Method and device for determining sensing node, equipment and storage medium

Abstract

The invention discloses a sensing node determination method and device, equipment and a storage medium, and relates to the technical field of sensing. The method is executed by a first node and comprises the following steps: receiving a sensing signal; and determining a second node corresponding to the sensing signal based on first information of the sensing signal, the first information being used for indicating a corresponding relationship between the sensing signal and the second node. The second node corresponding to the sensing signal received by the first node is determined through the first information, so that the sensing accuracy and efficiency are improved.

Description

Method, device, equipment and storage medium for determining perception nodes Technical Field

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

[0002] Perception refers to the use of radio waves to detect parameters of the physical environment to achieve environmental perception, such as target positioning, motion recognition, and imaging. In a perception scenario, a transmitting node sends a perception signal, which is reflected by the perceived target and then returned to a receiving node. After receiving the perception signal, the receiving node determines the perception information based on the perception signal.

[0003] In related technologies, when there are multiple sensing nodes (eg, a sensing sending node and / or a sensing receiving node) around a sensing target, the accuracy of the sensing results can be improved by the joint participation of the multiple sensing nodes in the sensing process.

[0004] However, how the perception receiving node determines the perception node that sent the perception signal through the received perception signal is a problem that needs to be solved.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a method, apparatus, device, and storage medium for determining a sensing node. The technical solution is as follows:

[0007] According to one aspect of an embodiment of the present application, a method for determining a sensing node is provided. The method is performed by a first node and includes:

[0008] receiving sensory signals;

[0009] Based on first information of the perception signal, a second node corresponding to the perception signal is determined, where the first information is used to indicate a correspondence between the perception signal and the second node.

[0010] According to one aspect of an embodiment of the present application, a device for determining a sensing node is provided, the device comprising: a receiving module and a determining module;

[0011] The receiving module is used to receive the sensing signal;

[0012] The determining module is configured to determine, based on first information of the perception signal, a second node corresponding to the perception signal, where the first information is used to indicate a correspondence between the perception signal and the second node.

[0013] According to one aspect of an embodiment of the present application, a sensing device is provided, the sensing device including a transceiver and a processor connected to the transceiver;

[0014] The transceiver is used to receive the sensing signal;

[0015] The processor is configured to determine, based on first information of the perception signal, a second node corresponding to the perception signal, where the first information is used to indicate a correspondence between the perception signal and the second node.

[0016] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is used for execution by a processor to implement the above-mentioned method for determining a perception node.

[0017] According to one aspect of an embodiment of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions. When the chip is running, it is used to implement the above-mentioned method for determining the perception node.

[0018] According to one aspect of an embodiment of the present application, a computer program product or a computer program is provided, wherein the computer program product or the computer program includes computer instructions, wherein the computer instructions are stored in a computer-readable storage medium, and a processor reads and executes the computer instructions from the computer-readable storage medium to implement the above-mentioned method for determining the location of the perception node.

[0019] The technical solutions provided in the embodiments of the present application can bring the following beneficial effects:

[0020] By receiving a perception signal and determining the second node corresponding to the perception signal based on first information indicating the correspondence between the perception signal and the second node, the perception node corresponding to the perception signal is determined; when multiple perception signals are received, the perception signals corresponding to different perception nodes are distinguished, thereby improving the accuracy and efficiency of perception. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 shows a schematic diagram of different modes of perception;

[0023] FIG2 shows a block diagram of a perception system provided by an embodiment of the present application;

[0024] FIG3 shows a block diagram of a perception process provided by an embodiment of the present application;

[0025] FIG4 shows a flowchart of a method for determining a sensing node provided by an embodiment of the present application;

[0026] FIG5 shows a flowchart of a method for determining a sensing node according to an embodiment of the present application;

[0027] FIG6 shows a flowchart of a method for determining a sensing node provided by an embodiment of the present application;

[0028] FIG7 shows a flowchart of a method for determining a sensing node according to an embodiment of the present application;

[0029] FIG8 shows a flowchart of a method for determining a sensing node provided by an embodiment of the present application;

[0030] FIG9 shows a flowchart of a method for determining a sensing node according to an embodiment of the present application;

[0031] FIG10 shows a flowchart of a method for determining a sensing node according to an embodiment of the present application;

[0032] FIG11 shows a structural block diagram of a device for determining a sensing node provided by an embodiment of the present application;

[0033] FIG12 shows a schematic structural diagram of a sensing device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0035] The network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. A person skilled in the art will appreciate that, with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0036] Before introducing the technical solutions of this application, we first introduce and explain some of the background technologies involved in this application. The following related technologies can be combined with the technical solutions of the embodiments of this application as optional solutions, and they all fall within the scope of protection of the embodiments of this application. The embodiments of this application include at least some of the following contents.

[0037] Perception refers to the technology of using radio waves to detect parameters of the physical environment to achieve environmental perception such as target positioning, action recognition, and imaging. The nodes involved in perception are as follows:

[0038] Sensing sending node: the sending node of the sensing signal.

[0039] Sensing receiving node: a receiving node that senses the signal.

[0040] Perception nodes: Perception sending nodes and perception receiving nodes are collectively referred to as perception nodes, that is, nodes that perform perception.

[0041] Perception Control Node: A node that controls perception tasks. The perception control node assigns perception tasks to the perception nodes, and the perception nodes feed back the perception results to the perception control node after performing perception.

[0042] As the spectrum for wireless communications and sensing gradually overlap, integrated communication and sensing technology merges these two functions, leveraging wireless resources to implement sensing. This allows sensing services to be delivered over a wider area using widely deployed cellular networks; joint sensing can be achieved through base stations and multiple terminals, achieving higher sensing accuracy; and sensing functions can be implemented by reusing wireless hardware modules to reduce costs. In short, integrated communication and sensing technology empowers future wireless communications systems with sensing capabilities, providing a foundation for the development of smart transportation, smart cities, smart factories, drones, and other services.

[0043] Perception can be achieved through at least one of eight modes. Figure 1 shows the eight modes of perception.

[0044] Mode 1: Base station autonomous sensing. In Mode 1, the sensing sending node and the sensing receiving node are the same base station 41. Specifically, base station 41 transmits a sensing signal to sensing target 42. After the sensing signal is reflected by sensing target 42, the same base station 41 receives the reflected signal (i.e., the sensing signal after being reflected by the sensing target).

[0045] Mode 2: Terminal-based self-transmission and self-reception. In Mode 2, the sensing sending node and the sensing receiving node are the same terminal 43. That is, terminal 43 sends a sensing signal to sensing target 44. After the sensing signal is reflected by sensing target 44, the same terminal 43 receives the reflected signal.

[0046] Mode 3: Base station cooperative sensing. In mode 3, the sensing sending node and the sensing receiving node are different base stations. That is, one base station 45 sends a sensing signal to the sensing target 46. After the sensing signal is reflected by the sensing target 46, another base station 47 receives the reflected signal.

[0047] Mode 4: Terminal Collaborative Sensing. In Mode 4, the sensing sending node and the sensing receiving node are different terminals. That is, one terminal 48 sends a sensing signal to a sensing target 49. After the sensing signal is reflected by the sensing target 49, another terminal 50 receives the reflected signal.

[0048] Mode 5: Base station-terminal collaborative sensing. In Mode 5, the sensing sending node is base station 51, and the sensing receiving node is terminal 53. Specifically, base station 51 sends a sensing signal to sensing target 52. After the sensing signal is reflected by sensing target 52, terminal 53 receives the reflected signal.

[0049] Mode 6: Terminal-Base Station Collaborative Sensing. In Mode 6, the sensing sending node is terminal 54, and the sensing receiving node is base station 56. Specifically, terminal 54 sends a sensing signal to sensing target 55. After the sensing signal is reflected by sensing target 55, base station 56 receives the reflected signal.

[0050] Mode 7: The sensing target is the sensing sending node. In Mode 7, the sensing sending node is terminal 57, and the sensing receiving node is base station 58. Because the sensing target (terminal 57) is the sensing sending node, the sensing signal is sent from the sensing sending node (terminal 57) to the sensing receiving node (base station 58) without reflection. Base station 58 can directly receive and interpret the sensing result.

[0051] Mode 8: The sensing target is the sensing receiving node. In Mode 8, the sensing sending node is base station 59, and the sensing receiving node is terminal 60. Since the sensing target (terminal 60) is the sensing receiving node, after receiving the sensing signal, terminal 60 needs to feed back the sensing result to base station 59, so that base station 59 can obtain the sensing result.

[0052] In the eight sensing modes shown in Figure 1, there is only a single sensing node (for example, in modes 1 and 2, a single node is both a sensing sending node and a sensing receiving node) or a pair of sensing nodes (for example, in modes 3 through 8, the sensing sending node and the sensing receiving node are different paired nodes). However, in wireless communication systems, there are a large number of terminal devices (for example, mobile phones, Internet of Things (IoT) devices, etc.). When multiple sensing nodes (including sensing sending nodes and sensing receiving nodes, i.e., base stations, mobile phones, IoT devices, etc. that send and / or receive sensing signals) are present around a sensing target, the joint participation of multiple sensing nodes in sensing can improve the accuracy of sensing, meet more complex sensing service requirements, and provide richer sensing services. When there are multiple sensing nodes in the system, a sensing control node may exist to control and manage the entire sensing system to improve efficiency. This sensing control node can be a base station, a terminal, or a core network element.

