exemplary, each subject can not be connected or can be connected, the connection can be in any way, can be direct connection or indirect connection, can be wired connection or wireless connection.

[0189] Embodiments of the present disclosure can be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3G, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G new radio (NR), Future Radio Access (FRA), New-Radio Access Technology (RAT), New Radio (NR), New radio access (NX), Future generation radio access (FX), Global System for Mobile communications (GSM (registered trademark)), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.20, Ultra-WideBand (UWB), Bluetooth (Bl tooth (registered trademark)), Public Land Mobile Network (PLMN) network, Device-to-Device (D2D) system, Machine to Machine (M2M) system, Internet of Things (IoT) system, Vehicle-to-Everything (V2X), system using other sensing methods, next-generation system expanded based thereon, and the like. In addition, a plurality of systems can be combined (for example, combination of LTE or LTE-A and 5G, and the like).

[0190] FIG. 2 is an interaction diagram of a sensing method according to an embodiment of the present disclosure. As shown in FIG. 2, the embodiment of the present disclosure relates to a sensing method, and the method includes:

[0191] In step S2101, the transmitting node transmits a sensing signal.

[0192] In some embodiments, the sensing signal is used for measuring the sensing object. Alternatively, it can also be understood that the sensing signal is used for reflection by the sensing object.

[0193] In some embodiments, the sensing signal can also be referred to as a positioning signal, a measurement signal, a reference signal, etc., and the embodiments of the present disclosure are not limited thereto.

[0194] In some embodiments, the sensing signal is represented by Sensing RS (sensing signal), or can also be represented in other ways, and the embodiments of the present disclosure are not limited thereto. In some embodiments, the receiving node is used for transmitting and receiving the sensing signal. Alternatively, the transmitting node is represented by sensing Tx Node (sensing transmitting node), or represented in other ways, and the embodiments of the present disclosure are not limited thereto.

[0195] In some embodiments, the transmitting node includes one or more. For example, if the transmitting node includes one, there are multiple receiving nodes receiving the reflected sensing signal. For example, if the transmitting node includes multiple, there is one or more receiving node transmitting and receiving the sensing signal. For another example, transmitting node 1 transmits the first sensing signal, and transmitting node 2 transmits the second sensing signal.

[0196] In some embodiments, the transmitting node configures one or more configuration information, and each configuration information is used for configuring one sensing signal. In the embodiments of the present disclosure, the one or more configuration information configured by the transmitting node can transmit different configured sensing signals. For example, if the transmitting node is configured with configuration information 1, the sensing signal A corresponding to the configuration information 1 is transmitted, and if the receiving node is configured with configuration information 2, the sensing signal B corresponding to the configuration information 2 is transmitted.

[0197] In some embodiments, the configuration information includes at least one of the following:

[0198] (1) Configuration identifier, the configuration identifier is used for indicating the configuration information.

[0199] In some embodiments, the configuration identifier is represented by the identifier of the sensing signal. For example, the identifier of the sensing signal is represented by sensing RS ID.

[0200] (2) Beam identifier, the beam identifier is used for indicating the beam of the receiving node transmitting the sensing measurement.

[0201] (3) Time domain resource.

[0202] (4) Frequency domain resource.

[0203] In some embodiments, the frequency domain resource includes at least one of the size of the bandwidth, the location of the frequency domain resource, and the density of the frequency domain resource, and the embodiments of the present disclosure are not limited thereto.

[0204] Step S2102, the sensing object reflects / scatters the sensing signal.

[0205] In some embodiments, the sensing object refers to an object that needs to be positioned, or it can also be understood that the sensing object refers to an object that needs to be sensed.

[0206] In the embodiments of the present disclosure, after the sending node sends the sensing signal, the sensing signal reaches the sensing object, and the sensing object can reflect / scatter the sensing signal. The reflected / scattered sensing signal can also return to the receiving node and be received by the receiving node.

[0207] Step S2103, the receiving node receives the sensing signal reflected / scattered by the sensing object.

[0208] In the embodiments of the present disclosure, after the receiving node receives the sensing signal reflected / scattered by the sensing object, the sensing measurement quantity can be obtained based on the received sensing signal.

[0209] Step S2104, the receiving node obtains the sensing measurement quantity.

[0210] In some embodiments, the sensing measurement quantity is used for positioning the sensing object. Alternatively, it can also be understood that the sensing measurement quantity is used for obtaining the position of the sensing object.

[0211] In some embodiments, the sensing measurement quantity is any one of the following:

[0212] (1) the reception time of the reflected first sensing signal received by the receiving node.

[0213] In some embodiments, the reception time of the reflected first sensing signal received by the receiving node includes the reception time of the sensing signal reflected by the sensing object received by the receiving node.

[0214] (2) the difference between the reception time of the reflected first sensing signal received by the receiving node and the first time.

[0215] In some embodiments, the difference between the reception time of the reflected first sensing signal received by the receiving node and the first time includes the difference between the reception time of the sensing signal reflected by the sensing object received by the receiving node and the first time.

[0216] The first time includes any one of the following:

[0217] (1) the reception time of the reflected second sensing signal received by the receiving node.

[0218] (2) the common time.

[0219] Optionally, if the first time point refers to a common time point, in the embodiments of the present disclosure, after the sending node sends the first sensing signal, the first sensing signal reaches the sensing object through transmission, and after being reflected / scattered by the object, it returns to the receiving node again, so the time difference can be understood as the difference between the time when the receiving node receives the reflected / scattered first sensing signal and the common time point after the sending node sends the first sensing signal.

[0220] Optionally, the common time point can be a certain reference time point in the timing of the satellite positioning system, and all receiving nodes are synchronized to this timing system. Alternatively, if multiple receiving nodes are multiple terminals under the coverage of the same base station, the frame / slot / symbol boundary of the downlink timing of the base station can be used as the common reference time point. In this scenario, the understanding of the downlink timing of the base station by terminals at different locations is related to the distance between the terminal and the base station. More specifically, the terminal should set the common reference time point as: downlink timing boundary-TA / 2. TA is the effective TA (Timing Advance) value of the terminal under the base station.

[0221] Optionally, the first sensing signal is sent by the sending node 1, and the second sensing signal is sent by the sending node 2.

[0222] In some embodiments, the sensing measurement quantity described above can also be understood in the following manner: the sensing measurement quantity includes at least one of the time difference or the time point.

[0223] Optionally, the time difference is used to indicate the difference between the receiving time when the receiving node receives the first sensing signal reflected by the sensing object and the first time point; optionally, the time difference is used to indicate the difference between the receiving time when the receiving node receives the sensing signal reflected by the sensing object and the first time point. The first time point refers to the receiving time when the receiving node receives the reflected second sensing signal or the common time point; optionally, the first time point refers to the receiving time when the receiving node receives the second sensing signal reflected by the sensing object or the common time point. The sending node of the first sensing signal is different from the sending node of the second sensing signal. For example, the first sensing signal is sent by the sending node 1, and the second sensing signal is sent by the sending node 2.

