Communication method, communication device, communication system, storage medium and chip system

Abstract

The invention discloses a communication method, a communication device, a communication system, a storage medium and a chip system, and belongs to the technical field of communication. The method comprises: a network device sends a pilot signal to a terminal device, and then obtains a first sensing result based on an echo signal of the pilot signal, the first sensing result comprising a sensing parameter of each scatterer in a plurality of scatterers. In the application, the pilot signal is multiplexed as the sensing signal, so that deep fusion of communication and sensing can be realized without increasing extra signal overhead, and the spectrum efficiency and the system resource utilization rate are effectively improved.

Description

Technical Field

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

[0002] In traditional wireless systems, communication and sensing functions are designed separately and independently. Simply superimposing these two independent systems leads to problems such as spectrum and hardware resource competition, a surge in device complexity and cost, and difficulty in managing inter-system interference, making it difficult to meet the high integration, low power consumption, and intelligence requirements of future IoT, IoV, and smart city scenarios. To address this, Integrated Sensing and Communication (ISAC) has been proposed. ISAC aims to simultaneously accomplish both communication and sensing tasks within a unified hardware platform, shared spectrum resources, and an integrated signal processing workflow. Summary of the Invention

[0003] This application provides a communication method, communication device, communication system, storage medium, and chip system, which can achieve deep integration of communication and sensing. The technical solution is as follows: In a first aspect, a communication method is provided. This method can be executed by a network device, or by a component (such as a circuit, chip, or chip system) configured in the network device, or by a logic module or software capable of implementing all or part of the functions of the network device. This application does not limit the scope of the method. The following description uses a network device as an example.

[0004] The network device sends a pilot signal to the terminal device. Based on the echo signal of the pilot signal, the network device obtains a first sensing result, which includes sensing parameters for each of the multiple scatterers. For example, the pilot signal may include one or more of a channel state information reference signal, a demodulation reference signal, etc.

[0005] In this application, by reusing pilot signals as sensing signals, deep integration of communication and sensing can be achieved without increasing additional signal overhead, effectively improving spectral efficiency and system resource utilization. Furthermore, utilizing existing pilot structures in the communication system for sensing avoids the need to design separate sensing waveforms, reducing system complexity and implementation costs.

[0006] In one possible approach, before sending pilot signals to the terminal device, the network device may also send sensing mode indication information to the terminal device, which includes one or more of the following: mode, pilot density and / or symbol configuration, sensing task type, and beam information.

[0007] In this application, after receiving the sensing mode indication information, the terminal device can learn the corresponding sensing configuration, and accordingly, the terminal device can subsequently provide sensing feedback to the network device. Furthermore, the sensing mode indication information can indicate the sensing configuration to be used on the beam corresponding to the beam information (i.e., the aforementioned mode, pilot density and / or symbol configuration, and sensing task type). Thus, binding the sensing configuration to the beam allows the sensing configuration to be precisely matched to the unique requirements of each spatial direction.

[0008] In one possible approach, the network device may send sensing mode indication information to the terminal device by sending downlink control information, which includes sensing mode indication information.

[0009] In this application, communication resource allocation and sensing function activation configuration can be completed simultaneously through a single downlink control information scheduling, thereby reducing signaling overhead and significantly improving efficiency. Furthermore, when the terminal device determines to switch to another beam based on this downlink control information, the sensing configuration corresponding to the new beam is also explicitly communicated along with the downlink control information. This achieves synchronous completion of communication beam switching and sensing mode switching, avoiding sensing interruptions or performance degradation caused by asynchronous switching.

[0010] In one possible approach, before sending the sensing mode indication information to the terminal device, the network device may also receive sensing demand indication information sent by the terminal device. This sensing demand indication information includes one or more of the following: sensing task type, accuracy level, time period, priority information, battery status, and motion status.

[0011] In this application, the terminal device can clearly tell the network device "what kind of sensing service the terminal device needs, the resource status of the terminal device, and the status of the terminal device" through the sensing demand indication information, thereby enabling the network device to provide customized, efficient, and highly available collaborative sensing capabilities.

[0012] In one possible approach, before the network device sends the pilot signal to the terminal device, it can also determine the sparse index set of the DD domain using the following formula (1); based on the sparse index set, determine the pilot signal of the DD domain using the following formula (2); convert the pilot signal of the DD domain into a pilot signal of the time-frequency domain; convert the pilot signal of the time-frequency domain into a pilot signal of the spatial domain; and generate the pilot signal to be transmitted based on the pilot signal of the spatial domain. (1) (2) It is a sparse index set; For pilot signals in the DD domain; For elements in a sparse index set, Corresponding to the time delay direction in the DD domain, Corresponding to the Doppler direction in the DD domain; This is the pilot start position; For modulo operation; This represents the number of sampling points in the time delay direction; The step size in the time delay direction; The number of sampling points in the Doppler direction; Let be the step size in the Doppler direction; where step sizes in the same direction within the DD domain are coprime.

[0013] In this application, by designing coprime delay steps and coprime Doppler steps in the DD domain, a sparse set of pilot locations with full coverage potential can be generated. Then, non-zero pilot signals are transmitted only at these locations. In this way, not only can the number of pilots that need to be transmitted be significantly reduced, improving spectral efficiency, but also, this carefully designed pilot position allows the receiver to obtain highly uncorrelated sampling information about the channel in terms of time delay and Doppler dimensions, thus laying the foundation for subsequent high-precision channel estimation.

[0014] Furthermore, since the time delay steps and Doppler steps are coprime in the DD domain, the phase change periods of the pilot signals in the DD domain are not identical in the time-frequency domain. Therefore, when they are superimposed in the time-frequency domain, the peak positions of their sidelobes will be staggered. These staggered peaks will not completely superimpose but will partially cancel each other out, making the sidelobe energy distribution of the pilot signals flatter and more uniform across the entire time-frequency domain. A smoother sidelobe distribution means a lower self-interference potential, thus effectively reducing false peaks and misjudgments during parameter estimation, and significantly improving the resolution and estimation accuracy of the true time delay and Doppler parameters.

[0015] In one possible approach, the network device can convert a time-frequency domain pilot signal into a spatial domain pilot signal by using the following formula:

[0016] It is a pilot signal in the spatial domain; Pilot power; For pilot signals in the time-frequency domain, For subcarrier indexes in the frequency dimension, Symbolic index for the time dimension; The antenna subarray that should be activated at the moment. The number of the antenna subarray that should be activated at the moment; For rotation cycle; This represents the number of antenna subarrays.

[0017] In this application, every Each symbol switches the antenna subarray once, activating different antenna combinations through timing control, thus achieving sparse rotation in the spatial domain over time. This not only reduces hardware costs and instantaneous power consumption but also achieves high angular resolution and low-complexity sensing performance with limited antenna activation.

[0018] In one possible approach, after the network device sends a pilot signal to the terminal device, it can also receive sensing feedback information sent by the terminal device. This sensing feedback information includes a first sensing parameter or a differential sensing parameter. The first sensing parameter is the sensing parameter detected by the terminal device in this instance. The differential sensing parameter includes the difference between the first sensing parameter and a second sensing parameter, where the second sensing parameter is the sensing parameter previously received by the terminal device from the network device. For example, the sensing feedback information may also include the confidence level of the first sensing parameter.

[0019] In this application, the terminal device can feed back the sensing parameters it detects to the network device through differential feedback, which can greatly save transmission resources.

[0020] In one possible approach, after the network device obtains the first sensing result based on the echo signal of the pilot signal, it can also correct the first sensing result based on the sensing feedback information to obtain the second sensing result.

[0021] In this application, the network device can use the relatively accurate sensing parameters fed back by the terminal device as a reference to correct the first sensing result, so as to improve the accuracy of the final second sensing result.

[0022] In one possible approach, the operation of the network device correcting the first sensing result based on sensing feedback information to obtain the second sensing result can be as follows: determining the sensing error based on the first sensing parameters and the sensing parameters of the terminal device in the first sensing result; and correcting the sensing parameters of multiple scatterers in the first sensing result based on the sensing error to obtain the second sensing result.

[0023] In this application, the network device can correct the sensing parameters of multiple scatterers detected by the network device based on the difference (i.e., sensing error) between the sensing parameters of the terminal device detected by the network device and the sensing parameters of the terminal device itself fed back, thereby improving the sensing accuracy.

[0024] In one possible approach, the network device can correct the sensing parameters of multiple scatterers in the first sensing result based on the sensing error by: for any one of the multiple scatterers, adding the sensing parameter of the scatterer in the first sensing result to the sensing error to obtain the third sensing parameter of the scatterer; and taking a weighted average of the sensing parameter of the scatterer in the first sensing result and the third sensing parameter to obtain the fourth sensing parameter of the scatterer.

[0025] In this application, the network device performs a weighted average of the original sensing parameters (i.e., the sensing parameters of the scatterer in the first sensing result) and the sensing parameters that have undergone error adjustment (i.e., the third sensing parameters of the scatterer) to obtain the correction result, which can improve the stability and reliability of the correction process.

