Perception method and corresponding device

Abstract

The invention provides a sensing method which can be applied to a communication system of communication sensing integration (ISAC), and the method comprises the following steps: a center node carries out incoherent fusion on first sensing results of a plurality of sensing nodes so as to determine a plurality of sensing targets (x, y), and the sensing nodes determine related second sensing results according to the plurality of sensing nodes (x, y), and the center node performs coherent fusion on the plurality of second sensing results to determine a plurality of three-dimensional coordinates of the sensing target. In this way, a plurality of sensing nodes measure a sensing target from different observation angles, then fusion is carried out, non-coherent fusion is carried out on the (x, y) dimension to inhibit sidelobe uplift caused by discontinuity of apertures of antenna arrays of different sensing nodes, coherent fusion is carried out on the z dimension to inhibit sidelobe uplift caused by discontinuity of apertures of antenna arrays of different sensing nodes. The problem that scattering coefficients of sensing targets are incoherent due to non-continuity of apertures of antenna arrays of different sensing nodes can be solved, and therefore the imaging quality and the imaging precision of fusion sensing imaging can be improved.

Description

Technical Field

[0001] This application relates to the field of communication technology, specifically to a sensing method and corresponding device. Background Technology

[0002] As a sensing technology, real aperture sensing is unaffected by time or weather, has no imaging blind spots, and can achieve 360° panoramic imaging, making it widely used in various fields. According to real aperture sensing theory, the system's distance resolution is determined by bandwidth, while the azimuth resolution is determined by the aperture of the antenna array. Because the aperture size of the antenna array is limited, the azimuth resolution of a single station is limited; for example, when two targets are too close, real aperture sensing may fail to distinguish them.

[0003] Compared to single-site sensing, multi-site sensing has greater potential and advantages in target detection and anti-interference capabilities. Furthermore, multi-site sensing possesses spatial diversity, allowing for the perception of targets from different angles to obtain richer target information. It also achieves a larger equivalent physical aperture, resulting in higher azimuth resolution than single-site sensing.

[0004] Although multiple stations offer a wider spatial observation angle and can improve the imaging quality of the target, these stations are usually arranged discontinuously. This results in a discontinuous aperture in the antenna array, which can lead to problems such as sidelobe lift and incoherent target scattering coefficients during imaging, affecting imaging quality and accuracy. Summary of the Invention

[0005] This application provides a sensing method for improving the imaging quality and accuracy of a sensed target. This application also provides corresponding apparatus, computer-readable storage media, and computer program products.

[0006] A first aspect of this application provides a sensing method applied to a first communication device. The method includes: performing incoherent fusion on multiple first sensing results to determine first information; wherein the multiple first sensing results correspond to multiple second communication devices, and the first information includes multiple two-dimensional coordinates of a sensing target and the dimensions of the multiple two-dimensional coordinates; sending the first information to the multiple second communication devices; wherein the multiple two-dimensional coordinates and the dimensions of the multiple two-dimensional coordinates are used by each second communication device to determine a second sensing result; and performing coherent fusion on the multiple second sensing results to determine second information; wherein the multiple second sensing results come from the multiple second communication devices, and the second information includes multiple three-dimensional coordinates of the sensing target.

[0007] In this application, the first communication device can be a central node, a sensing function (SF) network element, or a sensing management function (SMF) network element. The central node can be a node that configures sensing parameters for the transmitting or receiving end of the sensing signal, and / or a node that aggregates sensing results. The central node can be a network device or a chip within a network device; of course, the central node can also be other types of devices. The SF network element / SMF network element can be a network element used for sensing function management, and its function and form can be the same as or similar to that of the central node.

[0008] In this application, the second communication device can be a transmitting node, a receiving node, or a sensing node; wherein, a transmitting node refers to a node used to transmit sensing signals, also known as a transmitter, and a receiving node refers to a node used to receive the echo signals of the sensing signals, also known as a receiver. A sensing node refers to a node that integrates the transmitting end of the sensing signals and the receiving end of the echo signals into one unit.

[0009] In this application, the transmitting node, receiving node, or sensing node can all be access network equipment or chips in access network equipment, terminal equipment or chips in terminal equipment.

[0010] In this application, coherent fusion refers to the fusion of coherent signals, wherein the coherent signal is a signal that satisfies the coherence condition, which includes at least one of the following: the vibration direction is the same, the vibration frequency is the same, the phase is the same, or the phase difference remains constant.

[0011] In this application, incoherent fusion refers to the fusion of incoherent signals, wherein an incoherent signal is a signal that does not meet the coherence condition, that is, any one of the vibration direction, vibration frequency, phase or phase difference is different.

[0012] In this application, the first information may include coordinates in multiple (x, y) dimensions, such as: [x1, y1], [x2, y2], ..., [x M ,y M Of course, the dimensions of the two-dimensional coordinates included in the first information can also be other dimensions. In this application, the (x, y) dimension is used as an example for illustration, but it is not limited to the (x, y) dimension.

[0013] In this application, the second information may include multiple coordinates in (x, y, z) dimensions, wherein each two-dimensional coordinate in the first information may be associated with one or more three-dimensional coordinates, and the (x, y) of these one or more three-dimensional coordinates may all be the same.

[0014] In the first aspect mentioned above, the multiple second communication devices are geographically distributed and are generally incoherent in the (x, y) dimension. However, the heights of the multiple second communication devices are usually not significantly different, making them highly likely to be coherent in the z dimension. Therefore, incoherent fusion is performed in the (x, y) dimension, while coherent fusion is performed in the z dimension. In this way, multiple second communication devices measure the sensing target from different observation angles and then perform fusion. Incoherent fusion in the (x, y) dimension can suppress the sidelobe rise caused by the discontinuity of the aperture of the antenna arrays of different second communication devices. Coherent fusion in the z dimension can solve the problem of incoherent scattering coefficients of the sensing target caused by the discontinuity of the aperture of the antenna arrays of different second communication devices. This can improve the imaging quality and accuracy of the fused sensing imaging. In addition, only sensing results related to multiple (x, y) dimension coordinates need to be sent in the second sensing results, which can reduce the amount of data transmission and reduce the occupation of air interface resources.

[0015] In one possible implementation, the first information also includes the range information of the third-dimensional coordinates, and the second perception result is the perception result of the position indicated by multiple two-dimensional coordinates of the range of the third-dimensional coordinates indicated by the range information of the third-dimensional coordinates.

[0016] In this application, if the dimension of the two-dimensional coordinates described above is (x, y), then the third dimension is the z dimension; conversely, if the dimension of the two-dimensional coordinates described above is (x, z), then the third dimension is the y dimension, and if the dimension of the two-dimensional coordinates described above is (y, z), then the third dimension is the x dimension. If the first information indicates the range information of the third-dimensional coordinates, then the second perception result only needs to determine the perception result related to the two-dimensional coordinates according to the range of the third-dimensional coordinates indicated by the range information of the third-dimensional coordinates. For example, if the dimension of the two-dimensional coordinates described above is (x, y), and the range information of the third-dimensional coordinates is (z1~z2), then the third-dimensional coordinates are (x1~z3). N If the second perception result can include (x, y, z1)...(x, y, z), then the second perception result can include (x, y, z1)...(x, y, z). N One or more perceptual results within )

[0017] In this possible implementation, the first information also includes the range information of the third-dimensional coordinates, which can improve the accuracy of the second perception result, thereby helping to further improve the imaging quality and imaging accuracy of fused perception imaging.

[0018] In one possible implementation, the first information further includes the positions or reference heights of reference array elements corresponding to multiple second communication devices; the second sensing result is the sensing result of the position indicated by multiple two-dimensional coordinates determined by the second communication devices based on the positions or reference heights of the reference array elements.

[0019] In this possible implementation, the first information also includes the reference array element positions or reference heights corresponding to multiple second communication devices, which can enable the second communication devices to determine more accurate second sensing results associated with multiple two-dimensional coordinates, thereby helping to further improve the imaging quality and imaging accuracy of fusion sensing imaging.

[0020] In one possible implementation, any one of the multiple two-dimensional coordinates corresponds to at least one of the multiple three-dimensional coordinates.

[0021] In this possible implementation, one two-dimensional coordinate corresponds to at least one three-dimensional coordinate, which is beneficial to improving the imaging quality and accuracy of fused sensing imaging.

[0022] In one possible implementation, before performing incoherent fusion on multiple first sensing results to determine first information, the method further includes: sending a fusion sensing request; wherein the fusion sensing request includes first stage indication information and first fusion indication information; and / or, second stage indication information and second fusion indication information; wherein the first fusion indication information is used to indicate incoherent fusion on the first sensing results corresponding to the first stage, and the second fusion indication information is used to indicate coherent fusion on the second sensing results corresponding to the second stage.

[0023] In this possible implementation, the second communication device can accurately obtain the data to be sent in the first and second stages of the fusion sensing phase through the fusion sensing request, which can improve the accuracy of data transmission and thus help improve the imaging quality and accuracy of fusion sensing imaging.

[0024] In one possible implementation, the first sensing result includes amplitude information but excludes phase information.

[0025] In this possible implementation, the first sensing result is used for incoherent fusion and does not require the use of phase information. Therefore, the second communication device only needs to transmit amplitude information to the first communication device, which can reduce the amount of data transmission and reduce the occupation of air interface resources.

[0026] In one possible implementation, the second sensing result includes amplitude information and phase information.

[0027] In this possible implementation, the second sensing result is used for coherent fusion, and the use of amplitude and phase information can improve the accuracy of sensing fusion.

[0028] A second aspect of this application provides a sensing method applicable to a second communication device, comprising: receiving first information from a first communication device; wherein the first information includes multiple two-dimensional coordinates of a sensing target and the dimensions of the multiple two-dimensional coordinates; determining a second sensing result based on the multiple two-dimensional coordinates and the dimensions of the multiple two-dimensional coordinates; and sending the second sensing result to the first communication device; wherein the second sensing result is used by the first communication device to determine second information, the second information including multiple three-dimensional coordinates of the sensing target.

[0029] In one possible implementation, the first information also includes the range information of the third-dimensional coordinates;

[0030] The above steps: Determine the second perception result based on multiple two-dimensional coordinates and the dimensions of the multiple two-dimensional coordinates, including: determining the second perception result of the position indicated by multiple two-dimensional coordinates based on the range of the third-dimensional coordinates indicated by the range information of the third-dimensional coordinates.

[0031] In one possible implementation, the first information also includes the positions or reference heights of reference array elements corresponding to multiple second communication devices;

[0032] The above steps: Determine the second sensing result based on multiple two-dimensional coordinates and the dimensions of the multiple two-dimensional coordinates, including: determining the second sensing result of the position indicated by the multiple two-dimensional coordinates based on the position of the reference array element or the reference height.

[0033] In one possible implementation, before receiving the first information from the first communication device, the method further includes: receiving a fusion sensing request from the first communication device; wherein the fusion sensing request includes first stage indication information and first fusion indication information; and / or, second stage indication information and second fusion indication information; wherein the first fusion indication information is used to indicate incoherent fusion of the first sensing result corresponding to the first stage, and the second fusion indication information is used to indicate coherent fusion of the second sensing result corresponding to the second stage.

[0034] In one possible implementation, the first sensing result includes amplitude information but excludes phase information.