[0224] In some embodiments, the time difference is the time difference between the time when the receiving node receives the different sensing signals reflected / scattered by the sensing object after the different sending nodes send the sensing signals.

[0225] Optionally, if the first time point refers to the receiving time point of the reflected second sensing signal received by the receiving node, in the embodiment of the present disclosure, after the first sensing signal and the second sensing signal transmitted by the sending node 1 and the sending node 2 respectively, the first sensing signal and the second sensing signal reach the sensing object through transmission, and after being reflected / scattered by the object, they reach the receiving node again. Therefore, the time difference can be understood as the difference between the receiving time point of the reflected / scattered first sensing signal received by the receiving node and the receiving time point of the reflected / scattered second sensing signal received by the receiving node.

[0226] It should be noted that in this case, the sending node is multiple, and the multiple sending nodes can simultaneously transmit the sensing signal, and the receiving node receives the sensing signal after reflection.

[0227] It should be noted that in the embodiment of the present disclosure, there are also multiple configuration information for one receiving node. After the sending node transmits the sensing signal according to the multiple configuration information, the receiving node also measures the sensing signal corresponding to each configuration information according to each configuration information to obtain the sensing measurement of the sensing signal corresponding to each configuration information.

[0228] Optionally, if the sensing measurement includes the receiving time point of the reflected first sensing signal received by the receiving node, the receiving node will receive the sensing signal corresponding to each configuration information for each configuration information, and obtain the receiving time point of the reflected sensing signal corresponding to each configuration information.

[0229] Among them, the sending node and the receiving node are configured with the same configuration information, and the receiving node can determine the configuration information corresponding to the sensing signal by receiving at least one of the time domain resource, the frequency domain resource and the beam of the sensing signal.

[0230] In some embodiments, the time points at which the multiple sending nodes transmit the sensing signal can also be different, and the receiving node can adjust according to the transmission time points of different sending nodes to realize that the multiple sending nodes transmit the sensing signal at the same time. For example, the receiving node adjusts the receiving time point according to the difference between the transmission time points of different sending nodes after receiving the reflected sensing signal transmitted by different sending nodes, so as to consider that the sending nodes transmit the sensing signal at the same time.

[0231] Optionally, the time point is used to indicate the receiving time point of the reflected sensing signal received by the receiving node. Alternatively, the time point is used to indicate the receiving time point of the sensing signal reflected by the sensing object and received by the receiving node.

[0232] It should be noted that if the sending node is one and the receiving nodes are multiple, the perception measurement quantity can include a time point, and after the perception processing node receives the perception measurement quantity of each receiving node, the time difference between each two receiving nodes is determined according to the perception measurement quantity. Alternatively, the perception measurement quantity includes a time difference, which is the difference between the receiving time of the reflected perception signal received by the receiving node and the common time.

[0233] It should be noted that in the embodiments of the present disclosure, each of the multiple receiving nodes also has multiple configuration information. After the sending node transmits the perception signal according to the multiple configuration information, each receiving node also measures the perception signal corresponding to each configuration information according to each configuration information to obtain the perception measurement quantity of the perception signal corresponding to each configuration information.

[0234] Optionally, if the perception measurement quantity includes the receiving time of the reflected first perception signal received by the receiving node, the receiving node receives the perception signal corresponding to each configuration information and obtains the receiving time of the reflected perception signal corresponding to each configuration information.

[0235] In the embodiments of the present disclosure, the sending node and the receiving node are configured with the same configuration information, and the receiving node can determine the configuration information corresponding to the perception signal by receiving at least one of the time domain resource, the frequency domain resource, and the beam of the perception signal.

[0236] In some embodiments, the perception measurement quantity includes the perception measurement quantity of one or more paths. Optionally, the one or more paths refer to the route of the propagation of the perception signal. In the embodiments of the present disclosure, when the receiving node transmits the perception signal and the perception signal is reflected / scattered via the perception object or other objects, there are multiple paths of reflection / scattering, and therefore there are multiple perception measurement quantities of the paths.

[0237] In some embodiments, the one or more paths include at least one of the following:

[0238] 1. The path with a time difference less than a time delay threshold.

[0239] In some embodiments, the time delay threshold is agreed by a communication protocol, or is configured by the perception processing node, or is set in other manners, which are not limited in the embodiments of the present disclosure.

[0240] In the embodiments of the present disclosure, if the time difference corresponding to the path is too large, generally the power loss of the perception signal corresponding to the path is too large, the received power is too low, and the accuracy of the measurement or processing of the perception signal by the receiving node is reduced. Therefore, the receiving node transmits the perception measurement quantity corresponding to the path with the time difference less than the time delay threshold to ensure the accuracy of the subsequent measurement of the perception signal.

[0241] In some embodiments, the time difference corresponding to the path can also be understood as a path delay, a path delay, a perceived signal transmission delay, etc., and the embodiments of the present disclosure are not limited.

[0242] 2. The path whose time difference belongs to the delay range.

[0243] In the embodiments of the present disclosure, the receiving node sends the perceived measurement quantity corresponding to the path whose angle belongs to the delay range.

[0244] In some embodiments, the receiving node or the perception processing node in the network can know the approximate position of the perceived object in advance, or has previously positioned the perceived object. In some embodiments, the receiving node determines the angle range based on the previously known position of the perceived object or the receiving node is instructed by the perception processing node. Further, the receiving node determines by itself which path corresponding time difference to send.

[0245] In some embodiments, if there are multiple perceived objects, different perceived objects correspond to different angle ranges. For example, perceived object 1 corresponds to angle range 1, perceived object 2 corresponds to angle range 2, etc.

[0246] 3. The path whose angle belongs to the angle range.

[0247] In the embodiments of the present disclosure, the receiving node sends the perceived measurement quantity corresponding to the path whose angle belongs to the delay range.

[0248] In some embodiments, the receiving node or the perception processing node in the network can know the approximate position of the perceived object in advance, or has previously positioned the perceived object. In some embodiments, the receiving node determines the angle range based on the previously known position of the perceived object or the receiving node is instructed by the perception processing node. Further, the receiving node determines by itself which path corresponding time difference to send.

[0249] In some embodiments, if there are multiple perceived objects, different perceived objects correspond to different angle ranges. For example, perceived object 1 corresponds to angle range 1, perceived object 2 corresponds to angle range 2, etc.

