Sensing method, sensing transmitter and sensing function unit

Abstract

The present disclosure relates to a sensing method, a sensing transmitter and a sensing function unit. The sensing method comprises: a sensing transmitter sending first information to a sensing function unit, the first information being used for indicating Doppler frequency components corresponding to a channel link from the sensing transmitter to a sensing target. By sending the first information to the sensing function unit, the sensing transmitter can enable the sensing function unit to obtain the Doppler frequency components of the channel link from the sensing transmitter to the sensing target, so that the sensing function unit can estimate speed information of the sensing target.

Description

Sensing methods, sensing transmitters, and sensing functional units Technical Field

[0001] This disclosure relates to the field of communication technology, and in particular to sensing methods, sensing transmitters, and sensing functional units. Background Technology

[0002] Wireless communication technology and wireless sensing technology are highly similar. Integrated sensing and communication (ISAC) can combine wireless communication and wireless sensing, introducing close cooperation between the two, thereby improving spectrum efficiency and reducing network deployment costs. Summary of the Invention

[0003] This disclosure presents a sensing method, a sensing transmitter, and a sensing functional unit.

[0004] According to a first aspect of the embodiments of this disclosure, a sensing method is provided, executed by a sensing transmitter, the method comprising:

[0005] Send first information to the sensing function unit, the first information being used to indicate the Doppler frequency component corresponding to the channel link from the sensing transmitter to the sensing target.

[0006] According to a second aspect of the embodiments of this disclosure, a sensing method is provided, executed by a sensing functional unit, the method comprising:

[0007] The system receives first information transmitted by a sensing transmitter, the first information being used to indicate the Doppler frequency component corresponding to the channel link from the sensing transmitter to the sensing target.

[0008] According to a third aspect of the embodiments of this disclosure, a sensing transmitter is provided, comprising:

[0009] The transceiver module is configured to send first information to the sensing function unit, the first information being used to indicate the Doppler frequency component corresponding to the channel link from the sensing transmitter to the sensing target.

[0010] According to a fourth aspect of the embodiments of this disclosure, a sensing functional unit is proposed, comprising:

[0011] The transceiver module is configured to receive first information sent by the sensing transmitter, the first information being used to indicate the Doppler frequency component corresponding to the channel link from the sensing transmitter to the sensing target.

[0012] According to a fifth aspect of the present disclosure, a communication device is provided for performing the method proposed in the first or second aspect.

[0013] According to a sixth aspect of the present disclosure, a sensing system is proposed, including a sensing transmitter and a sensing functional unit, wherein the sensing transmitter is configured to implement the method proposed in the first aspect, and the sensing functional unit is configured to implement the method proposed in the second aspect.

[0014] According to a seventh aspect of the present disclosure, a storage medium is provided that stores instructions that, when executed on a communication device, cause the communication device to perform the method as proposed in the first or second aspect.

[0015] According to an eighth aspect of the present disclosure, a program product is provided, comprising at least one of a program and instructions, wherein when the program and instructions are executed by a communication device, they implement the steps of the method proposed in the first or second aspect.

[0016] In this embodiment of the present disclosure, by sending first information to the sensing function unit through the sensing transmitter, the sensing function unit can obtain the Doppler frequency components of the channel link from the sensing transmitter to the sensing target, thereby enabling the sensing function unit to estimate the speed information of the sensing target. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings required for the description of the embodiments are introduced below. The following drawings are only some embodiments of this disclosure and do not impose specific limitations on the protection scope of this disclosure.

[0018] Figure 1A is an exemplary schematic diagram of the architecture of a sensing system provided according to an embodiment of the present disclosure.

[0019] Figure 1B is an exemplary schematic diagram of the architecture of a sensing system provided according to an embodiment of the present disclosure.

[0020] Figure 1C is an exemplary schematic diagram of a perception scenario provided according to an embodiment of the present disclosure.

[0021] Figure 2A is an exemplary interactive schematic diagram of a perception method provided according to an embodiment of the present disclosure.

[0022] Figure 2B is an exemplary interactive schematic diagram of a perception method provided according to an embodiment of the present disclosure.

[0023] Figure 3 is an exemplary interactive schematic diagram of a perception method provided according to an embodiment of the present disclosure.

[0024] Figure 4 is an exemplary interactive schematic diagram of a perception method provided according to an embodiment of the present disclosure.

[0025] Figure 5A is an exemplary schematic diagram of the structure of a sensing transmitter provided according to an embodiment of the present disclosure.

[0026] Figure 5B is an exemplary schematic diagram of the structure of a sensing functional unit provided according to an embodiment of the present disclosure.

[0027] Figure 6A is an exemplary schematic diagram of the structure of a communication device provided according to an embodiment of the present disclosure.

[0028] Figure 6B is an exemplary schematic diagram of the structure of a chip provided according to an embodiment of the present disclosure. Detailed Implementation

[0029] This disclosure presents a sensing method, a sensing transmitter, and a sensing functional unit.

[0030] In a first aspect, embodiments of this disclosure propose a sensing method executed by a sensing transmitter, the method comprising:

[0031] Send first information to the sensing function unit, the first information being used to indicate the Doppler frequency component corresponding to the channel link from the sensing transmitter to the sensing target.

[0032] In the above embodiments, by sending first information to the sensing function unit through the sensing transmitter, the sensing function unit can obtain the Doppler frequency components of the channel link from the sensing transmitter to the sensing target, thereby enabling the sensing function unit to estimate the speed information of the sensing target.

[0033] In conjunction with some embodiments of the first aspect, in some embodiments, first information is sent to the sensing functional unit via at least one of the following:

[0034] S1 interface;

[0035] X2 interface;

[0036] Xn interface;

[0037] Uu interface;

[0038] PC5 interface;

[0039] Downlink control information (DCI);

[0040] Media Access Control (MAC) control element (MAC CE) signaling;

[0041] Radio resource control (RRC) signaling;

[0042] Physical uplink control channel (PUCCH);

[0043] Physical uplink shared channel (PUSCH).

[0044] The above embodiments provide different implementations for sending the first information. For example, in different dual-station sensing modes, and for centralized or distributed sensing, the sensing transmitter can send the first information to the sensing functional unit through different interfaces.

