Sensing signal transmission method and device

Abstract

The invention discloses a sensing signal transmission method and device, and the method comprises the steps: obtaining first configuration information through a transmitting device; wherein the first configuration information is used for indicating the time domain position of the first sensing signal and the time domain position of the second sensing signal, the minimum time domain interval between the first sensing signal and the second sensing signal is a first duration, the period of the second sensing signal is M times of the period of the first sensing signal, and the period of the first sensing signal is a second duration; the first duration is smaller than the second duration, M is a positive integer, and the sending device sends the first sensing signal and the second sensing signal according to the first configuration information. By adopting the method, a relatively large non-fuzzy speed measurement range can be obtained by using sensing resources as few as possible, and the sensing resource overhead is saved.

Description

Technical Field

[0001] This application relates to the field of communications, and in particular to a method and apparatus for transmitting sensing signals. Background Technology

[0002] Sensing technologies, such as the integration of communication and sensing, are currently a hot research topic in academia and industry. Moving target detection, including UAV detection, vehicle flow detection, and maritime intrusion detection, is one of the key issues in sensing technologies. For moving target detection, the general sensing signal processing flow is as follows: The receiving node first performs range-dimensional pulse compression on the received signal, then performs a fast fourier transform (FFT) in the velocity dimension to obtain a two-dimensional power spectrum of range and velocity. Then, target detection (e.g., constant false alarm rate (CFAR) detection) is performed on this two-dimensional power spectrum to obtain the target's range and velocity indexes. Finally, the velocity estimation result is determined based on the obtained velocity index.

[0003] In scenarios with limited sensing resources, the pulse repetition interval (PRI) of the sensing signal is generally large, resulting in a smaller maximum unambiguous velocity, or a smaller unambiguous velocity measurement range. In such scenarios, for high-speed moving targets, such as drones and cars, the velocity estimation results may be ambiguous, meaning the estimated velocity differs significantly from the true velocity value. Therefore, how to obtain a larger unambiguous velocity measurement range with limited sensing resources is a problem worthy of attention. Summary of the Invention

[0004] This application provides a sensing signal transmission method and apparatus to achieve a large unambiguous speed measurement range with less sensing resources.

[0005] In a first aspect, this application provides a sensing signal transmission method, which can be applied to transmitting devices, such as access network devices on the network side, modules (e.g., circuits, chips, or chip systems) in access network devices, or logical nodes, logical modules, or software that can implement all or part of the functions of access network devices, or terminals or communication modules / processing modules in terminals, or circuits or chips in terminals responsible for communication functions (such as modem chips, also known as baseband chips, or system-on-chip (SoC) chips or system-in-package (SIP) chips containing modem cores), or circuits or chips in terminals responsible for processing functions (such as graphics processing units (GPUs)). Taking the application of this method to a transmitting device as an example, in this method, the transmitting device obtains first configuration information; wherein, the first configuration information is used to indicate the time domain position of the first sensing signal and the time domain position of the second sensing signal, the minimum time domain interval between the first sensing signal and the second sensing signal is a first duration, the period of the second sensing signal is M times the period of the first sensing signal, the period of the first sensing signal is a second duration, the first duration is less than the second duration, and M is a positive integer; the first sensing signal and the second sensing signal are transmitted according to the first configuration information.

[0006] The above method can achieve a large unambiguous speed measurement range with minimal sensing resources, saving sensing resource overhead and thus improving the communication capacity of the device.

[0007] In one possible design, the minimum value of the first speed matching error is greater than or equal to a first threshold. The first speed matching error is determined based on the difference between a first possible speed and a second possible speed. The first possible speed and the second possible speed are obtained by performing speed defuzzification based on the first sensing signal and the second sensing signal. The first possible speed is associated with the first duration, the second possible speed is associated with the second duration, and both the first possible speed and the second possible speed are less than or equal to a second threshold.

[0008] The above design enables the selection of appropriate first and second sensing signals, reduces the probability of errors in the defuzzification process, improves the success rate of the defuzzification process, and thus enhances the robustness of sensing speed measurement.

[0009] In one possible design, before obtaining the first configuration information, the first threshold and the second threshold are obtained; or, the second threshold and the speed estimation accuracy of the receiving device are obtained, wherein the speed estimation accuracy of the receiving device is used to determine the first threshold; N sensing signal groups are determined based on the first threshold and the second threshold; wherein the i-th sensing signal group is any one of the N sensing signal groups, 1≤i≤N, and i and N are positive integers; the i-th sensing signal group includes the i-th sensing signal 1 and the i-th sensing signal 2, and the minimum domain interval between the i-th sensing signal 1 and the i-th sensing signal 2 is T. 1i The period of the i-th sensing signal 2 is M times the period of the i-th sensing signal 1, and the period of the i-th sensing signal 1 is T. 2i T 1i <T 2i The minimum value of the velocity matching error corresponding to the i-th sensing signal group is greater than or equal to a first threshold. The velocity matching error corresponding to the i-th sensing signal group is determined based on the difference between the i-th possible velocity 1 and the i-th possible velocity 2. The i-th possible velocity 1 and the i-th possible velocity 2 are obtained based on velocity defuzzification of the i-th sensing signal group. 1i The correlation between the i-th possible velocity 2 and the T 2i The correlation is established, and the i-th possible speed 1 and the i-th possible speed 2 are both less than or equal to the second threshold; a target sensing signal group is determined from the N sensing signal groups, the target sensing signal group including the first sensing signal and the second sensing signal, and the target sensing signal group is one of the N sensing signal groups.

[0010] The above design enables the selection of appropriate first and second sensing signals.

[0011] In one possible design, before obtaining the first configuration information, the third threshold is obtained, which is the minimum period of the sensing signal; when determining N groups of sensing signals based on the first threshold and the second threshold, the N groups of sensing signals are determined based on the first threshold, the second threshold and the third threshold, and the periods corresponding to the N sensing signals 1 in the N groups of sensing signals are all greater than or equal to the third threshold.

[0012] The above method can achieve a large unambiguous velocity measurement range with minimal sensing resources, thus saving sensing resource overhead.

[0013] In one possible design, the second duration is the maximum value among the periods corresponding to the N sensing signals 1 in the N sensing signal groups.

[0014] The above method can achieve a large unambiguous velocity measurement range with minimal sensing resources, thus saving sensing resource overhead.

[0015] In one possible design, the minimum value of the velocity matching error corresponding to the target sensing signal group is the maximum value among the minimum values ​​of the velocity matching errors corresponding to the N sensing signal groups respectively.

[0016] The above methods can improve robustness.

[0017] In one possible design, after sending the first sensing signal and the second sensing signal according to the first configuration information, the transmitting device receives the sensing result.

[0018] In one possible design, the sensing result includes the velocity of a first sensing target; the transmitting device receives first information indicating a velocity matching error corresponding to the first sensing target, or the first information indicates a confidence level of the velocity of the first sensing target, the confidence level of the velocity of the first sensing target being determined based on the velocity matching error corresponding to the first sensing target.

[0019] The above design can be used to determine the reliability of the perceived results.

[0020] In one possible design, the first configuration information includes one or more of the following: the number of symbols corresponding to the first duration, the number of symbols corresponding to the second duration, the value of M, the duration of a symbol, the starting symbol of the first sensing signal, the starting symbol of the second sensing signal, and the total number of symbols including the first sensing signal and the second sensing signal.

[0021] Secondly, this application provides a sensing signal transmission method, which can be applied to receiving devices, such as access network devices on the network side, modules (e.g., circuits, chips or chip systems) in access network devices, or logic nodes, logic modules or software that can realize all or part of the functions of access network devices, or terminals or communication modules / processing modules in terminals, or circuits or chips in terminals responsible for communication functions (e.g., modem chips, also known as baseband chips, or SoC chips or SIP chips containing modem cores), or circuits or chips in terminals responsible for processing functions (e.g., GPUs). Taking the application of this method to a receiving device as an example, in this method, the receiving device acquires first configuration information; wherein, the first configuration information is used to indicate the time domain position of the first sensing signal and the time domain position of the second sensing signal, the minimum time domain interval between the first sensing signal and the second sensing signal is a first duration, the period of the second sensing signal is M times the period of the first sensing signal, the period of the first sensing signal is a second duration, the first duration is less than the second duration, and M is a positive integer; a third sensing signal and a fourth sensing signal are received according to the first configuration information, the third sensing signal is associated with the first sensing signal, and the fourth sensing signal is associated with the second sensing signal; a sensing result is determined according to the third sensing signal and the fourth sensing signal.

[0022] The above method can achieve a large unambiguous velocity measurement range with minimal sensing resources, thus saving sensing resource overhead.

[0023] In one possible design, after determining the sensing result based on the third sensing signal and the fourth sensing signal, the receiving device sends the sensing result.

[0024] In one possible design, the sensing result includes the velocity of a first sensing target; after determining the sensing result based on the third and fourth sensing signals, the receiving device sends first information, the first information indicating a velocity matching error corresponding to the first sensing target, or the first information indicating a confidence level of the velocity of the first sensing target, the confidence level of the velocity of the first sensing target being determined based on the velocity matching error corresponding to the first sensing target.

[0025] In one possible design, the speed of the first sensing target is determined based on possible speed 1 and possible speed 2 of the first sensing target, which are obtained by speed defuzzification based on the third sensing signal and the fourth sensing signal; the speed matching error corresponding to the first sensing target is determined based on the difference between possible speed 1 and possible speed 2 of the first sensing target.

[0026] In one possible design, the minimum value of the first speed matching error is greater than or equal to a first threshold. The first speed matching error is determined based on the difference between a first possible speed and a second possible speed. The first possible speed and the second possible speed are obtained by performing speed defuzzification based on the first sensing signal and the second sensing signal. The first possible speed is associated with the first duration, the second possible speed is associated with the second duration, and both the first possible speed and the second possible speed are less than or equal to a second threshold.