[0250] In some embodiments, the one or more paths described above can also be understood as paths that meet certain conditions. Among them, the conditions include at least one of the above 3 conditions.

[0251] It should be noted that the above embodiments are described by taking one or more paths that need to meet certain conditions as an example. In another embodiment, the receiving node does not need to screen the paths, and can directly send the perceived measurement quantity corresponding to all paths. Or, the one or more paths described above refer to all paths of the perceived signal propagation.

[0252] In some embodiments, the receiving node sends capability information, the capability information being used to indicate a maximum number of paths reported by the receiving node to the perception processing node. In an embodiment of the present disclosure, the receiving node supports at most m pieces of perception measurement corresponding to m paths. Wherein, m is a positive integer. In some embodiments, the value of m is configured by a network device or agreed by a communication protocol, which is not limited in the embodiment of the present disclosure.

[0253] In some embodiments, in the case that there are multiple perception signals, each perception signal corresponds to at least one of a time difference or a time point of the perception signal. In an embodiment of the present disclosure, each perception signal corresponds to a respective perception measurement, that is, each corresponds to at least one of a respective time difference or a respective time point.

[0254] In some embodiments, the perception signal and the signal identifier are in a one-to-one correspondence, and the signal identifier is used to indicate the perception signal.

[0255] In some embodiments, the perception measurement corresponds to time information.

[0256] Optionally, the time information includes at least one of:

[0257] (1) a sending time point, the sending time point being used to indicate a time point at which the sending node sends the perception signal.

[0258] (2) a receiving time point, the receiving time point being used to indicate a time point at which the receiving node receives the reflected perception signal.

[0259] (3) a valid time length, the valid time length being used to indicate a duration of a valid time length of the perception measurement.

[0260] Step S2105: The receiving node sends the perception measurement.

[0261] In an embodiment of the present disclosure, after the receiving node obtains the perception measurement, the receiving node can send the perception measurement.

[0262] In some embodiments, the receiving node sends the perception measurement to the perception processing node. In an embodiment of the present disclosure, after the perception processing node receives the perception measurement, the perception processing node can process the perception measurement and locate the perceived object.

[0263] It should be noted that the embodiment of the present disclosure takes the receiving node sending the perception measurement as an example for description. In another embodiment, the receiving node also sends error information, the error information being used to indicate a measurement error of the perception measurement of the receiving node on the perception signal.

[0264] Step S2106: The perception processing node receives the perception measurement.

[0265] Step S2107, the perception processing node locates the perception object based on the perception measurement quantity.

[0266] In the embodiments of the present disclosure, the perception processing node can locate the perception object after receiving the perception measurement quantity.

[0267] In some embodiments, the perception measurement quantity includes a time difference. Alternatively, the receiving node includes multiple nodes, and the perception measurement quantity also includes multiple perception measurement quantities, so that the perception object can be located based on the perception measurement quantities sent by the multiple receiving nodes. The following describes how to locate the perception object based on the perception measurement quantities sent by the multiple receiving nodes.

[0268] Alternatively, a plurality of single curves or a plurality of single surfaces are determined based on the product of the time difference and the speed of light; and the position of the perception object is determined based on the intersection of the plurality of single curves or the plurality of single surfaces.

[0269] For example, the multiple sending nodes send the perception signals, and the propagation time delays from the reflection time of the perception signals sent by the multiple sending nodes from the perception object to the receiving time of the receiving nodes are the same. Alternatively, among the multiple paths of the perception signal sent by the sending node 1 and received by the receiving node, the i th path corresponds to the reflection path from the perception object, among the multiple paths of the perception signal sent by the sending node 2 and received by the receiving node, the j th path corresponds to the reflection path from the perception object, and among the multiple paths of the perception signal sent by the sending node 3 and received by the receiving node, the k th path corresponds to the reflection path from the perception object. It is assumed that the receiving time of the i th path of the perception signal sent by the sending node 1 and received by the receiving node is T RX-TX1,i , the receiving time of the j th path of the perception signal sent by the sending node 2 and received by the receiving node is T RX-TX2,j , and the receiving time of the k th path of the perception signal sent by the sending node 3 and received by the receiving node is T RX-TX3,k . Then (T RX-TX1,i -T RX-TX2,j )*c is the distance between the sending node 1 and the perception object, and the difference between the distance between the sending node 2 and the perception object, that is, the perception object is on the single curve with the sending node 1 and the sending node 2 as the foci, and the distance to the sending node 1 is longer than the distance to the sending node 2 by (T RX-TX1,i -T RX-TX2,j )*c. Based on the same principle, it can be concluded that the perception signal is on the single curve with the sending node 2 and the sending node 3 as the foci, and the distance to the sending node 2 is longer than the distance to the sending node 3 by (T RX-TX2,j -T RX-TX3,k)*c. The position of the perceived object can be determined by the intersection of the two single curves. In some embodiments, the single curve described above should be a single surface if the vertical height dimension is considered. Then, according to the perceived object being located at a distance from the sending node 1 that is greater than the distance from the sending node 3, with the sending node 1 and the sending node 3 as the foci, the perceived object should be located on a single surface with the sending node 1 and the sending node 3 as the foci, and the distance from the sending node 1 should be greater than the distance from the sending node 3. RX-TX1,i -T RX-TX3,k )*c. The position of the perceived object can be determined by the intersection of the two single curves. In some embodiments, the single curve described above should be a single surface if the vertical height dimension is considered. Then, according to the perceived object being located at a distance from the sending node 1 that is greater than the distance from the sending node 3, with the sending node 1 and the sending node 3 as the foci, the perceived object should be located on a single surface with the sending node 1 and the sending node 3 as the foci, and the distance from the sending node 1 should be greater than the distance from the sending node 3.

[0270] Alternatively, a plurality of time differences are determined based on the difference between any two time points; a plurality of single curves or a plurality of single surfaces are determined based on the product between the plurality of time differences and the speed of light; and the position of the perceived object is determined based on the intersection of the plurality of single curves or the plurality of single surfaces. In the embodiments of the present disclosure, the difference between any two time points can be understood as the time difference between the receiving time of the two receiving nodes in the above scheme, and thus the position of the perceived object can be determined according to the single curve or the single surface.

[0271] The perception method related in the embodiments of the present disclosure can include at least one of steps S2101 to S2107. For example, step S2101 can be implemented as an independent embodiment, step S2102 can be implemented as an independent embodiment, step S2103 can be implemented as an independent embodiment, step S2104 can be implemented as an independent embodiment, step S2105 can be implemented as an independent embodiment, step S2106 can be implemented as an independent embodiment, step S2107 can be implemented as an independent embodiment, step S2104 can be implemented as an independent embodiment, step S2101 and step S2102 can be implemented as independent embodiments, step S2101, step S2103 can be implemented as independent embodiments, step S2101, step S2104 can be implemented as independent embodiments, step S2102, step S2103 can be implemented as independent embodiments, step S2102, step S2104 can be implemented as independent embodiments, step S2103, step S2104 can be implemented as independent embodiments, step S2105, step S2106 can be implemented as independent embodiments, step S2105, step S2106, step S2107 can be implemented as independent embodiments, but not limited thereto.