[0053] FIG2 shows a block diagram of a perception system provided by an exemplary embodiment of the present application. The perception system may include: a perception control node 10 , a perception node 20 , and a perception target 30 .

[0054] The perception control node 10 is a node that controls the perception process; it can be a base station, a terminal, or a core network element. The perception control node 10 can play multiple roles in the perception system. For example, the perception control node 10 can be a perception trigger node, initiating perception, configuring perception scenarios, and parsing perception feedback sent by perception nodes.

[0055] The sensing nodes 20 include sensing sending nodes and sensing receiving nodes. They can include base stations, terminals, IoT devices, or various handheld devices with wireless communication capabilities, in-vehicle devices, wearable devices, computing devices, or other processing devices connected to wireless modems, as well as various forms of user equipment, mobile stations (MSs), and so on. There are typically multiple sensing nodes 20, and one or more sensing nodes 20 can be distributed within the area controlled by each sensing control node 10.

[0056] The sensing target 30 is the target object to be sensed, including a person or object to be sensed. For example, if the sensing application is to monitor indoor intrusion, the sensing target 30 is an indoor intruder; if the sensing application is to measure vehicle speed, the sensing target 30 is a target vehicle on the road.

[0057] The perception control node 10 communicates with the perception node 20 via communication signals. For example, the perception control node 10 issues a perception task to the perception node 20, i.e., notifies the perception node 20 of the perception configuration, or the perception node 20 reports perception feedback to the perception control node 10. After receiving the perception task assigned by the perception control node 10, the perception node 20 perceives the perception target 30 by sending or receiving perception signals.

[0058] Figure 3 shows a schematic diagram of a perception process provided by an exemplary embodiment of the present application, performed by perception node 20 and perception target 30 in the perception system shown in Figure 2 . Perception node 20 transmits a perception signal, which is then reflected by perception target 30 and received by perception node 20 as a reflected signal. In Figure 3 , two perception targets 30 are used as an example. After the perception signal is reflected by these two perception targets 30, reflected signals 1 and 2 are generated, respectively, and perception node 20 receives these reflected signals 1 and 2.

[0059] The technical solution of this application is introduced and explained through several embodiments below.

[0060] FIG4 shows a flow chart of a method for determining a sensing node according to an embodiment of the present application. The method is executed by a first node, which may be the sensing node 20 in the sensing system shown in FIG2 . The method may include the following steps:

[0061] Step 220: Receive a sensing signal;

[0062] The first node receives the sensing signal.

[0063] In some embodiments, the first node receives one perception signal, which is a single perception signal; or, the first node receives one perception signal, which can be parsed into two perception signals based on orthogonality; or, the first node receives at least two perception signals. This embodiment of the present application is not limited in this regard.

[0064] The perception signal received by the first node corresponds to the second node and is used by the first node to perceive the second node; that is, the perception signal is used to perceive at least one of the following information of the second node:

[0065] Location; i.e., the geographical coordinates of the second node;

[0066] Distance; that is, the distance from the second node to the first node or the straight-line distance;

[0067] Speed; that is, the moving speed of the second node;

[0068] Angle; that is, the orientation of the second node relative to the first node;

[0069] Phase; that is, the phase of the received perception signal, or the phase of the perception signal received at different times;

[0070] Frequency; that is, the frequency of changes in the received perception signal, such as amplitude changes, phase changes, power changes, etc.; or the frequency of changes in the causes of the aforementioned changes. For example, when a distance change causes a phase change, the frequency of the phase change that the perception signal can be used to perceive is also the frequency of the distance change.

[0071] In some embodiments, a third node transmits a sensing signal, and a second node directly reflects the sensing signal or receives and processes the sensing signal before transmitting it. Specifically, the sensing signal can be a sensing signal transmitted by the third node after being reflected by the second node. For example, in FIG3 , sensing node 20 is the third node and the first node, and sensing target 30 is the second node. The sensing signal transmitted by sensing node 20 is directly reflected by sensing target 30 and then received by sensing node 20. Alternatively, the sensing signal can be a signal transmitted by the second node after receiving the sensing signal transmitted by the third node and processing it. For example, the sensing signal can be a signal transmitted by the second node after receiving the sensing signal transmitted by the third node and then modulating it. For another example, in mode 3 of FIG1 , base station 45 is the third node, sensing target 46 is the second node, and base station 47 is the first node. Sensing target 46 receives the sensing signal transmitted by base station 45, processes it, and then transmits it to base station 47.

[0072] That is, the perception signal includes at least one of the following signals:

[0073] A second sensing signal after the first sensing signal is reflected by the second node;

[0074] A third perception signal transmitted after the first perception signal is processed by the second node;

[0075] The first perception signal is a perception signal sent by the third node.

[0076] The third node is the node that sends the sensing signal. The third node can be the same sensing node as the first node or a different sensing node. If the third node is the same sensing node as the first node, please refer to the sensing system shown in Mode 1 or Mode 2 in Figure 1. If the third node is a different sensing node from the first node, please refer to the sensing system shown in Modes 3 to 6 in Figure 1.

[0077] In some embodiments, the second node is a low-capability node; that is, the second node is at least one of the following nodes:

[0078] Nodes whose supported data rate is less than the first threshold;

[0079] Nodes whose power saving requirement is greater than the second threshold.

[0080] The first threshold value is a threshold value of a data rate supported by the sensing node that is pre-configured or agreed upon in a communication protocol; the second threshold value is a threshold value of a power saving requirement for the sensing node that is pre-configured or agreed upon in a communication protocol.

[0081] Step 240: Determine a second node corresponding to the perception signal based on the first information of the perception signal.

[0082] The first information is used to indicate a corresponding relationship between the perception signal and the second node.

[0083] The first information includes at least one of the following information:

[0084] Perceive the time domain information of the signal;

[0085] Perceive the frequency domain information of the signal;

[0086] Perceive the spatial information of the signal;

[0087] · The encoded information of the sensory signal.

[0088] In some embodiments, the time domain information includes at least one of the following information:

[0089] The time domain symbol where the sensing signal is located;

[0090] The timeslot number where the sensing signal is located;

[0091] The starting symbol of the time domain resource where the sensing signal is located;

[0092] The end symbol of the time domain resource where the sensing signal is located;

[0093] The number of symbols in the time domain resources occupied by the sensing signal;

[0094] The duration of the time domain resources occupied by the sensing signal;

[0095] The starting time slot of the time domain resource where the sensing signal is located;

[0096] The end slot of the time domain resource where the sensing signal is located;

[0097] The number of time slots of the time domain resources occupied by the sensing signal.

[0098] In some embodiments, the frequency domain information includes at least one of the following information:

[0099] ·Perceive the frequency domain resources occupied by the signal;

[0100] The signal carrier frequency of the sensing signal;

[0101] The carrier number occupied by the sensing signal.

[0102] The frequency domain resources occupied by the sensing signal include at least one of the following information:

[0103] The starting point of the frequency domain resource;

[0104] The end point of the frequency domain resource;

[0105] The range of the frequency domain resource (i.e., the length from the start point to the end point);

[0106] The subcarriers of the frequency domain resource.

[0107] The signal carrier frequency of the sensing signal includes at least one of the following information:

[0108] The carrier frequency number of the signal carrier frequency;

[0109] The frequency band number of the signal carrier frequency.

[0110] The carrier number occupied by the sensing signal includes at least one of the following information:

[0111] The carrier ID number.

[0112] The serial number of the carrier number.

[0113] In some embodiments, the spatial information includes at least one of the following information:

[0114] The beam used to sense the signal;

[0115] The antenna port used by the sensing signal.

[0116] The beam used by the sensing signal includes at least one of the following information:

[0117] The beam identification number (ID);

[0118] The sequence number of the beam;

[0119] The coding information of the beam.

[0120] In some embodiments, the encoding information includes: a modulation sequence used by the second node to modulate the sensing signal.

[0121] In some embodiments, the first information is added when the third node sends the first perception signal; or the first information is added after the second node receives the first perception signal. The first perception signal is a perception signal sent by the third node, and the third node is the node that sends the perception signal.

[0122] In some embodiments, the first information is added to the first perception signal in at least one of the following ways:

[0123] Adding the first information to the first perception signal by encoding;

[0124] Adding the first information to the first perception signal by modulation;

[0125] The first information is added to the first perception signal by transmitting in a directional manner (beam).

[0126] In some embodiments, when the aforementioned first information includes coded information, the first information is added to the first perception signal through modulation. For example, the first information is added to the first perception signal through binary encoding consisting of "0" and "1"; or, the first information is added to the first perception signal through phase modulation. For another example, different second nodes use different modulation sequences that are orthogonal or quasi-orthogonal; or, different second nodes obtain different perception signals after modulation that are orthogonal or quasi-orthogonal.