[0045] In conjunction with some embodiments of the first aspect, in some embodiments, the first information includes at least one of the following:

[0046] The Doppler frequency components;

[0047] The Doppler frequency components are normalized to their values ​​after the maximum Doppler frequency shift;

[0048] The first velocity component corresponding to the Doppler frequency component is the component of the relative motion velocity of the sensing target with respect to the sensing transmitter in the direction from the sensing target to the sensing transmitter.

[0049] In the above embodiments, the first information can directly indicate the Doppler frequency component corresponding to the channel link from the sensing transmitter to the sensing target, or indicate the value after normalizing the Doppler frequency component to the maximum Doppler frequency shift, or indicate the equivalent quantity of the Doppler frequency component, such as the velocity component corresponding to the Doppler frequency component.

[0050] In conjunction with some embodiments of the first aspect, in some embodiments, the sensing functional unit is a fusion center; or, the sensing functional unit is a sensing receiver.

[0051] In the above embodiments, the aforementioned sensing functional unit can be a fusion center or a sensing receiver. For example, in centralized sensing, the aforementioned sensing functional unit can be a fusion center, that is, the sensing transmitter sends the first information to the fusion center; in distributed sensing, the aforementioned sensing functional unit can be a sensing receiver, that is, the sensing transmitter sends the first information to the sensing receiver.

[0052] In conjunction with some embodiments of the first aspect, in some embodiments, the fusion center is a location management functionality (LMF) or a sensing management functionality (SMF).

[0053] In the above embodiments, the fusion center can be defined as a network element in the core network, such as an LMF or SMF. In some implementations, the fusion center can also be a unit located in a terminal or access network device.

[0054] In conjunction with some embodiments of the first aspect, in some embodiments, the method further includes:

[0055] A first sensing reference signal is transmitted, which is used by the sensing receiver to determine the Doppler frequency.

[0056] In the above embodiment, the sensing transmitter sends a first sensing reference signal, and the sensing receiver estimates the Doppler frequency of the channel by receiving and measuring the first sensing reference signal.

[0057] In conjunction with some embodiments of the first aspect, in some embodiments, the method further includes:

[0058] Send a second sensing reference signal;

[0059] The echo of the second sensing reference signal is measured to determine the Doppler frequency component.

[0060] In the above embodiments, before transmitting the first information, the sensing transmitter needs to obtain the Doppler frequency component corresponding to the channel link from the sensing transmitter to the sensing target. This Doppler frequency component can be obtained by measurement by the sensing transmitter. For example, in single-site sensing mode, the sensing transmitter automatically transmits and receives a second sensing reference signal, measures the echo of the second sensing reference signal, and estimates the Doppler frequency of the channel, thereby determining the Doppler frequency component based on the estimated Doppler frequency.

[0061] Secondly, embodiments of this disclosure propose a sensing method, executed by a sensing functional unit, the method comprising:

[0062] The system receives first information transmitted by a sensing transmitter, the first information being used to indicate the Doppler frequency component corresponding to the channel link from the sensing transmitter to the sensing target.

[0063] In the above embodiments, by sending first information to the sensing function unit through the sensing transmitter, the sensing function unit can obtain the Doppler frequency components of the channel link from the sensing transmitter to the sensing target, thereby enabling the sensing function unit to estimate the speed information of the sensing target.

[0064] In conjunction with some embodiments of the second aspect, in some embodiments, the first information transmitted by the sensing transmitter is received via at least one of the following:

[0065] S1 interface;

[0066] X2 interface;

[0067] Xn interface;

[0068] Uu interface;

[0069] PC5 interface;

[0070] DCI;

[0071] MAC CE signaling;

[0072] RRC signaling;

[0073] PUCCH;

[0074] PUSCH.

[0075] In conjunction with some embodiments of the second aspect, in some embodiments, the first information includes at least one of the following:

[0076] The Doppler frequency components;

[0077] The Doppler frequency components are normalized to their values ​​after the maximum Doppler frequency shift;

[0078] The first velocity component corresponding to the Doppler frequency component is the component of the relative motion velocity of the sensing target with respect to the sensing transmitter in the direction from the sensing target to the sensing transmitter.

[0079] In conjunction with some embodiments of the second aspect, in some embodiments, the sensing functional unit is a fusion center, and the method further includes:

[0080] Receive second information sent by N sensing receivers respectively. The second information sent by each sensing receiver is used to indicate the Doppler frequency determined by the sensing receiver by measuring the first sensing reference signal. N is a positive integer.

[0081] The motion speed of the sensed target is determined based on the first information and the Doppler frequency determined by each sensing receiver.

[0082] In the above embodiments, if the above sensing function unit is a fusion center, the fusion center obtains the Doppler frequency component of the channel link from the sensing transmitter to the sensing target based on the first information sent by the sensing transmitter, and obtains the estimated Doppler frequency of each sensing receiver based on the second information sent by each sensing receiver. Therefore, the fusion center can perform centralized processing and calculation based on the Doppler frequency component and the estimated Doppler frequency of each sensing receiver to determine the motion speed of the sensing target.

[0083] In conjunction with some embodiments of the second aspect, in some embodiments, the method further includes:

[0084] The system receives third information transmitted by each of the N sensing receivers, wherein the third information transmitted by each sensing receiver is used to indicate the azimuth angle of the sensing target relative to that sensing receiver.

[0085] Determining the motion velocity of the sensed target based on the first information and the Doppler frequency determined by each sense receiver includes:

[0086] Based on the first information, the Doppler frequency determined by each sensing receiver, and the azimuth angle of the sensing target relative to each sensing receiver, the motion speed of the sensing target is determined.

[0087] In the above embodiments, each sensing receiver also reports the azimuth angle of the sensing target relative to itself (the sensing receiver) to the fusion center, and the fusion center also determines the motion speed of the sensing target based on the azimuth angle of the sensing target relative to each sensing receiver.

[0088] In conjunction with some embodiments of the second aspect, in some embodiments, the fusion center is an LMF or an SMF.