[0026] In one possible approach, the network device corrects the first sensing result based on the sensing feedback information to obtain the second sensing result. This operation can be as follows: based on the sensing parameters of each terminal device indicated by the sensing feedback information sent by each terminal device among multiple terminal devices and the sensing parameters of each terminal device in the first sensing result, a correction model is constructed; the first sensing result is input into the correction model to obtain the second sensing result output by the correction model.

[0027] In this application, the network device can combine the highly accurate sensing parameters detected by multiple terminal devices to correct the first sensing result, thereby further improving the sensing accuracy.

[0028] Secondly, a communication device is provided, comprising a processing module and a communication module. The communication module is used to send a pilot signal to a terminal device. The processing module is used to: acquire a first sensing result based on the echo signal of the pilot signal, the first sensing result including sensing parameters of each of a plurality of scatterers.

[0029] The second aspect is the implementation on the device side, which corresponds to the first aspect. The explanations, supplements, and descriptions of the beneficial effects of the first aspect also apply to the second aspect, and will not be repeated here.

[0030] Thirdly, a communication device is provided, including a processor. The processor is coupled to a memory and can be used to execute instructions or data in the memory to implement the methods in any possible implementation of any of the above aspects. Optionally, the communication device further includes a memory. Optionally, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0031] In one implementation, the communication interface can be a transceiver, or an input / output interface.

[0032] In another implementation, the communication device is a chip configured in a network device. When the communication device is a chip configured in a network device, the communication interface can be an input / output interface.

[0033] Fourthly, a computer program product is provided, comprising: a computer program (also referred to as code or instructions) that, when run, causes a computer to perform a method in any possible implementation of any of the above aspects.

[0034] Fifthly, a computer-readable storage medium is provided that stores a computer program (also referred to as code or instructions) that, when run on a computer, causes the computer to perform the methods in any possible implementation of any of the above aspects.

[0035] Sixthly, embodiments of this application provide a chip system including one or more processors for calling and executing instructions stored in memory, causing the methods in any of the possible implementations of the above aspects to be executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0036] The chip system may include input circuits or interfaces for transmitting information or data, and output circuits or interfaces for receiving information or data.

[0037] In a seventh aspect, a communication system is provided, including the aforementioned terminal equipment and / or network equipment. Optionally, the communication system may further include other devices that communicate with the terminal equipment and / or network equipment. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of a communication system provided in an embodiment of this application; Figure 2 This is a schematic diagram of an ISAC system provided in an embodiment of this application; Figure 3 This is a flowchart of a communication method provided in an embodiment of this application; Figure 4 This is a schematic block diagram of a communication device provided in an embodiment of this application; Figure 5 This is a schematic block diagram of another communication device provided in the embodiments of this application. Detailed Implementation

[0039] In the following description, specific details such as particular system architectures and technologies are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details.

[0040] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0041] It should be understood that "one or more" as used in this application refers to one, two, or more, and "multiple" as used in this application refers to two or more. In the description of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0042] To facilitate a clear description of the technical solutions of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.

[0043] The terms "one embodiment" or "some embodiments" used in this application mean that one or more embodiments of this application include the specific features, structures, or characteristics described in that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in other embodiments," etc., appearing in different parts of this application do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0044] The embodiments of this application can be applied to various communication systems. For example, Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS) systems, Wireless Local Area Network (WLAN) systems (such as Wireless Fidelity (Wi-Fi) systems), Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, sidelink communication systems, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication systems, non-terrestrial network (NTN) communication systems, 4th generation (4G) mobile communication systems, 5th generation (5G) mobile communication systems, or new radio access technology (NR) systems, 6th generation (6G) mobile communication systems, etc. The 5G mobile communication system may include non-standalone (NSA) and / or standalone (SA) networking. It is understood that the embodiments of this application can also be applied to future communication systems, and the embodiments of this application are not limited thereto.

[0045] Figure 1 This is a schematic diagram of a communication system 100 provided in an embodiment of this application. The communication system 100 may include network (NW) devices, such as... Figure 1 The network device 110 shown. The communication system 100 may also include terminal devices, such as... Figure 1 The terminal device 120 shown can communicate with the network device via a wireless link. Figure 1 An exemplary network device 110 and a terminal device 120 are shown. Optionally, the communication system 100 may also include multiple network devices and / or multiple terminal devices.

[0046] The network device in this application embodiment can be a network-side device such as an access network device or a core network device.

[0047] Access network equipment is sometimes also called access node. Access network equipment has wireless transceiver capabilities and can communicate with terminal devices. For example, access network equipment can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), next-generation radio access network (NG-RAN) equipment (such as a next-generation NodeB (gNB)) in a 5G mobile communication system, access network equipment or modules of access network equipment in an open RAN (ORAN) system, satellites in an NTN communication system, base stations in a future mobile communication system, or access points (APs) in a Wi-Fi system. Access network equipment can also be modules or units capable of implementing some of the functions of a base station, such as macro base stations, micro base stations, indoor stations, relay nodes, or donor nodes, or wireless controllers in cloud radio access network (CRAN) scenarios. Multiple access network devices in the communication system 100 can be of the same type or different types. This application does not limit the specific technology or device form used in the access network equipment.

[0048] Core network equipment possesses functions such as data processing, session management, network interconnection, operation administration and maintenance (OAM), and location management function (LMF). Core network equipment can perform user access authentication, service bearer establishment, and data interaction with external networks. Through the OAM function, it can complete network configuration monitoring, resource scheduling optimization, and fault maintenance tasks. Through the LMF function, it can provide terminal location calculation, trajectory tracking, and spatial data analysis. For example, core network equipment can be network elements such as a mobility management entity (MME), serving gateway (SGW), packet data network gateway (PGW), access and mobility management function (AMF), session management function (SMF), LMF, and user plane function (UPF). Multiple core network equipment in the communication system 100 can be deployed in a centralized or distributed architecture, and each core network equipment can undertake the same or different types of network functions. This application embodiment does not limit the specific technologies or equipment forms used in the core network equipment.

[0049] In this application embodiment, the apparatus for implementing the functions of a network device can be a network device itself, or an apparatus capable of supporting the network device in implementing those functions, such as a processor, circuit, chip, or chip system. This apparatus can be installed in the network device or connected to and used with the network device. In this application embodiment, taking a network device as an example to illustrate the technical solution provided by this application, we will describe it accordingly.

[0050] The terminal device in this application embodiment can be a wireless terminal device capable of receiving network device scheduling and instructions. The wireless terminal device can be a device providing voice and / or data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. For example, the terminal device can communicate with one or more core networks or the Internet via a radio access network (RAN). The terminal device can also be referred to as a terminal, user equipment (UE), mobile terminal (MT), mobile station (MS), mobile unit (MU), radio unit, remote unit, user agent, mobile client, etc. Terminal devices can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), ultra-reliable low-latency communication (URLLC), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical surgery, smart grid, smart furniture, smart office, smart wearables, smart transportation, smart cities, or satellite communication. Terminal devices can be mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices, vehicles, aircraft (such as drones, helicopters, and airplanes), hot air balloons, ships, robots, robotic arms, or smart home devices. This application does not limit the form of the terminal device.

[0051] In this application embodiment, the device for implementing the functions of the terminal device can be the terminal device itself, or any device capable of supporting the terminal device in implementing the functions, such as a processor, circuit, chip, or chip system. This device can be installed in the terminal device or connected to and used with the terminal device. In this application embodiment, taking the terminal device as an example to illustrate the technical solution provided by this application, we will describe it accordingly.

[0052] To facilitate understanding of the embodiments of this application, the terminology involved in the embodiments of this application will be briefly explained first. Optionally, the explanation of some terms can also refer to the explanation in the 3rd Generation Partnership Project (3GPP) standard protocol.

[0053] (1) ISAC By simultaneously performing communication and sensing tasks on a unified hardware platform, through shared spectrum resources and an integrated signal processing workflow, ISAC can significantly improve network efficiency, reduce device complexity and power consumption, and unlock unprecedented application scenarios.

[0054] The ISAC was proposed for the following reasons: 1. Increasingly scarce spectrum resources: Communication and sensing (such as radar and satellite remote sensing) both require a large amount of spectrum, leading to fierce competition for spectrum resources. ISAC advocates "sharing," using a single spectrum to perform two tasks, doubling efficiency. 2. Hardware and power consumption bottlenecks: Traditional communication and sensing systems have long developed independently. Independent systems mean two sets of radio frequency links, antennas, and processing units, resulting in complex, expensive, and power-consuming equipment. ISAC pursues hardware sharing, which can significantly reduce costs, size, and power consumption, which is crucial for terminal devices (such as mobile phones and IoT sensors). 3. Fostering new applications: The future intelligent world (such as connected vehicles, metaverse, and smart factories) not only requires high-speed connectivity but also native, real-time, and high-precision environmental perception capabilities. ISAC is the cornerstone technology for realizing this vision.