[0027] In one possible design, before obtaining the first configuration information, the first threshold and the second threshold are obtained; or, the second threshold and the speed estimation accuracy of the receiving device are obtained, wherein the speed estimation accuracy of the receiving device is used to determine the first threshold; N sensing signal groups are determined based on the first threshold and the second threshold; wherein the i-th sensing signal group is any one of the N sensing signal groups, 1≤i≤N, and i and N are positive integers; the i-th sensing signal group includes the i-th sensing signal 1 and the i-th sensing signal 2, and the minimum domain interval between the i-th sensing signal 1 and the i-th sensing signal 2 is T. 1i The period of the i-th sensing signal 2 is M times the period of the i-th sensing signal 1, and the period of the i-th sensing signal 1 is T. 2i T 1i <T 2i The minimum value of the velocity matching error corresponding to the i-th sensing signal group is greater than or equal to a first threshold. The velocity matching error corresponding to the i-th sensing signal group is determined based on the difference between the i-th possible velocity 1 and the i-th possible velocity 2. The i-th possible velocity 1 and the i-th possible velocity 2 are obtained based on velocity defuzzification of the i-th sensing signal group. 1i The correlation between the i-th possible velocity 2 and the T 2i The correlation is established, and the i-th possible speed 1 and the i-th possible speed 2 are both less than or equal to the second threshold; a target sensing signal group is determined from the N sensing signal groups, the target sensing signal group including the first sensing signal and the second sensing signal, and the target sensing signal group is one of the N sensing signal groups.

[0028] In one possible design, before obtaining the first configuration information, the third threshold is obtained, which is the minimum period of the sensing signal; when determining N groups of sensing signals based on the first threshold and the second threshold, the N groups of sensing signals are determined based on the first threshold, the second threshold and the third threshold, and the periods corresponding to the N sensing signals 1 in the N groups of sensing signals are all greater than or equal to the third threshold.

[0029] In one possible design, the second duration is the maximum value among the periods corresponding to the N sensing signals 1 in the N sensing signal groups.

[0030] In one possible design, the minimum value of the velocity matching error corresponding to the target sensing signal group is the maximum value among the minimum values ​​of the velocity matching errors corresponding to the N sensing signal groups respectively.

[0031] In one possible design, the first configuration information includes one or more of the following: the number of symbols corresponding to the first duration, the number of symbols corresponding to the second duration, the value of M, the duration of a symbol, the starting symbol of the first sensing signal, the starting symbol of the second sensing signal, and the total number of symbols including the first sensing signal and the second sensing signal.

[0032] Thirdly, this application provides a communication device, which includes a transceiver unit and a processing unit; the processing unit is used to control the operation of the transceiver unit; the transceiver unit is used to acquire first configuration information; wherein the first configuration information is used to indicate the time domain position of a first sensing signal and the time domain position of a second sensing signal, the minimum time domain interval between the first sensing signal and the second sensing signal is a first duration, the period of the second sensing signal is M times the period of the first sensing signal, the period of the first sensing signal is a second duration, the first duration is less than the second duration, and M is a positive integer; and the first sensing signal and the second sensing signal are transmitted according to the first configuration information.

[0033] In one possible design, the minimum value of the first speed matching error is greater than or equal to a first threshold. The first speed matching error is determined based on the difference between a first possible speed and a second possible speed. The first possible speed and the second possible speed are obtained by performing speed defuzzification based on the first sensing signal and the second sensing signal. The first possible speed is associated with the first duration, the second possible speed is associated with the second duration, and both the first possible speed and the second possible speed are less than or equal to a second threshold.

[0034] In one possible design, before acquiring the first configuration information, the transceiver unit is configured to acquire the first threshold and the second threshold; or, acquire the second threshold and the speed estimation accuracy of the receiving device, wherein the speed estimation accuracy of the receiving device is used to determine the first threshold; the processing unit is configured to determine N sensing signal groups based on the first threshold and the second threshold; wherein the i-th sensing signal group is any one of the N sensing signal groups, 1≤i≤N, and i and N are positive integers; the i-th sensing signal group includes the i-th sensing signal 1 and the i-th sensing signal 2, and the minimum time interval between the i-th sensing signal 1 and the i-th sensing signal 2 is T. 1i The period of the i-th sensing signal 2 is M times the period of the i-th sensing signal 1, and the period of the i-th sensing signal 1 is T. 2i T 1i <T 2i The minimum value of the velocity matching error corresponding to the i-th sensing signal group is greater than or equal to a first threshold. The velocity matching error corresponding to the i-th sensing signal group is determined based on the difference between the i-th possible velocity 1 and the i-th possible velocity 2. The i-th possible velocity 1 and the i-th possible velocity 2 are obtained based on velocity defuzzification of the i-th sensing signal group. 1i The correlation between the i-th possible velocity 2 and the T 2i The correlation is established, and the i-th possible speed 1 and the i-th possible speed 2 are both less than or equal to the second threshold; a target sensing signal group is determined from the N sensing signal groups, the target sensing signal group including the first sensing signal and the second sensing signal, and the target sensing signal group is one of the N sensing signal groups.

[0035] In one possible design, before acquiring the first configuration information, the transceiver unit is used to acquire the third threshold, which is the minimum period of the sensing signal; the processing unit is used to determine the N sensing signal groups based on the first threshold, the second threshold, and the third threshold when determining the N sensing signal groups based on the first threshold and the second threshold, wherein the periods corresponding to the N sensing signals 1 in the N sensing signal groups are all greater than or equal to the third threshold.

[0036] In one possible design, the second duration is the maximum value among the periods corresponding to the N sensing signals 1 in the N sensing signal groups.

[0037] In one possible design, the minimum value of the velocity matching error corresponding to the target sensing signal group is the maximum value among the minimum values ​​of the velocity matching errors corresponding to the N sensing signal groups respectively.

[0038] In one possible design, after sending the first sensing signal and the second sensing signal according to the first configuration information, the transceiver unit is used to receive the sensing result.

[0039] In one possible design, the sensing result includes the velocity of a first sensing target; the transceiver unit is configured to receive first information, the first information indicating a velocity matching error corresponding to the first sensing target, or the first information indicating a confidence level of the velocity of the first sensing target, the confidence level of the velocity of the first sensing target being determined based on the velocity matching error corresponding to the first sensing target.

[0040] In one possible design, the first configuration information includes one or more of the following: the number of symbols corresponding to the first duration, the number of symbols corresponding to the second duration, the value of M, the duration of a symbol, the starting symbol of the first sensing signal, the starting symbol of the second sensing signal, and the total number of symbols including the first sensing signal and the second sensing signal.

[0041] Fourthly, this application provides a communication device, which includes a transceiver unit and a processing unit; the transceiver unit is configured to acquire first configuration information; wherein the first configuration information is used to indicate the time domain position of a first sensing signal and a second sensing signal, the minimum time domain interval between the first sensing signal and the second sensing signal is a first duration, the period of the second sensing signal is M times the period of the first sensing signal, the period of the first sensing signal is a second duration, the first duration is less than the second duration, and M is a positive integer; the transceiver unit is configured to receive a third sensing signal and a fourth sensing signal according to the first configuration information, the third sensing signal being associated with the first sensing signal, and the fourth sensing signal being associated with the second sensing signal; the processing unit is configured to determine a sensing result based on the third sensing signal and the fourth sensing signal.

[0042] In one possible design, after determining the sensing result based on the third sensing signal and the fourth sensing signal, the transceiver unit is used to transmit the sensing result.

[0043] In one possible design, the sensing result includes the velocity of a first sensing target; after determining the sensing result based on the third sensing signal and the fourth sensing signal, the transceiver unit is configured to send first information, the first information indicating a velocity matching error corresponding to the first sensing target, or the first information indicating a confidence level of the velocity of the first sensing target, the confidence level of the velocity of the first sensing target being determined based on the velocity matching error corresponding to the first sensing target.

[0044] In one possible design, the speed of the first sensing target is determined based on possible speed 1 and possible speed 2 of the first sensing target, which are obtained by speed defuzzification based on the third sensing signal and the fourth sensing signal; the speed matching error corresponding to the first sensing target is determined based on the difference between possible speed 1 and possible speed 2 of the first sensing target.

[0045] In one possible design, the minimum value of the first speed matching error is greater than or equal to a first threshold. The first speed matching error is determined based on the difference between a first possible speed and a second possible speed. The first possible speed and the second possible speed are obtained by performing speed defuzzification based on the first sensing signal and the second sensing signal. The first possible speed is associated with the first duration, the second possible speed is associated with the second duration, and both the first possible speed and the second possible speed are less than or equal to a second threshold.

[0046] In one possible design, before acquiring the first configuration information, the transceiver unit is configured to acquire the first threshold and the second threshold; or, acquire the second threshold and the speed estimation accuracy of the receiving device, wherein the speed estimation accuracy of the receiving device is used to determine the first threshold; the processing unit is configured to determine N sensing signal groups based on the first threshold and the second threshold; wherein the i-th sensing signal group is any one of the N sensing signal groups, 1≤i≤N, and i and N are positive integers; the i-th sensing signal group includes the i-th sensing signal 1 and the i-th sensing signal 2, and the minimum time interval between the i-th sensing signal 1 and the i-th sensing signal 2 is T. 1i The period of the i-th sensing signal 2 is M times the period of the i-th sensing signal 1, and the period of the i-th sensing signal 1 is T. 2i T 1i <T 2i The minimum value of the velocity matching error corresponding to the i-th sensing signal group is greater than or equal to a first threshold. The velocity matching error corresponding to the i-th sensing signal group is determined based on the difference between the i-th possible velocity 1 and the i-th possible velocity 2. The i-th possible velocity 1 and the i-th possible velocity 2 are obtained based on velocity defuzzification of the i-th sensing signal group. 1i The correlation between the i-th possible velocity 2 and the T 2iThe correlation is established, and the i-th possible speed 1 and the i-th possible speed 2 are both less than or equal to the second threshold; a target sensing signal group is determined from the N sensing signal groups, the target sensing signal group including the first sensing signal and the second sensing signal, and the target sensing signal group is one of the N sensing signal groups.