[0089] In conjunction with some embodiments of the second aspect, in some embodiments, the sensing functional unit is a sensing receiver, and the method further includes:

[0090] The first sensing reference signal is measured to determine the Doppler frequency;

[0091] Based on the first information and the Doppler frequency, a second velocity component is determined. The second velocity component is the component of the relative motion velocity of the sensing target with respect to the sensing receiver in the direction from the sensing target to the sensing receiver.

[0092] In the above embodiments, if the sensing function unit is a sensing receiver, the sensing receiver obtains the Doppler frequency component of the channel link from the sensing transmitter to the sensing target based on the first information sent by the sensing transmitter, and measures the first sensing reference signal to estimate the Doppler frequency of the channel. Therefore, the sensing receiver can determine the second velocity component, that is, the component (or projection) of the relative motion velocity of the sensing target relative to the sensing receiver in the direction from the sensing target to the sensing receiver, based on the Doppler frequency component and the estimated Doppler frequency.

[0093] Thirdly, embodiments of this disclosure provide a sensing transmitter, comprising:

[0094] The transceiver module is configured to send first information to the sensing function unit, the first information being used to indicate the Doppler frequency component corresponding to the channel link from the sensing transmitter to the sensing target.

[0095] Fourthly, embodiments of this disclosure provide a sensing functional unit, including:

[0096] The transceiver module is configured to receive first information sent by the sensing transmitter, the first information being used to indicate the Doppler frequency component corresponding to the channel link from the sensing transmitter to the sensing target.

[0097] Fifthly, embodiments of this disclosure provide a communication device for performing the method described in an optional implementation of the first or second aspect.

[0098] In a sixth aspect, embodiments of this disclosure provide a sensing system including a sensing transmitter and a sensing functional unit, wherein the sensing transmitter is configured to implement the method described in the optional implementation of the first aspect, and the sensing functional unit is configured to implement the method described in the optional implementation of the second aspect.

[0099] In a seventh aspect, embodiments of this disclosure provide a storage medium storing instructions that, when executed on a communication device, cause the communication device to perform the method as described in an optional implementation of the first or second aspect.

[0100] Eighthly, embodiments of this disclosure provide a program product including at least one of a program and instructions, wherein the program and instructions, when executed by a communication device, implement the method described in the optional implementation of the first or second aspect.

[0101] It is understood that the aforementioned sensing transmitter, sensing functional unit, communication equipment, sensing system, storage medium, and program product are all used to execute the methods proposed in the embodiments of this disclosure. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects in the corresponding methods, and will not be repeated here.

[0102] This disclosure provides embodiments of a sensing method, a sensing transmitter, and a sensing functional unit. In some embodiments, the terms "sensing method" and "information indication method," "communication method," etc., can be used interchangeably. In some embodiments, the terms "sensing transmitter" and "communication device," "sensing device," "communication sensing device," etc., can be used interchangeably. In some embodiments, the terms "sensing functional unit" and "communication device," "sensing device," "communication sensing device," etc., can be used interchangeably. In some embodiments, the terms "sensing system" and "communication system," "communication sensing system," etc., can be used interchangeably.

[0103] This disclosure is not exhaustive, but merely illustrative of some embodiments, and is not intended to limit the scope of protection of this disclosure. Unless otherwise specified, each step in a particular embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a particular embodiment can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment can be arbitrarily interchanged. Furthermore, the optional implementation methods in a particular embodiment can be arbitrarily combined; moreover, the embodiments can be arbitrarily combined, for example, some or all steps of different embodiments can be arbitrarily combined, and a particular embodiment can be arbitrarily combined with the optional implementation methods of other embodiments. In all embodiments of this disclosure, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the embodiments are consistent and can be mutually referenced. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0104] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the scope of this disclosure.

[0105] In this embodiment of the disclosure, unless otherwise stated, elements expressed in the singular form, such as "a," "an," "the," "the," "the," "the," "the," "the," "this," etc., can mean "one and only one," or "one or more," "at least one," etc. For example, when using articles such as "a," "an," "the," etc. in translation, the noun following the article can be understood as either a singular expression or a plural expression.

[0106] In the embodiments disclosed herein, "multiple" refers to two or more.

[0107] In some embodiments, the terms “at least one of A or B, at least one of A and B”, “one or more”, “a plurality of”, “multiple”, etc., may be used interchangeably.

[0108] In some embodiments, the notation "at least one of A and B", "A and / or B", "A in one case, B in another", "in response to one case A, in response to another case B", etc., may include the following technical solutions depending on the situation: in some embodiments, A (execute A regardless of whether there is a branch B); in some embodiments, B (execute B regardless of whether there is a branch A); in some embodiments, execution is selected from A and B (A and B are selectively executed); in some embodiments, both A and B are executed. The same applies when there are more branches such as A, B, C, etc.

[0109] In some embodiments, the notation "A or B" may include the following technical solutions, depending on the situation: in some embodiments, A (execute A regardless of whether a branch B exists); in some embodiments, B (execute B regardless of whether a branch A exists); in some embodiments, execution is selected from A and B (A and B are selectively executed). The same applies when there are more branches such as A, B, and C.

[0110] The prefixes "first," "second," etc., used in the embodiments of this disclosure are merely for distinguishing different descriptive objects and do not impose restrictions on the position, order, priority, quantity, or content of the descriptive objects. The description of the descriptive objects is found in the claims or the context of the embodiments, and the use of prefixes should not constitute unnecessary restrictions. For example, if the descriptive object is a "field," the ordinal numbers preceding "field" in "first field" and "second field" do not restrict the position or order of the "fields." "First" and "second" do not restrict whether the "fields" they modify are in the same message, nor do they restrict the order of "first field" and "second field." Similarly, if the descriptive object is a "level," the ordinal numbers preceding "level" in "first level" and "second level" do not restrict the priority between "levels." Furthermore, the number of descriptive objects is not limited by ordinal numbers and can be one or more. For example, in "first device," the number of "devices" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the object being described is "device", then "first device" and "second device" can be the same device or different devices, and their types can be the same or different. Similarly, if the object being described is "information", then "first information" and "second information" can be the same information or different information, and their content can be the same or different.

[0111] In some embodiments, “including A,” “containing A,” “for indicating A,” and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0112] In some embodiments, terms such as "time / frequency" and "time-frequency domain" refer to the time domain and / or frequency domain.