[0055] (2) Pilot signal Pilot signals (or simply pilots) are reference signals used for channel estimation, measurement, and synchronization.

[0056] For example, the pilot signal described in the embodiments of this application may be a channel state information-reference signal (CSI-RS), a demodulation reference signal (DMRS), etc., and the embodiments of this application do not limit it.

[0057] (3) Delay-Doppler (DD) domain Traditional communication systems operate in the time-frequency (TF) domain, organizing data transmission using time and frequency as two orthogonal dimensions. Orthogonal frequency division multiplexing (OFDM) is a typical example of this approach, dividing a wideband channel into multiple narrowband sub-channels, each orthogonal in frequency and transmitting OFDM symbols (hereinafter referred to as symbols) continuously in time. However, this representation encounters difficulties in high-speed mobile scenarios: time-varying channels cause both time and frequency dimensions to change rapidly, making it difficult for the system to track this dual dynamic characteristic.

[0058] The Doppler-Distributed (DD) domain provides a more fundamental way of describing channels. In the DD domain, the horizontal axis represents time delay, reflecting the distance the signal travels and multipath delay; the vertical axis represents Doppler shift, reflecting the relative velocity of the scattering objects. Every scattering object in the environment, whether it is a building, vehicle, or pedestrian, can be represented by a point on this two-dimensional plane, and its coordinates are uniquely determined by the physical distance and relative velocity.

[0059] In practical applications, the DD domain is discretized into an M×N grid, where M is the number of sampling points in the time delay direction and N is the number of sampling points in the Doppler direction. The time delay grid interval is equal to the time delay period divided by M, and the Doppler grid interval is equal to the Doppler period divided by N. The physical meaning of this grid is that the time delay grid interval determines the minimum distance difference that the system can resolve, and the Doppler grid interval determines the minimum velocity difference that the system can resolve.

[0060] It should be understood that the terminology used in the embodiments of this application is for illustrative purposes only and not as a limitation. As technology evolves, the terminology may also change, and other terms should also be applicable to the embodiments of this application if the technical meaning remains the same.

[0061] The application scenarios involved in the embodiments of this application are described below.

[0062] In traditional wireless systems, communication and sensing functions are designed separately and independently. The signaling design of communication systems, such as random access, radio resource control (RRC) connection reconfiguration, and channel state information (CSI) reporting in 5G NR systems, focuses on establishing, maintaining, and optimizing data transmission links to ensure the quality of service and reliability of user plane services. Sensing systems, such as radar, concentrate on transmitting specific waveforms and analyzing their echoes to extract physical parameters such as target distance, velocity, and angle with high precision. Simply superimposing these two independent systems leads to fundamental problems such as spectrum and hardware resource competition, a surge in equipment complexity and cost, and difficulty in managing inter-system interference. This makes it difficult to meet the high integration, low power consumption, and intelligence requirements of future IoT, IoV, and smart city scenarios. Therefore, the design of the ISAC signaling process has become a crucial step in realizing the integration of communication and sensing from theory to practice.

[0063] Figure 2 This is a schematic diagram of an ISAC system provided in an embodiment of this application. See also... Figure 2 An ISAC system can include network devices and terminal devices. While providing communication services to terminal devices, network devices can also transmit pilot signals for sensing and receive echo signals reflected from terminal devices and their surrounding environmental scatterers (such as vehicles, road signs, buildings, pedestrians, etc.) to achieve joint sensing of the target and its environment.

[0064] To simultaneously meet communication and sensing requirements, a design scheme for extending sensing functions based on the 5G NR standard signaling flow is proposed. The 5G NR signaling flow is a layered, collaborative control flow covering the entire lifecycle from air interface access to connection release. Its core stages include: initial access (IA), connected mode (CM), mobility management, beam management, and connection release. The ISAC signaling flow designed in this application primarily operates in the connected mode stage, targeting terminal devices with established RRC connections. Its core design principles are: 1. Extending downlink control signaling: Network devices extend downlink control information (DCI) to instruct relevant sensing behaviors of terminal devices. 2. Reusing pilot signals as sensing signals: Pilot signals originally used for communication (such as DMRS, CSI-RS, etc.) are simultaneously used as sensing signals to detect targets and their surrounding environment. 3. Introducing uplink sensing feedback: Terminal devices provide uplink messages to feed back sensing-related measurement information (such as location, speed, etc.), and network devices use this information to jointly process and correct the sensing results. In this way, the perception requirements can be met without changing the original communication protocol as much as possible, thus ensuring compatibility with the original communication protocol.

[0065] The communication method provided in this application embodiment will be described in detail below with reference to the corresponding flowcharts. It is understood that the illustrative flowcharts provided in this application embodiment mainly use different devices (such as network devices and terminal devices) as examples of the execution subjects for the interaction to illustrate the communication method, but this application embodiment does not limit the execution subject of the interaction. For example, the device (such as a network device or terminal device) in the illustrative flowchart can also be a chip, chip system, or processor that supports the device in implementing the communication method, or it can be a logic module or software that can implement all or part of the functions of the device.

[0066] As a general statement, the message or signaling interactions involved in the interaction process of this application embodiment can be standard messages or signaling or newly introduced messages or signaling. This application embodiment does not limit this.

[0067] Understandable, the following text Figure 3 The network device described in the implementation method can be the one mentioned above. Figures 1 to 2 Any of the network devices described in the embodiments can also be devices within a network device (such as processors, chips, or chip systems). (The following...) Figure 3 The terminal device described in the implementation method can be as described above. Figures 1 to 2 Any of the terminal devices described in the embodiments can also be devices within the terminal device (such as processors, chips, or chip systems).

[0068] It should be noted that during the connection mode phase, network devices and terminal devices can first perform beam alignment. Beam alignment refers to the selection, maintenance, and optimization of directional beams between network devices and terminal devices to ensure reliable and high-quality communication. Its purpose is to establish and maintain suitable beam pairs, that is, to select a suitable transmit beam at the transmitting end and a suitable receive beam at the receiving end.

[0069] In one possible approach, the network device can select a subset of synchronization signal / physical broadcast channel block (SSB) beams and then periodically transmit SSB reference signals through beams within that SSB subset. The terminal device can continuously listen to and measure these SSB reference signals and feed back the measurement results to the network device. Based on the feedback from the terminal device, the network device can dynamically adjust its transmit beam for downlink transmission. Furthermore, the terminal device can also adjust its receive beam based on the measurement results. Of course, this is not the only possible approach; the network device and the terminal device can also perform beam alignment in other ways, and this embodiment does not limit this method.

[0070] After beam alignment between the network device and the terminal device, the following steps can be performed. Figure 3 The ISAC signaling process described in the implementation method is used to achieve communication-aware dual-function collaboration.

[0071] Figure 3 This is a flowchart illustrating a communication method provided in an embodiment of this application. See also... Figure 3 The method may include the following steps: Step 301: The terminal device sends a sensing requirement indication message to the network device.

[0072] The sensing requirement indication information is used to indicate the sensing requirements of the terminal device. For example, the sensing requirement indication information can be a sensing requirement information element (IE). Of course, it is not limited to this, and the sensing requirement indication information can also be other information types. This application embodiment does not limit this.

[0073] Terminal devices can send sensing requirement indication information to network devices when a sensing requirement exists. For example, the application layer in the terminal device (such as a high-precision navigation application) can generate explicit sensing requirements based on its functions. These sensing requirements can be abstracted into a standardized IE, i.e., sensing requirement indication information.

[0074] For example, the terminal device can send the sensing requirement indication information to the network device in RRC signaling or media access control (MAC) layer signaling (such as MAC control element (CE)). Of course, it is not limited to this; the terminal device can also send the sensing requirement indication information to the network device in other signaling, and this embodiment of the application does not limit this.

[0075] For example, the sensing demand indication information may include one or more of the following: sensing task type, accuracy level, time period, priority information, battery status, motion status, etc.

[0076] The perception task type indicates the specific perception task that the terminal device requests to perform. Different perception tasks may correspond to different algorithm complexities and output results. For example, the perception task type may include one or more of the following: target detection, position estimation, velocity tracking, scatterer modeling, etc.

[0077] Among these, target detection refers to identifying specific categories of targets in the environment (such as vehicles, pedestrians, signs, etc.). Position estimation refers to measuring the geometric coordinates of one or more targets in three-dimensional space. Velocity tracking refers to continuously measuring and predicting the velocity vector of a target. Scatterer modeling refers to continuously modeling the reflective properties of the environment to construct an environmental map, which includes walls, furniture, building surfaces, etc.

[0078] Accuracy level refers to the accuracy requirements of the terminal device for the sensing results, which determines the algorithm complexity and signal resources that the network device needs to utilize. For example, this accuracy level can include one of high accuracy, medium accuracy, and low accuracy.