[0035] In one possible implementation, the second sensing result includes amplitude information and phase information.

[0036] A third aspect of this application provides a communication device, comprising: a transceiver unit and a processing unit; wherein,

[0037] The processing unit is used to perform non-coherent fusion of multiple first sensing results to determine first information; wherein, the multiple first sensing results correspond to multiple second communication devices, and the first information includes multiple two-dimensional coordinates of the sensing target and the dimensions of the multiple two-dimensional coordinates;

[0038] A transceiver unit is used to send first information to multiple second communication devices; wherein, multiple two-dimensional coordinates and the dimensions of the multiple two-dimensional coordinates are used by each second communication device to determine a second sensing result;

[0039] The processing unit is also configured to coherently fuse multiple second sensing results to determine second information; wherein the multiple second sensing results come from multiple second communication devices, and the second information includes multiple three-dimensional coordinates of the sensing target.

[0040] In one possible implementation, the first information also includes the range information of the third-dimensional coordinates, and the second perception result is the perception result of the position indicated by multiple two-dimensional coordinates of the range of the third-dimensional coordinates indicated by the range information of the third-dimensional coordinates.

[0041] In one possible implementation, the first information further includes the positions or reference heights of reference array elements corresponding to multiple second communication devices; the second sensing result is the sensing result of the position indicated by multiple two-dimensional coordinates determined by the second communication devices based on the positions or reference heights of the reference array elements.

[0042] In one possible implementation, any one of the multiple two-dimensional coordinates corresponds to at least one of the multiple three-dimensional coordinates.

[0043] In one possible implementation, the transceiver unit is further configured to send a fusion sensing request before performing noncoherent fusion of multiple first sensing results to determine first information; wherein the fusion sensing request includes first stage indication information and first fusion indication information; and / or, second stage indication information and second fusion indication information; wherein the first fusion indication information is used to indicate noncoherent fusion of the first sensing results corresponding to the first stage, and the second fusion indication information is used to indicate coherent fusion of the second sensing results corresponding to the second stage.

[0044] In one possible implementation, the first sensing result includes amplitude information but excludes phase information.

[0045] In one possible implementation, the second sensing result includes amplitude information and phase information.

[0046] A fourth aspect of this application provides a communication device, comprising: a transceiver unit and a processing unit; wherein,

[0047] A transceiver unit is used to receive first information from a first communication device; wherein the first information includes multiple two-dimensional coordinates of the perceived target and the dimensions of the multiple two-dimensional coordinates;

[0048] The processing unit is used to determine the second perception result based on multiple two-dimensional coordinates and the dimensions of the multiple two-dimensional coordinates;

[0049] The transceiver unit is also used to send a second sensing result to the first communication device; wherein the second sensing result is used by the first communication device to determine second information, the second information including multiple three-dimensional coordinates of the sensing target.

[0050] In one possible implementation, the processing unit is configured to, if the first information also includes range information of the third-dimensional coordinates, determine a second perception result of the position indicated by multiple two-dimensional coordinates based on the range of the third-dimensional coordinates indicated by the range information of the third-dimensional coordinates.

[0051] In one possible implementation, the processing unit is configured to determine a second sensing result based on the reference array element positions or reference heights corresponding to multiple second communication devices, if the first information further includes reference array element positions or reference heights respectively.

[0052] In one possible implementation, the transceiver unit is further configured to receive a fusion sensing request from the first communication device before receiving the first information from the first communication device; wherein the fusion sensing request includes first stage indication information and first fusion indication information; and / or, second stage indication information and second fusion indication information; wherein the first fusion indication information is used to indicate incoherent fusion of the first sensing result corresponding to the first stage, and the second fusion indication information is used to indicate coherent fusion of the second sensing result corresponding to the second stage.

[0053] In one possible implementation, the first sensing result includes amplitude information but excludes phase information.

[0054] In one possible implementation, the second sensing result includes amplitude information and phase information.

[0055] A fifth aspect of this application provides a communication device including a processor. The processor is configured to call and run a computer program stored in a memory, causing the processor to implement as described in the first aspect or any of the implementations of the first aspect.

[0056] Optionally, the communication device also includes a transceiver; the processor is also used to control the transceiver to send and receive signals.

[0057] Optionally, the communication device includes a memory in which a computer program is stored.

[0058] The communication device mentioned in the fifth aspect above can be a device or a chip (system) in a device.

[0059] A sixth aspect of this application provides a communication device including a processor. The processor is configured to invoke and execute a computer program stored in a memory, such that the processor implements as described in the second aspect or any of the implementations in the second aspect.

[0060] Optionally, the communication device also includes a transceiver; the processor is also used to control the transceiver to send and receive signals.

[0061] Optionally, the communication device includes a memory in which a computer program is stored.

[0062] The communication device described in the sixth aspect above can be a device or a chip (system) in a device.

[0063] The seventh aspect of this application provides a communication device, which may be a first communication device or a module or unit (e.g., a chip, a chip system, or a circuit) in the first communication device that performs the methods / operations / steps / actions described in the first aspect or any implementation of the first aspect.

[0064] The eighth aspect of this application provides a communication device, which may be a second communication device or a module or unit (e.g., a chip, a chip system, or a circuit) in the second communication device that performs the methods / operations / steps / actions described in the second aspect or any implementation thereof.

[0065] The ninth aspect of this application provides a computer-readable storage medium including computer instructions that, when executed on a computer, cause the computer to perform an implementation as described in the first aspect or any of the first aspects.

[0066] The tenth aspect of this application provides a computer-readable storage medium including computer instructions that, when executed on a computer, cause the computer to perform an implementation as described in the second aspect or any of the second aspects.

[0067] The eleventh aspect of this application provides a computer program product including instructions that, when run on a computer, cause the computer to perform an implementation as described in the first aspect or any of the first aspects.

[0068] The twelfth aspect of this application provides a computer program product including instructions that, when run on a computer, cause the computer to perform an implementation as described in the second aspect or any of the second aspects.

[0069] The thirteenth aspect of this application provides a chip device including a processor for calling a program stored in a memory, such that the processor executes the first aspect or any implementation thereof.

[0070] Optionally, the memory may be located inside or outside the chip device.

[0071] The fourteenth aspect of this application provides a chip device including a processor for calling a program stored in a memory, such that the processor executes the second aspect or any implementation thereof described above.

[0072] Optionally, the memory may be located inside or outside the chip device.

[0073] The fifteenth aspect of this application provides a communication system, which includes a first communication device and a second communication device. The first communication device is used to execute the first aspect or any one of the implementations of the first aspect, and the second communication device is used to execute the second aspect or any one of the implementations of the second aspect.

[0074] The technical effects of the second, third, or fourth aspects, or any possible implementation of the second, third, or fourth aspects, and the fifth to fifteenth aspects, can be found in the first aspect or the technical effects of different possible implementations of the first aspect, and will not be repeated here. Attached Figure Description

[0075] Figure 1A This is an example schematic diagram of a sensing scenario provided in an embodiment of this application;

[0076] Figure 1B This is another example schematic diagram of the perception scenario provided in the embodiments of this application;

[0077] Figure 2A This is another example schematic diagram of the perception scenario provided in the embodiments of this application;

[0078] Figure 2B This is a schematic diagram of an antenna array provided in an embodiment of this application;

[0079] Figure 3 This is a schematic diagram of an embodiment of the sensing method provided in this application;

[0080] Figures 4A to 4H This is an example diagram of the two-stage perception process provided in the embodiments of this application;

[0081] Figure 5 This is a schematic diagram of another embodiment of the sensing method provided in this application;

[0082] Figure 6 This is a schematic diagram of another embodiment of the sensing method provided in this application;

[0083] Figure 7 This is a schematic diagram of another embodiment of the sensing method provided in this application;

[0084] Figure 8This is a schematic diagram of another embodiment of the sensing method provided in this application;

[0085] Figures 9 to 13 This is a schematic diagram of the communication device provided in the embodiments of this application. Detailed Implementation

[0086] The embodiments of this application are described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. As those skilled in the art will understand, with the development of technology and the emergence of new scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0087] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0088] This application provides a sensing method to improve the imaging quality and accuracy of a sensed target. This application also provides corresponding apparatus, computer-readable storage media, and computer program products. These are described in detail below.

[0089] The technical solutions of this application can be applied to various communication systems, such as: satellite communication, 5th generation (5G) systems or new radio (NR), long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, universal mobile telecommunication systems (UMTS), vehicle to everything (V2X) communication systems, and future communication networks or systems after 5G networks, etc.

[0090] In addition to having stronger communication capabilities, the aforementioned communication system can also have sensing capabilities. It can be a communication system with integrated sensing and communication (ISAC). An integrated sensing and communication system means that the communication system can communicate through communication signals (which can also be described as communication channels) and perform sensing and measurement through sensing signals (which can also be described as sensing channels).

[0091] In this application, "perception" refers to using the transmission, reflection, and scattering of radio waves (radio frequency signals) to sense the surrounding environment and detect targets. For example, in vehicle-to-everything (V2X) systems, sensing signals are used to detect other vehicles or objects around vehicles; in imaging systems, sensing signals are used to image target points (buildings, vehicles, and other tangible objects) in the environment. Of course, the communication system in this application can also be an industrial automation system or other communication systems that require sensing.

[0092] The communication system described in this application can be a communication system based on orthogonal frequency division multiplexing (OFDM) and / or time division multiplexing (TDM), or a communication system or communication and sensing system based on frequency modulated continuous waveform (FMCW).

[0093] For ease of understanding, the technical terms involved in the embodiments of this application are briefly introduced below:

[0094] 1. Sensing Node: A communication device used for sensing, which may include a transmitter (Tx), a receiver (Rx), or a transceiver integrated communication device.

[0095] 2. Transmitter: A communication device that transmits communication signals and / or sensing signals (SS), also known as a transmitting node or transmitting device.

[0096] 3. Receiver: A communication device that receives the echo signal of communication signals and / or sensing signals; it can also be called a receiving node or receiving device.

[0097] 4. Sensing Signal: This refers to the radio frequency signal used to sense the environment or target. SS can be a sensing reference signal (SERS), a positioning reference signal (PRS), or a sounding reference signal (SRS), etc. Sensing signals can be transmitted in the form of beams.

[0098] 5. Echo signal (ES): refers to the signal after the sensing signal has been transmitted, reflected or scattered. The sensing result can be determined by measuring the echo signal, which can be received by beamforming.

[0099] 6. Beam: A beam is a communication resource. A beam can be wide, narrow, or other types of beams. The technology used to form a beam can be beamforming technology or other techniques. Beamforming technology can specifically be digital beamforming technology, analog beamforming technology, and hybrid digital or analog beamforming technology. Different beams can be considered different resources. The beam used to transmit signals can be called a transmission beam (Txbeam), and the beam used to receive signals can be called a reception beam (Rxbeam). The transmission beam refers to the distribution of signal strength in different directions in space after the signal is transmitted through the antenna, and the reception beam refers to the distribution of signal strength in different directions in space of the wireless signal received from the antenna.

[0100] 7. Central node: refers to the communication device that configures sensing parameters for the transmitting end or receiving end of the sensing signal, and / or the communication device that summarizes the sensing results.