[0113] In some embodiments, terms such as “in response to…”, “in response to determining…”, “in the case of…”, “when…”, “when…”, “if…”, etc. can be used interchangeably. These descriptions all refer to the device making a corresponding action under certain objective circumstances. They do not necessarily limit the time, nor do they require the device to make a judgment action when implementing it, nor do they mean that there must be other limitations.

[0114] In some embodiments, the terms “greater than,” “greater than or equal to,” “not less than,” “more than,” “more than or equal to,” “not less than,” “higher than,” “higher than or equal to,” “not lower than,” and “above” can be used interchangeably, as can the terms “less than,” “less than or equal to,” “not greater than,” “less than,” “less than or equal to,” “not more than,” “lower than,” “lower than or equal to,” “not higher than,” and “below”.

[0115] In some embodiments, devices, etc., may be interpreted as physical or virtual, and their names are not limited to those described in the embodiments. Terms such as “device,” “equipment,” “circuit,” “network element,” “network function,” “network device,” “function,” “node,” “unit,” “section,” “system,” “network,” “chip,” “chip system,” “entity,” and “subject” are interchangeable.

[0116] In some embodiments, "network" can be interpreted as devices included in a network (e.g., access network devices, core network devices, etc.).

[0117] In some embodiments, the terms "access network device (AN device)," "radio access network device (RAN device)," "base station (BS)," "radio base station," "fixed station," "node," "access point," "transmission point (TP)," "reception point (RP)," "transmission / reception point (TRP)," "panel," "antenna panel," "antenna array," "cell," "macro cell," "small cell," "femto cell," "pico cell," "sector," "cell group," "serving cell," "carrier," "component carrier," and "bandwidth part (BWP)" can be used interchangeably.

[0118] In some embodiments, the terms "terminal", "terminal device", "user equipment (UE)", "user terminal", "mobile station (MS)", "mobile terminal (MT)", "subscriber station", "mobile unit", "subscriber unit", "wireless unit", "remote unit", "mobile device", "wireless device", "wireless communication device", "remote device", "mobile subscriber station", "access terminal", "mobile terminal", "wireless terminal", "remote terminal", "handset", "user agent", "mobile client", and "client" can be used interchangeably.

[0119] In some embodiments, access network devices, core network devices, or network devices can be replaced by terminals. For example, embodiments of this disclosure can also be applied to structures where communication between access network devices, core network devices, or network devices and terminals is replaced by communication between multiple terminals (e.g., device-to-device (D2D), vehicle-to-everything (V2X), etc.). In this case, the structure can also be configured such that the terminal has all or part of the functions of the access network device. Furthermore, terms such as "uplink" and "downlink" can be replaced with terms corresponding to communication between terminals (e.g., "sidelink"). For example, uplink channel, downlink channel, etc., can be replaced with sidelink channel, and uplink link, downlink, etc., can be replaced with sidelink link.

[0120] In some embodiments, the terminal may be replaced by an access network device, a core network device, or a network device. In this case, the access network device, core network device, or network device may also be configured to have all or some of the functions of the terminal.

[0121] In some embodiments, the acquisition of data, information, etc., may comply with the laws and regulations of the country where the location is situated.

[0122] In some embodiments, data, information, etc., may be obtained with the user's consent.

[0123] Furthermore, each element, each row, or each column in the table of this disclosure can be implemented as an independent embodiment, and any combination of any element, any row, or any column can also be implemented as an independent embodiment.

[0124] Wireless communication technology and wireless sensing technology are highly similar. Integrated sensing and communication (ISAC) can combine wireless communication and wireless sensing, introducing close cooperation between the two, thereby improving spectrum efficiency and reducing network deployment costs.

[0125] In wireless sensing, it is typically necessary to estimate at least one of the target's distance, azimuth angle (such as horizontal and vertical angles), and velocity. Sensing in a broader sense also includes wireless tracking and radio frequency identification (RFID) of the target.

[0126] For sensing purposes, sensing transmitters typically send a dedicated reference signal. For ease of description, this embodiment of the disclosure refers to it as a sensing reference signal (or, alternatively, a sensing signal).

[0127] Wireless sensing typically operates in two modes: monostatic and bistatic. In monostatic mode, the sensing transmitter and receiver are co-located, and the transceiver estimates at least one of the target's range, angle, and velocity by measuring the echo of a sensing reference signal. In bistatic mode, the sensing transmitter and receiver are not co-located; the transmitter sends a sensing reference signal, and the receiver estimates at least one of the target's range, angle, and velocity by measuring the signal.

[0128] From a network perspective, in order to more accurately perceive scatterers / targets in the real world, collaboration among multiple network nodes (such as gNB, UE, etc.) can bring about a significant improvement in perception accuracy, which is known as cooperative sensing.

[0129] In cooperative sensing, each sensing receiver measures the received sensing reference signal, processes the information, and reports it to the fusion center, or forwards it to the fusion center without processing. The fusion center then merges the information reported by each sensing receiver and calculates the final sensed quantity (e.g., at least one of distance, angle, and velocity), thereby achieving extremely high sensing accuracy. In cooperative sensing, the fusion center centrally processes and calculates the information reported by each sensing receiver; therefore, cooperative sensing can also be called centralized sensing. In some embodiments, the fusion center is a sensing functional unit. Optionally, the fusion center can be a network unit such as location management functionality (LMF) or sensing management functionality (SMF), or it can be a unit located in a terminal or access network device.

[0130] In some embodiments, the terms fusion center, fusion center unit, centralized control / processing node, and sensing functional unit can be used interchangeably.

[0131] Figure 1A is a schematic diagram of the architecture of a sensing system according to an embodiment of the present disclosure. As shown in Figure 1A, the sensing system 110 includes a sensing transmitter 1101 and a sensing receiver 1102. The number of sensing receivers 1102 can be one or more. The sensing system 110 can be used for distributed sensing. For example, the sensing transmitter 1101 transmits a sensing reference signal, and each sensing receiver 1102 measures the received sensing reference signal and then calculates a sensed quantity (e.g., at least one of distance, angle, and velocity).