[0079] High precision requires extremely small error ranges in the sensing results (e.g., centimeter-level), such as in scenarios involving physical contact like obstacle avoidance and precise positioning, where centimeter-level accuracy is required. Medium or low precision allows for larger error ranges (e.g., meter-level), such as in scenarios like personnel presence detection, area intrusion alarms, and approximate trajectory tracking, where meter-level accuracy is sufficient.

[0080] The time period refers to the required update frequency of the sensing results by the terminal device, such as updating once every 10 milliseconds (ms). For example, high-frequency updates (such as 10ms) can be applied to scenarios involving high-speed motion (such as autonomous driving, industrial robots, etc.). For example, low-frequency updates (such as 1 second (s)) can be applied to scenarios involving slow changes in environmental conditions (such as warehouse inventory counting, crop growth monitoring, etc.).

[0081] Priority information is a resource arbitration strategy, which determines whether a communication task or a sensing task has priority when there is competition for wireless or computing resources. Priority information can include one of the following: communication priority, sensing priority, or a balanced mode.

[0082] In this context, "communication priority" prioritizes bandwidth and latency for communication services (such as voice calls and video conferencing), while perception tasks utilize remaining resources and may be downgraded or delayed. For example, in scenarios involving simultaneous calls and monitoring, ensuring uninterrupted communication is paramount. "Perception priority" prioritizes allocating necessary spectrum and computing power to perception tasks, potentially limiting communication services. For instance, in emergency obstacle avoidance scenarios for autonomous driving, perceiving environmental information is far more important than playing music online. The "balanced" mode attempts to dynamically allocate resources, satisfying basic perception performance while minimizing impact on the communication experience. For example, in everyday assisted driving, ensuring safety perception without affecting online updates to the in-vehicle entertainment system.

[0083] Battery status is used to indicate the energy constraints of a terminal device. For example, battery status may include one of a normal mode, a power-saving mode, etc. Normal mode indicates that the terminal device has sufficient power, in which case the network device can provide sensing services at optimal performance (e.g., using high-power, high-precision algorithms). Power-saving mode indicates that the terminal device has low power, in which case the network device can employ low-power sensing strategies, such as reducing sensing frequency, reducing reporting accuracy, or using simpler, lower-complexity algorithms.

[0084] Motion status can include the terminal device's own motion parameters, such as speed and acceleration. Network devices can then perform motion compensation based on this information.

[0085] In this way, the terminal device can clearly tell the network device through the sensing demand indication information: "What kind of sensing service does the terminal device need (type, accuracy, update frequency), what is the resource status of the terminal device (priority, power), and what is the status of the terminal device (motion parameters)", so that the network device can provide customized, efficient, and highly available collaborative sensing capabilities.

[0086] Step 302: After receiving the sensing requirement indication information sent by the terminal device, the network device sends a sensing mode indicate (SMI) information to the terminal device.

[0087] This SMI information is used to indicate information related to the awareness mode configured for network devices.

[0088] Upon receiving the sensing requirement indication, the higher-level protocol stacks (such as the RRC or MAC layers) in network devices can comprehensively analyze the communication and sensing requirements of all terminal devices, perform global and long-term resource planning (e.g., reserving periodic resources for terminal devices requiring 10ms updates), and then dynamically generate appropriate physical layer configuration signaling (i.e., SMI information). In this way, through this cross-layer triggering mechanism, sensing can be performed efficiently, intelligently, and on demand according to business needs, thereby dynamically adjusting the accuracy and overhead of sensing, and ultimately improving the system's adaptability and efficiency.

[0089] For example, SMI information may include one or more of the following: mode, pilot density and / or symbol configuration, sensing mission type, beam information, etc.

[0090] This mode can be a sensing mode, used to indicate sensing during communication. Pilot density refers to the density of pilot symbols. For example, pilot density can include low density, medium density, and high density. Low density is suitable for communication-priority, low-speed scenarios, saving resources. Medium or high density is suitable for scenarios requiring high-precision sensing (such as target detection, speed tracking, etc.). The higher the pilot density, the higher the accuracy and resolution of the sensing measurement. Symbol configuration is used to indicate the distribution of pilot symbols in the time-frequency domain. For example, the length of pilot density and / or symbol configuration can be 2 to 3 bits. This sensing task type has been explained in step 302 above and will not be repeated here. Optionally, this sensing task type can be related to the sensing task type in the sensing requirement indication information above; they can be the same or slightly different. Beam information indicates the beam used for sensing tasks. For example, beam information can be a transmission configuration indicator state (TCI-State) identity (ID), beam identifier, etc. In this case, the SMI information can indicate the sensing configuration to be used on the beam corresponding to that beam information (i.e., the aforementioned mode, pilot density and / or symbol configuration, sensing task type). Thus, binding the sensing configuration to the beam allows the sensing configuration to be precisely matched to the unique requirements of each spatial direction.

[0091] Optionally, the beam information in the SMI information is used to instruct the terminal device to communicate through the beam corresponding to the beam information. In this case, after receiving the SMI information, if the beam currently used for communication is the beam corresponding to the beam information, the terminal device will maintain the current beam; if the beam currently used for communication is not the beam corresponding to the beam information, it can switch to the beam, thus achieving synchronous switching between communication and sensing.

[0092] Optionally, the network device can send a DCI to the terminal device, which may include SMI information. For example, the network device can send the DCI to the terminal device via the physical downlink control channel (PDCCH).

[0093] During the data transmission preparation phase, network devices can provide basic scheduling information regarding the allocation of transmission resources to terminal devices via DCI. In this embodiment, SMI information can be added to the DCI. Thus, through a single DCI scheduling, communication resource allocation and sensing function activation configuration can be completed simultaneously, thereby reducing signaling overhead and significantly improving efficiency. Furthermore, when the terminal device determines to switch to another beam based on the DCI, the sensing configuration corresponding to the new beam is also explicitly communicated along with the DCI. This achieves synchronous completion of communication beam switching and sensing mode switching, avoiding sensing interruptions or performance degradation caused by asynchronous switching.

[0094] This application embodiment is only used as an example to illustrate how a network device sends SMI information to a terminal device by carrying it in DCI. In actual applications, the network device may also send SMI information to the terminal device by carrying it in other signaling, and this application embodiment does not limit this.

[0095] It should be noted that this embodiment of the application only illustrates the example of a network device sending SMI information to a terminal device after receiving a sensing requirement indication information from the terminal device. In practical applications, the network device may also send SMI information to the terminal device in other situations, and this embodiment of the application does not limit this.

[0096] After receiving the SMI information, the terminal device can learn the corresponding perception configuration, and based on this, the terminal device can subsequently provide perception feedback to the network device.

[0097] Step 303: The network device sends a pilot signal to the terminal device.

[0098] For example, network devices can send pilot signals to terminal devices via the physical downlink shared channel (PDSCH).

[0099] Network devices can transmit pilot signals during data transmission. In this embodiment, the pilot signal is used not only for channel estimation, measurement, and synchronization, but also for sensing. For example, the pilot signal may include one or more of CSI-RS, DMRS, etc., but this embodiment does not limit this. These pilot signals themselves possess known, regular, and predictable characteristics. In this embodiment, they are used dually: communication function: completing the original channel estimation, measurement, and synchronization tasks; sensing function: serving as an ideal radar detection waveform. Thus, by reusing pilot signals as sensing signals, deep integration of communication and sensing can be achieved without increasing additional signal overhead, effectively improving spectral efficiency and system resource utilization. Furthermore, utilizing the existing pilot structure in the communication system for sensing avoids the need to design a separate sensing waveform, reducing system complexity and implementation cost.

[0100] Optionally, the pilot signals in this embodiment can adopt a joint time-frequency-spatial sparse structure. Specifically, pilot resources can be configured in the time, frequency, and spatial domains according to a specifically designed sparse pattern. Specifically, time-domain sparseness ensures Doppler resolution through longer observation intervals; frequency-domain sparseness ensures distance resolution through a wide frequency distribution; and spatial-domain sparseness ensures angular resolution through sparsely arranged transmit or receive arrays. Thus, in terms of communication, although the total amount of pilot resources is reduced, complete channel state information can still be efficiently recovered through channel interpolation or compressed sensing reconstruction between sparse pilots, thereby maintaining reliable communication performance. In terms of sensing, the sparse layout can effectively expand the sensing observation dimension without significantly increasing pilot overhead, thereby improving sensing performance.

[0101] In one possible approach, the operation of the network device generating the pilot signal may include the following steps one through four: Step 1: The network device defines a sparse index set in the DD domain. This sparse index set can be represented by the following formula (1), and the pilot signal in the DD domain can be represented by the following formula (2): (1) For this sparse index set, For a sparse index set The elements in This represents the location of a grid point in the DD domain, where, Corresponding to the time delay direction in the DD domain, This corresponds to the Doppler direction in the DD domain. This is the starting position of the pilot signal. This is a modulo operation. This represents the number of sampling points in the time delay direction within the DD domain. The time delay step size (hereinafter referred to as the time delay step size) is the step size in the time delay direction. The larger the value, the sparser the sampling points in the time delay direction. The number of sampling points in the Doppler direction in the DD domain. The step size in the Doppler direction (hereinafter referred to as Doppler step size). The larger the value, the sparser the Doppler sampling points. In the DD domain, step sizes in the same direction are coprime (i.e., their greatest common divisor is 1), meaning... , This coprime condition guarantees the sparse index set generated by these step sizes. After periodic expansion, it can uniformly and non-overlappingly cover the entire M×N grid.