[0272] In some embodiments, step S2101 is optional, and one or more of the steps can be omitted or replaced in different embodiments.

[0273] In some embodiments, step S2102 is optional, and one or more of the steps can be omitted or replaced in different embodiments.

[0274] In some embodiments, step S2103 is optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0275] In some embodiments, step S2104 is optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0276] In some embodiments, step S2105 is optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0277] In some embodiments, step S2106 is optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0278] In some embodiments, step S2107 is optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0279] In some embodiments, step S2101, step S2102 is optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0280] In some embodiments, step S2101, step S2103 is optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0281] In some embodiments, step S2101, step S2104 is optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0282] In some embodiments, step S2102, step S2103 is optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0283] In some embodiments, step S2102, step S2104 is optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0284] In some embodiments, step S2103, step S2104 is optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0285] In some embodiments, step S2105, step S2106 is optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0286] In some embodiments, other optional implementations described before or after the corresponding description of FIG. 2 can be referred to.

[0287] In some embodiments, the name of information and the like is not limited to the name described in the embodiments, and the terms of "information", "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "domain", "field", "symbol", "symbol", "codebook", "codeword", "codepoint", "bit", "data", "program", "chip", and the like can be replaced with each other.

[0288] In some embodiments, the terms of "uplink", "physical uplink", and the like can be replaced with each other, the terms of "downlink", "physical downlink", and the like can be replaced with each other, and the terms of "side", "sidelink", "sidelink communication", "direct", "direct link", "direct communication", and the like can be replaced with each other.

[0289] In some embodiments, the terms of "acquire", "obtain", "get", "receive", "transmit", "bidirectional transmission", "send and / or receive", and the like can be replaced with each other, and can be interpreted as receiving from other subjects, acquiring from protocols, acquiring from higher layers, obtaining by self-processing, and the like.

[0290] In some embodiments, the terms of "send", "transmit", "report", "issue", "transmit", "bidirectional transmission", "send and / or receive", and the like can be replaced with each other.

[0291] In some embodiments, the terms of "time", "time point", "time", "time position", and the like can be replaced with each other, and the terms of "time length", "time period", "time window", "window", and "time" can be replaced with each other.

[0292] In some embodiments, the terms "certain", "preseted", "pre-set", "set", "indicated", "certain", "arbitrary", "first", and the like can be replaced with each other, "certain A", "preset A", "pre-set A", "set A", "indicated A", "certain A", "arbitrary A", "first A" can be interpreted as A specified in advance in a protocol or the like, A obtained by setting, configuration, or indication, or A specific, certain, arbitrary, or first A, but not limited thereto.

[0293] FIG. 3A is a flowchart of a sensing method according to an embodiment of the present disclosure, applied to a sensing processing node. As shown in FIG. 3A, the embodiment of the present disclosure relates to a sensing method, and the method comprises:

[0294] In step S3101, the sensing processing node receives a sensing measurement quantity.

[0295] The optional implementation of step S3101 can refer to the optional implementation of step S2106 in FIG. 2 and other associated parts in the embodiments related to FIG. 2, which will not be repeated here.

[0296] In step S3102, the sensing processing node locates a sensing object based on the sensing measurement quantity.

[0297] The optional implementation of step S3102 can refer to the optional implementation of step S2107 in FIG. 2 and other associated parts in the embodiments related to FIG. 2, which will not be repeated here.

[0298] The sensing method related to the embodiment of the present disclosure can include at least one of steps S3101-S3102. For example, step S3101 can be implemented as an independent embodiment, and step S3102 can be implemented as an independent embodiment.

[0299] FIG. 3B is a flowchart of a sensing method according to an embodiment of the present disclosure, applied to a receiving node. As shown in FIG. 3B, the embodiment of the present disclosure relates to a sensing method, and the method comprises:

[0300] In step S3201, the sensing processing node receives a sensing measurement quantity.

[0301] The optional implementation of step S3201 can refer to the optional implementation of step S2106 in FIG. 2 and other associated parts in the embodiments related to FIG. 2, which will not be repeated here.

[0302] FIG. 4A is a flowchart of a sensing method according to an embodiment of the present disclosure, applied to a sensing processing node. As shown in FIG. 4A, the embodiment of the present disclosure relates to a sensing method, and the method comprises:

[0303] Step S4101: The receiving node receives the sensing signal reflected / scattered by the sensed object.

[0304] The optional implementation of step S4101 can be referred to step S2103 in FIG. 2 and other associated parts in the embodiments related to FIG. 2, which will not be repeated here.

[0305] Step S4102: The receiving node obtains the sensing measurement.

[0306] The optional implementation of step S4102 can be referred to step S2104 in FIG. 2 and other associated parts in the embodiments related to FIG. 2, which will not be repeated here.

[0307] Step S4103: The receiving node sends the sensing measurement.

[0308] The optional implementation of step S4103 can be referred to step S2105 in FIG. 2 and other associated parts in the embodiments related to FIG. 2, which will not be repeated here.

[0309] FIG. 4B is a flow diagram of a sensing method according to the embodiments of the present disclosure, applied to a sensing processing node, as shown in FIG. 4B, the embodiments of the present disclosure relate to a sensing method, and the above method comprises:

[0310] Step S4201: The receiving node sends the sensing measurement.

[0311] The optional implementation of step S4201 can be referred to step S2105 in FIG. 2 and other associated parts in the embodiments related to FIG. 2, which will not be repeated here.

[0312] FIG. 5 is a flow diagram of a sensing method according to the embodiments of the present disclosure, as shown in FIG. 5, the embodiments of the present disclosure relate to a sensing method, and the above method comprises:

[0313] Step S5101: The receiving node sends the sensing measurement.

[0314] The optional implementation of step S5101 can be referred to the optional implementation of step S2105 in FIG. 2 and other associated parts in the embodiments related to FIG. 2, which will not be repeated here.

[0315] Step S5102: The sensing processing node receives the sensing measurement.

[0316] The optional implementation of step S5102 can be referred to the optional implementation of step S2106 in FIG. 2 and other associated parts in the embodiments related to FIG. 2, which will not be repeated here.

[0317] In some embodiments, the above method can include the method of the above-mentioned embodiments of the communication system side, terminal side, network device side, etc., which will not be repeated here.