[0132] Figure 1B is a schematic diagram of the architecture of a sensing system according to an embodiment of the present disclosure. As shown in Figure 1B, the sensing system 120 includes a sensing transmitter 1201, a sensing receiver 1202, and a fusion center 1203. The number of sensing receivers 1202 can be one or more. The sensing system 120 can be used for centralized sensing. For example, the sensing transmitter 1201 transmits a sensing reference signal. Each sensing receiver 1202 measures the received sensing reference signal, processes the information, and reports it to the fusion center 1203, or forwards it to the fusion center 1203 without processing. Then, the fusion center 1203 fuses and merges the information reported by each sensing receiver 1202 and calculates the sensed quantity (e.g., at least one of distance, angle, and speed).

[0133] For ease of understanding, in the following embodiments, it is assumed that the number of sensing receivers is N, where N is a positive integer greater than or equal to 1.

[0134] In the sensing system provided in this embodiment, the sensing transmitter can be located in a terminal or access network device (e.g., a next-generation node B (gNB)); the sensing receiver can be located in a terminal or access network device (e.g., a gNB); and the fusion center can be located in a terminal, access network device, or core network device. For example, the fusion center can be a network element in the core network, such as an LMF or SMF.

[0135] In this disclosure, the technical solution is described in conjunction with the following sensing modes.

[0136] (1) Dual-site sensing of access network equipment

[0137] In the dual-site sensing mode of the access network equipment, one access network equipment (including a sensing transmitter) sends a sensing reference signal, and the other access network equipment (including a sensing receiver) receives and measures the sensing reference signal.

[0138] (2) Terminal dual-site sensing

[0139] In the dual-station sensing mode, one terminal (including a sensing transmitter) sends a sensing reference signal, and another terminal (including a sensing receiver) receives and measures the sensing reference signal.

[0140] (3) Access network equipment transmits and receives dual-site sensing

[0141] In the dual-site sensing mode of the access network device transmit-terminal receive, one access network device (including a sensing transmitter) transmits a sensing reference signal, and one terminal (including a sensing receiver) receives and measures the sensing reference signal.

[0142] (4) Terminal transmits - access network equipment receives dual-site sensing

[0143] In the dual-site sensing mode of terminal transmitter-access network device receiver, a terminal (including a sensing transmitter) transmits a sensing reference signal, and an access network device (including a sensing receiver) receives and measures the sensing reference signal.

[0144] In some embodiments, the terminal includes, but is not limited to, at least one of the following: mobile phone, wearable device, Internet of Things device, car with communication function, smart car, tablet computer, computer with wireless transceiver function, virtual reality (VR) terminal device, augmented reality (AR) terminal device, wireless terminal device in industrial control, wireless terminal device in self-driving, wireless terminal device in remote medical surgery, wireless terminal device in smart grid, wireless terminal device in transportation safety, wireless terminal device in smart city, and wireless terminal device in smart home.

[0145] In some embodiments, the access network device is, for example, a node or device that connects a terminal to a wireless network. The access network device may include at least one of the following in a 5G communication system: evolved Node B (eNB), next-generation eNB (ng-eNB), next-generation Node B (gNB), node B (NB), home node B (HNB), home evolved node B (HeNB), radio backhaul device, radio network controller (RNC), base station controller (BSC), base transceiver station (BTS), base band unit (BBU), mobile switching center, base station in a 6G communication system, open RAN, cloud RAN, base station in other communication systems, and access node in a Wi-Fi system, but is not limited thereto.

[0146] In some embodiments, the access network device may be composed of a central unit (CU) and a distributed unit (DU). The CU may also be called a control unit. The CU-DU structure can separate the protocol layer of the access network device. Some of the protocol layer functions are centrally controlled by the CU, while the remaining part or all of the protocol layer functions are distributed in the DU and centrally controlled by the CU. However, this is not the only possibility.

[0147] In some embodiments, the core network equipment may be a single device, including a first network element and / or a second network element, or it may be multiple devices or a group of devices, each including all or part of the first network element, the second network element, etc. Network elements may be virtual or physical. The core network may include, for example, at least one of the Evolved Packet Core (EPC), 5G Core Network (5GCN), and Next Generation Core (NGC).

[0148] In some embodiments, the first network element is, for example, a location management functionality (LMF), but the name is not limited thereto. The first network element is used for location management.

[0149] In some embodiments, the second network element is, for example, a sensing management function (SMF), though the name is not limited thereto. The second network element is used for sensing management.

[0150] In some embodiments, the convergence center may be a first network element and / or a second network element.

[0151] It is understood that the perception system described in the embodiments of this disclosure is for the purpose of more clearly illustrating the technical solutions of the embodiments of this disclosure, and does not constitute a limitation on the technical solutions proposed in the embodiments of this disclosure. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions proposed in the embodiments of this disclosure are also applicable to similar technical problems.

[0152] The following embodiments of this disclosure can be applied to the sensing system or some subjects shown in Figures 1A and 1B, but are not limited thereto. The subjects shown in Figures 1A and 1B are illustrative. The sensing system may include all or some of the subjects in Figures 1A and 1B, or it may include other subjects besides those in Figures 1A and 1B. The number and form of each subject are arbitrary. Each subject may be physical or virtual. The connection relationship between the subjects is illustrative. The subjects may not be connected or may be connected. The connection can be in any way, it can be a direct connection or an indirect connection, it can be a wired connection or a wireless connection.

[0153] The embodiments disclosed herein can be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3G, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G new radio (NR), Future Radio Access (FRA), New-Radio Access Technology (RAT), New Radio (NR), New radio access (NX), Future generation radio access (FX), Global System for Mobile communications (GSM), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), and IEEE 802.20, Ultra-Wideband (UWB), Bluetooth (a registered trademark), Public Land Mobile Network (PLMN) networks, Device-to-Device (D2D) systems, Machine-to-Machine (M2M) systems, Internet of Things (IoT) systems, Vehicle-to-Everything (V2X) systems, systems utilizing other communication methods, and next-generation systems built upon them, etc. Furthermore, multiple systems can be combined (e.g., a combination of LTE or LTE-A with 5G).