[0101] 8. Perception Area: Also known as the Region of Interest (ROI), it typically refers to the area defined by the central node where perception measurements will be performed. The perception area usually includes the perception target. The perception target refers to objects in the environment, such as buildings, vehicles, or other objects.

[0102] 9. Sensing result (SR): refers to the result of sensing the target calculated from the echo signal.

[0103] For ease of understanding, the technical terms involved in the embodiments of this application are briefly introduced below:

[0104] 10. Joint Sensing: This refers to multiple sensing nodes jointly sensing the ROI. The sensing results from each node are typically fused at a central node to obtain a unified sensing result. This reduces sensing uncertainty and improves sensing performance. The sensing signals used by multiple sensing nodes in joint sensing can be coherent or incoherent. Cooperation using coherent signals is called coherent cooperation, while cooperation using incoherent signals is called incoherent cooperation.

[0105] 11. Coherent signal: A signal that satisfies the coherence condition, which includes at least one of the following: same vibration direction, same vibration frequency, same phase, or constant phase difference.

[0106] 12. Incoherent signal: A signal that does not meet the coherence condition, that is, the vibration direction, vibration frequency, phase or phase difference are all different.

[0107] 13. Coherent Fusion: When multiple sensing nodes jointly sense, if the signals from the multiple sensing nodes meet the coherence condition, fusing the coherent signals is called coherent fusion. Coherent fusion can effectively enhance the resolution and signal-to-noise ratio (SNR) gain of sensing, but it requires phase-level synchronization of multiple sensing nodes, and the fusion is greatly affected by anisotropic scattering, making it difficult to achieve.

[0108] 14. Incoherent Fusion: When multiple sensing nodes perform joint sensing, if the signals from multiple sensing nodes do not meet the coherence condition, fusing these incoherent signals is called incoherent fusion. Although the gain in resolution and signal-to-noise ratio is smaller than that of coherent cooperation, incoherent fusion has lower requirements for multiple sensing nodes. It does not require multiple sensing nodes to operate in the same frequency band or phase synchronization, and it is less affected by anisotropic scattering, making it more suitable for joint sensing scenarios.

[0109] 15. Imaging results: refers to the results obtained by sensing the target area through sensing signals and then processing the echo signals through imaging algorithms. It is usually represented in the form of point clouds.

[0110] 16. Imaging quality: refers to the performance indicators of the imaging result, such as resolution and blur-free image.

[0111] 17. Resolution: refers to the smallest interval in the imaging result that can distinguish adjacent targets, such as distance interval or angular interval. It can also be called range resolution and azimuth resolution. It determines the fineness of the imaging and the ability to distinguish targets.

[0112] 18. The terms "system" and "network" used in the embodiments of this application are interchangeable. "Multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, "at least one of A, B, and C" includes A, B, C, AB, AC, BC, or ABC. And, unless otherwise specified, the ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects and are not used to limit the order, sequence, priority, or importance of multiple objects.

[0113] 19. In the embodiments of this application, "send" and "receive" indicate the direction of signal transmission. For example, "send information to XX" can be understood as the destination of the information being XX, which may include sending directly via the air interface or sending indirectly via the air interface from other units or modules. "Receive information from YY" can be understood as the source of the information being YY, which may include receiving directly from YY via the air interface or receiving indirectly from YY via the air interface from other units or modules. "Send" can also be understood as the "output" of the chip interface, and "receive" can also be understood as the "input" of the chip interface.

[0114] In other words, sending and receiving can occur between devices, such as between network devices and terminal devices, or within a device, such as between components, modules, chips, software modules, or hardware modules within the device via buses, wiring, or interfaces.

[0115] It is understandable that information may undergo necessary processing, such as encoding and modulation, between the source and destination, but the destination can understand the valid information from the source. Similar statements in this application can be interpreted in a similar way and will not be elaborated further.

[0116] 20. In the embodiments of this application, "instruction" may include direct instruction and indirect instruction, as well as explicit instruction and implicit instruction. The information indicated by a certain piece of information (hereinafter referred to as instruction information) is called the information to be instructed. In the specific implementation process, there are many ways to indicate the information to be instructed, such as, but not limited to, directly indicating the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly indicate the information to be instructed by indicating other information, where there is an association between the other information and the information to be instructed; or it can only indicate a part of the information to be instructed, while the other parts of the information to be instructed are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol predefined) arrangement order of various information, thereby reducing the instruction overhead to a certain extent. This application does not limit the specific method of instruction. It is understood that for the sender of the instruction information, the instruction information can be used to indicate the information to be instructed; for the receiver of the instruction information, the instruction information can be used to determine the information to be instructed.

[0117] In this application, unless otherwise specified, the same or similar parts between the various embodiments can be referred to each other. In the various embodiments of this application, and the various methods / designs / implementations within each embodiment, unless otherwise specified or logically conflicting, the terminology and / or descriptions between different embodiments and between the various methods / designs / implementations within each embodiment are consistent and can be mutually referenced. The technical features in different embodiments and the various methods / designs / implementations within each embodiment can be combined to form new embodiments, methods, or implementations based on their inherent logical relationships. The following descriptions of the embodiments of this application do not constitute a limitation on the scope of protection of this application.

[0118] The sensing method provided in this application can be applied to joint sensing scenarios, which refer to multiple sensing nodes sensing the same sensing area, and then the multiple sensing nodes sending their respective determined sensing results to the central node, which then fuses the multiple sensing results to reduce the uncertainty of sensing and improve sensing performance.

[0119] The joint sensing scenario can be a dual-base joint sensing scenario, a single-base joint sensing scenario, or a hybrid dual-base and single-base joint sensing scenario. A dual-base joint sensing scenario refers to a transceiver-transmitter joint sensing scenario, where the transmitter of the sensing signal and the receiver of the echo signal are not the same communication device. A single-base joint sensing scenario refers to a transceiver-integrated joint sensing scenario, where the transmitter of the sensing signal and the receiver of the echo signal belong to the same communication device; a single-base joint sensing scenario can also be called a self-sensing scenario. A hybrid dual-base and single-base joint sensing scenario refers to a scenario in which the communication devices participating in the joint sensing include both transceiver-integrated and transceiver-separated communication devices.

[0120] The sensing method provided in this application can be applied to joint sensing scenarios, which refer to multiple sensing nodes sensing the same sensing area, and then the multiple sensing nodes sending their respective determined sensing results to the central node, which then fuses the multiple sensing results to reduce the uncertainty of sensing and improve sensing performance.

[0121] For dual-base sensing scenarios, please refer to Figure 1A To understand. For example Figure 1A As shown, this dual-base sensing scenario includes two transmitters, four receivers, and multiple target objects. The two transmitters are transmitter Tx101 and transmitter Tx102; the four receivers are receivers Rx103, Rx104, Rx105, and Rx106; and a central node 107. The target objects can be various types of buildings or other objects. The central node 107 can configure the scanning information of the transmission beam for one or more transmitters. It can also configure the receiving parameters for one or more receivers and aggregate the sensing results from multiple receivers.

[0122] The transmitter Tx101 transmits a sensing signal SS1, and the echo signal ES1 generated by SS1 after passing through the building is received by the receiver Rx103.

[0123] Transmitter Tx102 transmits SS2, and SS2 passing through a building generates ES2, which is received by receiver Rx103; transmitter Tx102 transmits SS3, and SS3 passing through a building generates ES3, which is received by receiver Rx104; transmitter Tx102 transmits SS4, and SS3 passing through a building generates ES4, which is received by receiver Rx105; ES5 is received by receiver Rx106.

[0124] It should be noted that SS2, SS3, and SS4 can be sensing signals emitted from the same transmitting beam. However, sensing signals within the range of this transmitting beam will produce echo signals in different directions when encountering buildings at different locations, such as ES2, ES3, ES4, and ES5. Echo signals in different directions can be received by different receiving terminals. Of course, SS2, SS3, and SS4 can also be sensing signals in different beams of the transmitting terminal Tx102.

[0125] In a dual-base sensing scenario, echo signals generated by sensing signals transmitted from the same transmitter can be received by different receivers. For example, ES2 is received by receiver Rx103, ES3 by receiver Rx104, ES4 by receiver Rx105, and ES5 by receiver Rx106. Echo signals generated by sensing signals transmitted from different transmitters can also be received by the same receiver, such as ES1 and ES2 being received by receiver Rx103. Of course, echo signals generated by sensing signals transmitted from the same transmitter can also be received by only one receiver. This application does not limit the correspondence between transmitters and receivers; it is related to the number of transmitters or receivers within a certain area. In either case, the receiver can determine the sensing result based on its received echo signals. Alternatively, the receiver can send relevant data from the received echo signals to other communication devices for them to determine the sensing result.

[0126] For single-base sensing scenarios, please refer to [link / reference]. Figure 1B To understand. For example Figure 1B As shown, this single-base sensing scenario may include a central node 107, sensing nodes 108, and multiple target objects. Sensing node 108 includes a transmitter of sensing signals and a receiver of echo signals. The central node 107 can configure the scanning information of the transmitted beam for sensing nodes 108. It should be noted that this single-base sensing scenario may include multiple sensing nodes, and is not limited to... Figure 1B As illustrated in the diagram, when there are multiple sensing nodes, the central node 107 can also summarize the sensing results of multiple sensing nodes.

[0127] When sensing node 108 measures targets in the environment, it can emit one or more beams. The sensing signals SS on the one or more beams can detect targets at different locations. The sensing node then receives the corresponding echo signals ES, and can determine the sensing result based on the ES. Of course, sensing node 108 can also send relevant data from the received echo signals to other communication devices, which can then determine the sensing result.

[0128] The above Figure 1A and Figure 1BIn the described scenario, the receiver, transmitter, and sensing node can all be terminal devices or network devices, and the central node can also be a terminal device or a network device. Figure 1A and Figure 1B The receiver, transmitter, sensing node, and central node shown are not limited to specific forms.

[0129] Furthermore, a sensing scenario that combines single-base and dual-base elements refers to a scenario that includes both single-base and dual-base elements. Figure 1A The sensing process of the transmitter and receiver shown includes, for example: Figure 1B The sensing process of the sensing node is shown.

[0130] The terminal equipment and network equipment of this application are described below.

[0131] Terminal equipment: can be a wireless terminal device capable of receiving network device scheduling and instruction information. The wireless terminal device can be a device that provides voice and / or data connectivity to the user, or a handheld device with wireless connectivity, or other processing device connected to a wireless modem.

[0132] Terminal devices can communicate with one or more core networks or the Internet via a radio access network (RAN). Terminal devices can be mobile terminal devices, such as mobile phones (or "cellular" phones), computers, and data cards. For example, they can be portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices that exchange voice and / or data with the RAN. Examples include personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), tablets, and computers with wireless transceiver capabilities. Wireless terminal equipment can also be called subscriber unit, subscriber station, mobile station (MS), remote station, access point (AP), remote terminal, access terminal, user terminal, user agent, subscriber station (SS), customer premises equipment (CPE), terminal, user equipment (UE), mobile terminal (MT), etc.