[0047] In one possible design, before acquiring the first configuration information, the transceiver unit is used to acquire the third threshold, which is the minimum period of the sensing signal; the processing unit is used to determine the N sensing signal groups based on the first threshold, the second threshold, and the third threshold when determining the N sensing signal groups based on the first threshold and the second threshold, wherein the periods corresponding to the N sensing signals 1 in the N sensing signal groups are all greater than or equal to the third threshold.

[0048] In one possible design, the second duration is the maximum value among the periods corresponding to the N sensing signals 1 in the N sensing signal groups.

[0049] In one possible design, the minimum value of the velocity matching error corresponding to the target sensing signal group is the maximum value among the minimum values ​​of the velocity matching errors corresponding to the N sensing signal groups respectively.

[0050] In one possible design, the first configuration information includes one or more of the following: the number of symbols corresponding to the first duration, the number of symbols corresponding to the second duration, the value of M, the duration of a symbol, the starting symbol of the first sensing signal, the starting symbol of the second sensing signal, and the total number of symbols including the first sensing signal and the second sensing signal.

[0051] Fifthly, this application provides a communication device that has the functions of implementing the first or second aspect described above. For example, the communication device includes modules, units, or means corresponding to the operations involved in the first or second aspect described above. These modules, units, or means can be implemented by software, hardware, or a combination of software and hardware.

[0052] Sixthly, this application provides a communication device including an interface circuit and one or more processors. The one or more processors are coupled to a memory. The memory stores part or all of the necessary computer program or instructions for implementing the functions described in the first or second aspect. The one or more processors are executable to the computer program or instructions, which, when executed, cause the communication device to implement the methods in any possible design or implementation of the first or second aspect. The interface circuit is used to implement the communication functions within the communication device and / or the communication functions between the communication device and other devices or components.

[0053] In one possible design, the processor is used to communicate with other devices or components through the interface circuit.

[0054] In one possible design, the communication device may also include the memory.

[0055] In a seventh aspect, this application provides a communication system comprising a transmitting device and a receiving device, wherein the transmitting device is configured to perform the method in any possible design of the first aspect described above, and the receiving device is configured to perform the method in any possible design of the second aspect described above.

[0056] Eighthly, this application provides a computer-readable storage medium storing computer-readable instructions that, when read and executed by a computer, cause the computer to perform any of the possible designs in the first to second aspects described above.

[0057] Ninthly, this application provides a computer program product that, when read and executed by a computer, causes the computer to perform any of the possible designs in the first to second aspects described above. Attached Figure Description

[0058] Figure 1 The illustration shows a possible, non-limiting system diagram applicable to embodiments of this application;

[0059] Figure 2 A schematic diagram illustrating a sensing scenario to which embodiments of this application are applicable is shown;

[0060] Figure 3 A flowchart outlining the sensing signal transmission method provided in an embodiment of this application is shown;

[0061] Figure 4A This diagram illustrates a possible distribution of the first sensing signal and the second sensing signal in the time domain in an embodiment of this application.

[0062] Figure 4BThis diagram illustrates another possible distribution of the first sensing signal and the second sensing signal in the time domain in an embodiment of this application.

[0063] Figure 5 A schematic diagram of a velocity defuzzification embodiment of this application is shown;

[0064] Figure 6 A schematic diagram of the range-velocity power spectrum corresponding to the third sensing signal is shown;

[0065] Figure 7 This paper shows a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0066] Figure 8 A schematic diagram of another communication device provided in an embodiment of this application is shown. Detailed Implementation

[0067] The specific implementations of this application are described below with reference to the accompanying drawings in the embodiments. However, the implementations of this application may also include combining these embodiments without departing from the scope of this application, such as using other embodiments and making structural changes. Therefore, the detailed description of the following embodiments should not be understood in a limiting sense. The terminology used in the embodiment section of this application is only used to explain the specific embodiments of this application and is not intended to limit this application.

[0068] The embodiments of this application can be applied to various communication systems, such as: long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, worldwide interoperability for microwave access (WIMAX) communication systems, 5G systems or new radio (NR) systems, or to future communication systems or other similar communication systems, or ultra-wideband (UWB) systems, or wireless fidelity (WiFi) systems.

[0069] Figure 1 A possible, non-limiting system schematic diagram is shown. For example... Figure 1 As shown, the communication system 10 includes a wireless access network 100 and a core network 200. Optionally, the communication system 10 may also include an Internet 300. The wireless access network 100 may include at least one wireless access network device (such as...). Figure 1110a and 110b in the above), may also include at least one terminal (such as Figure 1 (Referring to 120a-120j in the original text). Terminals connect wirelessly to the wireless access network (WLAN) equipment, which in turn connects to the core network via wireless or wired connections. The core network equipment and the WLAN equipment can be independent physical devices, or they can integrate the functions of the core network equipment and the logical functions of the WLAN equipment onto the same physical device. Alternatively, a single physical device can integrate some of the functions of both the core network equipment and the WLAN equipment. Terminals and WLAN equipment can be interconnected via wired or wireless connections. Figure 1 This is just an illustration; the communication system may also include other network devices, such as wireless repeaters and wireless backhaul devices. Figure 1 It is not shown in the middle.

[0070] The embodiments of this application do not limit the specific technology or device form used in the wireless access network equipment. For ease of description, the wireless access network equipment will be referred to as access network equipment below. In the embodiments of this application, the access network equipment is a device deployed in a wireless access network to provide wireless communication functions for terminals. The access network equipment may include various forms of macro base stations, micro base stations (also known as small stations), relay stations, access points, etc. In systems using different wireless access technologies, the name of the access network equipment may be different, such as a base transceiver station (BTS) in a Global System for Mobile Communication (GSM) or Code Division Multiple Access (CDMA) network, a base station (nodeB, NB) in a Wideband Code Division Multiple Access (WCDMA) network, an evolved NodeB (eNodeB) in LTE, a next-generation NodeB (gNB) in a 5G mobile communication system, or an access network equipment in a future network. The access network equipment can also be a wireless controller in a cloud radio access network (CRAN) scenario. Access network equipment can also be wearable devices or vehicle-mounted devices. Access network equipment can also be transmission and reception points (TRPs).

[0071] Furthermore, access network equipment can also be modules or units that perform some of the functions of a base station. For example, it can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), etc. 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 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 and hardware modules.

[0072] It is understood that access network equipment can be referred to as a communication device. For example, access network equipment can be understood as a device that has access network equipment functions. For example, a device with access network equipment functions can be an access network device; or some components in an access network device, such as CU, DU, etc. It can also be a device that supports the access network device in realizing this function, such as a chip system, hardware circuit, software module, or hardware circuit plus software module. This device can be installed in the access network device or can be used in conjunction with the access network device. In the embodiments of this application, the chip system can be composed of chips or can include chips and other discrete devices.

[0073] In this application embodiment, the terminal may also be referred to as a terminal device. The terminal involved may include various handheld devices, vehicle-mounted devices, wearable devices, computing devices, or other processing devices connected to a wireless modem with wireless communication functions. The terminal may be a mobile station (MS), subscriber unit, cellular phone, smartphone, wireless data card, personal digital assistant (PDA) computer, tablet computer, wireless modem, handset, laptop computer, machine type communication (MTC) terminal, etc.

[0074] The embodiments of this application do not limit the specific technology or device form used in the terminal. It is understood that a terminal can be referred to as a communication device. For example, a terminal can be understood as a device with terminal functions. For example, a device with terminal functions can be a terminal itself; it can also be a device capable of supporting the terminal in implementing that function, such as a chip system, hardware circuit, software module, or hardware circuit plus software module. This device can be installed in a terminal or can be used in conjunction with a terminal.

[0075] It is understood that the network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0076] In this application, "sending information" can be understood as one device sending information to another device, or it can also be understood as one logical module within a device sending information to another logical module. For example, "access network device sending information" can be understood as the access network device sending information to another device (such as a terminal), or it can be understood as logical module 1 in the access network device sending information to logical module 2 in the access network device.

[0077] In this application, "receiving information" can be understood as one device receiving information from another device, or it can also be understood as a logical module within a device receiving information from another logical module. For example, "access network device receiving information" can be understood as the access network device receiving information from another device (such as a terminal), or it can be understood as logical module 1 in the access network device receiving information from logical module 2 in the access network device.

[0078] In this application, phrases such as "sending information to... (e.g., a terminal)" or related illustrations in the accompanying drawings can be understood as indicating that the destination of the information is a terminal. This can include sending information directly or indirectly to a terminal. Similarly, phrases such as "receiving information from... (e.g., a terminal)," "receiving information from... (e.g., a terminal)," or "receiving information sent by (e.g., a terminal)," or related illustrations in the accompanying drawings, can be understood as indicating that the source of the information is a terminal. This can include receiving information directly or indirectly from a terminal. Information may undergo necessary processing between the source and destination, such as format changes, but the destination can understand the valid information from the source. Similar expressions in this application can be interpreted similarly and will not be elaborated further here.

[0079] The relevant terms used in the embodiments of this application will be explained below. It should be noted that these explanations are for the purpose of making the embodiments of this application easier to understand, and should not be regarded as limiting the scope of protection claimed by this application.

[0080] 1) Sensing technology

[0081] Sensing technologies can generally be categorized into two modes: mono-static sensing and bi-static sensing. Mono-static sensing refers to a mode where the transmitting end of the sensing signal and the receiving end of the echo signal are the same device. In other words, in mono-static sensing, the transmitting device both transmits the sensing signal and receives the echo signal obtained after the sensing signal has interacted with the surface of the sensing target (e.g., reflection, diffraction, or scattering). Therefore, this mono-static sensing mode can also be called a self-transmitting and self-receiving mode, without limitation. Bi-static sensing refers to a mode where the transmitting end of the sensing signal and the receiving end of the echo signal are two different devices. In other words, sensing station A transmits the sensing signal, and the echo signal obtained after the sensing signal interacts with the surface of the sensing target is received by sensing station B. Therefore, this bi-static sensing mode can also be called the A-transmitting and B-receiving mode. It should be noted that the echo signal is obtained after the sensing signal has interacted with the sensing target (e.g., reflection, diffraction, or scattering), therefore, this echo signal can still be called the sensing signal.