[0154] In applications such as autonomous driving and navigation, we need to perceive targets (such as vehicles). Among these, speed is one of the most important sensing parameters. Due to the linear relationship between speed and Doppler frequency, we typically need to estimate the Doppler frequency of the channel to obtain a speed estimate.

[0155] As shown in Figure 1C, Tx is the sensing transmitter, and Rx1, Rx2, and Rx3 are sensing receivers. The i-th sensing receiver obtains the Doppler frequency by measuring the sensing reference signal. for:

[0156] in:

[0157] f Tx To sense the Doppler frequency components corresponding to the channel link from the transmitter to the target. Tx It contains the following two components:

[0158] (1) Sensing the Doppler frequency components caused by the transmitter's motion;

[0159] (2) Perceive the Doppler frequency components caused by the motion of the target.

[0160] If the sensor transmitter is stationary, then f Tx Part (1) is zero; if the transmitter motion is sensed, then f Tx Part (1) is nonzero. If the perceived target is stationary, then f Tx Part (2) is zero; if the target motion is perceived, then f Tx Part (2) is non-zero.

[0161] If the sensor transmitter is stationary, then f Tx Includes part (2), the Doppler frequency component of part (2) is represented as f m cosα, therefore f Tx =f m cosα. Where, f m For the maximum Doppler frequency shift, f m = v / λ, where v is the velocity of the target and λ is the wavelength. α is the angle between the direction of motion of the target (such as a vehicle) and the direction (or orientation) of the target relative to the transmitter.

[0162] If the transmitter's motion is sensed, then f Tx It includes Part (1) and Part (2). Optionally, f Tx Part (1) relates to the speed of the sensing transmitter.

[0163] f i Let f be the Doppler frequency component corresponding to the channel link from the sensing target to the i-th sensing receiver. Similarly, f i It contains the following two components:

[0164] (1) Sensing the Doppler frequency components caused by the motion of the target;

[0165] (2) Doppler frequency components caused by the motion of the sensing receiver.

[0166] If the sensing receiver is stationary, then f i Part (2) is zero; if the sensing receiver is moving, then f i Part (2) is nonzero. If the perceived target is stationary, then f i The (1)th part is zero; if the target motion is perceived, then f i Part (1) is nonzero.

[0167] If the sensing receiver is stationary, then f i Includes part (1), the Doppler frequency component of part (1) is denoted as f m cos(θ-β i Therefore, f i =f m cos(θ-β i ), where θ is the angle between the direction of motion of the perceived target (such as a vehicle) and the reference direction. β i Let θ-β be the azimuth angle of the target (e.g., a vehicle) relative to the i-th sensing receiver. i It can be interpreted as the angle between the direction of motion of the sensing target and the direction (or orientation) of the sensing target relative to the i-th sensing receiver.

[0168] If the sensor receiver is moving, then f i It includes Part (1) and Part (2). Optionally, f i Part (2) is related to the speed of motion of the sensing receiver.

[0169] Clearly, by measuring the sensing reference signal, each sensing receiver estimates the Doppler frequency. In reality, it is a superposition of multiple Doppler frequency components, including the Doppler frequency component f corresponding to the channel link from the sensing transmitter to the sensing target. Tx This also includes the Doppler frequency component f corresponding to the channel link from the sensing target to the sensing receiver. i Whether it's centralized or distributed sensing, the estimated Doppler frequency... Because it is a superposition of multiple Doppler frequency components, the fusion center or sensing receiver cannot determine the estimated Doppler frequency based on the result. Determine the speed of the target being sensed.

[0170] Figure 2A is an interactive schematic diagram of a sensing method according to an embodiment of the present disclosure. As shown in Figure 2A, the embodiments of the present disclosure relate to a sensing method, which includes:

[0171] Step S2101: The sensing transmitter sends the first information.

[0172] In some embodiments, the sensing transmitter sends first information to the sensing receiver, but is not limited thereto; it may also send the first information to other entities. Optionally, the sensing transmitter may send the first information to one or more of N sensing receivers. Optionally, the sensing receiver receives the first information.

[0173] In some embodiments, the first information is used to indicate the Doppler frequency component f corresponding to the channel link from the sensing transmitter to the sensing target. Tx .

[0174] In some embodiments, the name of the first information is not limited, and it may be, for example, "Doppler information", "Doppler component information", "Doppler frequency component information", "Doppler frequency information", etc.

[0175] In some embodiments, the first information indicates the Doppler frequency component f Tx It can indicate an absolute component, such as directly indicating f. Tx It can also indicate relative components, for example, f Tx Normalized to the maximum Doppler frequency shift f m The first information indicates f Tx ', f Tx '=f Tx / f m For example, when the sensor transmitter is stationary, f Tx '=f Tx / f m =cosα. By f Tx Normalized to the maximum Doppler frequency shift f m The first information indicates f Tx 'This can reduce the range of values ​​that need to be indicated, thus saving costs, f' Tx The value of ' is in the range of -1 to 1.

[0176] In some embodiments, the first information may indicate the Doppler frequency component f Tx The equivalent quantity. Optionally, the Doppler frequency component f Tx The equivalent quantity can be f Tx The corresponding velocity component, also known as the first velocity component. Due to the linear relationship between velocity and Doppler, f Tx The first velocity component differs from the first velocity component only by a constant coefficient (i.e., wavelength λ), and the first velocity component is f. Tx The product of the wavelength λ, therefore the Doppler frequency component f Tx It is equivalent to the first velocity component.

[0177] As mentioned earlier, the Doppler frequency component f Tx It contains the following two components:

[0178] (1) Sensing the Doppler frequency components caused by the transmitter's motion;

[0179] (2) Perceive the Doppler frequency components caused by the motion of the target.

[0180] Therefore, f Tx The corresponding first velocity component includes the following two components:

[0181] (1)f Tx The velocity component corresponding to part (1);

[0182] (2)f Tx The velocity component corresponding to part (2).

[0183] f Tx The velocity component corresponding to part (1) can be interpreted as the component (or projection) of the sensing transmitter's velocity in the direction from the sensing target to the sensing transmitter; f Tx The velocity component corresponding to part (2) can be interpreted as the component (or projection) of the motion velocity of the sensing target in the direction from the sensing target to the sensing transmitter.