[0102] (2) For pilot signals in the DD domain, that is, in the sparse index set Including sparse Specific pilot signals can be placed at the location. For example, the pilot signal can be a sequence with good autocorrelation properties (such as a ZC (Zadoff-Chu) sequence), or it can be obtained by processing a base sequence (such as a ZC sequence). For instance, a network device can calculate a set of complex weights based on the current antenna configuration, channel conditions, terminal device location, etc., and then use these complex weights to process the base sequence to obtain the pilot signal.

[0103] In this embodiment, by designing coprime delay steps and coprime Doppler steps in the DD domain, a sparse set of pilot locations with full coverage potential can be generated. Then, non-zero pilot signals are transmitted only at these locations. In this way, not only can the number of pilots that need to be transmitted be significantly reduced, improving spectral efficiency, but also, this carefully designed pilot position allows the receiver to obtain highly uncorrelated sampling information about the channel in terms of time delay and Doppler dimensions, thus laying the foundation for subsequent high-precision channel estimation.

[0104] Step 2: The network device converts the pilot signal in the DD domain into a pilot signal in the time-frequency domain.

[0105] For example, a network device can convert the pilot signal in the DD domain into a pilot signal in the time-frequency domain using the following formula (3): (3) Formula (3) above is the inverse symplectic finite fourier transform (ISFFT). The grid size in the time-frequency domain is K×Q. For pilot signals in the time-frequency domain, (Values ​​range from 0 to K-1) represent the subcarrier index in the frequency dimension. (Values ​​from 0 to Q-1) are the symbolic indices for the time dimension. It is a sparse matrix with non-zero values ​​at only a few positions and zero values ​​at the rest. Through ISFFT, the energy and information concentrated at a few points in the DD domain can be diffused to all resource elements (REs) in the time-frequency domain in a specific and orthogonal manner (ensuring that information is not lost and does not interfere with each other).

[0106] In this embodiment, the pilot design in the DD domain is directly tailored to the two physical parameters of channel delay and Doppler. Through ISFFT, this structural information is fully incorporated into the time-frequency domain pilot. Thus, the receiver can perform reverse processing upon receiving the signal. Since the receiver knows in advance that the time-frequency domain pilot originates from a signal with a specific DD domain structure, it can utilize this prior knowledge to directly use sparse recovery algorithms (such as compressed sensing) to efficiently and accurately estimate the channel delay and Doppler parameters. This is far more efficient than processing an unstructured time-frequency domain pilot.

[0107] Furthermore, since the time delay steps and Doppler steps are coprime in the DD domain, the phase change periods of the pilot signals in the DD domain are not identical (i.e., they are not divisible by each other). Therefore, when they are superimposed in the time-frequency domain, the peak positions of their sidelobes will be staggered. These staggered peaks will not completely superimpose but will partially cancel each other out, making the sidelobe energy distribution of the pilot signals flatter and more uniform across the entire time-frequency domain. A smoother sidelobe distribution means a lower self-interference potential, thus effectively reducing false peaks and misjudgments during parameter estimation (such as sensing or channel estimation), and significantly improving the resolution and estimation accuracy of the true time delay and Doppler parameters.

[0108] Step 3: The network device converts the time-frequency domain pilot signal into a spatial domain pilot signal.

[0109] For example, a network device can convert the time-frequency domain pilot signal into a spatial domain pilot signal using the following formula (4): (4) It is a pilot signal in the spatial domain. Pilot power is used to control the amplitude or phase weight of the pilot signal. The activation matrix in the spatial domain is a switch that varies across different symbols. That is, on one symbol, It controls which antennas in a large antenna array are activated and actually transmit signals, and which antennas remain silent. For example, It can be a vector consisting of 0s and 1s, with a length equal to the total number of antennas. 1 indicates that the antenna at the corresponding location is active, and 0 indicates that the antenna at the corresponding location is deactivated.

[0110] For example, The rotation pattern is defined by the following formula (5): (5) Will include The array of antennas is divided into Several overlapping or non-overlapping antenna subarrays, each antenna subarray including One antenna. It can realize antenna subarray rotation and perform sparse multiple input multiple output (MIMO) activation. For the antenna subarray that should be activated at the moment, the first one can be predefined. Which antennas are specifically activated in each antenna subarray? To control the refresh rate of the spatial domain scan during the rotation cycle, The smaller the size, the faster the antenna subarray switches and the denser the spatial sampling. To be based on the current symbol index and rotation cycle The calculated number of the antenna subarray that should be activated at the moment.

[0111] In this embodiment of the application, every Each symbol switches the antenna subarray once, activating different antenna combinations through timing control, thus achieving sparse rotation in the spatial domain over time. This not only reduces hardware costs and instantaneous power consumption but also achieves high angular resolution and low-complexity sensing performance with limited antenna activation.

[0112] It should be noted that through steps one to three above, a highly structured sparse pilot signal in time, frequency, and space is constructed, which provides a prerequisite for achieving high-resolution, multi-dimensional (distance, velocity, angle) sensing using low-complexity algorithms.

[0113] Step 4: The network device generates the pilot signal to be transmitted based on the pilot signal in this spatial domain.

[0114] For example, the pilot signal to be transmitted can be represented by the following formula (6): (6) The pilot signal that is ultimately transmitted by the network equipment. OFDM data signals carry the actual information that needs to be transmitted to the terminal device, such as voice, video, and text. The beamforming vector is assigned a dimension equal to the number of transmitting antennas. The sensing pilots are then used. and communication data Directly adding signals on the same time-frequency resource means that the sensing and communication signals completely share time, frequency, and spatial resources, maximizing resource utilization. The added signal is then multiplied by the beamforming vector. This allows pilot signals used for sensing and data used for communication to be transmitted simultaneously in the same beam.

[0115] Step 304: After receiving the pilot signal, the terminal device sends sensing feedback information to the network device.

[0116] This sensing feedback information can be used to indicate the sensing parameters of the terminal device. These sensing parameters may include one or more parameters such as motion parameters and scatterer characteristic parameters. For example, the motion parameters may include one or more parameters such as velocity, acceleration, and position. For example, the scatterer characteristic parameters may include parameters such as radar cross section (RCS).

[0117] The perception feedback information indicates the perception parameters of the terminal device, which are detected by the terminal device. For example, the terminal device can detect its own speed based on a Global Navigation Satellite System (GNSS), an Inertial Measurement Unit (IMU), or onboard sensors. For example, the terminal device can detect its own acceleration based on an inertial sensor. For example, the terminal device can detect its own position based on GNSS, the LTE positioning protocol (LPP), etc. For example, the terminal device can directly obtain the locally stored RCS, or the terminal device can obtain the RCS based on the RCS model corresponding to its own device model (such as a vehicle model).

[0118] Optionally, the sensing feedback information may also include the confidence level of the sensing parameters detected by the terminal device.

[0119] In one possible approach, the sensing feedback information can directly carry the sensing parameters of the terminal device.

[0120] In another possible approach, if the terminal device is sending sensing feedback information for the first time after a sensing task begins, this feedback information can directly carry the terminal device's sensing parameters. If the terminal device is sending sensing feedback information after a sensing task has begun, but not for the first time, the terminal device can determine differential sensing parameters based on its first and second sensing parameters. In this case, the sensing feedback information can carry these differential sensing parameters. The first sensing parameter is the terminal device's own sensing parameter detected in this instance. The second sensing parameter is the terminal device's sensing parameter previously received from the network device; that is, the second sensing parameter is the terminal device's sensing parameter previously detected by the network device. The differential sensing parameter is the difference between the first and second sensing parameters. This differential feedback method can significantly save transmission resources.

[0121] For example, the sensing feedback information may include the following fields: motion parameters, scatterer characteristic parameters, differential sensing parameters, and sensing parameter confidence levels. When the terminal device sends sensing feedback information for the first time after the start of a sensing task, the motion parameter field includes the motion parameters detected by the terminal device, the scatterer characteristic parameter field includes the scatterer characteristic parameters detected by the terminal device, the differential sensing parameter field is empty, and the sensing parameter confidence level field includes the confidence levels of the motion parameters and scatterer characteristic parameters detected by the terminal device. When the terminal device sends sensing feedback information for the second time after the start of a sensing task, both the motion parameter field and the scatterer characteristic parameter field are empty. The differential sensing parameter field includes the difference between the motion parameters detected by the terminal device and the motion parameters detected by the network device, as well as the difference between the scatterer characteristic parameters detected by the terminal device and the scatterer characteristic parameters detected by the network device. The sensing parameter confidence level field includes the confidence levels of the motion parameters and scatterer characteristic parameters detected by the terminal device.