[0133] By way of example and not limitation, in this embodiment, the terminal device can also be a wearable device. Wearable devices, also known as wearable smart devices or smart wearable devices, are a general term for devices that utilize wearable technology to intelligently design and develop everyday wearables, such as glasses, gloves, watches, clothing, and shoes. Wearable devices are portable devices that are worn directly on the body or integrated into the user's clothing or accessories. Wearable devices are not merely hardware devices, but also achieve powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include those that are feature-rich, large in size, and can achieve complete or partial functions without relying on a smartphone, such as smartwatches or smart glasses, as well as those that focus on a specific type of application function and require the use of other devices such as smartphones, such as various smart bracelets, smart helmets, and smart jewelry for vital sign monitoring.

[0134] Terminal devices can also be drones, robots, devices in device-to-device (D2D) communication, vehicles to everything (V2X) communication, virtual reality (VR) terminal devices, augmented reality (AR) terminal devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in telemedicine or telehealth services, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, etc.

[0135] Furthermore, terminal devices can also be terminal devices in future communication systems beyond the fifth generation (5G) (such as 5G Advanced communication systems) or in future evolved public land mobile networks (PLMNs). For example, 5G Advanced networks can further expand the form and function of 5G communication terminals; 5G Advanced terminals include, but are not limited to, vehicles, cellular network terminals (integrating satellite terminal functions), drones, and Internet of Things (IoT) devices.

[0136] In this embodiment, the terminal device can also obtain artificial intelligence (AI) services provided by the network device. Optionally, the terminal device can also have AI processing capabilities.

[0137] Network equipment: This can be equipment within a wireless network. For example, network equipment can be a RAN node (or device) that connects terminal devices to the wireless network, and can also be called a base station. Currently, some examples of RAN equipment include: base station, evolved NodeB (eNodeB), gNB (gNodeB) in 5G communication systems, transmission reception point (TRP), evolved Node B (eNB), radio network controller (RNC), Node B (NB), home base station (e.g., home-evolved Node B, or home Node B, HNB), base band unit (BBU), or wireless fidelity (Wi-Fi) access point (AP), etc. Additionally, in a network architecture, network equipment can include central unit (CU) nodes, distributed unit (DU) nodes, or RAN equipment including both CU and DU nodes.

[0138] Optionally, the RAN node can also be a macro base station, micro base station, indoor station, relay node, donor node, or a radio controller in a cloud radio access network (CRAN) scenario. The RAN node can also be a server, wearable device, vehicle, or in-vehicle equipment. For example, the access network equipment in vehicle-to-everything (V2X) technology can be a roadside unit (RSU).

[0139] In another possible scenario, multiple RAN nodes collaborate to assist the terminal in achieving wireless access, with different RAN nodes each implementing some of the base station's functions. For example, RAN nodes can be CUs, DUs, CUs (control plane, CP), CUs (user plane, UP), or radio units (RUs). CUs and DUs can be set up separately or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio equipment or radio units, such as remote radio units (RRUs), active antenna units (AAUs), radio heads (RHs), or remote radio heads (RRHs).

[0140] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an open access network (open RAN, O-RAN, or ORAN) system, CU can also be called O-CU (open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software modules and hardware modules.

[0141] Communication between access network devices and terminal devices follows a specific protocol layer structure. This protocol layer may include a control plane protocol layer and a user plane protocol layer. The control plane protocol layer may include at least one of the following: radio resource control (RRC) layer, packet data convergence protocol (PDCP) layer, radio link control (RLC) layer, media access control (MAC) layer, or physical (PHY) layer, etc. The user plane protocol layer may include at least one of the following: service data adaptation protocol (SDAP) layer, PDCP layer, RLC layer, MAC layer, or physical layer, etc.

[0142] The correspondence between network elements and their achievable protocol layer functions in the ORAN system can be found in Table 1 below.

[0143] Table 1

[0144] ORAN network elements 3GPP protocol layer functions O-CU-CP RRC+PDCP-Control Plane (PDCP-C) O-CU-UP SDAP+PDCP - User Plane (PDCP-U) O-DU RLC+MAC+PHY-high O-RU PHY-low

[0145] Network devices can be other devices that provide wireless communication functions for terminal devices. The embodiments of this application do not limit the specific technology or form of the network device. For ease of description, the embodiments of this application are not limited.

[0146] Network equipment may also include core network equipment, such as the Mobility Management Entity (MME), Home Subscriber Server (HSS), Serving Gateway (S-GW), Policy and Charging Rules Function (PCRF), and Public Data Network Gateway (PDN gateway or P-GW) in 4th generation (4G) networks; and access and mobility management function (AMF), user plane function (UPF), or session management function (SMF) in 5G networks. Furthermore, this core network equipment may also include other core network equipment in 5G networks and next-generation networks of 5G networks.

[0147] In this embodiment of the application, the network device may also be a network node with AI capabilities, which can provide AI services to terminal devices or other network devices. For example, it may be an AI node, computing node, RAN node with AI capabilities, core network element with AI capabilities, etc. on the network side (access network or core network). The network device may also be a server or virtual machine (VM) in the cloud.

[0148] In the above Figure 1A and Figure 1B In the joint sensing scenario shown, multiple sensing nodes or receiving nodes are required to participate in joint sensing. To achieve 360° surround scanning imaging, for sensing of key areas, please refer to [reference needed]. Figure 2A The sensing nodes or receiving nodes are arranged as shown.

[0149] like Figure 2A As shown, sensing nodes or receiving nodes can be arranged relatively evenly around the sensing target, for example, the distance between each sensing node and the sensing target is approximately equal, such as 100 meters. The array element arrangement of the antenna array on each sensing node or receiving node can be as follows: Figure 2B As shown, the antenna array can be a 64*16 array.

[0150] The sensing method provided in this application embodiment is described below from the perspective of a first communication device and a second communication device. The first communication device may be a central node, an SF network element, or an SMF network element. The second communication device may be a receiving node (receiving end) or a sensing node.

[0151] like Figure 3 As shown, the sensing method provided in this application includes:

[0152] S301. The first communication device acquires multiple first sensing results, and the multiple first sensing results correspond to multiple second communication devices.

[0153] This step can be the first communication device receiving first perception results from multiple second communication devices, or receiving first perception results from multiple second communication devices sent by other auxiliary devices, or the first communication device querying first perception results from multiple second communication devices from stored perception results.

[0154] S302. The first communication device performs incoherent fusion of multiple first sensing results to determine first information, wherein the first information includes multiple two-dimensional coordinates of the sensing target and the dimensions of the multiple two-dimensional coordinates.

[0155] In this application, incoherent fusion refers to the fusion of incoherent signals. Incoherent signals are signals that do not meet the coherence condition, that is, the vibration direction, vibration frequency, phase or phase difference are all different. Incoherent fusion of multiple first sensing results can also refer to the incoherent superposition of multiple first sensing results. Incoherent superposition means that the first sensing results are only superimposed in terms of intensity values, without considering the influence of the phase of the sensing results.

[0156] In this application, the first information may include coordinates in multiple (x, y) dimensions, such as: [x1, y1], [x2, y2], ..., [x M ,y M Of course, the dimensions of the two-dimensional coordinates included in the first information can also be other dimensions. In this application, the (x, y) dimension is used as an example for illustration, but it is not limited to the (x, y) dimension.

[0157] S303. The first communication device sends first information to a plurality of second communication devices. Correspondingly, the plurality of second communication devices receive the first information.

[0158] Among them, multiple two-dimensional coordinates and the dimensions of multiple two-dimensional coordinates are used for each second communication device to determine the second sensing result.

[0159] The second communication device can determine the second sensing results related to the two-dimensional coordinates in the first information. Sensing results not related to these two-dimensional coordinates do not need to be determined. In this way, the number of second sensing results can be reduced, the calculation speed can be improved, and the amount of data transmitted can be reduced.

[0160] S304. The second communication device determines the second sensing result based on multiple two-dimensional coordinates and the dimensions of the multiple two-dimensional coordinates.

[0161] The second communication device can determine a second sensing result related to the multiple two-dimensional coordinates in the first information, while a sensing result unrelated to the multiple two-dimensional coordinates does not need to be determined.

[0162] S305. Multiple second communication devices send second sensing results to the first communication device. Correspondingly, the first communication device receives multiple second sensing results from the multiple second communication devices.

[0163] S306. The first communication device coherently fuses multiple second sensing results to determine second information; wherein the second information includes multiple three-dimensional coordinates of the sensing target.

[0164] In this embodiment of the application, any one of the multiple two-dimensional coordinates corresponds to at least one of the multiple three-dimensional coordinates.

[0165] In this application, coherent fusion refers to the fusion of coherent signals, wherein the coherent signal is a signal that satisfies the coherence condition, which includes at least one of the following: the vibration direction is the same, the vibration frequency is the same, the phase is the same, or the phase difference remains constant.

[0166] In this application, the second information may include multiple coordinates in (x, y, z) dimensions, wherein each two-dimensional coordinate in the first information may be associated with one or more three-dimensional coordinates, and the (x, y) of these one or more three-dimensional coordinates may all be the same.

[0167] In the solution provided in this application embodiment, the multiple second communication devices are geographically distributed and are generally incoherent in the (x, y) dimension. However, the heights of the multiple second communication devices are usually not significantly different, and they are highly likely to be coherent in the z dimension. Therefore, incoherent fusion is performed in the (x, y) dimension, and coherent fusion is performed in the z dimension. In this way, the multiple second communication devices measure the sensing target from different observation angles and then perform fusion. Incoherent fusion in the (x, y) dimension can suppress the sidelobe rise caused by the discontinuity of the aperture of the antenna arrays of different second communication devices. Coherent fusion in the z dimension can solve the problem of incoherent scattering coefficients of the sensing target caused by the discontinuity of the aperture of the antenna arrays of different second communication devices. This can improve the imaging quality and imaging accuracy of the fused sensing imaging. In addition, only sensing results related to the coordinates of multiple (x, y) dimensions need to be sent in the second sensing results, which can reduce the amount of data transmission and reduce the occupation of air interface resources.

[0168] Optionally, the first information mentioned above also includes the range information of the third-dimensional coordinates; correspondingly, S304 may include:

[0169] Based on the range of the third-dimensional coordinates indicated by the range information of the third-dimensional coordinates, a second perception result is determined for the positions indicated by multiple two-dimensional coordinates.

[0170] In this application, if the dimension of the two-dimensional coordinates described above is (x, y), then the third dimension is the z dimension; conversely, if the dimension of the two-dimensional coordinates described above is (x, z), then the third dimension is the y dimension, and if the dimension of the two-dimensional coordinates described above is (y, z), then the third dimension is the x dimension. If the first information indicates the range information of the third-dimensional coordinates, then the second perception result only needs to determine the perception result related to the two-dimensional coordinates according to the range of the third-dimensional coordinates indicated by the range information of the third-dimensional coordinates. For example, if the dimension of the two-dimensional coordinates described above is (x, y), and the range information of the third-dimensional coordinates is (z1~z2), then the third-dimensional coordinates are (x1~z3). N If the second perception result can include (x, y, z1)...(x, y, z), then the second perception result can include (x, y, z1)...(x, y, z). N One or more perception results within ) . Of course, the range information of the third-dimensional coordinates can also be discrete coordinates, such as: {z1,z2,…,z N Two-dimensional coordinates (x, y) can be expressed as {z1, z2, ..., z}. N Combine any one of the elements in} to determine the second perception result at the corresponding position.