[0127] In some embodiments, when the aforementioned first information includes coded information, the first information is added to the first perception signal through coding. For example, the first information is added to the first perception signal by convolving the first perception signal with a specific sequence, where different second nodes use different sequences that are orthogonal or quasi-orthogonal. For another example, the first information is added to the first perception signal through scrambling signal processing, where different second nodes use different scrambling codes to scramble the first perception signal, where different second nodes use different scrambling code sequences that are orthogonal or quasi-orthogonal.

[0128] In some embodiments, when the aforementioned first information includes spatial information, the first information is added to the first perception signal by transmitting in a directional manner. For example, different second nodes transmit the first perception signal using different beams.

[0129] In some embodiments, when the first information includes time domain information, the first information is added to the first perception signal by using different time domain resources. For example, different second nodes send the first perception signal in different time domain symbols.

[0130] In some embodiments, when the first information includes frequency domain information, the first information is added to the first perception signal by using different frequency domain resources. For example, different second nodes send the first perception signal on different carriers.

[0131] In some embodiments, the first information is determined by a third node. For example, the first information is determined by the third node based on a target second node or a candidate second node; the target second node is the target receiving node of the first perception signal, and the candidate second node is a candidate receiving node of the first perception signal. In other words, the third node transmitting the first perception signal determines the first information based on the receiving node that is targeted to receive or is likely to receive the first perception signal.

[0132] In order to determine the second node corresponding to the sensing signal based on the first information, each sensing node should be configured with the same first information. In some embodiments, the first information is configured by at least one of the following methods:

[0133] The fourth node is configured toward the first node; and the fourth node is configured toward at least one of the second node and the third node;

[0134] The second node reports to the fourth node, which then configures the first node and / or the third node.

[0135] Reported by the second node to the first node and / or the third node;

[0136] Adopt the configuration agreed upon by the communication protocol;

[0137] The fourth node scans all the second nodes to determine the first information, and then configures it to the first node and / or the third node.

[0138] The fourth node is a node for configuring the first information. The fourth node can be the same sensing node as the first node, that is, the first node configures the first information and also configures it to at least one of the second and third nodes. For example, when the first information is added to the sensing signal by the second node, the first node configures the first information at least to the second node. For another example, when the first information is added to the sensing signal by the third node, the first node configures the first information at least to the third node. Alternatively, the fourth node and the third node are the same sensing node, that is, the third node configures the first information to the first node. Optionally, when the first information is added by the second node, the third node also needs to configure the first information to the second node. For another example, the third node scans all second nodes to determine the first information and then configures it to the first node.

[0139] It should be noted that the above step 220 can be implemented independently as a method for receiving a sensing signal, and step 240 can be implemented independently as a method for determining a sensing node. This embodiment of the present application does not impose any restrictions on this.

[0140] In summary, the technical solution provided in the embodiments of the present application determines the second node corresponding to the perception signal based on the first information indicating the correspondence between the perception signal and the second node after receiving the perception signal, thereby realizing the determination of the perception node corresponding to the perception signal; when multiple perception signals are received, the perception signals corresponding to different perception nodes are distinguished, thereby improving the accuracy and efficiency of perception.

[0141] FIG5 shows a flowchart of a method for determining a sensing node according to an embodiment of the present application. This method can be applied to the sensing system shown in FIG2 and executed by a first node, a second node, and a third node. The first node, the second node, and the third node can be sensing node 20 in the sensing system shown in FIG2. The method may include the following steps:

[0142] Step 320: Receive a sensing signal;

[0143] The first node receives a perception signal. The perception signal is sent by the third node to the second node, reflected or processed by the second node, and then received by the first node. In other words, the perception signal includes at least one of the following signals:

[0144] A second sensing signal after the first sensing signal is reflected by the second node;

[0145] A third perception signal transmitted after the first perception signal is processed by the second node;

[0146] The first perception signal is a perception signal sent by the third node.

[0147] The third node is the node that sends the sensing signal. The third node can be the same sensing node as the first node or a different sensing node. If the third node is the same sensing node as the first node, please refer to the sensing system shown in Mode 1 or Mode 2 in Figure 1. If the third node is a different sensing node from the first node, please refer to the sensing system shown in Modes 3 to 6 in Figure 1.

[0148] In some embodiments, the first node receives one perception signal, which is a single perception signal; or, the first node receives one perception signal, which can be parsed into two perception signals based on orthogonality; or, the first node receives at least two perception signals. This embodiment of the present application is not limited in this regard.

[0149] The perception signal received by the first node corresponds to the second node and is used by the first node to perceive the second node; that is, the perception signal is used to perceive at least one of the following information of the second node:

[0150] Location; i.e., the geographical coordinates of the second node;

[0151] Distance; that is, the distance from the second node to the first node or the straight-line distance;

[0152] Speed; that is, the moving speed of the second node;

[0153] Angle; that is, the orientation of the second node relative to the first node;

[0154] Phase; that is, the phase of the received perception signal, or the phase of the perception signal received at different times;

[0155] Frequency; that is, the frequency of changes in the received perception signal, such as amplitude changes, phase changes, power changes, etc.; or the frequency of changes in the causes of the aforementioned changes. For example, when a distance change causes a phase change, the frequency of the phase change that the perception signal can be used to perceive is also the frequency of the distance change.

[0156] In some embodiments, the second node is a low-capability node; that is, the second node is at least one of the following nodes:

[0157] Nodes whose supported data rate is less than the first threshold;

[0158] Nodes whose power saving requirement is greater than the second threshold.

[0159] The first threshold value is a threshold value of a data rate supported by the sensing node that is pre-configured or agreed upon in a communication protocol; the second threshold value is a threshold value of a power saving requirement for the sensing node that is pre-configured or agreed upon in a communication protocol.

[0160] Step 340: The first node determines a second node corresponding to the perception signal based on the first information of the perception signal.

[0161] The first information is used to indicate a corresponding relationship between the perception signal and the second node.

[0162] The first information includes at least one of the following information:

[0163] Perceive the time domain information of the signal;

[0164] Perceive the frequency domain information of the signal;

[0165] Perceive the spatial information of the signal;

[0166] · The encoded information of the sensory signal.

[0167] The following describes the above four situations respectively:

[0168] (1) The first information includes time domain information of the perception signal.

[0169] In some embodiments, after receiving the perception signal sent by the third node, the second node sends the perception signal using different time domain resources. After receiving the perception signal, the first node determines, based on the first information and using the time domain resource where the perception signal is located, the second node corresponding to the perception signal.

[0170] In some embodiments, the time domain information includes at least one of the following information:

[0171] The time domain symbol where the sensing signal is located;

[0172] The timeslot number where the sensing signal is located;

[0173] The starting symbol of the time domain resource where the sensing signal is located;

[0174] The end symbol of the time domain resource where the sensing signal is located;

[0175] The number of symbols in the time domain resources occupied by the sensing signal;

[0176] The duration of the time domain resources occupied by the sensing signal;

[0177] The starting time slot of the time domain resource where the sensing signal is located;

[0178] The end slot of the time domain resource where the sensing signal is located;

[0179] The number of time slots of the time domain resources occupied by the sensing signal.

[0180] Figure 6 shows a schematic diagram illustrating, according to one embodiment of the present application, determining the second node corresponding to a perception signal based on time domain information. The horizontal direction in the figure represents time, and the vertical direction represents frequency. The dashed arrows in the figure indicate that after a second node (node ​​2, node 3, and node 4) receives a perception signal sent by a third node (node ​​X), the second node generates a corresponding reflected signal. As shown in the figure, node X transmits a perception signal, which is reflected by nodes 2, 3, and 4. The perception signals reflected by nodes 2, 3, and 4 are at different time domain locations. For example, node 2 reflects the perception signal at time 1, node 3 reflects the perception signal at time 2, and node 4 reflects the perception signal at time 3. A first node (or node 1, not shown in the figure) receives the perception signals reflected by nodes 2, 3, and 4, respectively. Based on the different reception times of the perception signals, the first node determines the second node corresponding to the received perception signal. That is, the node corresponding to the perception signal received at time 1 is node 2. Based on the perception signal received at time 1, the first node can perceive or detect information about node 2. Similarly, time 2 corresponds to node 3, and time 3 corresponds to node 4.

[0181] When nodes 2, 3, and 4 directly reflect the sensing signal sent by node X, the different distances between nodes 2, 3, and 4 and node X will cause node 1 to receive the reflected signals from nodes 2, 3, and 4 at different times.

[0182] When nodes 2, 3, and 4 receive the perception signal sent by node X and then process it before sending the perception signal, the sending time of the reflection signal of each node can be pre-configured or agreed upon through a network protocol, so that node 1 receives the reflection signal at different times.

[0183] (2) The first information includes frequency domain information of the perception signal.

[0184] In some embodiments, after receiving the perception signal sent by the third node, the second node sends the perception signal using different frequency domain resources. After receiving the perception signal, the first node determines, based on the first information and using the frequency domain resources where the perception signal is located, the second node corresponding to the perception signal.