[0082] Figure 2 This illustration shows a schematic diagram of a sensing scenario to which embodiments of this application are applicable. The scenario involves access network device A transmitting a sensing signal and access network device B receiving an echo signal, such as... Figure 2 As shown in (1) in the diagram; the scenario where terminal A sends a sensing signal and terminal B receives the echo signal, as shown in the diagram. Figure 2 As shown in (2) in the diagram; the scenario where access network device A sends a sensing signal and terminal A receives the echo signal, as shown in the diagram. Figure 2 As shown in (3) in the example; the scenario where terminal A sends a sensing signal and access network device A receives the echo signal, as shown in the example. Figure 2 As shown in (4) of the text. Figure 3 The example shown uses a drone as the sensing target and a smartphone as the terminal. It is understood that the above sensing scenario is merely an example and is not intended to limit this application.

[0083] by Figure 2 Taking (4) as an example, in uplink transmission, terminal A can send a sensing signal, which is reflected back to access network device A from the sensing target, such as a drone, through the air interface. Access network device A processes the received sensing signal to estimate the position and velocity information of the sensing target and performs velocity deambiguation. Similarly, taking Figure 2Taking (3) as an example, in downlink transmission, access network device A can send a sensing signal, and terminal A processes the received sensing signal to estimate the position and speed information of the sensing target and perform speed defuzzification.

[0084] Optionally, in the sensing scenario to which this application embodiment applies, there may be one or more transmitting devices for transmitting sensing signals, and one or more receiving devices for receiving echo signals of the sensing signals. Figure 2 This explanation uses one transmitting device and one receiving device as an example, without limitation.

[0085] The sensing target can also be referred to as a target, a detected target, a sensed object, a sensed device, etc., without limitation. The sensing target can be any tangible object in the environment capable of reflecting, diffracting, or scattering electromagnetic waves. For example, the sensing target can be a stationary object such as a mountain, forest, or building. Alternatively, the sensing target can be a mobile object such as a vehicle, drone, pedestrian, or terminal. This application does not limit the specific implementation form of the sensing target.

[0086] The sensing result can also be referred to as the detected result, the detected data, or the detected data, etc., without limitation. The sensing result can be the result obtained by the receiving device processing the echo signal. For example, the sensing result may include at least one of the following: the position of the sensed target, the velocity of the sensed target, the distance from the sensed target to the receiving device, the distance from the sensed target to the transmitting device, the direction or angle of the sensed target, or the intensity of the echo signal, etc.

[0087] 2) Sensing signals

[0088] In this application, the sensing signal may include a reference signal and / or a communication signal other than a reference signal.

[0089] The reference signal is also known as the pilot signal. For example, the reference signal may include uplink reference signals and downlink reference signals. The uplink reference signal may include, but is not limited to, at least one of the following: a sounding reference signal (SRS), an uplink demodulation reference signal (DMRS), an uplink phase noise tracking reference signal (PTRS), or an uplink positioning signal (CRS). The downlink reference signal may include, but is not limited to, at least one of the following: downlink DMRS, PTRS, channel status information reference signal (CSI-RS), positioning reference signal (PRS), or cell reference signal (CRS).

[0090] It should be understood that the reference signals listed above are merely examples and should not be construed as limiting this application. This application does not preclude the possibility of defining other reference signals in future agreements to achieve the same or similar functions.

[0091] 3) Pulse repetition interval refers to the repetition interval of the sensing signal in the time domain.

[0092] 4) The maximum unambiguous velocity is a velocity estimation parameter for a sensing system, which is related to the pulse repetition interval. When estimating the target velocity, if the target velocity exceeds the maximum unambiguous velocity, the estimated velocity will be ambiguous, meaning that the estimated velocity value will differ from the true velocity value by an integer multiple of the maximum unambiguous velocity.

[0093] For example, the maximum unambiguous speed Where λ is the wavelength corresponding to the operating frequency band of the sensing signal, T is the PRI of the sensing signal, or the period of the sensing signal, and k can be an empirical value. For example, k = 4. The following description uses k = 4 only and is not intended to limit this application.

[0094] In this application, the period of the sensing signal may be replaced by (or can be understood as) at least one of the following: the transmission period of the sensing signal, the transmission period of the sensing signal, or the period of the resources used to transmit (or carry) the sensing signal.

[0095] The frequency band of the sensing signal can be replaced (or can be understood as) at least one of the following: the operating frequency band of the sensing signal, or the frequency band of the resources used to transmit (or carry) the sensing signal.

[0096] Currently, a coarse estimate of the target's true velocity is obtained by differencing the distances estimated from multiple frames. Then, a fine estimate is obtained by combining the blurred velocity from a single frame with this coarse estimate for deblurring. However, this approach has several drawbacks. First, obtaining a coarse estimate of the target's true velocity requires multiple frames of data, resulting in significant time delay. Second, using multiple frames requires that the target of interest be detected in each frame, and that the detected targets in each frame be associated with the same target. For example, if one target is detected in each frame, deblurring is relatively easy; however, if more than one target is detected, it may be impossible to directly associate the detected targets in each frame with the same target, thus hindering deblurring. Furthermore, obtaining a coarse estimate of the target's true velocity by differencing the distances estimated from multiple frames requires high distance estimation accuracy, and robustness may not be guaranteed.

[0097] The sensing signal transmission method and device will be further described below with reference to the accompanying drawings. It is understandable that, in situations such as... Figure 3 In the illustrated embodiments, the transmitting and receiving devices are used as examples to illustrate the interaction. It is understood that this application does not limit the entities that can be used to illustrate the interaction. The transmitting and receiving devices can be access network devices or terminal devices. For example, if the transmitting or receiving device is an access network device, it can be replaced by a module (e.g., a circuit, chip, or chip system) within the access network device, or a logical node, logical module, or software that can implement all or part of the access network device's functions. If the transmitting or receiving device is a terminal, it can be replaced by a communication / processing module within the terminal, or a circuit or chip responsible for communication / processing functions within the terminal (such as a modem chip (also known as a baseband chip), or a system-on-a-chip (SoC) chip containing a modem core, or a system-in-package (SIP) chip), or a circuit or chip responsible for processing functions within the terminal (such as a graphics processing unit (GPU)).

[0098] like Figure 3 As shown, this application provides a sensing signal transmission method, the method comprising:

[0099] Step 300: Sending device obtains first configuration information, receiving device obtains first configuration information.

[0100] For example, the first configuration information is used to indicate the time domain position of the first sensing signal and the time domain position of the second sensing signal. The minimum time domain interval between the first sensing signal and the second sensing signal is a first duration. The period of the second sensing signal is M times the period of the first sensing signal. The period of the first sensing signal is a second duration. The first duration is less than the second duration. M is a positive integer.

[0101] It is understandable that there may be multiple intervals between the first sensing signal and the second sensing information in the time domain. Among them, the smallest time domain interval between the first sensing signal and the second sensing signal is the first duration.

[0102] Wherein, the first duration corresponds to the first pulse repetition time, and the second duration corresponds to the second pulse repetition time. For ease of description, the first duration is denoted as T1, the second duration as T2, the first pulse repetition time as PRI1, and the second pulse repetition time as PRI2. Further, based on the above T1 and T2, the first maximum unambiguous velocity and the second maximum unambiguous velocity can be calculated. For example, the first maximum unambiguous velocity... Second maximum unambiguous speed

[0103] For example, the first configuration information includes one or more of the following: the number of symbols corresponding to the first duration, the number of symbols corresponding to the second duration, the value of M, the duration of a symbol, the starting symbol of the first sensing signal, the starting symbol of the second sensing signal, and the total number of symbols including the first sensing signal and the second sensing signal.

[0104] The starting symbol of the first sensing signal can be replaced by the starting position of the first sensing signal, and the starting symbol of the second sensing signal can also be replaced by the starting position of the second sensing signal. The total number of symbols including the first and second sensing signals can be understood as the sum of the number of first and second sensing signals. Alternatively, the total number of symbols including the first and second sensing signals can be understood as the total number of symbols from the starting symbol of the first sensing signal to the symbol containing the last sensing signal. The last sensing signal can be either the first or the second sensing signal. Based on the first duration, the second duration, and the total number of symbols, it can be determined whether the last sensing signal is the first or the second sensing signal. Furthermore, the value of M and / or the duration of a symbol can be determined through protocol predefinition or prior negotiation and do not need to be included in the first configuration information.

[0105] The following combination Figure 4A and Figure 4B The explanation of the first and second sensing signals is as follows: Figure 4A and Figure 4BThis is merely an example and not intended to limit the scope of this application. Each rectangle represents a symbol; a black-filled rectangle represents a first sensing signal, a rectangle filled with diagonal lines represents a second sensing signal, and a white-filled rectangle represents an empty symbol or a symbol used for other purposes. T1 represents the first duration, and T2 represents the second duration.

[0106] exist Figure 4A In this example, assuming M=1, the first time duration includes 2 symbols, the second time duration includes 6 symbols, and the total number of symbols including the first and second sensing signals is 7. Specifically, the number of first sensing signals is 4, and the number of second sensing signals is 3.

[0107] exist Figure 4B In this example, assuming M=2, the first time duration includes 2 symbols, the second time duration includes 6 symbols, and the total number of symbols including the first and second sensing signals is 6. Specifically, the number of first sensing signals is 4, and the number of second sensing signals is 2.

[0108] The transmitting and receiving devices may obtain the first configuration information in, but are not limited to, the following three possible methods:

[0109] One possible implementation is that the transmitting device sends a service request to the receiving device, whereby the service request is used to request speed measurement or sensing results, etc. In response to the service request, the receiving device determines first configuration information and sends the first configuration information to the transmitting device.

[0110] In a possible implementation, the receiving device sends a service request to the sending device, whereby the service request is used to request speed measurement or sensing results, etc. In response to the service request, the sending device determines first configuration information and sends the first configuration information to the receiving device.