[0171] It should be noted that, in addition to using the Cartesian coordinate system to describe dimensional coordinates as described above, other coordinate systems, such as polar coordinate systems (spherical coordinate systems, cylindrical coordinate systems) and geographic coordinate systems (latitude, longitude, altitude), can also be used. The above description in this application is only an example using the Cartesian coordinate system; the above ideas are equally applicable if other coordinate systems are used.

[0172] In the solution provided in this application embodiment, the first information also includes the range information of the third-dimensional coordinates, which can improve the accuracy of the second perception result, thereby helping to further improve the imaging quality and imaging accuracy of fused perception imaging.

[0173] Optionally, the first information may also include the reference element positions or reference heights corresponding to the multiple second communication devices respectively; correspondingly, the above S304 may include: determining the second sensing result of the positions indicated by multiple two-dimensional coordinates based on the reference element positions or reference heights.

[0174] In the solution provided in this application embodiment, the first information also includes the reference array element positions or reference heights corresponding to multiple second communication devices, which can enable the second communication devices to determine more accurate second sensing results associated with multiple two-dimensional coordinates, thereby helping to further improve the imaging quality and imaging accuracy of fusion sensing imaging.

[0175] The above-mentioned S302 determines the first information (e.g., two-dimensional coordinates (x, y)) and S306 determines the second information (e.g., ((x, y, z1)...(x, y, z)). N The process can be divided into two stages, and then different algorithms are used to implement them. For example... Figure 4A As shown, in the first stage, the back projection (BP) algorithm can be used to process the echo signal to obtain the first sensing result. Then, the first sensing results from multiple second communication devices are incoherently fused. The incoherent fusion result is processed using the constant false alarm rate (CFAR) algorithm to obtain multiple two-dimensional coordinates (x, y). In the second stage, the echo signals related to the multiple two-dimensional coordinates (x, y) are processed using the block sparse Bayesian learning (BSBL) algorithm to obtain the second sensing result. The multiple second sensing results are then coherently fused to recover the z-dimensional coordinates. It should be noted that the algorithm is not limited to those listed above; this application only uses the BP, CFAR, and BSBL algorithms as examples. The processes of the first and second stages described above are described below in conjunction with the data expressions of each signal.

[0176] Phase 1:

[0177] In this embodiment, the sensing signal transmitted by the sensing node or transmitting node can be a frequency-modulated continuous wave (FMCW). The FMCW signal can be called a chirp, which is a sine curve. The mathematical expression of this signal can be expressed as:

[0178]

[0179] t∈[-T / 2,T / 2)

[0180] Among them, S T (t) represents the transmitted signal, and A0 represents the amplitude of the transmitted signal. f0 represents the initial phase of the transmitted signal, f0 represents the initial frequency of the transmitted signal, μ = B / T is the frequency modulation slope, and T is the effective time width.

[0181] If the distance to the target is R0, the transmitted signal is reflected by the target, and a delayed echo signal is obtained. The expression is:

[0182]

[0183] (t-τ)∈[-T / 2,T / 2)

[0184] Among them, K r Here, τ is the reflection coefficient of the target being sensed, and τ = 2R0 / c represents the delay time of the echo signal, where c is the speed of light. The expression for the echo signal after pulse compression processing in the range direction is:

[0185] S R (t)=K r A0 2 exp{-j2πf0(t-τ)}sinc[πB(t-τ)]

[0186] Among them, S R (t) represents the echo signal after compression, and B represents the width of the echo signal after compression.

[0187] The range resolution (range-direction resolution) of the antenna array is Therefore, the distance resolution can be determined from the echo signal. Of course, the distance between the second communication device and the sensing target can also be determined based on the distance resolution.

[0188] It should be noted that FMCW is only one possible form of sensing signal. Other types of signals can be used for sensing signals, including but not limited to positioning reference signal (PRS), channel sounding reference signal (SRS), channel state information reference signal (CSI-RS), demodulation reference signal (DMRS), etc.

[0189] The second communication device can process the echo signal S R (t) is processed to obtain the first sensing result. Of course, the echo signal S can also be processed. R (t) is sent to the first communication device, which processes the echo signal to obtain the first sensing result.

[0190] In this embodiment of the application, the BP algorithm can be used to process the echo signal S. R (t). The basic idea of ​​the BP algorithm is to calculate the two-way time delay between each pixel in the imaging area and multiple second communication devices, and then superimpose the corresponding echo signals along the aperture direction to achieve enhancement. For the entire imaging area, coherent superposition processing is performed pixel by pixel according to the above process to obtain the final image. For each set of azimuth sampling data, the reflected signal represents the sum of the reflection characteristics of all target points in the entire illumination scene. Therefore, the scene is first divided into a three-dimensional grid. For each grid point, the echo signal S is calculated based on its current distance. R The signal corresponding to the distance in (t) is assigned to that point, thus obtaining the distribution of reflected signals of scene targets within that azimuth and time period. The signal distributions of all scene targets are superimposed to obtain the scene image. For example... Figure 4B The data shown is range-compressed data, which can be understood as echo signal S. R (t), Figure 4C The scene mesh shown is determined by the BP algorithm.

[0191] Through multiple observations, it can be found that the echo signal contains phase information of the signal propagation from the transmitter to the sensing target and then from the sensing target to the receiver. During the coherent accumulation of multi-channel signals from a single second communication device, this phase should be compensated. The compensated phase is:

[0192]

[0193] Among them, H icomp Indicates the compensation phase. Let represent the Euclidean distance between the m-th row and n-th channel of the i-th second communication device and the grid (x,y,z), where i is the number of the second communication device, and m and n are the channel numbers of the i-th second communication device.

[0194] The signal obtained after phase compensation can be expressed as:

[0195]

[0196] in, This represents the compressed signal in the range direction, where This is to project the pulse-compressed signal onto the corresponding BP grid position.

[0197] When multiple channels of signals within a single second communication device are projected onto the same grid, coherent superposition can be used, as shown in the following expression:

[0198]

[0199] The channel signals of the same row within a single second communication device are coherently superimposed to obtain N first sensing results, where N can be the number of rows of array elements. To obtain XY two-dimensional imaging results, the radar BP results of different second communication devices are incoherently superimposed. The expression can be:

[0200]

[0201] in, This represents the result of incoherent superposition (incoherent fusion), where i is the number of the second communication device, and there are I second communication devices in total. || represents taking the signal amplitude. Through this expression, the three-dimensional incoherent BP result can be obtained. Then, by taking the maximum value along the Z-axis, multiple two-dimensional coordinates (x, y) can be obtained. This process can be understood by referring to the following expression.

[0202]

[0203] Wherein, l represents the range of the perceived target in the Z direction, and the BP result is used to define this range. CFAR detection is employed to adjust the detection threshold based on the magnitude of background noise, clutter, and interference, ensuring a constant false alarm probability for the radar. This allows the radar to obtain the two-dimensional coordinates of the detected target in the x,y plane. The positions of these two-dimensional coordinates can be found in [reference]. Figure 4D Please refer to section 401 for comprehension.

[0204] Regarding CFAR detection, this embodiment employs two-dimensional CFAR detection (2D CFAR). 2D CFAR detection can simultaneously select guard cells and reference cells in two dimensions to estimate background clutter power, thus improving target detection performance and enabling accurate and efficient target identification. Currently, the commonly used detection window for 2D CFAR is a rectangular window, such as... Figure 4E As shown in the figure. Among them, 402 represents the unit to be inspected, 403 represents the protection unit, and 404 represents the reference unit.

[0205] The protection unit 403 prevents target energy leakage to the reference unit 404, which could affect the detection results. The reference unit 404 is used to calculate the background clutter power. For each unit under test 402, the clutter power Z is calculated based on the reference unit 404. The expression for the clutter power Z can be:

[0206]

[0207] Where M and N represent the number of two-dimensional rectangular reference windows, respectively; P and Q represent the number of protection units within the two-dimensional rectangular reference windows, respectively; x i,j This represents the sampled value of the i-th horizontal and j-th vertical cell within a two-dimensional rectangular reference window. The working principle of the rectangular reference window is as follows: Figure 4E As shown. The expression for the detection threshold T is as follows:

[0208]

[0209] Where P represents the constant false alarm rate; n represents the total number of reference units. When the sampled value D of the unit to be inspected is less than the detection threshold, it is determined that there is no target; otherwise, the target exists. If the target exists, the two-dimensional coordinates of the target's location can be determined.

[0210] Phase Two:

[0211] The process of using the two-dimensional coordinates obtained in the first stage to perform the second stage of perception is as follows:

[0212] like Figure 4F As shown, M arrays enable the radar system to obtain an aperture in the elevation dimension, allowing imaging in that dimension. Let there be k signal sources in space, and let θ be the elevation angle of the k-th signal source. k Let the incident angle of the signal be θ, then the phase difference between other array elements and the reference array element is... The steering vector of the incident signal at the incident angle θ is:

[0213]

[0214] Where M is the number of channels, any array element can be used as a reference element to obtain the steering vector, and the sparse solution of the original signal can be recovered by selecting any steering vector. When the incident signal function is x(t), the output signal s of a single input signal can be written as:

[0215]

[0216] Here, N signals are incident, with incident angles of θ1, θ2, ..., θ3 respectively. N The incident signal is X. N×1 = [x1,x2,…x N ] T The guidance vector is:

[0217]

[0218] Where N is the number of incident signals. Input signal X N×1 and output signal S M×1 The relationship between them is:

[0219] S M×1 =A M×N X N×1

[0220] In reality, there is always noise in the receiver. Therefore, the above relationship can be written as: S M×1 =A M×N X N×1 +n M×1 , where n M×1 It is noise.

[0221] The xy-dimensional position of the known target is known from CFAR. To obtain the z-dimensional position, a sparse Bayesian algorithm is used for super-resolution processing. In the aforementioned BP algorithm processing, in order to preserve the phase difference caused by the difference in the rows of different channels, the compensation phase used for multi-channel signal coherent accumulation of a single second communication device adopts the compensation factor corresponding to the reference row for multi-channel accumulation of different rows. Specifically, the form of the compensation signal is as follows:

[0222]

[0223] in, Let be the Euclidean distance between the nth channel in the m′th row of the i-th second communication device and the grid (x,y,z). The m′th row is the row of channels with the array element height in the middle, indicating that the Z-dimensional compensated phase of each second communication device is the same. The signal is only affected by the channel position on the target phase, which is more suitable for sparse Bayesian recovery. The signal obtained after phase compensation is:

[0224]

[0225] in, This represents the compressed signal in the range direction, where i is the number of the second communication device, and m and n are the channel numbers of the i-th second communication device. To project the pulse-compressed signal onto the corresponding BP grid position, it can be represented as:

[0226]

[0227] in, To project the pulse-compressed signal onto the corresponding BP grid position, the channel signals at the same height of each second communication device are coherently superimposed. This yields a BP result for each station based on the number of array element rows, which can be achieved using block sparse Bayesian methods. By obtaining the three-dimensional coherent BP results through the BP algorithm and superimposing them along the z-axis, the superposition relationship can be expressed as:

[0228]

[0229] Super-resolution processing of the signal is performed using block sparse Bayesian methods. The specific block sparse Bayesian input signal processing is as follows: Figure 4G As shown in 405, the z-dimensional value can be recovered through block sparse Bayesian processing.