[0122] Step 305: The network device obtains the first sensing result based on the echo signal of the pilot signal.

[0123] The pilot signal is radiated to the terminal device and its surrounding environment, and reflected back to the network device. Thus, the network device can sense the terminal device and its surrounding scattering objects based on the echo signal of the pilot signal, obtaining a sensing result (i.e., the first sensing result). This sensing result can include sensing parameters for each of the multiple scattering objects. For example, by analyzing the echo reflected from the target, the network device can determine parameters such as signal propagation delay, Doppler shift, and angle of arrival, thereby determining the target's position, velocity, RCS, etc.

[0124] In some cases, after obtaining the first sensing result, the network device can perform a sensing task based on the first sensing result. For example, the network device can perform the sensing task itself based on the first sensing result; or, the network device can send the first sensing result to the terminal device, which can then perform the sensing task accordingly. In this case, optionally, the network device can also send the terminal device's sensing parameters from the first sensing result to the terminal device; after receiving these sensing parameters, the terminal device, when it needs to send sensing feedback information to the network device again, can generate differential sensing parameters based on these sensing parameters and its own detected sensing parameters, and then send these differential sensing parameters to the network device along with the sensing feedback information.

[0125] In other cases, after obtaining the first sensing result, the network device can first correct the first sensing result to obtain a more accurate second sensing result, and then perform the sensing task based on the second sensing result. This will be explained below: Step 306: The network device corrects the first sensing result based on the sensing feedback information sent by the terminal device to obtain the second sensing result.

[0126] Since system deviations are usually consistent globally, network devices can use the relatively accurate sensing parameters fed back by terminal devices as a reference to correct the sensing results, thereby improving the accuracy of the final sensing results (i.e., the second sensing results).

[0127] It should be noted that after receiving the sensing feedback information sent by the terminal device, the network device can determine the sensing parameters (i.e., the first sensing parameters) of the terminal device indicated by the sensing feedback information. For example, if the sensing feedback information carries the first sensing parameters of the terminal device, the network device can directly obtain the first sensing parameters from the sensing feedback information; if the sensing feedback information carries differential sensing parameters, the network device can add the second sensing parameters it previously sent to the terminal device to the differential sensing parameters to obtain the first sensing parameters.

[0128] In some implementations, the operation of step 306 may include the following two possible methods. Of course, it is not limited to these. The network device may also correct the first perception result to obtain the second perception result based on the perception feedback information sent by the terminal device in other ways. This application embodiment does not limit this.

[0129] In one possible approach, the network device determines the sensing parameters of the terminal device from the first sensing result, determines the sensing error based on the first sensing parameters of the terminal device indicated by the sensing feedback information and the sensing parameters of the terminal device in the first sensing result, and corrects the sensing parameters of multiple scatterers in the first sensing result based on the sensing error to obtain the second sensing result.

[0130] The second sensing result includes the sensing parameters of the terminal device and the sensing parameters of each of at least one environmental scatterer. Here, an environmental scatterer refers to a scatterer other than the terminal device.

[0131] For example, a network device can determine that a scatterer is a terminal device if the similarity between the scatterer characteristic parameters of a scatterer in the first sensing result and the scatterer characteristic parameters indicated by the sensing feedback information is greater than or equal to a first similarity. The first similarity can be preset, and the first similarity can be set relatively large, such as 90% or 95%, etc., but this application embodiment does not limit this.

[0132] Optionally, the network device may determine the difference between the first sensing parameter of the terminal device indicated by the sensing feedback information and the sensing parameter of the terminal device in the first sensing result as the sensing error.

[0133] For example, assuming the sensing parameters include location, speed, and RCS, the network device can determine the sensing error using the following formula (7): (7) For position perception error, The location of the terminal device indicated by the perceived feedback information. This represents the location of the terminal device in the first perception result. For speed perception error, The speed of the terminal device indicated by this perceived feedback information. The speed of the terminal device in the first perception result. For RCS sensing error, The RCS of the terminal device indicated by this sensing feedback information. The RCS of the terminal device in the first perception result.

[0134] As an example, the operation of the network device to correct the sensing parameters of multiple scatterers in the first sensing result based on the sensing error can be as follows: for any one of the multiple scatterers, add the sensing parameter of the scatterer in the first sensing result to the sensing error to obtain the third sensing parameter of the scatterer; and perform a weighted average of the sensing parameter of the scatterer in the first sensing result and the third sensing parameter to obtain the fourth sensing parameter of the scatterer.

[0135] In this embodiment of the application, the network device performs a weighted average of the original sensing parameters (i.e., the sensing parameters of the scatterer in the first sensing result) and the sensing parameters that have been adjusted for error (i.e., the third sensing parameters of the scatterer) to obtain the correction result. This can improve the stability and reliability of the correction process and, to a certain extent, avoid drastic fluctuations in the correction result due to single errors or sudden data changes.

[0136] For example, assuming the sensing parameters include position, velocity, and RCS, the network device can determine the fourth sensing parameter of the i-th scatterer using the following formula (8): (8) The position of the fourth sensing parameter of the i-th scatterer. This represents the position of the i-th scatterer in the sensing parameters of the first sensing result. The position is the third sensing parameter of the i-th scatterer. The velocity is the fourth sensing parameter of the i-th scatterer. The velocity is the sensing parameter of the i-th scatterer in the first sensing result. The velocity is the third sensing parameter of the i-th scatterer. RCS is the fourth sensing parameter of the i-th scatterer. The RCS is the sensing parameter of the i-th scatterer in the first sensing result. Let RCS be the third sensing parameter of the i-th scatterer. The confidence level of the perception parameters indicated by the perception feedback information. This represents the confidence level of the perceived parameters in the first perception result.

[0137] In this case, the second perception result can be represented by the following formula (9): (9) This is the result of the second perception.

[0138] In some cases, the sensing parameters of each scatterer in the second sensing result can have a confidence level. For example, the confidence level of this scatterer can be based on the above... and / or It is determined, for example, that the confidence level of the scatterer can be equal to or proportional to... .

[0139] In this scenario, if the similarity between the perceived offset of a scatterer in the second perception result and its perceived parameters in the first perception result and the perception error is greater than or equal to the second similarity, it indicates that the correction offset of the scatterer is highly consistent with the direction of the perception error. Therefore, the scatterer is likely not a real environmental object, but rather a perception artifact introduced by the movement of the terminal device. In this case, the scatterer can be identified as an anomalous scatterer, and its credibility can be reduced. For example, a penalty factor (such as 0.1) can be applied to the credibility of the anomalous scatterer, thereby minimizing its influence in subsequent processing.

[0140] In the second possible approach, after the network device receives the perception feedback information sent by each of the multiple terminal devices, it constructs a correction model based on the perception parameters of each terminal device indicated by the perception feedback information sent by each of the multiple terminal devices and the perception parameters of each terminal device in the first perception result; the first perception result is input into the correction model to obtain the second perception result output by the correction model.

[0141] For example, the correction model can be a nonlinear error model, such as a multinomial model, an exponential / logarithmic model, etc., and this application embodiment does not limit this. Alternatively, the correction model can be an artificial intelligence (AI) / machine learning (ML) model, such as a fully connected deep neural network model, a convolutional neural network model, etc., and this application embodiment does not limit this.

[0142] In this embodiment, the network device can combine the highly accurate sensing parameters detected by multiple terminal devices to correct the first sensing result, thereby further improving the sensing accuracy.

[0143] After obtaining the second sensing result, the network device can perform sensing tasks based on the second sensing result. For example, the network device can perform sensing tasks itself based on the second sensing result; or, the network device can send the second sensing result to the terminal device, which can then perform sensing tasks accordingly.

[0144] In one possible approach, the network device can also send the terminal device's sensing parameters from the second sensing result to the terminal device. After receiving these sensing parameters, the terminal device can generate differential sensing parameters based on these sensing parameters and its own detected sensing parameters when it needs to send sensing feedback information to the network device next time. Then, it can send these differential sensing parameters along with the sensing feedback information to the network device.

[0145] The overall process of this application embodiment is illustrated below using two specific scenarios: In some implementations, embodiments of this application can be applied to vehicle-to-everything (V2X) highway scenarios. In this scenario, vehicles move at high speeds, requiring high real-time perception of position, speed, and relative distance to support autonomous driving and collision warning. Traditional communication systems relying on fixed pilot configurations cannot meet the dynamic perception requirements arising from changes in vehicle speed. Therefore, embodiments of this application provide the following method flow for this scenario: (1) Reporting of perceived needs The vehicle generates a perception requirement IE at the RRC layer, including: perception task type: high-speed target detection and speed estimation; accuracy level: high accuracy (sub-meter level); time period: millisecond-level update; priority information: balanced mode. The vehicle reports the perception requirement IE to the base station via RRC signaling.