[0318] FIG. 6 is a flowchart of a sensing method according to an embodiment of the present disclosure. As shown in FIG. 6, the embodiment of the present disclosure relates to a sensing method, and the above-mentioned method includes:

[0319] Step S6101: The sensing Rx Node reports the reception time of the i-th path of the Sensing RS sent by the Tx Node n to itself.

[0320] In some embodiments, the Rx Node can report the T RX-TXn,i .

[0321] 1. The i-th path is the path of the Sensing RS sent by the Tx Node n and reflected by the SO to the Rx Node. However, the Rx Node can not be able to completely distinguish the accurate value of i. Therefore, the Rx Node can report the reception time of multiple paths measured by itself to the SF, and the SF determines the reception time of the path reflected by the SO. The Sensing Rx Node can report the reception time for multiple paths respectively. The multiple paths can be:

[0322] a) All the paths received by the Sensing Rx Node;

[0323] b) Multiple paths satisfying certain conditions. For example,

[0324] i. The multiple paths are sorted according to the reception time, and the i-th path or multiple paths satisfy i<=x1. For the paths with a later index, the power is generally too low to be conducive to signal measurement and processing by the Rx Node and the SF.

[0325] ii. The multiple paths have an index in a second index range. This case generally corresponds to the case where the Rx Node / SF has obtained the approximate position of the SO (for example, the Rx has previously performed positioning on the SO, or the SF can infer the approximate position of the SO through some known information). The Rx can determine the second index range according to the previously obtained approximate position information of the SO, which is equivalent to that the Rx Node determines which paths to report the reception time of. The SF can also configure the second index range for the Rx Node.

[0326] iii. one or more paths whose AOA is within a first AOA range. This case generally corresponds to the case that the Rx Node / SF has already acquired the approximate location of the SO (e.g., the RX has previously performed positioning for the SO, or the SF can infer the approximate location of the SO through some known information, so that the AOA of the reflection path reflected by the SO can be determined through the relative location relationship between the SO and the Rx Node). The Rx can determine the first AOA range according to the pre-acquired approximate location information of the SO, or equivalently, the Rx Node determines the reporting time instants of which paths by itself. The SF can also configure the first AOA range for the Rx Node.

[0327] c) The Rx Node can be configured by the network or defined by the protocol to report at most N reporting time instants of paths.

[0328] 2. If the sensing Tx node can send multiple differently configured sensing RSs, the differently configured sensing RSs are represented by different sensing RS IDs. (The differently configured sensing RSs can be sent by using different Tx beams, or can have different bandwidths, different frequency domain resources, etc.), for each sensing RS ID, the Rx Node can report the reporting time instants of the above-mentioned 1 bound to the sensing RS ID. The Rx Node can be configured by the network or defined by the protocol to report at most M reporting time instants of sensing RSs.

[0329] 3. The sensing Rx Node can also report the measurement errors of the respective measurement quantities measured by itself to the SF. The error can also be reported for different sensing RS IDs respectively. The SF can comprehensively determine the location of the measured target based on the measurement error information reported by multiple Rx Nodes.

[0330] 4. The sensing Rx Node can also report the time information corresponding to the respective measurement quantities measured by itself to the SF, including the system frame number, the time slot number, the symbol number, etc. The time information can be used to indicate the reception time of the sensing RS corresponding to the measurement quantity calculation result. The time information can also be used to indicate the effective time of the reported measurement quantity. When the SF comprehensively determines the location of the measured target based on the measurement quantities reported by multiple sensing Rx Nodes, multiple measurement quantities with consistent or as close as possible transmission time instants of sensing RSs should be selected, or multiple measurement quantities within the effective time period should be selected.

[0331] In some embodiments,

[0332] 1. The difference between the reception time T of the i-th path of the sensing RS transmitted by Tx Node n and the reception time T of the j-th path of the sensing RS transmitted by Tx Node m RX-TXn,i RX-TXm,j RX-TXn,i RX-TXm,j In theory, the i-th path received from Tx Node n is a path that is reflected by SO and then reaches RX Node, and the j-th path received from Tx Node m is a path that is reflected by SO and then reaches RX Node. The Rx Node can report the difference T between the reception times of multiple groups of Tx Node n and Tx Node m RX-TXn,i RX-TXm,j

[0333] 2. If the sensing Tx node can transmit multiple sensing RSs with different configurations, the different configurations of the sensing RSs are represented by different sensing RS IDs. (The different configurations of the sensing RSs can be transmitted by using different Tx beams, or can have different bandwidths, different frequency domain resources, etc.), for each sensing RS ID, the Rx Node can report the reception time difference of the above 1 bound to the sensing RS ID. The Rx Node can report at most M reception time differences of sensing RSs through network configuration or protocol definition.

[0334] 3. The sensing Rx Node can also report the measurement error of each measurement quantity measured by itself to the SF. The error can also be reported for different sensing RS IDs respectively. The SF can comprehensively determine the position of the measured target by combining the measurement error information reported by multiple Rx.

[0335] 4. The sensing Rx Node can also report the time information corresponding to each measurement quantity measured by itself to the SF, including the system frame number, the time slot number, the symbol number, etc. The time information can be used to indicate the reception time of the sensing RS corresponding to the measurement quantity calculation result. The time information can also be used to indicate the effective time of the reported measurement quantity. When the SF positions the measured target by combining the measurement quantities reported by multiple sensing Rx Nodes, multiple measurement quantities with consistent or as close as possible transmission times of the sensing RS should be selected, or multiple measurement quantities within the effective time period should be selected.

[0336] In some embodiments,

[0337] ​​​​​1. The reception time T of the i-th path of the Sensing RS received from Tx Node. RX-TX,i Or, equivalently, report the reception time T of the i-th path of the Sensing RS received from the Tx Node. RX-TX,i The difference T with the common reference time RX-TX,i -T commonreference Theoretically, the i-th path received from the Sensing RS transmitted by the Tx Node is the path that reaches the RX Node after being reflected by the SO. However, the Rx Node may not be able to completely distinguish the accurate value of i. Therefore, the Rx Node may report the reception times of multiple paths it has measured to the SF, which will then determine the reception time of the path reflected by the SO. The Sensing Rx Node can report the reception times separately for each of the multiple paths of each Tx Noded. The multiple paths are:

[0338] a) can be all paths received by the Sensing Rx Node;

[0339] b) can be multiple paths that satisfy specific conditions. For example,

[0340] i. Sort the multipaths according to the reception time, i <= x1 for one or more paths. Paths with later indices generally have too low power, which is not conducive to signal measurement and processing by Rx Nodes, SFs, etc.