[0230] Then, by integrating the x, y, and z information, a unified three-dimensional coordinate system for multiple points of the perceived target can be obtained, such as... Figure 4H As shown.

[0231] The above describes the sensing method of this application from the perspective of the first communication device and the second communication device. The interaction process between the first communication device and the second communication device will be described below in different scenarios.

[0232] like Figure 5 As shown, taking a single-base sensing scenario where the first communication device is a central node or an SF network element / SMF network element, and the second communication device is a sensing node as an example, the sensing method provided in this application includes:

[0233] S501. The central node / SF network element / SMF network element sends a fusion sensing request to sensing node 1, ..., sensing node n. Correspondingly, sensing node 1, ..., sensing node n receives the fusion sensing request.

[0234] The fusion perception request may include first-stage indication information and first fusion indication information; and / or, second-stage indication information and second fusion indication information; wherein, the first fusion indication information is used to indicate incoherent fusion of the first perception result corresponding to the first stage, and the second fusion indication information is used to indicate coherent fusion of the second perception result corresponding to the second stage.

[0235] S502. Sensing nodes 1, ..., n send capability information to the central node / SF network element / SMF network element. Correspondingly, the central node / SF network element / SMF network element receives the capability information.

[0236] In this application, the capability information to be transmitted may include information such as the number, location, and direction of antenna elements. The antenna elements may include the number and direction of antenna elements used for transmitting signals, or the number and direction of antenna elements used for receiving signals. The capability information may also include information such as time-frequency resources, such as bandwidth, carrier wave, and time slot.

[0237] S503. Sensing nodes 1, ..., n send the first sensing result to the central node / SF network element / SMF network element. Correspondingly, the central node / SF network element / SMF network element receives multiple first sensing results.

[0238] In this application, the first sensing result includes amplitude information but does not include phase information. Because the first sensing result is used for incoherent fusion and does not require phase information, the second communication device only needs to transmit amplitude information to the first communication device. This reduces the amount of data transmission and the occupation of air interface resources.

[0239] S504. The central node / SF network element / SMF network element performs incoherent fusion of multiple first sensing results to determine first information, wherein the first information includes multiple two-dimensional coordinates of the sensing target and the dimensions of the multiple two-dimensional coordinates.

[0240] Optionally, the first information may also include the positions or reference heights of reference array elements corresponding to multiple second communication devices.

[0241] S505. The central node / SF network element / SMF network element sends the first information to sensing node 1, ..., sensing node n. Correspondingly, sensing node 1, ..., sensing node n receives the first information.

[0242] S506. Sensing node 1, ..., sensing node n determine the second sensing result based on multiple two-dimensional coordinates and the dimensions of the multiple two-dimensional coordinates and the position or reference height of the reference array element.

[0243] S507. Sensing nodes 1, ..., n send the second sensing results to the central node / SF network element / SMF network element. Correspondingly, the central node / SF network element / SMF network element receives multiple second sensing results from sensing nodes 1, ..., n.

[0244] In this application, the second sensing result includes amplitude information and phase information. Because the second sensing result is used for coherent fusion, using amplitude and phase information can improve the accuracy of the sensing fusion.

[0245] The S508 central node / SF network element / SMF network element coherently fuses multiple second sensing results to determine second information; wherein, the second information includes multiple three-dimensional coordinates of the sensing target.

[0246] In this embodiment, the relevant steps S504 to S508 can be referred to the previous section. Figure 3 and Figures 4A to 4H The relevant information has already been explained, and will not be repeated here.

[0247] like Figure 6 As shown, taking a single-base sensing scenario where the first communication device is a central node or an SF network element / SMF network element, and the second communication device is a sensing node (e.g., sensing node 1, ..., sensing node n) as an example, the sensing method provided in this application embodiment includes:

[0248] S601. The central node / SF network element / SMF network element sends a fusion sensing request to sensing node 1, ..., sensing node n. Correspondingly, sensing node 1, ..., sensing node n receives the fusion sensing request.

[0249] For an understanding of the fusion sensing request, please refer to the introduction in section S501.

[0250] S602. Sensing nodes 1, ..., n send capability information to the central node / SF network element / SMF network element. Correspondingly, the central node / SF network element / SMF network element receives the capability information.

[0251] For information on capabilities, please refer to the introduction in section S502.

[0252] S603. The central node / SF network element / SMF network element obtains multiple first perception results from the local area.

[0253] In this case, if the central node / SF network element / SMF network element has already stored the first sensing results of sensing node 1, ..., sensing node n locally, then it can be obtained directly from the local storage.

[0254] S604. The central node / SF network element / SMF network element performs incoherent fusion of multiple first sensing results to determine first information, wherein the first information includes multiple two-dimensional coordinates of the sensing target and the dimensions of the multiple two-dimensional coordinates.

[0255] Optionally, the first information may also include the positions or reference heights of reference array elements corresponding to multiple second communication devices.

[0256] S605. The central node / SF network element / SMF network element sends the first information to sensing node 1, ..., sensing node n. Correspondingly, sensing node 1, ..., sensing node n receives the first information.

[0257] S606. Sensing node 1, ..., sensing node n determines the second sensing result based on multiple two-dimensional coordinates and the dimensions of multiple two-dimensional coordinates and the position or reference height of the reference array element.

[0258] S607. Sensing nodes 1, ..., n send the second sensing results to the central node / SF network element / SMF network element. Correspondingly, the central node / SF network element / SMF network element receives multiple second sensing results from sensing nodes 1, ..., n.

[0259] In this application, the second sensing result includes amplitude information and phase information. Because the second sensing result is used for coherent fusion, using amplitude and phase information can improve the accuracy of the sensing fusion.

[0260] S608. The central node / SF network element / SMF network element coherently fuses multiple second sensing results to determine second information; wherein, the second information includes multiple three-dimensional coordinates of the sensing target.

[0261] Should Figure 6 The scene shown is Figure 5 The difference in the scenario shown is that the central node / SF network element / SMF network element does not need to receive the first sensing results from sensing node 1, ..., sensing node n. It can obtain the first sensing results from sensing node 1, ..., sensing node n locally. That is, it can be understood that the central node / SF network element / SMF network element already has the sensing results of the target area. There is no need for the sensing nodes to send low-resolution, large-area first sensing results. In this way, the amount of data transmission can be reduced and the occupation of air interface resources can be reduced.

[0262] like Figure 7 As shown, taking a single-base sensing scenario where the first communication device is a central node or an SF network element / SMF network element, and the second communication device is a sensing node (e.g., sensing node 1, ..., sensing node n) as an example, the sensing method provided in this application embodiment includes:

[0263] S701. The central node / SF network element / SMF network element sends a fusion sensing request to sensing node 1, ..., sensing node n. Correspondingly, sensing node 1, ..., sensing node n receives the fusion sensing request.

[0264] For an understanding of the fusion sensing request, please refer to the introduction in section S501.

[0265] S702. Sensing nodes 1, ..., n send capability information to the central node / SF network element / SMF network element. Correspondingly, the central node / SF network element / SMF network element receives the capability information.

[0266] For information on capabilities, please refer to the introduction in section S502.

[0267] S703. The central node / SF network element / SMF network element sends an auxiliary sensing request to the sensing node m. Correspondingly, the sensing node m receives the auxiliary sensing request.

[0268] S704. Sensing node m performs auxiliary sensing measurements to obtain the first sensing results of sensing nodes 1, ..., n.

[0269] S705. Sensing node m sends multiple first sensing results to the central node / SF network element / SMF network element. Correspondingly, the central node / SF network element / SMF network element receives multiple first sensing results.

[0270] S706. The central node / SF network element / SMF network element performs incoherent fusion of multiple first sensing results to determine first information, wherein the first information includes multiple two-dimensional coordinates of the sensing target and the dimensions of the multiple two-dimensional coordinates.

[0271] Optionally, the first information may also include the positions or reference heights of reference array elements corresponding to multiple second communication devices.

[0272] S707. The central node / SF network element / SMF network element sends the first information to sensing node 1, ..., sensing node n. Correspondingly, sensing node 1, ..., sensing node n receives the first information.

[0273] S708. Sensing node 1, ..., sensing node n determine the second sensing result based on multiple two-dimensional coordinates and the dimensions of multiple two-dimensional coordinates and the position or reference height of the reference array element.

[0274] S709. Sensing nodes 1, ..., n send the second sensing results to the central node / SF network element / SMF network element. Correspondingly, the central node / SF network element / SMF network element receives multiple second sensing results from sensing nodes 1, ..., n.

[0275] In this application, the second sensing result includes amplitude information and phase information. Because the second sensing result is used for coherent fusion, using amplitude and phase information can improve the accuracy of the sensing fusion.

[0276] S710. The central node / SF network element / SMF network element coherently fuses multiple second sensing results to determine second information; wherein, the second information includes multiple three-dimensional coordinates of the sensing target.

[0277] Should Figure 7 The scene shown is Figure 5The difference in the scenario shown is that the first sensing result is measured by sensing node m and sent to the central node / SF network element / SMF network element by sensing node m.

[0278] It should be noted that the above Figures 5 to 7 The process shown may also include the central node / SF network element / SMF network element configuring sensing parameters for sensing node 1, ..., sensing node n, as well as the sensing nodes transmitting sensing signals and receiving echo signals, etc., which are not elaborated in this application.

[0279] like Figure 8 As shown, taking a dual-base sensing scenario where the first communication device is a central node or an SF network element / SMF network element, and the second communication device is a receiving node (e.g., receiving node 1, ..., receiving node n) as an example, the sensing method provided in this application embodiment includes:

[0280] S801. The central node / SF network element / SMF network element sends a fusion sensing request to receiving node 1, ..., receiving node n, and transmitting node. Correspondingly, receiving node 1, ..., receiving node n, and transmitting node receive the fusion sensing request.

[0281] It should be noted that there can be multiple transmission nodes, not limited to... Figure 8 One of them is shown in the diagram.

[0282] S802. Receiver nodes 1, ..., n, and transmitter nodes send capability information to the central node / SF network element / SMF network element. Correspondingly, the central node / SF network element / SMF network element receives capability information.

[0283] In this application, the capability information to be transmitted may include information such as the number, location, and direction of antenna elements. The antenna elements may include the number and direction of antenna elements used for transmitting signals, or the number and direction of antenna elements used for receiving signals. The capability information may also include information such as time-frequency resources, such as bandwidth, carrier wave, and time slot.

[0284] S803. Receiver node 1, ..., receiver node n, and transmitter node perform sensing measurements.

[0285] The process can involve the transmitting node transmitting a sensing signal, and the receiving nodes 1, ..., n receiving the echo signal and processing it.

[0286] S804. Receiver node 1, ..., receiver node n send the first sensing result to the central node / SF network element / SMF network element. Correspondingly, the central node / SF network element / SMF network element receives multiple first sensing results.

[0287] S805. The central node / SF network element / SMF network element performs incoherent fusion of multiple first sensing results to determine first information, wherein the first information includes multiple two-dimensional coordinates of the sensing target and the dimensions of the multiple two-dimensional coordinates.