[0111] Possible implementation 3: The transmitting or receiving device sends a service request to the sensing management device, wherein the service request is used to request sensing speed measurement, or to request sensing results, etc. In response to the service request, the sensing management device determines first configuration information and sends the first configuration information to both the transmitting and receiving devices. The sensing management device can be a sensing management function network element, or other network elements with similar functions; this application does not limit its scope. The sensing management device can be an independent network element or co-located with other network elements, and its deployment method can be centralized or distributed.

[0112] Based on the three possible implementation methods described above, it can be seen that the transmitting device, receiving device, or sensing management device can all determine the first configuration information. That is, the transmitting device, receiving device, or sensing management device can all determine the first sensing signal and the second sensing signal.

[0113] In one possible implementation, the minimum value of the first velocity matching error is greater than or equal to a first threshold, which is related to the velocity estimation accuracy of the receiving device. The first velocity matching error is determined based on the difference between a first possible velocity and a second possible velocity. The first possible velocity and the second possible velocity are obtained by performing velocity defuzzification based on the first and second sensing signals. The first possible velocity is related to a first duration, and the second possible velocity is related to a second duration. Both the first possible velocity and the second possible velocity are less than or equal to a second threshold, which is a maximum velocity threshold.

[0114] For example, in order to determine a reference signal that satisfies the above requirements, a device for determining the first configuration information (e.g., a transmitting device, a receiving device, or a sensing management device) may acquire a first threshold and a second threshold, and determine the first configuration information based on the first threshold and the second threshold, that is, determine a reference signal that satisfies the above requirements.

[0115] The device used to determine the first configuration information can directly obtain the first threshold, or the device used to determine the first configuration information can first obtain the speed estimation accuracy of the receiving device, and then determine the first threshold based on the speed estimation accuracy of the receiving device, wherein the speed estimation accuracy of the receiving device is used to determine the first threshold.

[0116] For example, the first threshold can also be called the velocity matching error threshold, and the first threshold is related to the velocity estimation accuracy of the receiving device. For example, the first threshold is denoted as v. match The accuracy of the speed estimation of the receiving device is denoted as v. mse , where v match >m·v mse , m>2, where the value of m can be an empirical value. The first threshold or the speed estimation accuracy of the receiving device can be provided by the receiving device.

[0117] The second threshold can also be called the maximum value of the maximum unambiguous velocity, or the constraint on the maximum unambiguous velocity. For example, the second threshold can be denoted as v. thres For example, the second threshold can be determined by the device sending the service request, or the second threshold can be provided by the device initiating the sensing request. For instance, the device initiating the sensing request determines the corresponding second threshold based on its desired sensing target and notifies other devices of the second threshold.

[0118] In addition, the device used to determine the first configuration information can also obtain other parameters, such as the frequency bands and bandwidths supported by the transmitting and receiving devices, to ensure that the transmitting and receiving devices can operate in the same frequency bands and bandwidths.

[0119] In conjunction with the above possible implementation method 1, the receiving device can receive first capability information from the transmitting device, wherein the first capability information includes a second threshold, the bandwidth supported by the transmitting device, the frequency band supported by the transmitting device, etc.

[0120] In conjunction with the above possible implementation method 2, the transmitting device can receive second capability information from the receiving device, wherein the second capability information includes a first threshold or the speed estimation accuracy of the receiving device, a second threshold, the bandwidth supported by the receiving device, the frequency band supported by the receiving device, etc.

[0121] In conjunction with the aforementioned possible implementation method 3, the sensing management device can receive first capability information from the transmitting device and second capability information from the receiving device. The first capability information includes the bandwidth supported by the transmitting device, the frequency bands supported by the transmitting device, etc. The second capability information includes a first threshold or the speed estimation accuracy of the receiving device, the bandwidth supported by the receiving device, the frequency bands supported by the receiving device, etc. If the transmitting device sends a service request to the sensing management device, the first capability information may also include the second threshold. If the receiving device sends a service request to the sensing management device, the second capability information may also include the second threshold.

[0122] The following description uses the device used to determine the first configuration information as an example to illustrate the specific process by which the perception management device determines the first configuration information based on the first threshold and the second threshold.

[0123] First, the sensing management device can determine N sensing signal groups based on a first threshold and a second threshold. These N sensing signal groups can also be referred to as a sensing signal set.

[0124] Here, the i-th sensing signal group is any one of the N sensing signal groups, where 1 ≤ i ≤ N, and i and N are positive integers. The i-th sensing signal group includes the i-th sensing signal 1 and the i-th sensing signal 2, and the minimum domain interval between the i-th sensing signal 1 and the i-th sensing signal 2 is T. 1i The period of the i-th sensing signal 2 is M times the period of the i-th sensing signal 1, and the period of the i-th sensing signal 1 is T. 2i T 1i <T 2i In other words, each of the N sensing signal groups corresponds to a set of time parameters, where the i-th sensing signal group corresponds to {T}. 1i ,T 2i Furthermore, each parameter in any set of time parameters is no greater than T.N , among which, T N The maximum PRI of the sensed signal.

[0125] The minimum speed matching error corresponding to the i-th sensing signal group is greater than or equal to the first threshold. The speed matching error corresponding to the i-th sensing signal group is determined based on the difference between the i-th possible speed 1 and the i-th possible speed 2. The i-th possible speed 1 and the i-th possible speed 2 are obtained by performing speed defuzzification on the i-th sensing signal group. The i-th possible speed 1 and T... 1i Correlation, the i-th possible velocity 2 and T 2i The correlation exists, and both the i-th possible velocity 1 and the i-th possible velocity 2 are less than or equal to the second threshold.

[0126] For example, the sensing management device can first determine multiple candidate sensing signal groups, and then determine the candidate sensing signal groups that meet two screening conditions from these multiple candidate sensing signal groups. That is, the candidate sensing signal groups that meet the two screening conditions constitute a sensing signal set, or in other words, the candidate sensing signal groups that meet the two screening conditions belong to N sensing signal groups. The two screening conditions are respectively associated with a first threshold and a second threshold. For example, the first screening condition indicates that the minimum speed matching error is greater than or equal to the first threshold, and the second screening condition indicates that both possible speeds used to calculate the minimum speed matching error are less than or equal to the second threshold.

[0127] The following describes the specific process for determining the N sets of sensing signals:

[0128] For example, the sensing management device first determines the T based on N Multiple candidate sensing signal groups can be identified, each corresponding to a set of time parameters. For example, the j-th candidate sensing signal group can be any single candidate sensing signal group, where j is a positive integer. The j-th candidate sensing signal group includes j-th candidate sensing signal 1 and j-th candidate sensing signal 2, and the minimum time domain interval between j-th candidate sensing signal 1 and j-th candidate sensing signal 2 is T. 1j* The period of the j-th candidate sensing signal 2 is M times the period of the j-th candidate sensing signal 1, and the period of the j-th sensing signal 1 is T. 2j* T 1j*j <T 2j* ≤T N The j-th candidate sensing signal group corresponds to {T}. 1j* ,T 2j*}

[0129] Furthermore, velocity defuzzification is performed for each candidate sensing signal group, and the minimum value of the corresponding velocity matching error is determined. Among them, the candidate sensing signal groups that satisfy the condition that the minimum value of the velocity matching error is greater than or equal to the first threshold and that the two possible velocities used to calculate the minimum value of the velocity matching error are both less than or equal to the second threshold belong to N sensing signal groups.

[0130] For example, taking the j-th candidate sensing signal group as an example, speed defuzzification is performed on the j-th candidate sensing signal group to obtain v. 1j =k1v max1j ,v 2j =k2v max2j ,in, Both k1 and k2 are positive integers. By changing k1 and / or k2, we can make |v 1j -v 2j As the value changes, we can eventually determine a k1 and a k2 such that |v 1j -v 2j | is the minimum value, and the final determined v 1j Less than or equal to the second threshold, and the finally determined v 2j Less than or equal to the second threshold.

[0131] Among them, |v 1j -v 2j | represents the velocity matching error corresponding to the j-th candidate sensing signal group, |v 1j -v 2j The minimum value of | is the minimum value of the velocity matching error corresponding to the j-th candidate sensing signal group, which can be denoted as v. err-j =min(|v 1j -v 2j |).

[0132] If v err-j If the value is greater than or equal to the first threshold, then the j-th candidate sensing signal group is one of the N sensing signal groups; otherwise, the j-th candidate sensing signal group does not belong to the N sensing signal groups.

[0133] For example, assuming the second threshold is 17 m / s, v max1j =4m / s,v max2j =5m / s, when k1=4, k2=3, |v 1j -v 2j | = 1, when k1 = 1, k2 = 1, |v 1j -v 2j | = 1, that is, v err-j =min(|v 1j -v 2j |) = 1. For example... Figure 5 As shown, assume Vx represents v max1j Vy represents v max2j .

[0134] In one possible design, if the sensing management device can also obtain a third threshold, which can be referred to as the minimum period of the sensing signal, the sensing device can further determine candidate sensing signal groups that meet three screening conditions from multiple candidate sensing signal groups when determining N sensing signal groups. That is, candidate sensing signal groups that meet the three screening conditions constitute a set of sensing signals, or in other words, candidate sensing signal groups that meet the three screening conditions belong to N sensing signal groups. The third screening condition is related to the third threshold, indicating that the period of candidate sensing signal 1 in the candidate sensing signal group is greater than or equal to the third threshold. In other words, the periods corresponding to each of the N sensing signals 1 in the N sensing signal groups are all greater than or equal to the third threshold. By combining the sensing signal groups screened out by the third threshold, it is possible to obtain a large unambiguous speed measurement range using as few sensing resources as possible.

[0135] For example, the third threshold can be carried through the first capability information or the second capability information, and this application does not limit this.

[0136] For example, taking the j-th candidate sensing signal group as an example, if v err-j Greater than or equal to the first threshold, and calculate v err-j v used 1j and v 2j Less than or equal to the second threshold, and T 2j* If the value is greater than or equal to the third threshold, then the j-th candidate sensing signal group is one of the N sensing signal groups.