[0341] ii. Path indexing includes one or more paths within the second index range. This case generally corresponds to the Rx Node / SF already having obtained the approximate location of the SO (e.g., the RX has previously located the SO, or the SF can infer the approximate location of the SO using some known information). The Rx can determine the second index range based on the pre-known approximate location information of the SO; equivalently, the Rx Node determines which paths to report the reception times. The SF can also configure the second index range for the Rx Node.

[0342] iii. Angle of Arrival (AOA) of one or more paths within the first AOA range. This case generally corresponds to the Rx Node / SF already having obtained the approximate location of the SO (e.g., the RX has previously located the SO, or the SF can infer the approximate location of the SO using some known information, thus determining the angle of arrival of the reflected path through the SO based on the relative position of the SO and the Rx Node). The Rx can determine the first AOA range based on the pre-known approximate location information of the SO; equivalently, the Rx Node determines which paths to report the reception times. The SF can also configure the first AOA range for the Rx Node.

[0343] c) The Rx Node can be configured by network or defined by protocol to report the reception time of up to N paths.

[0344] 2. If the sensing Tx node can transmit multiple differently configured sensing RSs, the differently configured sensing RSs are represented by different sensing RS IDs. (The differently configured sensing RSs can be transmitted by different Tx beams, or can have different bandwidths, different frequency domain resources, etc.), for each sensing RS ID, the Rx Node can report the reception time of the above-mentioned 1 bound to the sensing RS ID. The Rx Node can be configured by network or defined by protocol to report the reception time of up to M sensing RSs.

[0345] 3. The sensing Rx Node can also report the measurement error of each measurement quantity measured by itself to the SF. The error can also be reported for different sensing RS IDs respectively. The SF can comprehensively determine the position of the measured target by combining the measurement error information reported by multiple Rx.

[0346] 4. The sensing Rx Node can also report the time information corresponding to each measurement quantity measured by itself to the SF, including the system frame number, the time slot number, the symbol number, etc. The time information can be used to indicate the reception time of the sensing RS corresponding to the measurement quantity calculation result. The time information can also be used to indicate the effective time of the reported measurement quantity. When the SF comprehensively determines the position of the measured target by combining the measurement quantities reported by multiple sensing Rx Nodes, multiple measurement quantities with consistent or as close as possible transmission time of the sensing RS should be selected, or multiple measurement quantities within the effective time period should be selected.

[0347] 5. The above-mentioned common reference time point can be a certain reference time point under the timing of the satellite positioning system, and all Rx Nodes are synchronized to this timing system. Alternatively, if multiple sensing Rx Nodes are multiple UEs under the coverage of the same base station, the frame / slot / symbol boundary of the downlink timing of the base station can be used as the common reference time point. In this scenario, the understanding of the downlink timing of the base station by the UE at different positions is related to the distance between the UE and the base station, and more specifically, the UE should set the common reference time point as: downlink timing boundary-TA / 2. The TA is the effective TA value of the UE under the base station.

[0348] In some embodiments,

[0349] ​​​​​​​​​​​​​The principle of sensing the target is as follows. It is assumed that:

[0350] 1. The propagation delay from the reflection moment of the Sensing RS sent by multiple Sensing Tx Nodes from SO to the receiving moment of the Sensing Rx Node is the same (i.e., in the above-mentioned FIG. 1, the O-R path is the same for several Sensing Tx Nodes).

[0351] 2. It is assumed that the sending time of the Sensing RS sent by multiple Tx Nodes is the same.

[0352] 3. It is assumed that, among multiple paths of the Sensing RS sent by Tx Node 1 and received by the Rx Node, the ith path corresponds to a reflection path reflected from SO, among multiple paths of the Sensing RS sent by Tx Node 2 and received by the Rx Node, the jth path corresponds to a reflection path reflected from SO, and among multiple paths of the Sensing RS sent by Tx Node 3 and received by the Rx Node, the kth path corresponds to a reflection path reflected from SO.

[0353] Let T RX-TX1,i be the receiving moment of the ith path of the Sensing RS sent by Tx Node 1 and received by the Rx Node, T RX-TX2,j be the receiving moment of the jth path of the Sensing RS sent by Tx Node 2 and received by the Rx Node, and T RX-TX3,k be the receiving moment of the kth path of the Sensing RS sent by Tx Node 3 and received by the Rx Node. Then (T RX-TX1,i -T RX-TX2,j )*c is the difference between the distance between Tx Node 1 and SO and the distance between Tx Node 2 and SO, i.e., SO is on a single curve with Tx Node 1 and Tx Node 2 as foci, and the distance to Tx 1 is more than the distance to Tx 2 by (T RX-TX1,i -T RX-TX2,j )*c. Based on the same principle, it can be obtained that SO is on a single curve with Tx Node 2 and Tx Node 3 as foci, and the distance to Tx 2 is more than the distance to Tx 3 by (T RX-TX2,j -T RX-TX3,k )*c. The position of SO can be determined by the intersection of the two single curves.

[0354] If the vertical height dimension is considered, the above-mentioned single curve should be a single surface. According to SO with Tx Node 1 and Tx Node 3 as foci, the distance to Tx 1 is more than the distance to Tx 3 by (T RX-TX1,i -T RX-TX3,kOn the single surface of c, the position of SO can be determined by the intersection of three single surfaces.

[0355] In the embodiments of the present disclosure, some or all of the steps, and optional implementation manners thereof, can be combined with some or all of the steps in other embodiments, or can be combined with optional implementation manners in other embodiments.

[0356] The embodiments of the present disclosure also propose a device for implementing any of the above methods, for example, a device comprising units or modules for implementing the steps performed by a terminal in any of the above methods. For another example, another device is proposed, comprising units or modules for implementing the steps performed by a network device (such as an access network device, a core network function node, a core network device, etc.) in any of the above methods.

[0357] It should be understood that the division of each unit or module in the above device is only a logical function division, and all or part of them can be integrated into one physical entity, or can be physically separated. In addition, the units or modules in the device can be implemented in the form of processor calling software: for example, the device includes a processor, the processor is connected with a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of the units or modules of the device, wherein the processor is, for example, a general processor such as a central processing unit (CPU) or a microprocessor, and the memory is a memory in the device or a memory outside the device. Alternatively, the units or modules in the device can be implemented in the form of hardware circuit, and the functions of part or all of the units or modules can be implemented by the design of hardware circuit, and the hardware circuit can be understood as one or more processors; for example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), and the functions of part or all of the units or modules are implemented by the design of the logical relationship between the elements in the circuit; for another example, in another implementation, the hardware circuit is a programmable logic device (PLD), and a field programmable gate array (FPGA) is taken as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to implement the functions of part or all of the units or modules. All units or modules of the above device can be implemented in the form of processor calling software, or all can be implemented in the form of hardware circuit, or part can be implemented in the form of processor calling software, and the remaining part can be implemented in the form of hardware circuit.