[0185] In some embodiments, the frequency domain information includes at least one of the following information:

[0186] ·Perceive the frequency domain resources occupied by the signal;

[0187] The signal carrier frequency of the sensing signal;

[0188] The carrier number occupied by the sensing signal.

[0189] The frequency domain resources occupied by the sensing signal include at least one of the following information:

[0190] The starting point of the frequency domain resource;

[0191] The end point of the frequency domain resource;

[0192] The range of the frequency domain resource (i.e., the length from the start point to the end point);

[0193] The subcarriers of the frequency domain resource.

[0194] The signal carrier frequency of the sensing signal includes at least one of the following information:

[0195] The carrier frequency number of the signal carrier frequency;

[0196] The frequency band number of the signal carrier frequency.

[0197] The carrier number occupied by the sensing signal includes at least one of the following information:

[0198] The carrier ID number;

[0199] The serial number of the carrier number.

[0200] FIG7 shows a schematic diagram of determining the second node corresponding to the perception signal based on frequency domain information according to an embodiment of the present application. In the figure, the horizontal direction represents time, the vertical direction represents frequency, and the dotted arrow indicates that after the second node (node ​​2, node 3, and node 4) receives the perception signal sent by the third node (node ​​X), the second node generates a corresponding reflected signal. As shown in the figure, node X sends a perception signal, and nodes 2, node 3, and node 4 reflect the perception signal. The frequency domain resources used by the perception signals reflected by nodes 2, node 3, and node 4 are different. For example, node 2 reflects the perception signal at frequency position 1, node 3 reflects the perception signal at frequency position 2, and node 4 reflects the perception signal at frequency position 3. The first node (or node 1, not shown in the figure) receives the perception signals reflected by nodes 2, node 3, and node 4 respectively; the first node determines the second node corresponding to the received perception signal based on the different reception frequencies of the perception signals. That is, the node corresponding to the perception signal received at frequency position 1 is node 2, and based on the perception signal received at frequency position 1, the information of node 2 can be perceived or detected. Similarly, frequency position 2 corresponds to node 3, and frequency position 3 corresponds to node 4.

[0201] When nodes 2, 3, and 4 receive the perception signal sent by node X and then process it and then send the perception signal (reflection signal), the frequency resource location of the reflection signal of each node can be pre-configured or agreed upon through a network protocol, so that node 1 receives the reflection signal on different frequency resources, which is used to distinguish between nodes 2, 3, and 4.

[0202] FIG8 shows a schematic diagram illustrating another embodiment of the present application for determining the second node corresponding to a perception signal based on frequency domain information. The horizontal direction in the figure represents time, and the vertical direction represents frequency. The dotted arrow indicates that after the second node (node ​​2, node 3, and node 4) receives the perception signal sent by the third node (node ​​X), the second node generates a corresponding reflected signal. As shown in the figure, node X sends a perception signal, and nodes 2, node 3, and node 4 reflect the perception signal. The perception signals reflected by nodes 2, node 3, and node 4 use different carriers. For example, node 2 reflects the perception signal on carrier 1, node 3 reflects the perception signal on carrier 2, and node 4 reflects the perception signal on carrier 3. A first node (or node 1, not shown in the figure) receives the perception signals reflected by nodes 2, node 3, and node 4 respectively; the first node determines the second node corresponding to the received perception signal based on the different received carriers of the perception signals. That is, the node corresponding to the perception signal received on carrier 1 is node 2. Based on the perception signal received on carrier 1, the information of node 2 can be perceived or detected. Similarly, carrier 2 corresponds to node 3, and carrier 3 corresponds to node 4.

[0203] When nodes 2, 3, and 4 receive the perception signal sent by node X and then process it and then send the perception signal (reflection signal), the carrier of the reflected signal of each node can be pre-configured or agreed upon through a network protocol, so that node 1 receives the reflected signal on different frequency resources, which is used to distinguish between nodes 2, 3, and 4.

[0204] (3) The first information includes spatial information of the perception signal.

[0205] In some embodiments, after receiving a perception signal sent by a third node, the second node transmits the perception signal using different spatial information; alternatively, the third node transmits the perception signal using different spatial information and is transmitted by different second nodes. After receiving the perception signal, the first node determines the second node corresponding to the perception signal based on the spatial information used in the perception signal and the first information.

[0206] In some embodiments, the spatial information includes at least one of the following information:

[0207] The beam used to sense the signal;

[0208] The antenna port used by the sensing signal.

[0209] The beam used by the sensing signal includes at least one of the following information:

[0210] The beam identification number (ID);

[0211] The sequence number of the beam;

[0212] The coding information of the beam.

[0213] FIG9 shows a schematic diagram of determining the second node corresponding to a perception signal based on spatial information, according to an embodiment of the present application. As shown in FIG9(a), the third node (node ​​X) sends a perception signal, using one beam for each transmission, with beams 1 to 6 being sent cyclically. The locations of the second nodes (node ​​2, node 3, and node 4) are respectively aligned with the directions of beams 4, 5, and 6. The perception signals reflected by nodes 2, 3, and 4 also correspond to beams 4, 5, and 6, respectively. The first node (or node 1, also known as node X) receives the perception signals reflected by nodes 2, 3, and 4, respectively, and determines the perception node corresponding to the received perception signal based on the different receiving beams. For example, if node 1 receives a perception signal in beam 4, its corresponding perception node is node 2. Based on the perception signal received in beam 4, the information of node 2 can be perceived or detected. Similarly, beam 5 corresponds to node 3, and beam 6 corresponds to node 4.

[0214] When nodes 2, 3, and 4 directly reflect the perception signal sent by node X, the perception signals received by nodes 2, 3, and 4 use different beams, and nodes 2, 3, and 4 retransmit the perception signal using the beam that received the perception signal. As shown in Figure 9(a), node X sends a perception signal to node 2 via beam 4, and node 2 reflects the perception signal directly to node X (i.e., node 1) via the same beam 4. For another example, node X sends a perception signal to node 3 via beam 5, and node 3 reflects the perception signal directly to node X (i.e., node 1) via the same beam 5.

[0215] When nodes 2, 3, and 4 receive the perception signal sent by node X and then process it before sending the reflected signal, the transmission beams for each node's reflected signal can be preconfigured or agreed upon through a communication protocol, so that node 1 receives reflected signals from different beams. As shown in Figure 9(b), nodes 2, 3, and 4 receive the perception signal sent by node X and then process it before sending it (the reflected signal). Node 2 sends it to node 1 via beam 7, node 3 sends it to node 1 via beam 8, and node 4 sends it to node 1 via beam 9. After receiving the perception signals via different beams, node 1 determines the second node that sent the perception signal based on the first information.

[0216] (4) The first information includes the encoding information of the perception signal.

[0217] In some embodiments, after receiving a perception signal sent by a third node, the second node processes the perception signal using different coding information before transmitting the perception signal. For example, the second node modulates the received perception signal using a modulation sequence before transmitting the perception signal. After receiving the perception signal, the first node determines the second node corresponding to the perception signal based on the first information and the coding information used in the perception signal.

[0218] In some embodiments, the coded information includes: a modulation sequence used by the second node to modulate the sensing signal; modulation sequences in the modulation sequence set are orthogonal or quasi-orthogonal; and different second nodes use different modulation sequences.

[0219] Figure 10 shows a schematic diagram of determining the second node corresponding to the perception signal based on coding information, as shown in an embodiment of the present application. The third node (node ​​X) sends a perception signal. After receiving the perception signal, the second nodes (node ​​2, node 3, and node 4) modulate the perception signal sent by node X using different modulation codes and then send it to node 1. For example, the modulation code used by node 2 is (101010...), the modulation code used by node 3 is (11001100...), and the modulation code used by node 4 is (11011011...). Node 1 receives the perception signals reflected (sent) by nodes 2, node 3, and node 4, and determines the second node corresponding to the received perception signal based on different modulation coding methods. For example, the node corresponding to the perception signal encoded by (101010...) is node 2. Based on the received perception signal, the information of node 2 can be perceived or detected. Similarly, the perception signal encoded by (11001100...) corresponds to node 3, and the perception signal encoded by (110110...) corresponds to node 4. The modulation and coding sequences used by nodes 2, 3, and 4 are pre-configured or agreed upon.

[0220] In some embodiments, the first information is added when the third node sends the first perception signal; or the first information is added after the second node receives the first perception signal. The first perception signal is a perception signal sent by the third node, and the third node is the node that sends the perception signal.

[0221] In some embodiments, the first information is added to the first perception signal in at least one of the following ways:

[0222] Adding the first information to the first perception signal by encoding;

[0223] Adding the first information to the first perception signal by modulation;

[0224] Adding the first information to the first perception signal by sending it in a directional manner.

[0225] In some embodiments, the first information is orthogonal or quasi-orthogonal. Based on the first information, it is possible to simultaneously receive perception signals from multiple perception nodes and determine the perception signals of the multiple nodes one by one.