[0137] Second, after determining N sensing signal groups, the sensing management device can identify a target sensing signal group from these N groups. The target sensing signal group includes a first sensing signal and a second sensing signal; that is, the sensing management device determines the first configuration information. The target sensing signal group is one of the N sensing signal groups.

[0138] For example, the sensing management device may determine the target sensing signal group in, but is not limited to, the following ways:

[0139] Method a: The sensing management device can determine the maximum value in the period corresponding to each of the N sensing signals 1 in the N sensing signal groups, and take the sensing signal group including the sensing signal 1 corresponding to the maximum value as the target sensing signal group.

[0140] In other words, the second duration is the maximum value among the periods corresponding to the N sensing signals 1 in the N sensing signal groups.

[0141] For example, assuming N=3, the three sensing signal groups are sensing signal group A, sensing signal B, and sensing signal group C. Sensing signal group A corresponds to {3ms, 5ms}, sensing signal group B corresponds to {4ms, 6ms}, and sensing signal group C corresponds to {3ms, 7ms}. Since the period of sensing signal 1 in sensing signal group C is 7ms, which is the maximum value among the periods corresponding to the three sensing signals 1 in the three sensing signal groups, the target sensing signal group is sensing signal group C, where the first duration is 3ms and the second duration is 7ms.

[0142] By using method a above, it is possible to obtain a large unambiguous speed measurement range with as few sensing resources as possible.

[0143] Method b: The sensing management device can determine the maximum value among the minimum speed matching errors corresponding to N sensing signal groups, and use the sensing signal group corresponding to the maximum value as the target sensing signal group. In other words, the minimum speed matching error corresponding to the target sensing signal group is the maximum value among the minimum speed matching errors corresponding to the N sensing signal groups.

[0144] For example, assuming N=3, the three sensing signal groups are sensing signal group A, sensing signal B, and sensing signal group C. The minimum speed matching error corresponding to sensing signal group A is 3 m / s, the minimum speed matching error corresponding to sensing signal group B is 2 m / s, and the minimum speed matching error corresponding to sensing signal group C is 2 m / s. Since the minimum speed matching error corresponding to sensing signal group A is 3 m / s, which is the maximum value among the minimum speed matching errors corresponding to the three sensing signal groups, the target sensing signal group is sensing signal group A.

[0145] By adopting method b above, the probability of errors in the defuzzification process can be reduced, the success rate of the defuzzification process can be improved, and thus the robustness of the sensing speed measurement can be enhanced.

[0146] It is understood that the above methods a and b are merely examples and are not intended to limit this application. The sensing management device may also use other methods to determine the target sensing signal group.

[0147] Step 310: The transmitting device transmits the first sensing signal and the second sensing signal according to the first configuration information.

[0148] Step 320: The receiving device receives the third sensing signal and the fourth sensing signal according to the first configuration information. The third sensing signal is associated with the first sensing signal, and the fourth sensing signal is associated with the second sensing signal.

[0149] In this process, the echo signal obtained by the first sensing signal after interacting with the surface of one or more sensing targets is received by the receiving device. The signal received by the receiving device at this time is the third sensing signal. Similarly, the echo signal obtained by the second sensing signal after interacting with the surface of one or more sensing targets is received by the receiving device. The signal received by the receiving device at this time is the fourth sensing signal.

[0150] Step 330: The receiving device determines the sensing result based on the third sensing signal and the fourth sensing signal.

[0151] The following describes a possible implementation process for the receiving device to determine the sensing result based on the third and fourth sensing signals:

[0152] Possible implementation method A:

[0153] Among these, implementation method A may be applicable to scenarios where M=1. Alternatively, implementation method A may be applicable to scenarios where the period of the second sensing signal is the same as the period of the first sensing signal.

[0154] The signal processing procedure of the receiving device is as follows:

[0155] For the third and fourth sensing signals, the receiving device obtains the distance power spectrum corresponding to the third sensing signal and the distance power spectrum corresponding to the fourth sensing signal respectively through fast time-dimensional pulse compression (or matched filtering). Then, it performs slow-time FFT on the time-domain symbol for each distance to obtain the distance velocity power spectrum corresponding to the third sensing signal and the distance velocity power spectrum corresponding to the fourth sensing signal respectively. Figure 6 The range-velocity power spectrum corresponding to the third sensing signal is shown, with black squares representing the range-velocity units of the first sensing target. The range-velocity power spectrum corresponding to the fourth sensing signal is similar and is not shown.

[0156] The target range velocity power spectrum is obtained by incoherently superimposing the range velocity power spectra corresponding to the third and fourth sensing signals. Algorithms such as 2D CFAR are used to detect the range velocity cell containing the first sensing target, yielding a first velocity estimate v1. The spectral peak signals x1 and x2 corresponding to the range velocity cell containing the first sensing target are extracted from the range power spectra of the third and fourth sensing signals to calculate the second velocity estimate. The angle(·) function represents the operation of taking radians. Let x1 be the conjugate of x1. Here, x1 can be extracted... Figure 6The signal corresponding to the first sensing target in the range-velocity power spectrum of the third sensing signal shown can be obtained. x2 can be obtained by extracting the signal corresponding to the first sensing target in the range-velocity power spectrum of the fourth sensing signal.

[0157] Finally, the first and second velocity estimates are used for defuzzification. The specific steps are as follows: Search for the number of fuzzy cycles: in The final solution velocity estimation result after fuzzing is Among them, the velocity matching error corresponding to the first sensing target

[0158] Possible implementation method B:

[0159] Among these, implementation method B may be applicable to scenarios where M > 1. Alternatively, implementation method B may be applicable to scenarios where the period of the second sensing signal is M times the period of the first sensing signal.

[0160] The signal processing procedure of the receiving device is as follows:

[0161] The receiving device performs algorithms such as 2D CFAR on the range-velocity power spectrum obtained from the third sensing signal to detect the range-velocity unit where the first sensing target is located. Based on the range-velocity unit where the first sensing target is located, it obtains the spectral peak signal x1 and the first velocity estimate v1. Then, the spectral peak signal x2 is extracted from the fourth sensing signal. The specific steps are as follows: the fourth sensing signal is subjected to range-dimensional pulse compression to obtain the range-velocity power spectrum. The target distance can be obtained from the third sensing signal. Then, the time-domain signal corresponding to the same target distance on the range-velocity power spectrum of the fourth sensing signal is extracted, that is, the signal y2 at the distance where the first sensing target is located is extracted. The spectral peak signal x2 is obtained by matched filtering using the velocity v1. The above matched filtering process is as follows: first, a velocity signal vector is constructed. Where S is the number of slow-time signals, which is also the number of second-sensing signals, and then the spectral peak signal x2 = a is calculated. H (v1)·y2. Second velocity estimate. Finally, the same method as in possible implementation A is used to defuzzify the velocity using v1 and v2 to obtain the final velocity estimation result.

[0162] It is understood that the above possible implementation methods A and B are merely examples and are not intended to limit this application.

[0163] Furthermore, in one possible design, after determining the sensing result based on the third and fourth sensing signals, the receiving device transmits the sensing result. Exemplarily, the receiving device may transmit the sensing result to the transmitting device or to other devices; this application does not limit this to any particular device.

[0164] For example, the sensing result may include at least one of the following: the position of the sensed target, the velocity of the sensed target, the distance from the sensed target to the receiving device, the distance from the sensed target to the transmitting device, the direction or angle of the sensed target, or the intensity of the echo signal, etc. The number of sensed targets may be one or more, and this application does not limit this.

[0165] The following example uses the perception result including the speed of the first perceived target. The speed of the first perceived target is determined based on the possible speed 1 and the possible speed 2 of the first perceived target. The possible speed 1 and the possible speed 2 of the first perceived target are obtained by performing speed defuzzification based on the third and fourth perception signals.

[0166] After determining the sensing result based on the third sensing signal and the fourth sensing signal, the receiving device may also send first information, which indicates the speed matching error corresponding to the first sensing target, or the first information indicates the confidence level of the speed of the first sensing target, which is determined based on the speed matching error corresponding to the first sensing target.

[0167] The velocity matching error corresponding to the first sensing target is determined based on the difference between the possible velocity 1 and the possible velocity 2 of the first sensing target.

[0168] For example, combining the previous example, the velocity matching error corresponding to the first perceived target. in, The possible velocity 1 corresponding to the first perceived target, The possible speed 2 corresponds to the first perceived target.

[0169] If d e ≤n·v mse If n < 2, then C = 1; otherwise, C = 0. Here, C = 1 indicates that the confidence level of the velocity of the first sensed target is 1, and C = 0 indicates that the confidence level of the velocity of the first sensed target is 0. The velocity estimation accuracy of the receiving device is denoted as v. mse , where n is an empirical value.

[0170] In summary, the above method can achieve a larger unambiguous speed measurement range with minimal sensing resources, save sensing resource overhead, increase device communication capacity, improve the robustness of sensing speed measurement, and increase the success rate of the deambiguation process.

[0171] It is understood that, in order to achieve the functions in the above embodiments, each communication device (e.g., a transmitting device or a receiving device) includes hardware structures and / or software modules corresponding to perform each function. Those skilled in the art should readily recognize that, based on the units and method steps of the various examples described in conjunction with the embodiments disclosed in this application, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0172] Figure 7 and Figure 8 The diagram illustrates the possible communication devices provided in the embodiments of this application. These communication devices can be used to implement the functions of the various communication devices in the above method embodiments, and thus can also achieve the beneficial effects of the above method embodiments.

[0173] like Figure 7 As shown, the communication device 700 includes a processing unit 710 and a transceiver unit 720.

[0174] When the communication device 700 is used to achieve the above Figure 3 When the transmitting device functions in the method embodiment shown:

[0175] The processing unit 710 is used to control the operation of the transceiver unit 720; the transceiver unit 720 is used to acquire first configuration information; wherein, the first configuration information is used to indicate the time domain position of the first sensing signal and the time domain position of the second sensing signal, the minimum time domain interval between the first sensing signal and the second sensing signal is a first duration, the period of the second sensing signal is M times the period of the first sensing signal, the period of the first sensing signal is a second duration, the first duration is less than the second duration, and M is a positive integer; and the first sensing signal and the second sensing signal are transmitted according to the first configuration information.