[0358] In the embodiments of the present disclosure, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), a digital signal processor (DSP), or the like. In another implementation, the processor can implement certain functions through a logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or can be reconfigured. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In the reconfigurable hardware circuit, the processor loads a configuration document to implement the configuration of the hardware circuit. It can be understood that the processor loads instructions to implement the functions of the above part or all units or modules. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), and the like.

[0359] FIG. 7A is a structural schematic diagram of a perception device according to an embodiment of the present disclosure. As shown in FIG. 7A, the perception device 7100 can include at least one of a transceiver module 7101, a processing module 7102, and the like. The transceiver module 7101 is configured to receive a perception measurement, and the perception measurement includes any one of the following: a reception time at which a first perception signal reflected by a node is received by the node; a difference between the reception time at which the first perception signal reflected by the node is received by the node and a first time; wherein the first time includes any one of the following: a reception time at which a second perception signal reflected by the node is received by the node; a common time. Optionally, the transceiver module 7101 is configured to perform at least one of the communication steps (for example, step S2101, but not limited thereto) performed by the terminal in any one of the above methods, and details are not described herein again. Optionally, the processing module is configured to perform at least one of the other steps performed by the terminal in any one of the above methods, and details are not described herein again.

[0360] Optionally, the processing module 7102 is configured to perform at least one of the communication steps (for example, step S2101, but not limited thereto) performed by the terminal in any one of the above methods, and details are not described herein again.

[0361] FIG. 7B is a structural schematic diagram of the perception device according to the embodiments of the present disclosure. As shown in FIG. 7B, the perception device 7200 can include at least one of a transceiver module 7201, a processing module 7202, and the like. In some embodiments, the transceiver module 7201 is configured to transmit a perception measurement, the perception measurement being used for positioning a perception object, the perception measurement being any one of: a reception time at which a receiving node receives a reflected first perception signal; a difference between the reception time at which the receiving node receives the reflected first perception signal and a first time; wherein the first time comprises any one of: a reception time at which the receiving node receives a reflected second perception signal; a common time. Optionally, the transceiver module is configured to perform at least one of the transmission, reception and / or communication steps performed by the network device in any one of the above methods, which are not described herein again.

[0362] Optionally, the processing module 7202 is configured to perform at least one of the processing and / or communication steps performed by the network device in any one of the above methods, which are not described herein again.

[0363] In some embodiments, the transceiver module can include a transmitting module and / or a receiving module, which can be separate or integrated together. Optionally, the transceiver module can be mutually replaced with a transceiver.

[0364] In some embodiments, the processing module can be one module, or can include multiple sub-modules. Optionally, the multiple sub-modules perform all or part of the steps required to be performed by the processing module. Optionally, the processing module can be mutually replaced with a processor.

[0365] FIG. 8A is a structural schematic diagram of a communication device 8100 according to the embodiments of the present disclosure. The communication device 8100 can be a network device (such as an access network device, a core network device, and the like), or a terminal, or a chip, a chip system, or a processor supporting the network device to implement any one of the above methods, or a chip, a chip system, or a processor supporting the terminal to implement any one of the above methods. The communication device 8100 can be used to implement the methods described in the above method embodiments, and details can be referred to the descriptions in the above method embodiments.

[0366] As shown in FIG. 8A, the communication device 8100 includes one or more processors 8101. The processor 8101 can be a general-purpose processor or a special-purpose processor, for example, a baseband processor or a central processing unit. The baseband processor can be configured to process a communication protocol and communication data, and the central processing unit can be configured to control a perception device (such as a base station, a baseband chip, a terminal, a terminal chip, a DU or a CU, and the like), execute a program, and process data of the program. The communication device 8100 is configured to execute any one of the above methods.

[0367] In some embodiments, the communication device 8100 further includes one or more memories 8102 for storing instructions. Optionally, all or part of the memories 8102 can also be outside the communication device 8100.

[0368] In some embodiments, the communication device 8100 further includes one or more transceivers 8103. When the communication device 8100 includes one or more transceivers 8103, the transceiver 8103 performs at least one of the communication steps (such as steps S2101, S2102, S2103, S2104, but not limited to) in the above-described methods, such as transmitting and / or receiving.

[0369] In some embodiments, the transceiver can include a receiver and / or a transmitter, which can be separate or integrated together. Optionally, the terms transceiver, transceiving unit, transceiver, transceiving circuit, etc. can be replaced with each other, the terms transmitter, transmitting unit, transmitter, transmitting circuit, etc. can be replaced with each other, and the terms receiver, receiving unit, receiver, receiving circuit, etc. can be replaced with each other.

[0370] In some embodiments, the communication device 8100 can include one or more interface circuits 8104. Optionally, the interface circuit 8104 is connected with the memory 8102, and the interface circuit 8104 can be used to receive signals from the memory 8102 or other devices, and can be used to send signals to the memory 8102 or other devices. For example, the interface circuit 8104 can read the instructions stored in the memory 8102 and send the instructions to the processor 8101.

[0371] The communication device 8100 described in the above embodiments can be a network device or a terminal, but the scope of the communication device 8100 described in the present disclosure is not limited thereto, and the structure of the communication device 8100 can not be limited by FIG. 8A. The communication device can be a standalone device or can be part of a larger device. For example, the communication device can be: (1) a standalone integrated circuit (IC), or a chip, or a chip system or subsystem; (2) a set of one or more ICs, optionally, the set of ICs can also include storage components for storing data, programs; (3) an ASIC, such as a Modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal, a smart terminal, a cellular phone, a wireless device, a handset, a mobile unit, a vehicle-mounted device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

[0372] FIG. 8B is a structural schematic diagram of a chip 8200 according to an embodiment of the present disclosure. For the case where the communication device 8100 is a chip or a chip system, the structural schematic diagram of the chip 8200 shown in FIG. 8B can be referred to, but is not limited thereto.

[0373] The chip 8200 comprises one or more processors 8201, and the chip 8200 is configured to execute any of the above methods.

[0374] In some embodiments, the chip 8200 further comprises one or more interface circuits 8202. Optionally, the interface circuit 8202 is connected with the memory 8203, and the interface circuit 8202 can be configured to receive signals from the memory 8203 or other devices, and the interface circuit 8202 can be configured to send signals to the memory 8203 or other devices. For example, the interface circuit 8202 can read instructions stored in the memory 8203 and send the instructions to the processor 8201.

[0375] In some embodiments, the interface circuit 8202 performs at least one of the communication steps such as sending and / or receiving in the above methods, and the processor 8201 performs at least one of the other steps.