[0226] In some embodiments, the first information is determined by a third node. For example, the first information is determined by the third node based on a target second node or a candidate second node; the target second node is the target receiving node of the first perception signal, and the candidate second node is a candidate receiving node of the first perception signal. In other words, the third node transmitting the first perception signal determines the first information based on the receiving node that is targeted to receive or is likely to receive the first perception signal.

[0227] In order to determine the second node corresponding to the sensing signal based on the first information, each sensing node should be configured with the same first information. In some embodiments, the first information is configured by at least one of the following methods:

[0228] The fourth node is configured toward the first node; and the fourth node is configured toward at least one of the second node and the third node;

[0229] The second node reports to the fourth node, which then configures the first node and / or the third node.

[0230] Reported by the second node to the first node and / or the third node;

[0231] Adopt the configuration agreed upon by the communication protocol;

[0232] The fourth node scans all the second nodes to determine the first information, and then configures it to the first node and / or the third node.

[0233] The fourth node is a node for configuring the first information. The fourth node can be the same sensing node as the first node, that is, the first node configures the first information and also configures it to at least one of the second and third nodes. For example, when the first information is added to the sensing signal by the second node, the first node configures the first information at least to the second node. For another example, when the first information is added to the sensing signal by the third node, the first node configures the first information at least to the third node. Alternatively, the fourth node and the third node are the same sensing node, that is, the third node configures the first information to the first node. Optionally, when the first information is added by the second node, the third node also needs to configure the first information to the second node. For another example, the third node scans all second nodes to determine the first information and then configures it to the first node.

[0234] It should be noted that the above step 320 can be implemented independently as a method for receiving a sensing signal, and step 340 can be implemented independently as a method for determining a sensing node. This embodiment of the present application does not impose any restrictions on this.

[0235] In summary, the technical solution provided in the embodiment of the present application determines the second node corresponding to the perception signal based on the first information indicating the correspondence between the perception signal and the second node after receiving the perception signal, thereby realizing the determination of the perception node corresponding to the perception signal and improving the accuracy of perception.

[0236] In addition, since the first information is orthogonal or quasi-orthogonal, it is possible to distinguish the perception signals corresponding to different perception nodes when multiple perception signals are received at the same time, thereby improving the efficiency of the perception system.

[0237] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0238] Figure 11 shows a block diagram of a device for determining a sensing node provided by one embodiment of the present application. The device has the function of implementing the method example of the first node described above. The function can be implemented by hardware or by hardware executing corresponding software. The device can be the first node described above or can be set in the first node. As shown in Figure 11, the device can include the following modules:

[0239] A receiving module 420 is configured to receive a sensing signal;

[0240] The determination module 440 is configured to determine a second node corresponding to the perception signal based on first information of the perception signal, where the first information is used to indicate a correspondence between the perception signal and the second node.

[0241] The receiving module 420 may be implemented by a receiver or a transceiver in the perception device shown in FIG12 , and the determining module 440 may be implemented by a processor in the perception device.

[0242] In a possible implementation, the receiving module 420 is configured to receive a sensing signal;

[0243] The receiving module 420 receives the sensing signal.

[0244] In some embodiments, the receiving module 420 receives one perception signal, which is a single perception signal; or, the receiving module 420 receives one perception signal, which can be parsed into two perception signals based on orthogonality; or, the receiving module 420 receives at least two perception signals. This embodiment of the present application is not limited in this regard.

[0245] The sensing signal received by the receiving module 420 corresponds to the second node and is used by the first node to sense the second node; that is, the sensing signal is used to sense at least one of the following information of the second node:

[0246] Location; i.e., the geographical coordinates of the second node;

[0247] Distance; that is, the distance from the second node to the first node or the straight-line distance;

[0248] Speed; that is, the moving speed of the second node;

[0249] Angle; that is, the orientation of the second node relative to the first node;

[0250] Phase; that is, the phase of the received perception signal, or the phase of the perception signal received at different times;

[0251] Frequency; that is, the frequency of changes in the received perception signal, such as amplitude changes, phase changes, power changes, etc.; or the frequency of changes in the causes of the aforementioned changes. For example, when a distance change causes a phase change, the frequency of the phase change that the perception signal can be used to perceive is also the frequency of the distance change.

[0252] In some embodiments, the third node transmits a sensing signal, and the second node is a node that directly reflects the sensing signal or receives and processes the sensing signal before transmitting it. That is, the sensing signal can be a sensing signal transmitted by the third node after being reflected by the second node. For example, in FIG3 , sensing node 20 is the third node and the first node, and sensing target 30 is the second node. The sensing signal transmitted by sensing node 20 is directly reflected by sensing target 30 and then received by sensing node 20. Alternatively, the sensing signal can be a signal transmitted by the second node after receiving the sensing signal transmitted by the third node and processing it. For example, the sensing signal can be a signal transmitted by the second node after receiving the sensing signal transmitted by the third node and then modulating it. For another example, in mode 3 of FIG1 , base station 45 is the third node, sensing target 46 is the second node, and base station 47 is the first node. Sensing target 46 receives the sensing signal transmitted by base station 45, processes it, and then transmits it to base station 47.

[0253] That is, the perception signal includes at least one of the following signals:

[0254] A second sensing signal after the first sensing signal is reflected by the second node;

[0255] A third perception signal transmitted after the first perception signal is processed by the second node;

[0256] The first perception signal is a perception signal sent by the third node.

[0257] The third node is the node that sends the sensing signal. The third node can be the same sensing node as the first node or a different sensing node. If the third node is the same sensing node as the first node, please refer to the sensing system shown in Mode 1 or Mode 2 in Figure 1. If the third node is a different sensing node from the first node, please refer to the sensing system shown in Modes 3 to 6 in Figure 1.

[0258] In some embodiments, the second node is a low-capability node; that is, the second node is at least one of the following nodes:

[0259] Nodes whose supported data rate is less than the first threshold;

[0260] Nodes whose power saving requirement is greater than the second threshold.

[0261] The first threshold value is a threshold value of a data rate supported by the sensing node that is pre-configured or agreed upon in a communication protocol; the second threshold value is a threshold value of a power saving requirement for the sensing node that is pre-configured or agreed upon in a communication protocol.

[0262] The determining module 440 is configured to determine a second node corresponding to the sensing signal based on the first information of the sensing signal.

[0263] The first information is used to indicate a corresponding relationship between the perception signal and the second node.

[0264] The first information includes at least one of the following information:

[0265] Perceive the time domain information of the signal;

[0266] Perceive the frequency domain information of the signal;

[0267] Perceive the spatial information of the signal;

[0268] · The encoded information of the sensory signal.

[0269] In some embodiments, the time domain information includes at least one of the following information:

[0270] The time domain symbol where the sensing signal is located;

[0271] The timeslot number where the sensing signal is located;

[0272] The starting symbol of the time domain resource where the sensing signal is located;

[0273] The end symbol of the time domain resource where the sensing signal is located;

[0274] The number of symbols in the time domain resources occupied by the sensing signal;

[0275] The duration of the time domain resources occupied by the sensing signal;

[0276] The starting time slot of the time domain resource where the sensing signal is located;

[0277] The end slot of the time domain resource where the sensing signal is located;

[0278] The number of time slots of the time domain resources occupied by the sensing signal.

[0279] In some embodiments, the frequency domain information includes at least one of the following information:

[0280] ·Perceive the frequency domain resources occupied by the signal;

[0281] The signal carrier frequency of the sensing signal;

[0282] The carrier number occupied by the sensing signal.

[0283] The frequency domain resources occupied by the sensing signal include at least one of the following information:

[0284] The starting point of the frequency domain resource;

[0285] The end point of the frequency domain resource;

[0286] The range of the frequency domain resource (i.e., the length from the start point to the end point);

[0287] The subcarriers of the frequency domain resource.

[0288] The signal carrier frequency of the sensing signal includes at least one of the following information:

[0289] The carrier frequency number of the signal carrier frequency;

[0290] The frequency band number of the signal carrier frequency.

[0291] The carrier number occupied by the sensing signal includes at least one of the following information:

[0292] The carrier ID number.

[0293] The serial number of the carrier number.

[0294] In some embodiments, the spatial information includes at least one of the following information:

[0295] The beam used to sense the signal;

[0296] The antenna port used by the sensing signal.

[0297] The beam used by the sensing signal includes at least one of the following information:

[0298] The beam identification number (ID);

[0299] The sequence number of the beam;

[0300] The coding information of the beam.

[0301] In some embodiments, the encoding information includes: a modulation sequence used by the second node to modulate the sensing signal.

[0302] In some embodiments, the first information is added when the third node sends the first perception signal; or the first information is added after the second node receives the first perception signal. The first perception signal is a perception signal sent by the third node, and the third node is the node that sends the perception signal.

[0303] In some embodiments, the first information is added to the first perception signal in at least one of the following ways:

[0304] Adding the first information to the first perception signal by encoding;

[0305] Adding the first information to the first perception signal by modulation;

[0306] The first information is added to the first perception signal by transmitting in a directional manner (beam).