[0184] If the transmitter is perceived to be stationary while the target is perceived to be moving, then f Tx The (1)th part is zero, f Tx It only contains the Doppler frequency component of part (2), and correspondingly, the first velocity component only contains f Tx The velocity component corresponding to part (2) is described as the component (or projection) of the relative motion velocity of the sensing target relative to the sensing transmitter (or the motion velocity of the sensing target) in the direction from the sensing target to the sensing transmitter.

[0185] If both the sensing transmitter and the sensing target are moving, then f Tx The Doppler frequency components include parts (1) and (2), and correspondingly, the first velocity component includes f Tx The velocity component corresponding to part (1) and f Tx The velocity component corresponding to part (2) is the first velocity component, which is described as the component (or projection) of the relative motion velocity of the sensing target relative to the sensing transmitter in the direction from the sensing target to the sensing transmitter.

[0186] That is, the first velocity component is the component (or projection) of the relative velocity of the sensing target with respect to the sensing transmitter in the direction from the sensing target to the sensing transmitter. Optionally, if the sensing transmitter is stationary, the relative velocity of the sensing target with respect to the sensing transmitter can be described as the velocity of the sensing target.

[0187] According to the above embodiments, in some embodiments, the first information includes at least one of the following:

[0188] Doppler frequency component f Tx ;

[0189] Doppler frequency component f Tx The value f after normalization to the maximum Doppler shift Tx ';

[0190] Doppler frequency component f Tx The corresponding first velocity component is the component of the relative motion velocity of the sensing target with respect to the sensing transmitter in the direction from the sensing target to the sensing transmitter.

[0191] Before sending the first message, the sensing transmitter needs to obtain the Doppler frequency component f. Tx Optionally, the Doppler frequency component f Tx This can be obtained through measurement by a sensing transmitter. For example, the sensing transmitter sends a sensing reference signal, then measures the echo of the sensing reference signal and estimates the Doppler frequency of the channel (the channel through which the sensing reference signal travels from transmission to reception), thereby determining the Doppler frequency component f based on the estimated Doppler frequency. Tx For example, when the sensor transmitter is stationary, the estimated Doppler frequency is 2f. Tx Thus, the Doppler frequency component f is obtained. Tx .

[0192] In some embodiments, the sensing transmitter transmits first information via at least one of the following:

[0193] S1 interface;

[0194] X2 interface;

[0195] Xn interface;

[0196] Uu interface;

[0197] PC5 interface;

[0198] Downlink control information (DCI);

[0199] Media Access Control (MAC) control element (MAC CE) signaling;

[0200] Radio resource control (RRC) signaling;

[0201] Physical uplink control channel (PUCCH);

[0202] Physical uplink shared channel (PUSCH).

[0203] In some embodiments, the sensing transmitter transmits first information to the sensing receiver via at least one of the X2 interface and the Xn interface. Optionally, the sensing receiver receives the first information via at least one of the X2 interface and the Xn interface.

[0204] In some embodiments, the sensing transmitter sends first information to the sensing receiver via a PC5 interface. Optionally, the sensing receiver receives the first information via a PC5 interface.

[0205] In some embodiments, the sensing transmitter transmits first information to the sensing receiver via at least one of DCI, MAC CE signaling, and RRC signaling. Optionally, the sensing receiver receives the first information via at least one of DCI, MAC CE signaling, and RRC signaling.

[0206] In some embodiments, the sensing transmitter transmits first information to the sensing receiver via at least one of PUCCH and PUSCH. Optionally, the sensing receiver receives the first information via at least one of PUCCH and PUSCH.

[0207] The process of sending the first information is explained below in conjunction with the following perception modes.

[0208] (1) Dual-site sensing of access network equipment

[0209] In distributed sensing, the sensing transmitter (access network device A) sends the first information to the sensing receiver (access network device B) through at least one of the X2 interface and the Xn interface.

[0210] (2) Terminal dual-site sensing

[0211] In distributed sensing, the sensing transmitter (terminal A) sends the first information to the sensing receiver (terminal B) through the PC5 interface.

[0212] (3) Access network equipment transmits and receives dual-site sensing

[0213] In distributed sensing, the sensing transmitter (access network equipment) sends the first information to the sensing receiver (terminal) through at least one of DCI, MAC CE, and RRC signaling.

[0214] (4) Terminal transmits - access network equipment receives dual-site sensing

[0215] In distributed sensing, the sensing transmitter (terminal) sends the first information to the sensing receiver (access network device) via at least one of PUCCH and PUSCH.

[0216] In the above embodiments, different implementations of sending the first information are provided.

[0217] Step S2102: The sensing transmitter sends the first sensing reference signal.

[0218] In some embodiments, the first sensing reference signal is used by the sensing receiver to determine (estimate) the Doppler frequency. The sensing transmitter sends a first sensing reference signal, and the sensing receiver receives the first sensing reference signal. The receiver measures the first sensing reference signal and estimates the Doppler frequency of the channel (the channel through which the first sensing reference signal travels from transmission to reception).

[0219] In some embodiments, the sensing transmitter may transmit a first sensing reference signal and a second sensing reference signal, wherein the second sensing reference signal is used by the sensing transmitter to estimate the Doppler frequency of the channel (the channel through which the second sensing reference signal travels from transmission to reception) and determine the Doppler frequency component f. Tx The first sensing reference signal is used by the sensing receiver to estimate the Doppler frequency of the channel (the channel through which the first sensing reference signal travels from transmission to reception). The order in which the sensing transmitter sends the first sensing reference signal and the second sensing reference signal is not restricted. For example, the sensing transmitter sends the second sensing reference signal, then measures the echo of the second sensing reference signal and performs Doppler frequency estimation. With the sensing transmitter stationary, the estimated Doppler frequency is 2f. Tx Thus, the Doppler frequency component f is obtained. Tx Before, after, or simultaneously with the transmission of the second sensing reference signal, the sensing transmitter transmits the first sensing reference signal, the sensing receiver receives the first sensing reference signal, measures the first sensing reference signal, and performs Doppler frequency estimation.

[0220] In some embodiments, the sensing transmitter does not notify the sensing receiver of the configuration of the second sensing reference signal. Optionally, the sensing transmitter notifies the sensing receiver of the configuration of the first sensing reference signal.