[0146] (2) Base station strategy decision After receiving the sensing request (IE), the base station dynamically generates a resource scheduling scheme based on the traffic density and network load in the highway environment. If the traffic density is high, the sensing pilots are reused among some vehicles; if the traffic density is low, an independent high-density sensing pilot is provided for each vehicle.

[0147] (3) DCI distribution and physical layer execution The base station sends out extended DCI, in which SMI information includes: pilot density: high-density DMRS; sensing task type: speed estimation and relative distance measurement; beam identifier: the identifier of the beam corresponding to the vehicle direction.

[0148] Vehicles can configure physical layer reception and feedback mechanisms based on this DCI.

[0149] (4) Perceptual feedback and fusion correction The vehicle reports differential sensing parameters in the uplink feedback, including speed change information, distance change information, and confidence level. The base station fuses the parameters reported by the vehicle with its own sensing results and uses a weighted correction method to eliminate noise and bias.

[0150] This enables real-time perception between vehicles and base stations, supporting sub-meter positioning and millisecond-level updates. It effectively avoids perception lag caused by high-speed vehicle movement. While ensuring communication services, it enhances the security and reliability of the vehicle-to-everything (V2X) system.

[0151] In some implementations, embodiments of this application can be applied to smart factory scenarios. In this scenario, a large number of robots exist simultaneously in the factory workshop, resulting in high network load. The robots not only need to maintain communication with base stations but also need to possess the ability to perceive surrounding obstacles and scattering objects to avoid collisions and improve operational efficiency. Therefore, embodiments of this application provide the following method flow in this scenario: (1) Reporting of perceived needs The robot generates perception requirements (IEs) at the MAC layer, including: perception task type: environment modeling and obstacle detection; accuracy level: medium (sufficient for obstacle avoidance); time period: 100ms update; priority information: communication first, perception as auxiliary. The robot reports the perception requirements IEs to the base station via MAC CE signaling.

[0152] (2) Base station strategy decision After receiving the sensing request (IE), the base station determines the sensing configuration scheme based on the sensing requirements reported by the robots and the network load within the factory. When there are many robots and high communication pressure, the base station prioritizes communication services and uses sparse CSI-RS as the sensing signal to reduce additional resource overhead.

[0153] (3) DCI distribution and physical layer execution The base station sends out extended DCI, in which SMI information includes: pilot density: low-density sparse CSI-RS; sensing task type: environmental scatterer detection; beam identifier: the identifier of the beam dynamically selected according to the robot's position.

[0154] The robot can be configured with physical layer reception and feedback mechanisms based on DCI.

[0155] (4) Perceptual feedback and fusion correction The robot reports differential sensing parameters in its uplink feedback, including position change information, RCS change information, and confidence level. The base station jointly references the parameters reported by multiple robots and its own sensing results to establish a three-dimensional scattering environment model. This model is used to assist the robot in path planning and obstacle avoidance.

[0156] In this way, low-overhead sensing capabilities are achieved while ensuring communication priority, avoiding resource waste caused by high-density sensing signal configuration. Furthermore, it supports joint sensing and environmental modeling by multiple robots, thereby improving the safety and intelligence level of factory operations.

[0157] It should be understood that Figure 3 The flowcharts or scene diagrams shown are for illustrative purposes only and are not intended to limit the embodiments of this application to the examples illustrated. In fact, those skilled in the art can interpret the embodiments based on... Figure 3 The examples in the document can be transformed into equivalent ways to obtain more implementations.

[0158] The above text combined Figure 3 This document describes in detail the communication method provided in the embodiments of this application. The following will combine... Figures 4 to 5 The device embodiments of this application are described in detail below. It should be understood that the communication device of this application embodiment can execute the various communication methods of the foregoing embodiments of this application, that is, the specific working processes of the various products below can be referred to the corresponding processes in the foregoing method embodiments.

[0159] In the embodiments described above, the network device may execute some or all of the steps in each embodiment; the terminal device may execute some or all of the steps in each embodiment. These steps or operations are merely examples, and other operations or variations thereof may also be performed in the embodiments of this application. Furthermore, the steps may be executed in different orders as presented in the embodiments, and it is not necessary to execute all the operations in the embodiments of this application. The sequence number of each step does not imply the order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0160] Figure 4 This is a schematic block diagram of a communication device 400 provided in an embodiment of this application. Figure 4 As shown, the communication device 400 may include a communication module 420. The communication module 420 can implement corresponding communication functions, which can be internal communication functions of the communication device 400 or communication functions between the communication device 400 and other devices. Optionally, the communication module 420 may also be referred to as a communication interface or transceiver module. Optionally, the communication device 400 may also include a processing module 410. The processing module 410 can implement corresponding processing functions.

[0161] Optionally, the communication device 400 further includes a storage module, which can be used to store instructions and / or data; the processing module 410 can read the instructions and / or data in the storage module so that the communication device 400 can implement the aforementioned method embodiments.

[0162] In one possible design, the communication device 400 may correspond to the network device in the above method embodiments, or to a component (such as a circuit, chip, or chip system) configured in the network device. The communication device 400 can be used to perform the steps or processes performed by the network device in any of the above method embodiments.

[0163] For example, the communication module 420 is used to: send pilot signals to the terminal device; The processing module 410 is used to: obtain a first sensing result based on the echo signal of the pilot signal, the first sensing result including the sensing parameters of each of the multiple scatterers.

[0164] For example, the communication module 420 is used to send sensing mode indication information to the terminal device, the sensing mode indication information including one or more of the following: mode, pilot density and / or symbol configuration, sensing task type, and beam information.

[0165] For example, the communication module 420 is used to send downlink control information to the terminal device, the downlink control information including sensing mode indication information.

[0166] For example, the communication module 420 is used to: receive sensing demand indication information sent by the terminal device, the sensing demand indication information including one or more of the following: sensing task type, accuracy level, time period, priority information, battery status, and motion status.

[0167] For example, the pilot signal includes one or more of a channel state information reference signal and a demodulation reference signal.

[0168] For example, the processing module 410 is used to: determine a sparse index set in the DD domain by the following formula (1); determine a pilot signal in the DD domain by the following formula (2) based on the sparse index set; convert the pilot signal in the DD domain into a pilot signal in the time-frequency domain; convert the pilot signal in the time-frequency domain into a pilot signal in the spatial domain; and generate a pilot signal to be transmitted based on the pilot signal in the spatial domain. (1) (2) It is a sparse index set; For pilot signals in the DD domain; For elements in a sparse index set, Corresponding to the time delay direction in the DD domain, Corresponding to the Doppler direction in the DD domain; This is the pilot start position; For modulo operation; This represents the number of sampling points in the time delay direction; The step size in the time delay direction; The number of sampling points in the Doppler direction; Let be the step size in the Doppler direction; where step sizes in the same direction within the DD domain are coprime.

[0169] For example, the processing module 410 is used to convert the pilot signal in the time-frequency domain into a pilot signal in the spatial domain using the following formula;

[0170] It is a pilot signal in the spatial domain; Pilot power; For pilot signals in the time-frequency domain, For subcarrier indexes in the frequency dimension, Symbolic index for the time dimension; The antenna subarray that should be activated at the moment. The number of the antenna subarray that should be activated at the moment; For rotation cycle; This represents the number of antenna subarrays.

[0171] For example, the communication module 420 is used to: receive sensing feedback information sent by the terminal device, the sensing feedback information including a first sensing parameter or a differential sensing parameter, the first sensing parameter being the sensing parameter detected by the terminal device this time, the differential sensing parameter including the difference between the first sensing parameter and a second sensing parameter, the second sensing parameter being the sensing parameter of the terminal device previously received by the terminal device from the network device.

[0172] For example, the perception feedback information also includes the confidence level of the first perception parameter.

[0173] For example, the processing module 410 is used to: correct the first perception result based on the perception feedback information to obtain a second perception result.

[0174] For example, the processing module 410 is used to: determine a sensing error based on the first sensing parameters and the sensing parameters of the terminal device in the first sensing result; and correct the sensing parameters of multiple scatterers in the first sensing result based on the sensing error to obtain a second sensing result.

[0175] For example, the processing module 410 is used to: for any one of the plurality of scatterers, add the sensing parameter of the scatterer in the first sensing result to the sensing error to obtain the third sensing parameter of the scatterer; and perform a weighted average of the sensing parameter of the scatterer in the first sensing result and the third sensing parameter to obtain the fourth sensing parameter of the scatterer.

[0176] For example, the processing module 410 is used to: construct a correction model based on the perception parameters of each terminal device indicated by the perception feedback information sent by each terminal device among multiple terminal devices and the perception parameters of each terminal device in the first perception result; input the first perception result into the correction model to obtain the second perception result output by the correction model.

[0177] The above are merely examples; for detailed steps or procedures, please refer to the descriptions in the foregoing embodiments.