[0288] Optionally, the first information may also include the positions or reference heights of reference array elements corresponding to multiple second communication devices.

[0289] S806. The central node / SF network element / SMF network element sends the first information to receiving node 1, ..., receiving node n. Correspondingly, receiving node 1, ..., receiving node n receives the first information.

[0290] S807. Receiver node 1, ..., receiver node n determines the second sensing result based on multiple two-dimensional coordinates and the dimensions of the multiple two-dimensional coordinates and the position or reference height of the reference array element.

[0291] S808. Receiver node 1, ..., receiver node n sends the second sensing result to the central node / SF network element / SMF network element. Correspondingly, the central node / SF network element / SMF network element receives multiple second sensing results from receiver node 1, ..., receiver node n.

[0292] In this application, the second sensing result includes amplitude information and phase information. Because the second sensing result is used for coherent fusion, using amplitude and phase information can improve the accuracy of the sensing fusion.

[0293] The S809 central node / SF network element / SMF network element coherently fuses multiple second sensing results to determine second information; wherein, the second information includes multiple three-dimensional coordinates of the sensing target.

[0294] Should Figure 8 The illustrated embodiment describes a dual-base sensing scenario; of course, other scenarios can also be implemented. Figures 5 to 7 The single-base sensing scene shown is Figure 8 The dual-base sensing scene shown is blended. The process of blending sensing scenes can be found in [reference needed]. Figures 5 to 7 The single-base sensing scene shown is Figure 8 Understand the corresponding content in the shown basic perception scenario.

[0295] The communication system and communication method in the embodiments of this application have been described above. The communication device provided in the embodiments of this application will be described below.

[0296] Please see Figure 9This application provides a communication device 900, which can realize the functions of the first or second communication device in the above method embodiments, and thus also achieve the beneficial effects of the above method embodiments. In this application embodiment, the communication device 900 can be the first or second communication device, or it can be an integrated circuit or component inside the first or second communication device, such as a chip, baseband chip, modem chip, SoC chip (e.g., an SoC chip containing a modem core), SIP chip, communication module, chip system, processor, etc.

[0297] It should be noted that the transceiver unit 902 may include a transmitting unit and a receiving unit, which are used to perform transmitting and receiving respectively.

[0298] In one possible implementation, when the device 900 is for performing Figure 3 When the method executed by the first communication device in the relevant embodiments is described, the device 900 includes a processing unit 901 and a transceiver unit 902. The processing unit 901 is used to perform non-coherent fusion on multiple first sensing results to determine first information. The multiple first sensing results correspond to multiple second communication devices, and the first information includes multiple two-dimensional coordinates of the sensing target and the dimensions of the multiple two-dimensional coordinates. The transceiver unit 902 is used to send the first information to the multiple second communication devices. The multiple two-dimensional coordinates and the dimensions of the multiple two-dimensional coordinates are used by each second communication device to determine a second sensing result. The processing unit 901 is also used to perform coherent fusion on multiple second sensing results to determine second information. The multiple second sensing results come from multiple second communication devices, and the second information includes multiple three-dimensional coordinates of the sensing target.

[0299] In one possible implementation, when the device 900 is for performing Figure 3 When the method executed by the second communication device in the relevant embodiments is implemented, the device 900 includes a processing unit 901 and a transceiver unit 902; the transceiver unit 902 is used to receive first information from the first communication device; wherein, the first information includes multiple two-dimensional coordinates of the perceived target and the dimensions of the multiple two-dimensional coordinates; the processing unit 901 is used to determine a second perception result based on the multiple two-dimensional coordinates and the dimensions of the multiple two-dimensional coordinates. The transceiver unit 902 is also used to send the second perception result to the first communication device; wherein, the second perception result is used by the first communication device to determine second information, the second information including multiple three-dimensional coordinates of the perceived target.

[0300] In one possible design, when the communication device 900 is a terminal device or a communication module within a terminal, the function of the processing unit 901 can be implemented by one or more processors. Specifically, the processor may include a modem chip, a SoC chip (such as a SoC chip containing a modem core), or a SIP chip. The function of the transceiver unit 902 can be implemented by transceiver circuitry.

[0301] In one possible design, when the communication device 900 is a circuit or chip responsible for communication functions in a terminal device, such as a modem chip, a SoC chip, or a SoC chip or SIP chip containing a modem core, the function of the processing unit 901 can be implemented by a circuit system in the aforementioned chip that includes one or more processors or processor cores. The function of the transceiver unit 902 can be implemented by the interface circuitry or data transceiver circuitry on the aforementioned chip.

[0302] It should be noted that the information execution process of the unit of the above-mentioned communication device 900 can be specifically described in the method embodiment shown above in this application, and will not be repeated here.

[0303] Please see Figure 10 This is another schematic structural diagram of the communication device 1000 provided in this application. The communication device 1000 includes a logic circuit 1001 and an input / output interface 1002. The communication device 1000 can be a chip or an integrated circuit.

[0304] in, Figure 9 The transceiver unit 902 shown can be a communication interface, which can be... Figure 10 The input / output interface 1002 may include an input interface and an output interface. Alternatively, the communication interface may also be a transceiver circuit, which may include an input interface circuit and an output interface circuit.

[0305] In one possible implementation, when the device 1000 is used for performing Figure 3 When the method executed by the first communication device in the relevant embodiments is performed, the logic circuit 1001 is used to perform non-coherent fusion of multiple first sensing results to determine first information; wherein, the multiple first sensing results correspond to multiple second communication devices, and the first information includes multiple two-dimensional coordinates of the sensing target and the dimensions of the multiple two-dimensional coordinates; the input / output interface 1002 is used to send the first information to the multiple second communication devices; wherein, the multiple two-dimensional coordinates and the dimensions of the multiple two-dimensional coordinates are used by each second communication device to determine a second sensing result. The logic circuit 1001 is also used to perform coherent fusion of multiple second sensing results to determine second information; wherein, the multiple second sensing results come from multiple second communication devices, and the second information includes multiple three-dimensional coordinates of the sensing target.

[0306] In one possible implementation, when the device 1000 is used for performing Figure 3 When the method executed by the second communication device in the relevant embodiments is performed, the input / output interface 1002 is used to receive first information from the first communication device; wherein, the first information includes multiple two-dimensional coordinates of the perceived target and the dimensions of the multiple two-dimensional coordinates; the logic circuit 1001 is used to determine a second perception result based on the multiple two-dimensional coordinates and the dimensions of the multiple two-dimensional coordinates. The input / output interface 1002 is also used to send the second perception result to the first communication device; wherein, the second perception result is used by the first communication device to determine second information, the second information including multiple three-dimensional coordinates of the perceived target.

[0307] The logic circuit 1001 and the input / output interface 1002 can also perform other steps performed by the first or second communication device in any embodiment and achieve corresponding beneficial effects, which will not be elaborated here.

[0308] In one possible implementation, Figure 9 The processing unit 901 shown can be Figure 10 The logic circuit 1001 in the middle.

[0309] Optionally, the logic circuit 1001 can be a processing device, the functions of which can be partially or entirely implemented in software.

[0310] Optionally, the processing apparatus may include a memory and a processor, wherein the memory is used to store a computer program, and the processor reads and executes the computer program stored in the memory to perform the corresponding processing and / or steps in any of the method embodiments.

[0311] Optionally, the processing device may consist of only a processor. A memory for storing computer programs is located outside the processing device, and the processor is connected to the memory via circuitry / wires to read and execute the computer programs stored in the memory. The memory and processor may be integrated together or physically independent of each other.

[0312] Optionally, the processing device may be one or more chips, or one or more integrated circuits. For example, the processing device may be one or more field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), system on-chips (SoCs), central processing units (CPUs), network processors (NPs), digital signal processors (DSPs), microcontroller units (MCUs), programmable logic controllers (PLDs), or other integrated chips, or any combination of the above chips or processors.

[0313] Please see Figure 11 The communication device 1100 mentioned in the above embodiments provided for the purposes of this application can specifically be the communication device serving as a terminal device in the above embodiments. Figure 11 The example shown illustrates how a terminal device can be implemented through a terminal device (or a component within a terminal device).

[0314] The present invention provides a possible logical structure diagram of the communication device 1100, which may include, but is not limited to, at least one processor 1101 and a communication port 1102.

[0315] in, Figure 9 The transceiver unit 902 shown can be a communication interface, which can be... Figure 11 The communication port 1102 may include an input interface and an output interface. Alternatively, the communication port 1102 may also be a transceiver circuit, which may include an input interface circuit and an output interface circuit.

[0316] Further optionally, the device may also include at least one of a memory 1103 and a bus 1104. In the embodiments of this application, the at least one processor 1101 is used to control the operation of the communication device 1100.

[0317] Furthermore, the processor 1101 can be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, etc. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0318] It should be noted that, Figure 11 The communication device 1100 shown can be used to implement the steps implemented by the terminal device in the aforementioned method embodiments, and to achieve the corresponding technical effects of the terminal device. Figure 11 The specific implementation of the terminal device shown can be referred to the description of the first or second communication device in the foregoing method embodiments, and will not be repeated here.

[0319] Please see Figure 12 The above-described embodiments of the communication device 1200, provided as an example of the present application, are structural schematic diagrams. Specifically, the communication device 1200 can be a network device as described in the above embodiments. Figure 12 The example shown illustrates a network device implemented through a network device (or a component within a network device). The structure of this communication device can be referenced. Figure 12 The structure shown.

[0320] The communication device 1200 includes at least one processor 1211 and at least one network interface 1214. Optionally, the communication device further includes at least one memory 1212, at least one transceiver 1213, and one or more antennas 1215. The processor 1211, memory 1212, transceiver 1213, and network interface 1214 are connected, for example, via a bus. In this embodiment, the connection may include various interfaces, transmission lines, or buses, etc., and this embodiment is not limited thereto. The antenna 1215 is connected to the transceiver 1213. The network interface 1214 enables the communication device to communicate with other communication devices through a communication link. For example, the network interface 1214 may include a network interface between the communication device and core network equipment, such as an S1 interface; the network interface may also include a network interface between the communication device and other communication devices (e.g., other network devices or core network equipment), such as an X2 or Xn interface.

[0321] in, Figure 9The transceiver unit 902 shown can be a communication interface, which can be... Figure 12 The network interface 1214 may include an input interface and an output interface. Alternatively, the network interface 1214 may also be a transceiver circuit, which may include an input interface circuit and an output interface circuit.

[0322] The processor 1211 is mainly used to process communication protocols and communication data, control the entire communication device, execute software programs, and process data from the software programs, for example, to support the communication device in performing the actions described in the embodiments. The communication device may include a baseband processor and a central processing unit. The baseband processor is mainly used to process communication protocols and communication data, while the central processing unit is mainly used to control the entire terminal device, execute software programs, and process data from the software programs. Figure 12 The processor 1211 can integrate the functions of a baseband processor and a central processing unit. Those skilled in the art will understand that the baseband processor and the central processing unit can also be independent processors interconnected via technologies such as buses. Those skilled in the art will understand that a terminal device can include multiple baseband processors to adapt to different network standards, and a terminal device can include multiple central processing units to enhance its processing capabilities. The various components of the terminal device can be connected via various buses. The baseband processor can also be described as a baseband processing circuit or a baseband processing chip. The central processing unit can also be described as a central processing circuit or a central processing chip. The function of processing communication protocols and communication data can be built into the processor or stored in memory as a software program, with the processor executing the software program to implement the baseband processing function.