[0176] In one possible design, the minimum value of the first speed matching error is greater than or equal to a first threshold. The first speed matching error is determined based on the difference between a first possible speed and a second possible speed. The first possible speed and the second possible speed are obtained by performing speed defuzzification based on the first sensing signal and the second sensing signal. The first possible speed is associated with the first duration, the second possible speed is associated with the second duration, and both the first possible speed and the second possible speed are less than or equal to a second threshold.

[0177] In one possible design, before acquiring the first configuration information, the transceiver unit 720 is configured to acquire the first threshold and the second threshold; or, acquire the second threshold and the speed estimation accuracy of the receiving device, wherein the speed estimation accuracy of the receiving device is used to determine the first threshold; the processing unit 710 is configured to determine N sensing signal groups based on the first threshold and the second threshold; wherein the i-th sensing signal group is any one of the N sensing signal groups, 1≤i≤N, and i and N are positive integers; the i-th sensing signal group includes the i-th sensing signal 1 and the i-th sensing signal 2, and the minimum time interval between the i-th sensing signal 1 and the i-th sensing signal 2 is T. 1i The period of the i-th sensing signal 2 is M times the period of the i-th sensing signal 1, and the period of the i-th sensing signal 1 is T. 2i T 1i <T 2i The minimum value of the velocity matching error corresponding to the i-th sensing signal group is greater than or equal to a first threshold. The velocity matching error corresponding to the i-th sensing signal group is determined based on the difference between the i-th possible velocity 1 and the i-th possible velocity 2. The i-th possible velocity 1 and the i-th possible velocity 2 are obtained based on velocity defuzzification of the i-th sensing signal group. 1i The correlation between the i-th possible velocity 2 and the T 2i The correlation is established, and the i-th possible speed 1 and the i-th possible speed 2 are both less than or equal to the second threshold; a target sensing signal group is determined from the N sensing signal groups, the target sensing signal group including the first sensing signal and the second sensing signal, and the target sensing signal group is one of the N sensing signal groups.

[0178] In one possible design, before acquiring the first configuration information, the transceiver unit 720 is used to acquire the third threshold, which is the minimum period of the sensing signal; the processing unit 710 is used to determine the N sensing signal groups based on the first threshold, the second threshold, and the third threshold when determining the N sensing signal groups based on the first threshold and the second threshold, wherein the periods corresponding to the N sensing signals 1 in the N sensing signal groups are all greater than or equal to the third threshold.

[0179] In one possible design, the second duration is the maximum value among the periods corresponding to the N sensing signals 1 in the N sensing signal groups.

[0180] In one possible design, the minimum value of the velocity matching error corresponding to the target sensing signal group is the maximum value among the minimum values ​​of the velocity matching errors corresponding to the N sensing signal groups respectively.

[0181] In one possible design, after sending the first sensing signal and the second sensing signal according to the first configuration information, the transceiver unit 720 is used to receive the sensing result.

[0182] In one possible design, the sensing result includes the velocity of a first sensing target; the transceiver unit 720 is configured to receive first information, the first information indicating a velocity matching error corresponding to the first sensing target, or the first information indicating a confidence level of the velocity of the first sensing target, the confidence level of the velocity of the first sensing target being determined based on the velocity matching error corresponding to the first sensing target.

[0183] In one possible design, the first configuration information includes one or more of the following: the number of symbols corresponding to the first duration, the number of symbols corresponding to the second duration, the value of M, the duration of a symbol, the starting symbol of the first sensing signal, the starting symbol of the second sensing signal, and the total number of symbols including the first sensing signal and the second sensing signal.

[0184] When the communication device 700 is used to achieve the above Figure 3 When receiving the device's function in the method embodiment shown:

[0185] The transceiver unit 720 is configured to acquire first configuration information; wherein the first configuration information indicates the time domain position of the first sensing signal and the time domain position of the second sensing signal, the minimum time domain interval between the first sensing signal and the second sensing signal is a first duration, the period of the second sensing signal is M times the period of the first sensing signal, the period of the first sensing signal is a second duration, the first duration is less than the second duration, and M is a positive integer; the transceiver unit 720 is configured to receive a third sensing signal and a fourth sensing signal according to the first configuration information, wherein the third sensing signal is associated with the first sensing signal, and the fourth sensing signal is associated with the second sensing signal; the processing unit 710 is configured to determine a sensing result based on the third sensing signal and the fourth sensing signal.

[0186] In one possible design, after determining the sensing result based on the third sensing signal and the fourth sensing signal, the transceiver unit 720 is used to transmit the sensing result.

[0187] In one possible design, the sensing result includes the speed of a first sensing target; after determining the sensing result based on the third sensing signal and the fourth sensing signal, the transceiver unit 720 is configured to send first information, the first information indicating the speed matching error corresponding to the first sensing target, or the first information indicating the confidence level of the speed of the first sensing target, the confidence level of the speed of the first sensing target being determined based on the speed matching error corresponding to the first sensing target.

[0188] In one possible design, the speed of the first sensing target is determined based on possible speed 1 and possible speed 2 of the first sensing target, which are obtained by speed defuzzification based on the third sensing signal and the fourth sensing signal; the speed matching error corresponding to the first sensing target is determined based on the difference between possible speed 1 and possible speed 2 of the first sensing target.

[0189] In one possible design, the minimum value of the first speed matching error is greater than or equal to a first threshold. The first speed matching error is determined based on the difference between a first possible speed and a second possible speed. The first possible speed and the second possible speed are obtained by performing speed defuzzification based on the first sensing signal and the second sensing signal. The first possible speed is associated with the first duration, the second possible speed is associated with the second duration, and both the first possible speed and the second possible speed are less than or equal to a second threshold.

[0190] In one possible design, before acquiring the first configuration information, the transceiver unit 720 is configured to acquire the first threshold and the second threshold; or, acquire the second threshold and the speed estimation accuracy of the receiving device, wherein the speed estimation accuracy of the receiving device is used to determine the first threshold; the processing unit 710 is configured to determine N sensing signal groups based on the first threshold and the second threshold; wherein the i-th sensing signal group is any one of the N sensing signal groups, 1≤i≤N, and i and N are positive integers; the i-th sensing signal group includes the i-th sensing signal 1 and the i-th sensing signal 2, and the minimum time interval between the i-th sensing signal 1 and the i-th sensing signal 2 is T. 1i The period of the i-th sensing signal 2 is M times the period of the i-th sensing signal 1, and the period of the i-th sensing signal 1 is T. 2i T 1i <T 2iThe minimum value of the velocity matching error corresponding to the i-th sensing signal group is greater than or equal to a first threshold. The velocity matching error corresponding to the i-th sensing signal group is determined based on the difference between the i-th possible velocity 1 and the i-th possible velocity 2. The i-th possible velocity 1 and the i-th possible velocity 2 are obtained based on velocity defuzzification of the i-th sensing signal group. 1i The correlation between the i-th possible velocity 2 and the T 2i The correlation is established, and the i-th possible speed 1 and the i-th possible speed 2 are both less than or equal to the second threshold; a target sensing signal group is determined from the N sensing signal groups, the target sensing signal group including the first sensing signal and the second sensing signal, and the target sensing signal group is one of the N sensing signal groups.

[0191] In one possible design, before acquiring the first configuration information, the transceiver unit 720 is used to acquire the third threshold, which is the minimum period of the sensing signal; the processing unit 710 is used to determine the N sensing signal groups based on the first threshold, the second threshold, and the third threshold when determining the N sensing signal groups based on the first threshold and the second threshold, wherein the periods corresponding to the N sensing signals 1 in the N sensing signal groups are all greater than or equal to the third threshold.

[0192] In one possible design, the second duration is the maximum value among the periods corresponding to the N sensing signals 1 in the N sensing signal groups.

[0193] In one possible design, the minimum value of the velocity matching error corresponding to the target sensing signal group is the maximum value among the minimum values ​​of the velocity matching errors corresponding to the N sensing signal groups respectively.

[0194] In one possible design, the first configuration information includes one or more of the following: the number of symbols corresponding to the first duration, the number of symbols corresponding to the second duration, the value of M, the duration of a symbol, the starting symbol of the first sensing signal, the starting symbol of the second sensing signal, and the total number of symbols including the first sensing signal and the second sensing signal.

[0195] For some possible designs and beneficial effects of the communication device 700, please refer to the above. Figure 3 The relevant content in the illustrated embodiments will not be repeated here.

[0196] like Figure 8As shown, the communication device 800 includes a processor 810 and an interface circuit 820. The processor 810 and the interface circuit 820 are coupled to each other. It is understood that the interface circuit 820 can be a transceiver or an input / output interface. Optionally, the communication device 800 may also include a memory 830 for storing instructions executed by the processor 810, or storing input data required by the processor 810 to execute instructions, or storing data generated after the processor 810 executes instructions.

[0197] When the communication device 800 is used to implement the above method embodiment, the processor 810 is used to implement the function of the processing unit 710, and the interface circuit 820 is used to implement the function of the transceiver unit 720.

[0198] It is understood that the processor in the embodiments of this application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor may be a microprocessor or any conventional processor.

[0199] This application provides another example of a device, the notification device including at least one processor and at least one memory, the at least one processor and the at least one memory coupled together, the at least one memory for storing instructions, which, when executed by the at least one processor, cause the communication device to perform the method described above. Taking a communication device including a processor and a memory as an example, such as... Figure 8 As shown, the communication device 800 includes a processor 810 and a memory 830. The processor 810 and the memory 830 are coupled. The memory 830 stores instructions. When the instructions stored in the memory 830 are executed by the processor 810, the communication device 800 executes the methods executed by the various communication devices in the above embodiments.

[0200] The method steps in the embodiments of this application can be implemented in hardware or in software instructions executable by a processor. The software instructions can consist of corresponding software modules, which can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. The storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Additionally, the ASIC can reside in the aforementioned transmitting or receiving device. The processor and storage medium can also exist as discrete components in the transmitting or receiving device.