[0307] In some embodiments, when the aforementioned first information includes coded information, the first information is added to the first perception signal through modulation. For example, the first information is added to the first perception signal through binary encoding consisting of "0" and "1"; or, the first information is added to the first perception signal through phase modulation. For another example, different second nodes use different modulation sequences that are orthogonal or quasi-orthogonal; or, different second nodes obtain different perception signals after modulation that are orthogonal or quasi-orthogonal.

[0308] In some embodiments, when the aforementioned first information includes coded information, the first information is added to the first perception signal through coding. For example, the first information is added to the first perception signal by convolving the first perception signal with a specific sequence, where different second nodes use different sequences that are orthogonal or quasi-orthogonal. For another example, the first information is added to the first perception signal through scrambling signal processing, where different second nodes use different scrambling codes to scramble the first perception signal, where different second nodes use different scrambling code sequences that are orthogonal or quasi-orthogonal.

[0309] In some embodiments, when the aforementioned first information includes spatial information, the first information is added to the first perception signal by transmitting in a directional manner. For example, different second nodes transmit the first perception signal using different beams.

[0310] In some embodiments, when the first information includes time domain information, the first information is added to the first perception signal by using different time domain resources. For example, different second nodes send the first perception signal in different time domain symbols.

[0311] In some embodiments, when the first information includes frequency domain information, the first information is added to the first perception signal by using different frequency domain resources. For example, different second nodes send the first perception signal on different carriers.

[0312] In some embodiments, the first information is determined by a third node. For example, the first information is determined by the third node based on a target second node or a candidate second node; the target second node is the target receiving node of the first perception signal, and the candidate second node is a candidate receiving node of the first perception signal. In other words, the third node transmitting the first perception signal determines the first information based on the receiving node that is targeted to receive or is likely to receive the first perception signal.

[0313] In order to determine the second node corresponding to the sensing signal based on the first information, each sensing node should be configured with the same first information. In some embodiments, the first information is configured by at least one of the following methods:

[0314] The fourth node is configured toward the first node; and the fourth node is configured toward at least one of the second node and the third node;

[0315] The second node reports to the fourth node, which then configures the first node and / or the third node.

[0316] Reported by the second node to the first node and / or the third node;

[0317] Adopt the configuration agreed upon by the communication protocol;

[0318] The fourth node scans all the second nodes to determine the first information, and then configures it to the first node and / or the third node.

[0319] The fourth node is a node for configuring the first information. The fourth node can be the same sensing node as the first node, that is, the first node configures the first information and also configures it to at least one of the second and third nodes. For example, when the first information is added to the sensing signal by the second node, the first node configures the first information at least to the second node. For another example, when the first information is added to the sensing signal by the third node, the first node configures the first information at least to the third node. Alternatively, the fourth node and the third node are the same sensing node, that is, the third node configures the first information to the first node. Optionally, when the first information is added by the second node, the third node also needs to configure the first information to the second node. For another example, the third node scans all second nodes to determine the first information and then configures it to the first node.

[0320] In another possible implementation, the receiving module 420 is configured to receive a sensing signal;

[0321] The receiving module 420 receives a perception signal. The perception signal is sent by the third node to the second node, reflected or processed by the second node, and then received by the first node. That is, the perception signal includes at least one of the following signals:

[0322] A second sensing signal after the first sensing signal is reflected by the second node;

[0323] A third perception signal transmitted after the first perception signal is processed by the second node;

[0324] The first perception signal is a perception signal sent by the third node.

[0325] The third node is the node that sends the sensing signal. The third node can be the same sensing node as the first node or a different sensing node. If the third node is the same sensing node as the first node, please refer to the sensing system shown in Mode 1 or Mode 2 in Figure 1. If the third node is a different sensing node from the first node, please refer to the sensing system shown in Modes 3 to 6 in Figure 1.

[0326] In some embodiments, the receiving module 420 receives one perception signal, which is a single perception signal; or, the receiving module 420 receives one perception signal, which can be parsed into two perception signals based on orthogonality; or, the receiving module 420 receives at least two perception signals. This embodiment of the present application is not limited in this regard.

[0327] The sensing signal received by the receiving module 420 corresponds to the second node and is used by the first node to sense the second node; that is, the sensing signal is used to sense at least one of the following information of the second node:

[0328] Location; i.e., the geographical coordinates of the second node;

[0329] Distance; that is, the distance from the second node to the first node or the straight-line distance;

[0330] Speed; that is, the moving speed of the second node;

[0331] Angle; that is, the orientation of the second node relative to the first node;

[0332] Phase; that is, the phase of the received perception signal, or the phase of the perception signal received at different times;

[0333] Frequency; that is, the frequency of changes in the received perception signal, such as amplitude changes, phase changes, power changes, etc.; or the frequency of changes in the causes of the aforementioned changes. For example, when a distance change causes a phase change, the frequency of the phase change that the perception signal can be used to perceive is also the frequency of the distance change.

[0334] In some embodiments, the second node is a low-capability node; that is, the second node is at least one of the following nodes:

[0335] Nodes whose supported data rate is less than the first threshold;

[0336] Nodes whose power saving requirement is greater than the second threshold.

[0337] The first threshold value is a threshold value of a data rate supported by the sensing node that is pre-configured or agreed upon in a communication protocol; the second threshold value is a threshold value of a power saving requirement for the sensing node that is pre-configured or agreed upon in a communication protocol.

[0338] The determining module 440 is configured to determine a second node corresponding to the sensing signal based on the first information of the sensing signal.

[0339] The first information is used to indicate a corresponding relationship between the perception signal and the second node.

[0340] The first information includes at least one of the following information:

[0341] Perceive the time domain information of the signal;

[0342] Perceive the frequency domain information of the signal;

[0343] Perceive the spatial information of the signal;

[0344] · The encoded information of the sensory signal.

[0345] The following describes the above four situations respectively:

[0346] (1) The first information includes time domain information of the perception signal.

[0347] In some embodiments, after receiving the perception signal sent by the third node, the second node sends the perception signal using different time domain resources. After receiving the perception signal, the apparatus determines, based on the first information and using the time domain resource where the perception signal is located, the second node corresponding to the perception signal.

[0348] In some embodiments, the time domain information includes at least one of the following information:

[0349] The time domain symbol where the sensing signal is located;

[0350] The timeslot number where the sensing signal is located;

[0351] The starting symbol of the time domain resource where the sensing signal is located;

[0352] The end symbol of the time domain resource where the sensing signal is located;

[0353] The number of symbols in the time domain resources occupied by the sensing signal;

[0354] The duration of the time domain resources occupied by the sensing signal;

[0355] The starting time slot of the time domain resource where the sensing signal is located;

[0356] The end slot of the time domain resource where the sensing signal is located;

[0357] The number of time slots of the time domain resources occupied by the sensing signal.

[0358] FIG6 shows a schematic diagram illustrating an embodiment of the present application for determining the second node corresponding to a perception signal based on time domain information. The horizontal direction in the figure represents time, and the vertical direction represents frequency. The dotted arrow in the figure indicates that after the second node (node ​​2, node 3, and node 4) receives the perception signal sent by the third node (node ​​X), the second node generates a corresponding reflected signal. As shown in the figure, node X sends a perception signal, and nodes 2, node 3, and node 4 reflect the perception signal. The perception signals reflected by nodes 2, node 3, and node 4 are at different time domain locations. For example, node 2 reflects the perception signal at time 1, node 3 reflects the perception signal at time 2, and node 4 reflects the perception signal at time 3. The first node (or node 1, not shown in the figure) receives the perception signals reflected by nodes 2, node 3, and node 4 respectively; the first node determines the second node corresponding to the received perception signal based on the different reception times of the perception signals. That is, the node corresponding to the perception signal received at time 1 is node 2. Based on the perception signal received at time 1, the information of node 2 can be perceived or detected. Similarly, time 2 corresponds to node 3, and time 3 corresponds to node 4.

[0359] When nodes 2, 3, and 4 directly reflect the sensing signal sent by node X, the different distances between nodes 2, 3, and 4 and node X will cause node 1 to receive the reflected signals from nodes 2, 3, and 4 at different times.

[0360] When nodes 2, 3, and 4 receive the perception signal sent by node X and then process it before sending the perception signal, the sending time of the reflection signal of each node can be pre-configured or agreed upon through a network protocol, so that node 1 receives the reflection signal at different times.

[0361] (2) The first information includes frequency domain information of the perception signal.

[0362] In some embodiments, after receiving the perception signal sent by the third node, the second node sends the perception signal using different frequency domain resources. After receiving the perception signal, the apparatus determines, based on the first information and using the frequency domain resources where the perception signal is located, the second node corresponding to the perception signal.

[0363] In some embodiments, the frequency domain information includes at least one of the following information:

[0364] ·Perceive the frequency domain resources occupied by the signal;

[0365] The signal carrier frequency of the sensing signal;

[0366] The carrier number occupied by the sensing signal.

[0367] The frequency domain resources occupied by the sensing signal include at least one of the following information:

[0368] The starting point of the frequency domain resource;

[0369] The end point of the frequency domain resource;

[0370] The range of the frequency domain resource (i.e., the length from the start point to the end point);

[0371] The subcarriers of the frequency domain resource.