[0323] The memory is primarily used to store software programs and data. The memory 1212 can exist independently or be connected to the processor 1211. Optionally, the memory 1212 can be integrated with the processor 1211, for example, integrated within a single chip. The memory 1212 can store program code that executes the technical solutions of the embodiments of this application, and its execution is controlled by the processor 1211. The various types of computer program code being executed can also be considered as drivers for the processor 1211.

[0324] Figure 12 Only one memory and one processor are shown. In actual terminal devices, there may be multiple processors and multiple memories. Memory can also be called storage medium or storage device, etc. Memory can be a storage element on the same chip as the processor, i.e., an on-chip storage element, or it can be a separate storage element; this application does not limit this.

[0325] Transceiver 1213 can be used to support the reception or transmission of radio frequency signals between a communication device and a terminal. Transceiver 1213 can be connected to antenna 1215. Transceiver 1213 includes a transmitter Tx and a receiver Rx. Specifically, one or more antennas 1215 can receive radio frequency signals. The receiver Rx of transceiver 1213 is used to receive the radio frequency signals from the antennas, convert the radio frequency signals into digital baseband signals or digital intermediate frequency signals, and provide the digital baseband signals or digital intermediate frequency signals to processor 1211 so that processor 1211 can perform further processing on the digital baseband signals or digital intermediate frequency signals, such as demodulation and decoding. In addition, the transmitter Tx in transceiver 1213 is also used to receive the modulated digital baseband signals or digital intermediate frequency signals from processor 1211, convert the modulated digital baseband signals or digital intermediate frequency signals into radio frequency signals, and transmit the radio frequency signals through one or more antennas 1215. Specifically, the receiver Rx can selectively perform one or more stages of downmixing and analog-to-digital conversion on the radio frequency signal to obtain a digital baseband signal or a digital intermediate frequency (IF) signal. The order of these downmixing and IF conversion processes is adjustable. The transmitter Tx can selectively perform one or more stages of upmixing and digital-to-analog conversion on the modulated digital baseband signal or digital IF signal to obtain a radio frequency signal. The order of these upmixing and IF conversion processes is also adjustable. The digital baseband signal and the digital IF signal can be collectively referred to as digital signals.

[0326] The transceiver 1213 can also be called a transceiver unit, transceiver, transceiver device, etc. Optionally, the device in the transceiver unit that performs the receiving function can be regarded as the receiving unit, and the device in the transceiver unit that performs the transmitting function can be regarded as the transmitting unit. That is, the transceiver unit includes a receiving unit and a transmitting unit. The receiving unit can also be called a receiver, input port, receiving circuit, etc., and the transmitting unit can be called a transmitter, transmitter, or transmitting circuit, etc.

[0327] It should be noted that, Figure 12 The communication device 1200 shown can be used to implement the steps implemented by the network device in the aforementioned method embodiments, and to achieve the corresponding technical effects of the network device. Figure 12 The specific implementation of the communication device 1200 shown can be referred to the description of the first or second communication device in the foregoing method embodiments, and will not be repeated here.

[0328] Please see Figure 13 The above-described embodiments of the communication device provided in this application are schematic diagrams of the structure of the communication device.

[0329] It is understood that the communication device 1300 includes, for example, modules, units, elements, circuits, or interfaces, which are appropriately configured together to execute the technical solutions provided in this application. The communication device 1300 may be the terminal device or network device described above, or a component (e.g., a chip) within these devices, used to implement the methods described in the following method embodiments. The communication device 1300 includes one or more processors 1301. The processor 1301 may be a general-purpose processor or a dedicated processor, for example, a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processing unit can be used to control the communication device (e.g., RAN node, terminal, or chip), execute software programs, and process data from the software programs.

[0330] Optionally, in one design, processor 1301 may include program 1303 (sometimes also referred to as code or instructions), which can be executed on processor 1301 to cause communication device 1300 to perform the methods described in the embodiments below. In yet another possible design, communication device 1300 includes circuitry (…). Figure 13 (Not shown).

[0331] Optionally, the communication device 1300 may include one or more memories 1302 storing a program 1304 (sometimes referred to as code or instructions), which can be run on the processor 1301 to cause the communication device 1300 to perform the methods described in the above method embodiments.

[0332] Optionally, the processor 1301 and / or memory 1302 may include AI modules 1307 and 1308, which are used to implement AI-related functions. The AI ​​modules can be implemented through software, hardware, or a combination of both. For example, the AI ​​module may include a radio intelligence control (RIC) module. For example, the AI ​​module may be a near real-time RIC or a non-real-time RIC.

[0333] Optionally, the processor 1301 and / or memory 1302 may also store data. The processor and memory may be configured separately or integrated together.

[0334] Optionally, the communication device 1300 may further include a transceiver 1305 and / or an antenna 1306. The processor 1301, sometimes referred to as a processing unit, controls the communication device (e.g., a RAN node or terminal). The transceiver 1305, sometimes referred to as a transceiver unit, transceiver, transceiver circuit, or transceiver, is used to realize the transmission and reception functions of the communication device through the antenna 1306.

[0335] in, Figure 9 The processing unit 901 shown may be a processor 1301. Figure 9 The transceiver unit 902 shown can be a communication interface, which can be... Figure 13 The transceiver 1305 may include an input interface and an output interface. Alternatively, the transceiver 1305 may also be a transceiver circuit, which may include an input interface circuit and an output interface circuit.

[0336] This application also provides a computer-readable storage medium for storing one or more computer-executable instructions. When the computer-executable instructions are executed by a processor, the processor performs the method described in the possible implementations of the first or second communication device in the foregoing embodiments.

[0337] This application also provides a computer program product (or computer program) that, when executed by a processor, executes the method described above for the possible implementation of the first or second communication device.

[0338] This application also provides a chip system including at least one processor for supporting a communication device in implementing the functions involved in the possible implementations of the communication device described above. Optionally, the chip system further includes an interface circuit that provides program instructions and / or data to the at least one processor. In one possible design, the chip system may also include a memory for storing the program instructions and data necessary for the communication device. The chip system may be composed of chips or may include chips and other discrete devices, wherein the communication device may specifically be the first communication device or the second communication device in the aforementioned method embodiments.

[0339] This application also provides a communication system, which includes the first communication device in any of the above embodiments.

[0340] Optionally, the communication system may also include a second communication device.

[0341] In the 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, indirect coupling or communication connection between devices or units, and may be electrical, mechanical, or other forms. Whether a function is implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0342] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0343] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A sensing method, characterized in that, The method is applied to a first communication device, and the method includes: Multiple first perception results are noncoherently fused to determine first information; wherein, the multiple first perception results correspond to multiple second communication devices, and the first information includes multiple two-dimensional coordinates of the perceived target and the dimensions of the multiple two-dimensional coordinates; The first information is sent to the plurality of second communication devices; wherein the plurality of two-dimensional coordinates and the dimensions of the plurality of two-dimensional coordinates are used by each of the second communication devices to determine a second sensing result; Coherent fusion of multiple second sensing results is performed to determine second information; wherein the multiple second sensing results come from multiple second communication devices, and the second information includes multiple three-dimensional coordinates of the sensing target.

2. The method according to claim 1, characterized in that, The first information also includes the range information of the third-dimensional coordinates, and the second perception result is the perception result of the position indicated by the plurality of two-dimensional coordinates of the range of the third-dimensional coordinates indicated by the range information of the third-dimensional coordinates.

3. The method according to claim 1 or 2, characterized in that, The first information also includes the reference element positions or reference heights corresponding to the plurality of second communication devices respectively; the second sensing result is the sensing result of the position indicated by the plurality of two-dimensional coordinates determined by the second communication device based on the reference element positions or the reference heights.

4. The method according to any one of claims 1-3, characterized in that, Any one of the plurality of two-dimensional coordinates corresponds to at least one of the plurality of three-dimensional coordinates.

5. The method according to any one of claims 1-4, characterized in that, Before performing incoherent fusion of multiple first perception results to determine first information, the method further includes: Send a fusion sensing request; wherein the fusion sensing request includes first stage indication information and first fusion indication information; and / or, second stage indication information and second fusion indication information; wherein the first fusion indication information is used to indicate incoherent fusion of the first sensing result corresponding to the first stage, and the second fusion indication information is used to indicate coherent fusion of the second sensing result corresponding to the second stage.

6. The method according to any one of claims 1-5, characterized in that, The first sensing result includes amplitude information but does not include phase information.

7. The method according to any one of claims 1-6, characterized in that, The second sensing result includes amplitude information and phase information.

8. A sensing method, characterized in that, include: Receive first information from a first communication device; wherein the first information includes multiple two-dimensional coordinates of the perceived target and the dimensions of the multiple two-dimensional coordinates; The second perception result is determined based on the plurality of two-dimensional coordinates and the dimensions of the plurality of two-dimensional coordinates; The second sensing result is sent to the first communication device; wherein the second sensing result is used by the first communication device to determine second information, the second information including multiple three-dimensional coordinates of the sensing target.

9. The method according to claim 8, characterized in that, The first information also includes the range information of the third-dimensional coordinates; Determining the second perception result based on the plurality of two-dimensional coordinates and the dimensions of the plurality of two-dimensional coordinates includes: Based on the range of the third-dimensional coordinates indicated by the range information of the third-dimensional coordinates, the second perception result of the position indicated by the plurality of two-dimensional coordinates is determined.

10. The method according to claim 8, characterized in that, The first information also includes the reference array element positions or reference heights corresponding to the plurality of second communication devices respectively; Determining the second perception result based on the plurality of two-dimensional coordinates and the dimensions of the plurality of two-dimensional coordinates includes: The second sensing result is obtained by determining the position indicated by the plurality of two-dimensional coordinates based on the position of the reference array element or the reference height.

11. The method according to claim 8, characterized in that, Before receiving the first information from the first communication device, the method further includes: Receive a fusion sensing request from the first communication device; wherein the fusion sensing request includes first stage indication information and first fusion indication information; and / or, second stage indication information and second fusion indication information; wherein the first fusion indication information is used to indicate incoherent fusion of the first sensing result corresponding to the first stage, and the second fusion indication information is used to indicate coherent fusion of the second sensing result corresponding to the second stage.

12. The method according to any one of claims 8-11, characterized in that, The first sensing result includes amplitude information but does not include phase information.

13. The method according to any one of claims 8-12, characterized in that, The second sensing result includes amplitude information and phase information.

14. A communication device, characterized in that, It includes modules for performing the method as described in any one of claims 1 to 7, or modules for performing the method as described in any one of claims 8 to 13.

15. A communication device, characterized in that, It includes at least one processor, said at least one processor being configured to perform the method as described in any one of claims 1 to 7, or said at least one processor being configured to perform the method as described in any one of claims 8 to 13.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or instructions that, when executed by a communication device, implement the method as described in any one of claims 1 to 7, or the method as described in any one of claims 8 to 13.

17. A computer program product, characterized in that, It includes a computer program or instructions that, when executed by a computer, implement the method as described in any one of claims 1 to 7, or implement the method as described in any one of claims 8 to 13.

Images