[0201] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are performed entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video optical disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both types of storage media.

[0202] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between different embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0203] In this application, "at least one" means one or more, and "more than one" means 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. In the textual description of this application, the character " / " generally indicates an "or" relationship between the preceding and following related objects; in the formulas of this application, the character " / " indicates a "division" relationship between the preceding and following related objects. "Including at least one of A, B, and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B, and C.

[0204] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and internal logic.

Claims

1. A method for transmitting sensing signals, characterized in that, The method includes: Obtain first configuration information; wherein, the first configuration information is used to indicate the time domain position of the first sensing signal and the time domain position of the second sensing signal, the minimum time domain interval between the first sensing signal and the second sensing signal is a first duration, the period of the second sensing signal is M times the period of the first sensing signal, the period of the first sensing signal is a second duration, the first duration is less than the second duration, and M is a positive integer; The first sensing signal and the second sensing signal are sent according to the first configuration information.

2. The method as described in claim 1, characterized in that, The minimum value of the first velocity matching error is greater than or equal to a first threshold, which is related to the velocity estimation accuracy of the receiving device. The first velocity matching error is determined based on the difference between a first possible velocity and a second possible velocity. The first possible velocity and the second possible velocity are obtained by performing velocity deambiguation on the first sensing signal and the second sensing signal. The first possible velocity is related to the first duration, and the second possible velocity is related to the second duration. Both the first possible velocity and the second possible velocity are less than or equal to a second threshold, which is the maximum velocity threshold.

3. The method as described in claim 2, characterized in that, Before obtaining the first configuration information, the method further includes: Obtain the first threshold and the second threshold; or, obtain the second threshold and the speed estimation accuracy of the receiving device, wherein the speed estimation accuracy of the receiving device is used to determine the first threshold; N sensing signal groups are determined based on the first threshold and the second threshold; wherein the i-th sensing signal group is any one of the N sensing signal groups, 1≤i≤N, and i and N are positive integers; the i-th sensing signal group includes the i-th sensing signal 1 and the i-th sensing signal 2, and the minimum domain interval between the i-th sensing signal 1 and the i-th sensing signal 2 is T. 1i The period of the i-th sensing signal 2 is M times the period of the i-th sensing signal 1, and the period of the i-th sensing signal 1 is T. 2i T 1i <T 2i The minimum value of the velocity matching error corresponding to the i-th sensing signal group is greater than or equal to a first threshold. The velocity matching error corresponding to the i-th sensing signal group is determined based on the difference between the i-th possible velocity 1 and the i-th possible velocity 2. The i-th possible velocity 1 and the i-th possible velocity 2 are obtained based on velocity defuzzification of the i-th sensing signal group. 1i The correlation between the i-th possible velocity 2 and the T 2i The correlation exists, and both the i-th possible velocity 1 and the i-th possible velocity 2 are less than or equal to the second threshold; A target sensing signal group is determined from the N sensing signal groups, wherein the target sensing signal group includes the first sensing signal and the second sensing signal, and the target sensing signal group is one of the N sensing signal groups.

4. The method as described in claim 3, characterized in that, Before obtaining the first configuration information, the method further includes: Obtain the third threshold, which is the minimum period of the sensing signal; Based on the first threshold and the second threshold, N groups of sensing signals are determined, including: The N sensing signal groups are determined based on the first threshold, the second threshold, and the third threshold, wherein the periods corresponding to the N sensing signals 1 in the N sensing signal groups are all greater than or equal to the third threshold.

5. The method as described in claim 3 or 4, characterized in that, The second duration is the maximum value among the periods corresponding to the N sensing signals 1 in the N sensing signal groups.

6. The method as described in claim 3 or 4, characterized in that, The minimum value of the velocity matching error corresponding to the target sensing signal group is the maximum value among the minimum values ​​of the velocity matching errors corresponding to the N sensing signal groups respectively.

7. The method according to any one of claims 1-6, characterized in that, After sending the first sensing signal and the second sensing signal according to the first configuration information, the method further includes: Receive the sensing results.

8. The method as described in claim 7, characterized in that, The perception result includes the velocity of the first perceived target; the method further includes: Receive first information, the first information indicating the speed matching error corresponding to the first sensing target, or, the first information indicating the confidence level of the speed of the first sensing target, the confidence level of the speed of the first sensing target being determined based on the speed matching error corresponding to the first sensing target.

9. The method according to any one of claims 1-8, characterized in that, The first configuration information includes one or more of the following: the number of symbols corresponding to the first duration, the number of symbols corresponding to the second duration, the value of M, the duration of a symbol, the starting symbol of the first sensing signal, the starting symbol of the second sensing signal, and the total number of symbols including the first sensing signal and the second sensing signal.

10. A method for transmitting sensing signals, characterized in that, The method includes: Obtain first configuration information; wherein, the first configuration information is used to indicate the time domain position of the first sensing signal and the time domain position of the second sensing signal, the minimum time domain interval between the first sensing signal and the second sensing signal is a first duration, the period of the second sensing signal is M times the period of the first sensing signal, the period of the first sensing signal is a second duration, the first duration is less than the second duration, and M is a positive integer; A third sensing signal and a fourth sensing signal are received according to the first configuration information, wherein the third sensing signal is associated with the first sensing signal and the fourth sensing signal is associated with the second sensing signal; The perception result is determined based on the third and fourth perception signals.

11. The method as described in claim 10, characterized in that, After determining the sensing result based on the third sensing signal and the fourth sensing signal, the method further includes: Send the perceived results.

12. The method as described in claim 10 or 11, characterized in that, The perception result includes the velocity of the first perceived target; After determining the sensing result based on the third sensing signal and the fourth sensing signal, the method further includes: Send a first message, which indicates the speed matching error corresponding to the first sensing target, or the first message indicates the confidence level of the speed of the first sensing target, which is determined based on the speed matching error corresponding to the first sensing target.

13. The method as described in claim 12, characterized in that, The speed of the first sensing target is determined based on the possible speed 1 and the possible speed 2 of the first sensing target, which are obtained by performing speed defuzzification based on the third sensing signal and the fourth sensing signal. The velocity matching error corresponding to the first sensing target is determined based on the difference between the possible velocity 1 and the possible velocity 2 of the first sensing target.

14. The method according to any one of claims 10-13, characterized in that, The minimum value of the first speed matching error is greater than or equal to a first threshold. The first speed matching error is determined based on the difference between a first possible speed and a second possible speed. The first possible speed and the second possible speed are obtained by performing speed defuzzification based on the first sensing signal and the second sensing signal. The first possible speed is associated with the first duration, the second possible speed is associated with the second duration, and both the first possible speed and the second possible speed are less than or equal to a second threshold.

15. The method as described in claim 14, characterized in that, Before obtaining the first configuration information, the method further includes: Obtain the first threshold and the second threshold; or, obtain the second threshold and the speed estimation accuracy of the receiving device, wherein the speed estimation accuracy of the receiving device is used to determine the first threshold; N sensing signal groups are determined based on the first threshold and the second threshold; wherein the i-th sensing signal group is any one of the N sensing signal groups, 1≤i≤N, and i and N are positive integers; the i-th sensing signal group includes the i-th sensing signal 1 and the i-th sensing signal 2, and the minimum domain interval between the i-th sensing signal 1 and the i-th sensing signal 2 is T. 1i The period of the i-th sensing signal 2 is M times the period of the i-th sensing signal 1, and the period of the i-th sensing signal 1 is T. 2i T 1i <T 2i The minimum value of the velocity matching error corresponding to the i-th sensing signal group is greater than or equal to a first threshold. The velocity matching error corresponding to the i-th sensing signal group is determined based on the difference between the i-th possible velocity 1 and the i-th possible velocity 2. The i-th possible velocity 1 and the i-th possible velocity 2 are obtained based on velocity defuzzification of the i-th sensing signal group. 1i The correlation between the i-th possible velocity 2 and the T 2i The correlation exists, and both the i-th possible velocity 1 and the i-th possible velocity 2 are less than or equal to the second threshold; A target sensing signal group is determined from the N sensing signal groups, wherein the target sensing signal group includes the first sensing signal and the second sensing signal, and the target sensing signal group is one of the N sensing signal groups.

16. The method as described in claim 15, characterized in that, Before obtaining the first configuration information, the method further includes: Obtain the third threshold, which is the minimum period of the sensing signal; Based on the first threshold and the second threshold, N groups of sensing signals are determined, including: The N sensing signal groups are determined based on the first threshold, the second threshold, and the third threshold, wherein the periods corresponding to the N sensing signals 1 in the N sensing signal groups are all greater than or equal to the third threshold.

17. The method as described in claim 15 or 16, characterized in that, The second duration is the maximum value among the periods corresponding to the N sensing signals 1 in the N sensing signal groups.

18. The method as described in claim 15 or 16, characterized in that, The minimum value of the velocity matching error corresponding to the target sensing signal group is the maximum value among the minimum values ​​of the velocity matching errors corresponding to the N sensing signal groups respectively.

19. The method according to any one of claims 10-18, characterized in that, The first configuration information includes one or more of the following: the number of symbols corresponding to the first duration, the number of symbols corresponding to the second duration, the value of M, the duration of a symbol, the starting symbol of the first sensing signal, the starting symbol of the second sensing signal, and the total number of symbols including the first sensing signal and the second sensing signal.

20. A communication device, characterized in that, Includes units or modules for performing the method as described in any one of claims 1 to 19.

21. A communication device, characterized in that, The communication device includes at least one processor; the at least one processor is configured to perform the method as described in any one of claims 1 to 19.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a program that, when run on the device, causes the device to perform the method as described in any one of claims 1 to 19.

23. A computer program product, characterized in that, The computer program product includes a program or instructions that, when executed by a device, cause the device to perform the method as described in any one of claims 1 to 19.

24. A communication system, characterized in that, The communication system includes a transmitting device and a receiving device, wherein the transmitting device is configured to perform the method as described in any one of claims 1-9, and the receiving device is configured to perform the method as described in any one of claims 10-19.

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