[0372] The signal carrier frequency of the sensing signal includes at least one of the following information:

[0373] The carrier frequency number of the signal carrier frequency;

[0374] The frequency band number of the signal carrier frequency.

[0375] The carrier number occupied by the sensing signal includes at least one of the following information:

[0376] The carrier ID number;

[0377] The serial number of the carrier number.

[0378] FIG7 shows a schematic diagram of determining the second node corresponding to the perception signal based on frequency domain information according to an embodiment of the present application. In the figure, the horizontal direction represents time, the vertical direction represents frequency, and the dotted arrow indicates that after the second node (node ​​2, node 3, and node 4) receives the perception signal sent by the third node (node ​​X), the second node generates a corresponding reflected signal. As shown in the figure, node X sends a perception signal, and nodes 2, node 3, and node 4 reflect the perception signal. The frequency domain resources used by the perception signals reflected by nodes 2, node 3, and node 4 are different. For example, node 2 reflects the perception signal at frequency position 1, node 3 reflects the perception signal at frequency position 2, and node 4 reflects the perception signal at frequency position 3. The first node (or node 1, not shown in the figure) receives the perception signals reflected by nodes 2, node 3, and node 4 respectively; the first node determines the second node corresponding to the received perception signal based on the different reception frequencies of the perception signals. That is, the node corresponding to the perception signal received at frequency position 1 is node 2, and based on the perception signal received at frequency position 1, the information of node 2 can be perceived or detected. Similarly, frequency position 2 corresponds to node 3, and frequency position 3 corresponds to node 4.

[0379] When nodes 2, 3, and 4 receive the perception signal sent by node X and then process it and then send the perception signal (reflection signal), the frequency resource location of the reflection signal of each node can be pre-configured or agreed upon through a network protocol, so that node 1 receives the reflection signal on different frequency resources, which is used to distinguish between nodes 2, 3, and 4.

[0380] FIG8 shows a schematic diagram illustrating another embodiment of the present application for determining the second node corresponding to a perception signal based on frequency domain information. The horizontal direction in the figure represents time, and the vertical direction represents frequency. The dotted arrow indicates that after the second node (node ​​2, node 3, and node 4) receives the perception signal sent by the third node (node ​​X), the second node generates a corresponding reflected signal. As shown in the figure, node X sends a perception signal, and nodes 2, node 3, and node 4 reflect the perception signal. The perception signals reflected by nodes 2, node 3, and node 4 use different carriers. For example, node 2 reflects the perception signal on carrier 1, node 3 reflects the perception signal on carrier 2, and node 4 reflects the perception signal on carrier 3. A first node (or node 1, not shown in the figure) receives the perception signals reflected by nodes 2, node 3, and node 4 respectively; the first node determines the second node corresponding to the received perception signal based on the different received carriers of the perception signals. That is, the node corresponding to the perception signal received on carrier 1 is node 2. Based on the perception signal received on carrier 1, the information of node 2 can be perceived or detected. Similarly, carrier 2 corresponds to node 3, and carrier 3 corresponds to node 4.

[0381] When nodes 2, 3, and 4 receive the perception signal sent by node X and then process it and then send the perception signal (reflection signal), the carrier of the reflected signal of each node can be pre-configured or agreed upon through a network protocol, so that node 1 receives the reflected signal on different frequency resources, which is used to distinguish between nodes 2, 3, and 4.

[0382] (3) The first information includes spatial information of the perception signal.

[0383] In some embodiments, after receiving a perception signal sent by a third node, the second node transmits the perception signal using different spatial information; alternatively, the third node transmits the perception signal using different spatial information and is transmitted by different second nodes. After receiving the perception signal, the first node determines the second node corresponding to the perception signal based on the spatial information used in the perception signal and the first information.

[0384] In some embodiments, the spatial information includes at least one of the following information:

[0385] The beam used to sense the signal;

[0386] The antenna port used by the sensing signal.

[0387] The beam used by the sensing signal includes at least one of the following information:

[0388] The beam identification number (ID);

[0389] The sequence number of the beam;

[0390] The coding information of the beam.

[0391] FIG9 shows a schematic diagram of determining the second node corresponding to a perception signal based on spatial information, according to an embodiment of the present application. As shown in FIG9(a), the third node (node ​​X) sends a perception signal, using one beam for each transmission, with beams 1 to 6 being sent cyclically. The locations of the second nodes (node ​​2, node 3, and node 4) are respectively aligned with the directions of beams 4, 5, and 6. The perception signals reflected by nodes 2, 3, and 4 also correspond to beams 4, 5, and 6, respectively. The first node (or node 1, also known as node X) receives the perception signals reflected by nodes 2, 3, and 4, respectively, and determines the perception node corresponding to the received perception signal based on the different receiving beams. For example, if node 1 receives a perception signal in beam 4, its corresponding perception node is node 2. Based on the perception signal received in beam 4, the information of node 2 can be perceived or detected. Similarly, beam 5 corresponds to node 3, and beam 6 corresponds to node 4.

[0392] When nodes 2, 3, and 4 directly reflect the perception signal sent by node X, the perception signals received by nodes 2, 3, and 4 use different beams, and nodes 2, 3, and 4 retransmit the perception signal using the beam that received the perception signal. As shown in Figure 9(a), node X sends a perception signal to node 2 via beam 4, and node 2 reflects the perception signal directly to node X (i.e., node 1) via the same beam 4. For another example, node X sends a perception signal to node 3 via beam 5, and node 3 reflects the perception signal directly to node X (i.e., node 1) via the same beam 5.

[0393] When nodes 2, 3, and 4 receive the perception signal sent by node X and then process it before sending the reflected signal, the transmission beams for each node's reflected signal can be preconfigured or agreed upon through a communication protocol, so that node 1 receives reflected signals from different beams. As shown in Figure 9(b), nodes 2, 3, and 4 receive the perception signal sent by node X and then process it before sending it (the reflected signal). Node 2 sends it to node 1 via beam 7, node 3 sends it to node 1 via beam 8, and node 4 sends it to node 1 via beam 9. After receiving the perception signals via different beams, node 1 determines the second node that sent the perception signal based on the first information.

[0394] (4) The first information includes the encoding information of the perception signal.

[0395] In some embodiments, after receiving a perception signal sent by a third node, the second node processes the perception signal using different coding information before transmitting the perception signal. For example, the second node modulates the received perception signal using a modulation sequence before transmitting the perception signal. After receiving the perception signal, the apparatus determines the second node corresponding to the perception signal based on the first information and the coding information used in the perception signal.

[0396] In some embodiments, the coded information includes: a modulation sequence used by the second node to modulate the sensing signal; modulation sequences in the modulation sequence set are orthogonal or quasi-orthogonal; and different second nodes use different modulation sequences.

[0397] Figure 10 shows a schematic diagram of determining the second node corresponding to the perception signal based on coding information, as shown in an embodiment of the present application. The third node (node ​​X) sends a perception signal. After receiving the perception signal, the second nodes (node ​​2, node 3, and node 4) modulate the perception signal sent by node X using different modulation codes and then send it to node 1. For example, the modulation code used by node 2 is (101010...), the modulation code used by node 3 is (11001100...), and the modulation code used by node 4 is (11011011...). Node 1 receives the perception signals reflected (sent) by nodes 2, node 3, and node 4, and determines the second node corresponding to the received perception signal based on different modulation coding methods. For example, the node corresponding to the perception signal encoded by (101010...) is node 2. Based on the received perception signal, the information of node 2 can be perceived or detected. Similarly, the perception signal encoded by (11001100...) corresponds to node 3, and the perception signal encoded by (110110...) corresponds to node 4. The modulation and coding sequences used by nodes 2, 3, and 4 are pre-configured or agreed upon.

[0398] In some embodiments, the first information is added when the third node sends the first perception signal; or the first information is added after the second node receives the first perception signal. The first perception signal is a perception signal sent by the third node, and the third node is the node that sends the perception signal.

[0399] In some embodiments, the first information is added to the first perception signal in at least one of the following ways:

[0400] Adding the first information to the first perception signal by encoding;

[0401] Adding the first information to the first perception signal by modulation;

[0402] Adding the first information to the first perception signal by sending it in a directional manner.

[0403] In some embodiments, the first information is orthogonal or quasi-orthogonal. Based on the first information, it is possible to simultaneously receive perception signals from multiple perception nodes and determine the perception signals of the multiple nodes one by one.

[0404] In some embodiments, the first information is determined by a third node. For example, the first information is determined by the third node based on a target second node or a candidate second node; the target second node is the target receiving node of the first perception signal, and the candidate second node is a candidate receiving node of the first perception signal. In other words, the third node transmitting the first perception signal determines the first information based on the receiving node that is targeted to receive or is likely to receive the first perception signal.

[0405] In order to determine the second node corresponding to the sensing signal based on the first information, each sensing node should be configured with the same first information. In some embodiments, the first information is configured by at least one of the following methods:

[0406] The fourth node is configured toward the first node; and the fourth node is configured toward at least one of the second node and the third node;

[0407] The second node reports to the fourth node, which then configures the first node and / or the third node.