[0376] In some embodiments, the terms such as interface circuit, interface, transceiver pin, transceiver, etc. can be replaced by each other.

[0377] In some embodiments, the chip 8200 further comprises one or more memories 8203 configured to store instructions. Optionally, all or part of the memory 8203 can be outside the chip 8200.

[0378] The disclosure further proposes a storage medium, and the storage medium stores instructions, and the instructions, when executed on the communication device 8100, cause the communication device 8100 to execute any of the above methods. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer readable storage medium, but is not limited to this, and it can also be a storage medium readable by other devices. Optionally, the storage medium can be a non-transitory storage medium, but is not limited to this, and it can also be a transitory storage medium.

[0379] The disclosure further proposes a program product, and the program product, when executed by the communication device 8100, causes the communication device 8100 to execute any of the above methods. Optionally, the program product is a computer program product.

[0380] The disclosure further proposes a computer program, and the computer program, when executed on a computer, causes the computer to execute any of the above methods.

Claims

1. A perception method, comprising: The method is performed by a sensing processing node, and the method comprises: receiving a sensing measurement quantity, the sensing measurement quantity being used for positioning a sensing object, the sensing measurement quantity comprising any one of the following: a reception time at which the receiving node receives a reflected first sensing signal; a difference between the reception time at which the receiving node receives the reflected first sensing signal and a first time; wherein the first time comprises any one of the following: a reception time at which the receiving node receives a reflected second sensing signal; a common time.

2. The method of claim 1, wherein, The sensing measurement quantity comprises sensing measurement quantities of one or more paths, the one or more paths referring to routes of propagation of the sensing signal.

3. The method of claim 2, wherein, The one or more paths comprise at least one of the following: paths with a time difference less than a time delay threshold; paths with a time difference belonging to a time delay range; paths with an angle of arrival belonging to an angle range.

4. The method according to claim 2 or 3, characterized in that, The method further comprises: receiving capability information, the capability information being used for indicating a maximum number of paths reported by the receiving node.

5. The method according to any one of claims 1 to 4, characterized in that, The receiving node configures one or more configuration information, one configuration information being used for configuring one sensing signal.

6. The method of claim 5, wherein, The configuration information comprises at least one of the following: a configuration identifier, the configuration identifier being used for indicating the configuration information; a beam identifier, the beam identifier being used for indicating a beam through which the receiving node transmits the sensing measurement quantity; a time domain resource; a frequency domain resource.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: receiving error information, the error information being used for indicating a measurement error of the sensing measurement quantity by the receiving node.

8. The method according to any one of claims 1 to 7, characterized in that, The sensing measurement quantity corresponds to time information; The time information comprises at least one of the following: the transmission time, the transmission time being used for indicating a time at which the transmitting node transmits the sensing signal; the reception time, the reception time being used for indicating a time at which the receiving node receives the reflected sensing signal; an effective duration, the effective duration being used for indicating a duration during which the sensing measurement quantity is effective.

9. A perception method comprising: The method is performed by a receiving node, and the method comprises: transmitting a sensing measurement quantity, the sensing measurement quantity being used for positioning a sensing object, the sensing measurement quantity comprising any one of the following: a reception time at which the receiving node receives a reflected first sensing signal; a difference between the reception time at which the receiving node receives the reflected first sensing signal and a first time; wherein the first time comprises any one of the following: a reception time at which the receiving node receives a reflected second sensing signal; a common time.

10. The method of claim 9, wherein, The sensing measurement quantity comprises sensing measurement quantities of one or more paths, the one or more paths referring to routes of propagation of the sensing signal.

11. The method of claim 10, wherein, The one or more paths comprise at least one of the following: paths with a time difference less than a time delay threshold; paths with a time difference belonging to a time delay range; paths with an angle of arrival belonging to an angle range. The method further comprises:

12. The method according to claim 10 or 11, characterized in that, transmitting capability information, the capability information being used for indicating a maximum number of paths reported by the receiving node. The receiving node configures one or more configuration information, one configuration information being used for configuring one sensing signal.

13. The method according to any one of claims 9 to 12, characterized in that, The configuration information comprises at least one of the following:

14. The method of claim 13, wherein, a configuration identifier, the configuration identifier being used for indicating the configuration information; ​ a beam identifier, the beam identifier being used for indicating a beam in which the receiving node transmits the sensing measurement quantity; a time domain resource; a frequency domain resource.

15. The method according to any one of claims 9 to 14, characterized in that, The method further comprises: transmitting error information, the error information being used for indicating a measurement error of the sensing measurement quantity by the receiving node.

16. The method according to any one of claims 9 to 15, characterized in that, the sensing measurement quantity corresponds to time information; the time information comprises at least one of: a transmission time point, the transmission time point being used for indicating a time point at which the transmitting node transmits the sensing signal; a reception time point, the reception time point being used for indicating a time point at which the receiving node receives the reflected sensing signal; a valid time length, the valid time length being used for indicating a time length during which the sensing measurement quantity is valid.

17. A perception device, comprising: The apparatus comprises: a transceiver module, configured to receive a sensing measurement quantity, the sensing measurement quantity being used for positioning a sensing object, the sensing measurement quantity comprising any one of: a reception time point at which the receiving node receives a reflected first sensing signal; a difference between the reception time point at which the receiving node receives the reflected first sensing signal and a first time point; wherein the first time point comprises any one of: a reception time point at which the receiving node receives a reflected second sensing signal; a common time point.

18. A perception device, comprising: The apparatus comprises: a transceiver module, configured to transmit a sensing measurement quantity, the sensing measurement quantity being used for positioning a sensing object, the sensing measurement quantity comprising any one of: a reception time point at which the receiving node receives a reflected first sensing signal; a difference between the reception time point at which the receiving node receives the reflected first sensing signal and a first time point; wherein the first time point comprises any one of: a reception time point at which the receiving node receives a reflected second sensing signal; a common time point.

19. A perception processing node, comprising: The sensing processing node comprises: one or more processors; wherein the processor is configured to perform the sensing method according to any one of claims 1 to 8.

20. A receiving node, comprising: The receiving node comprises: one or more processors; wherein the processor is configured to perform the sensing method according to any one of claims 9 to 16.

21. A communication system, characterized by The sensing processing node and the receiving node are comprised, wherein the sensing processing node is configured to implement the sensing method according to any one of claims 1 to 8, and the receiving node is configured to implement the sensing method according to any one of claims 9 to 16.

22. A storage medium, characterized by The storage medium stores instructions, when the instructions are executed on the communication device, causing the communication device to perform the sensing method according to any one of claims 1 to 16.

23. A program product, characterized by The program product is executed by the communication device, causing the communication device to perform the sensing method according to any one of claims 1 to 16.

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