[0178] Figure 5This is a schematic block diagram of a communication device 500 provided in an embodiment of this application. The communication device 500 may be a network device, a terminal device, or a circuit, chip, chip system, or processor, etc., used to implement the above methods. The communication device 500 can be used to implement the methods described in the above method embodiments; for details, please refer to the descriptions in the above method embodiments.

[0179] like Figure 5 As shown, the communication device 500 may include one or more processors 510, which may also be referred to as processing units or processing modules, and can implement certain control functions. The processor 510 may be a general-purpose processor or a dedicated processor, such as a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, while the central processing unit can be used to control the communication device 500 (e.g., a base station, baseband chip, user equipment, user chip), execute software programs, and process data from the software programs.

[0180] In an alternative design, the processor 510 may also store instructions and / or data that can be executed by the processor 510 to cause the communication device 500 to perform the methods described in the above method embodiments.

[0181] In another alternative design, the communication device 500 may include a communication interface 520 for implementing receiving and transmitting functions. For example, the communication interface 520 may be a transceiver circuit, interface, interface circuit, or transceiver. The transceiver circuit, interface, interface circuit, or transceiver for implementing receiving and transmitting functions may be separate or integrated. The aforementioned transceiver circuit, interface, interface circuit, or transceiver may be used for reading and writing code / data, or it may be used for transmitting or relaying signals.

[0182] Optionally, the communication device 500 may include one or more memories 530, which may store instructions that can be executed on the processor 510, causing the communication device 500 to perform the methods described in the above method embodiments. Optionally, the memories 530 may also store data. Optionally, the processor 510 may also store instructions and / or data. The processor 510 and the memories 530 may be provided separately or integrated together.

[0183] It should be understood that, in one possible design, the steps in the method embodiments provided in this application can be implemented by integrated logic circuits in the processor's hardware or by instructions in software form. The steps of the methods disclosed in the embodiments of this application can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software modules can reside in mature storage media in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are not provided here.

[0184] In one implementation, the communication device 500 may correspond to the network device in the above method embodiments and may be used to execute the various steps and / or processes executed by the network device in the above method embodiments. The processor 510 may be used to execute instructions stored in the memory 530, and when the processor 510 executes the instructions stored in the memory, the processor 510 is used to execute the various steps and / or processes of the above method embodiments corresponding to the network device.

[0185] In another implementation, the communication device 500 may correspond to the terminal device in the above method embodiments, and may be used to execute the various steps and / or processes executed by the terminal device in the above method embodiments. The processor 510 may be used to execute the instructions stored in the memory 530, and when the processor 510 executes the instructions stored in the memory, the processor 510 is used to execute the various steps and / or processes of the above method embodiments corresponding to the terminal device.

[0186] It should be understood that the aforementioned processing device can be one or more chips. For example, the processing device can be a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system-on-chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0187] It is understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0188] According to the method provided in the embodiments of this application, this application also provides a chip system, which includes one or more processors for calling and executing instructions stored in memory, thereby causing the method described in the embodiments of this application to be executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0189] The chip system may include input circuits or interfaces for transmitting information or data, and output circuits or interfaces for receiving information or data.

[0190] According to the method provided in the embodiments of this application, this application also provides a communication system, which includes the aforementioned network device and terminal device.

[0191] According to the method provided in the embodiments of this application, this application also provides a computer program product, which includes: computer program code, which, when run on a computer, causes the computer to execute the various steps or processes executed by the network device or terminal device in any of the foregoing method embodiments.

[0192] According to the method provided in the embodiments of this application, this application also provides a computer-readable storage medium storing program code, which, when run on a computer, causes the computer to execute the various steps or processes executed by the network device or terminal device in any of the foregoing method embodiments.

[0193] The computer-readable storage medium may be the aforementioned volatile memory or non-volatile memory, or it may include both volatile memory and non-volatile memory.

[0194] In the embodiments of this application, the terms and English abbreviations are exemplary examples given for ease of description and should not be construed as limiting the application in any way. This application does not preclude the possibility of defining other terms that can achieve the same or similar functions in existing or future agreements.

[0195] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated.

[0196] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0197] It should be understood that in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0198] In summary, the above descriptions are merely optional embodiments of the technical solutions of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A communication method, characterized in that, Applied to network devices, the method includes: Send pilot signals to the terminal device; A first sensing result is obtained based on the echo signal of the pilot signal, and the first sensing result includes the sensing parameters of each of the multiple scatterers.

2. The method as described in claim 1, characterized in that, Before sending the pilot signal to the terminal device, the method further includes: Send sensing mode indication information to the terminal device. The sensing mode indication information includes one or more of the following: mode, pilot density and / or symbol configuration, sensing task type, and beam information.

3. The method as described in claim 2, characterized in that, Sending the sensing mode indication information to the terminal device includes: Send downlink control information to the terminal device, the downlink control information including the sensing mode indication information.

4. The method as described in claim 2, characterized in that, Before sending the sensing mode indication information to the terminal device, the method further includes: The terminal device receives sensing requirement indication information, which includes one or more of the following: sensing task type, accuracy level, time period, priority information, battery status, and motion status.

5. The method as described in claim 1, characterized in that, The pilot signal includes one or more of the following: channel state information reference signal and demodulation reference signal.

6. The method as described in claim 1, characterized in that, Before sending the pilot signal to the terminal device, the method further includes: The sparse index set of the delay-Doppler DD domain is determined by the following formula (1); Based on the sparse index set, the pilot signal of the DD domain is determined by the following formula (2); The pilot signal in the DD domain is converted into a pilot signal in the time-frequency domain. The time-frequency domain pilot signal is converted into a spatial domain pilot signal; The pilot signal to be transmitted is generated based on the pilot signal in the spatial domain; （1） （2） For the sparse index set; The pilot signal in the DD domain; For the elements in the sparse index set, Corresponding to the time delay direction in the DD domain, Corresponding to the Doppler direction in the DD domain; This is the pilot start position; For modulo operation; The number of sampling points in the time delay direction; The step size is the time delay direction; The number of sampling points in the Doppler direction; Let be the step size in the Doppler direction; wherein, the step sizes in the same direction within the DD domain are coprime.

7. The method as described in claim 6, characterized in that, The step of converting the time-frequency domain pilot signal into a spatial domain pilot signal includes: The time-frequency domain pilot signal is converted into the spatial domain pilot signal using the following formula; The pilot signal in the spatial domain; Pilot power; The time-frequency domain pilot signal, For subcarrier indexes in the frequency dimension, Symbolic index for the time dimension; The antenna subarray that should be activated at the moment. The number of the antenna subarray that should be activated at the moment; For rotation cycle; This represents the number of antenna subarrays.

8. The method as described in any one of claims 1 to 7, characterized in that, After sending the pilot signal to the terminal device, the method further includes: The terminal device receives perception feedback information, which includes a first perception parameter or a differential perception parameter. The first perception parameter is the perception parameter detected by the terminal device this time, and the differential perception parameter includes the difference between the first perception parameter and a second perception parameter. The second perception parameter is the perception parameter of the terminal device that was previously received by the terminal device from the network device.

9. The method as described in claim 8, characterized in that, The perception feedback information also includes the confidence level of the first perception parameter.

10. The method as described in claim 8, characterized in that, After obtaining the first sensing result based on the echo signal of the pilot signal, the method further includes: The first perception result is corrected based on the perception feedback information to obtain the second perception result.

11. The method as described in claim 10, characterized in that, The step of correcting the first perception result based on the perception feedback information to obtain the second perception result includes: The perception error is determined based on the first perception parameter and the perception parameter of the terminal device in the first perception result. Based on the perception error, the perception parameters of multiple scatterers in the first perception result are corrected to obtain the second perception result.

12. The method as described in claim 11, characterized in that, The step of correcting the sensing parameters of multiple scatterers in the first sensing result based on the sensing error includes: For any one of the plurality of scatterers, the sensing parameters of the scatterer in the first sensing result are added to the sensing error to obtain the third sensing parameters of the scatterer; The fourth sensing parameter of the scatterer is obtained by weighting the sensing parameters of the scatterer in the first sensing result with the third sensing parameter.

13. The method as described in claim 10, characterized in that, The step of correcting the first perception result based on the perception feedback information to obtain the second perception result includes: A correction model is constructed based on the perception parameters of each terminal device indicated by the perception feedback information sent by each terminal device in the multiple terminal devices and the perception parameters of each terminal device in the first perception result; The first perception result is input into the correction model to obtain the second perception result output by the correction model.

14. A communication device, characterized in that, The communication device includes at least one processor coupled to a memory storing a program or instructions, the processor executing the program or instructions to cause the communication device to perform the method as described in any one of claims 1 to 13.

15. A communication system, characterized in that, The communication system includes the communication device as described in claim 14.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or instructions that, when executed, cause a computer to perform the method as described in any one of claims 1 to 13.

17. A chip system, characterized in that, The chip system includes one or more processors, which are configured to retrieve and execute instructions stored in a memory, such that the method as described in any one of claims 1 to 13 is performed.

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