[0408] Reported by the second node to the first node and / or the third node;

[0409] Adopt the configuration agreed upon by the communication protocol;

[0410] The fourth node scans all the second nodes to determine the first information, and then configures it to the first node and / or the third node.

[0411] The fourth node is a node for configuring the first information. The fourth node can be the same sensing node as the first node, that is, the first node configures the first information and also configures it to at least one of the second and third nodes. For example, when the first information is added to the sensing signal by the second node, the first node configures the first information at least to the second node. For another example, when the first information is added to the sensing signal by the third node, the first node configures the first information at least to the third node. Alternatively, the fourth node and the third node are the same sensing node, that is, the third node configures the first information to the first node. Optionally, when the first information is added by the second node, the third node also needs to configure the first information to the second node. For another example, the third node scans all second nodes to determine the first information and then configures it to the first node.

[0412] It should be noted that the receiving module 420 can be used alone to receive the perception signal; the determination module 440 can be used alone to determine the perception node; the receiving module 420 and the determination module 440 can also be used together to determine the perception node, and the embodiments of the present application do not limit this.

[0413] It should be noted that the device provided in the above embodiment only uses the division of the above-mentioned functional modules as an example to implement its functions. In actual applications, the above-mentioned functions can be assigned to different functional modules according to actual needs, that is, the content structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0414] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0415] Please refer to Figure 12, which shows a schematic diagram of the structure of a sensing device provided by an embodiment of the present application. The sensing device may include: a processor 801, a receiver 802, a transmitter 803, a memory 804 and a bus 805.

[0416] The processor 801 includes one or more processing cores, and the processor 801 executes various functional applications and information processing by running software programs and modules. In some embodiments, the processor 801 can be used to implement the functions and steps of the determination module 440 described above.

[0417] The receiver 802 and the transmitter 803 may be implemented as a transceiver 806, which may be a communication chip. The receiver 802 may be used to implement the functions and steps of the above-mentioned receiving module 420.

[0418] The memory 804 is connected to the processor 801 via a bus 805 .

[0419] The memory 804 may be used to store a computer program, and the processor 801 may be used to execute the computer program to implement each step executed by the node in the above method embodiment.

[0420] In addition, the memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, including but not limited to: RAM (Random-Access Memory) and ROM (Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory or other solid-state storage technology, CD-ROM (Compact Disc Read-Only Memory), DVD (Digital Video Disc) or other optical storage, tape cassettes, magnetic tape, disk storage or other magnetic storage devices.

[0421] Among them, when the sensing device is implemented as a first node, the processor and transceiver involved in the embodiment of the present application can execute the steps performed by the first node in the method shown in Figure 4 or Figure 5 above, which will not be repeated here.

[0422] In a possible implementation, when the sensing device is implemented as a first node,

[0423] The receiver 802 is configured to receive a sensing signal;

[0424] The processor 801 is configured to determine, based on first information of the perception signal, a second node corresponding to the perception signal, where the first information is used to indicate a correspondence between the perception signal and the second node.

[0425] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. The computer program is used to be executed by the processors of the first node and the second node to implement the above-mentioned method for determining the perception node.

[0426] Optionally, the computer-readable storage medium may include: ROM (Read-Only Memory), RAM (Random-Access Memory), SSD (Solid State Drives), or an optical disk, etc. Among them, the random access memory may include ReRAM (Resistance Random Access Memory) and DRAM (Dynamic Random Access Memory).

[0427] An embodiment of the present application further provides a chip, which includes a programmable logic circuit and / or program instructions. When the chip runs on the first node and the second node, it is used to implement the above-mentioned method for determining the perception node.

[0428] An embodiment of the present application also provides a computer program product or computer program, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processors of the first node and the second node read and execute the computer instructions from the computer-readable storage medium to implement the above-mentioned method for determining the perception node.

[0429] It should be understood that the "indication" mentioned in the embodiments of this application can be a direct indication, an indirect indication, or an indication of an association. For example, "A indicates B" can mean that A directly indicates B, for example, B can be obtained through A; it can also mean that A indirectly indicates B, for example, A indicates C, and B can be obtained through C; it can also mean that there is an association between A and B.

[0430] In the description of the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between the two, or an association relationship between the two, or a relationship between indication and being indicated, configuration and being configured, etc.

[0431] In this document, "plurality" refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0432] In addition, the step numbers described in this document only illustrate a possible execution order between the steps. In some other embodiments, the above steps may not be executed in the order of the numbers, such as two steps with different numbers are executed at the same time, or two steps with different numbers are executed in the opposite order of the diagram. The embodiments of the present application are not limited to this.

[0433] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0434] The above description is merely an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for determining a sensing node, characterized in that: The method is performed by a first node, and includes: receiving sensory signals; Based on first information of the perception signal, a second node corresponding to the perception signal is determined, where the first information is used to indicate a corresponding relationship between the perception signal and the second node.

2. The method according to claim 1, characterized in that The first information includes at least one of the following information: time domain information of the perception signal; Frequency domain information of the perception signal; spatial information of the sensing signal; The encoding information of the perception signal.

3. The method according to claim 2, characterized in that The time domain information includes at least one of the following information: The time domain symbol where the perception signal is located; The timeslot number where the sensing signal is located; A starting symbol of a time domain resource where the perception signal is located; An end symbol of the time domain resource where the perception signal is located; The number of symbols of the time domain resources occupied by the perception signal; The duration of the time domain resources occupied by the perception signal; The starting time slot of the time domain resource where the perception signal is located; The end slot of the time domain resource where the sensing signal is located; The number of time slots of the time domain resources occupied by the perception signal.

4. The method according to claim 2, characterized in that: The frequency domain information includes at least one of the following information: The frequency domain resources occupied by the sensing signal; A signal carrier frequency of the sensing signal; The carrier number occupied by the perception signal.

5. The method according to claim 2, characterized in that: The spatial information includes at least one of the following information: The beam used by the sensing signal; The antenna port used by the sensing signal.

6. The method according to claim 2, characterized in that The coding information includes: A modulation sequence used by the second node to modulate the perception signal.

7. The method according to any one of claims 1 to 6, characterized in that: The perception signal includes at least one of the following signals: a second sensing signal after the first sensing signal is reflected by the second node; a third perception signal sent after the first perception signal is processed by the second node; The first perception signal is a perception signal sent by a third node.

8. The method according to claim 7, characterized in that The first information is added when the third node sends the first perception signal; or, The first information is added after the second node receives the first perception signal.

9. The method according to claim 8, characterized in that The method of adding the first information to the first perception signal is at least one of the following methods: adding the first information to the first perception signal by encoding; adding the first information to the first perception signal by modulation; The first information is added to the first perception signal by sending it in a directional manner.

10. The method according to claim 8, characterized in that The first information is determined by the third node.

11. The method according to claim 10, characterized in that The first information is determined by the third node according to a target second node or a candidate second node, the target second node is a target receiving node of the first perception signal, and the candidate second node is a candidate receiving node of the first perception signal.

12. The method according to any one of claims 1 to 6, characterized in that: The first information is configured by at least one of the following methods: The fourth node is configured toward the first node; and the fourth node is configured toward at least one of the second node and the third node; The second node reports to the fourth node, and the fourth node then configures to the first node and / or the third node; Reported by the second node to the first node and / or the third node; Adopt the configuration agreed upon by the communication protocol; The fourth node scans all the second nodes to determine the first information, and then configures it to the first node and / or the third node.

13. The method according to any one of claims 1 to 6, characterized in that: The second node is at least one of the following nodes: A node whose supported data rate is less than a first threshold value; Nodes whose power saving requirement is greater than the second threshold value.

14. The method according to any one of claims 1 to 6, characterized in that: The sensing signal is used to sense at least one of the following information of the second node: Location; distance; speed; angle; Phase; Frequency.

15. A device for determining a sensing node, characterized in that: The device comprises: a receiving module and a determining module; The receiving module is used to receive the sensing signal; The determination module is used to determine the second node corresponding to the perception signal based on first information of the perception signal, where the first information is used to indicate a corresponding relationship between the perception signal and the second node.

16. A sensing device, characterized in that: The sensing device includes: a processor and a transceiver; The transceiver is used to receive the sensing signal; The processor is configured to determine a second node corresponding to the perception signal based on first information of the perception signal, wherein the first information is used to indicate a corresponding relationship between the perception signal and the second node.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is used to be executed by a processor so that the perception device implements the method for determining a perception node as described in any one of claims 1 to 14.

18. A chip, characterized in that: The chip includes a programmable logic circuit and / or program instructions. When the chip is running, the sensing device implements the method for determining a sensing node as described in any one of claims 1 to 14.

19. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium. The processor reads and executes the computer instructions from the computer-readable storage medium to enable the perception device to implement the method for determining the perception node as described in any one of claims 1 to 14.

20. A computer program, characterized in that The computer program includes computer instructions, which are stored in a computer-readable storage medium. The processor reads and executes the computer instructions from the computer-readable storage medium to enable the perception device to implement the method for determining the perception node as described in any one of claims 1 to 14.

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