[0221] In some embodiments, the sequence of the first sensing reference signal and the sequence of the second sensing reference signal may be the same or different.

[0222] In some embodiments, the second sensing reference signal is the first sensing reference signal.

[0223] In some embodiments, the sensing transmitter transmits a first sensing reference signal, which is used both by the sensing transmitter to estimate the Doppler frequency of the channel and to determine the Doppler frequency component f. Tx It is also used by sensing receivers to estimate the Doppler frequency of the channel.

[0224] Step S2103: The sensing receiver measures the first sensing reference signal to determine the Doppler frequency.

[0225] Each sensing receiver measures the first sensing reference signal and performs Doppler frequency estimation to obtain the Doppler frequency. Taking the i-th sensing receiver as an example, as mentioned above, the Doppler frequency estimated by the i-th sensing receiver... It contains the superposition of multiple Doppler frequency components, such as

[0226] For example, referring to Figure 1C, Tx transmits a first sensing reference signal, and Rx1 measures the first sensing reference signal and estimates the Doppler frequency of the channel (the channel from Tx to Rx1). The estimated Doppler frequency is: Rx2 measures the first sensing reference signal and estimates the Doppler frequency of the channel (the channel from Tx to Rx2). The estimated Doppler frequency is: Rx3 measures the first sensing reference signal and estimates the Doppler frequency of the channel (the channel from Tx to Rx3). The estimated Doppler frequency is:

[0227] Step S2104: The sensing receiver determines the second velocity component based on the first information and the Doppler frequency.

[0228] Taking the i-th sensing receiver as an example, the i-th sensing receiver obtains the Doppler frequency component f corresponding to the channel link from the sensing transmitter to the sensing target based on the first information. Tx According to the Doppler frequency component f Tx And the Doppler frequency estimated by itself The Doppler frequency component f corresponding to the channel link from the sensing target to the sensing receiver can be determined. i Due to the linear relationship between velocity and Doppler, the Doppler frequency component f can be used as a basis for calculation. i Determine f i The corresponding velocity component, also known as the second velocity component, is f. i The product of wavelength λ.

[0229] As mentioned earlier, the Doppler frequency component f i It contains the following two components:

[0230] (1) Sensing the Doppler frequency components caused by the motion of the target;

[0231] (2) Doppler frequency components caused by the motion of the sensing receiver.

[0232] Therefore, f i The corresponding second velocity component includes the following two parts:

[0233] (1)f i The velocity component corresponding to part (1);

[0234] (2)f i The velocity component corresponding to part (2).

[0235] f i The velocity component corresponding to part (1) can be interpreted as the component (or projection) of the motion velocity of the sensing target in the direction from the sensing target to the sensing receiver; f i The velocity component corresponding to part (2) can be interpreted as the component (or projection) of the motion velocity of the sensing receiver in the direction from the sensing target to the sensing receiver.

[0236] If the sensing receiver is stationary but the target is moving, then f i Part (2) is zero, f i The second velocity component contains only the Doppler frequency component of part (1), and correspondingly, it contains only f. i The velocity component corresponding to part (1) is the second velocity component, which is described as the component (or projection) of the relative motion velocity of the sensing target with respect to the sensing receiver (or the motion velocity of the sensing target) in the direction from the sensing target to the sensing receiver.

[0237] If both the sensing receiver and the sensing target are moving, then f i The second velocity component contains the Doppler frequency components of parts (1) and (2), and correspondingly, the second velocity component contains f. i The velocity component corresponding to part (1) and f i The velocity component corresponding to part (2) is described as the component (or projection) of the relative motion velocity of the sensing target with respect to the sensing receiver in the direction from the sensing target to the sensing receiver.

[0238] That is, the second velocity component is the component (or projection) of the relative velocity of the sensing target with respect to the sensing receiver in the direction from the sensing target to the sensing receiver. Optionally, if the sensing receiver is stationary, the relative velocity of the sensing target with respect to the sensing receiver can be described as the velocity of the sensing target.

[0239] For example, referring to FIG1C, Rx1 is based on the Doppler frequency component f Tx And the Doppler frequency f estimated by itself Tx +f1 allows us to determine the Doppler frequency component f1 corresponding to the channel link from the sensed target to Rx1. Based on the Doppler frequency component f1, we can determine the corresponding velocity component v. Rx1 velocity component v Rx1 The component of the relative velocity of the target with respect to Rx1 in the direction from the target to Rx1; Rx2 is based on the Doppler frequency component f Tx And the Doppler frequency f estimated by itself Tx +f2 allows us to determine the Doppler frequency component f2 corresponding to the channel link from the sensed target to Rx2. Based on the Doppler frequency component f2, we can determine the corresponding velocity component v. Rx2 velocity component v Rx2 The component of the relative velocity of the target with respect to Rx2 in the direction from the target to Rx2; Rx3 is based on the Doppler frequency component f Tx And the Doppler frequency f estimated by itself Tx +f3 allows us to determine the Doppler frequency component f3 corresponding to the channel link from the sensed target to Rx3. Based on the Doppler frequency component f3, we can determine the corresponding velocity component v. Rx3 velocity component v Rx3 The component of the relative motion velocity of the target with respect to Rx3 in the direction from the target to Rx3.

[0240] In some embodiments, the sensing receiver can continue subsequent processing based on the second velocity component. As an example, the sensing receiver can separate f from the second velocity component. i The velocity component corresponding to part (1) is the component of the target's velocity in the direction from the target to the receiver. For example, the receiver determines the target's velocity in the direction from the target to the receiver based on the second velocity component and its own velocity. If the receiver is stationary, this step is omitted. Optionally, the target's velocity can be further determined by combining other means based on the component of the target's velocity in the direction from the target to the receiver.

[0241] In the above embodiments, by sending first information from the sensing transmitter to the sensing receiver, the sensing receiver can obtain the Doppler frequency components of the channel link from the sensing transmitter to the sensing target, thereby enabling the sensing receiver to estimate the speed information of the sensing target.

[0242] The sensing method involved in the embodiments of this disclosure may include at least one of steps S2101 to S2104. For example, step S2101 may be implemented as a standalone embodiment, step S2102 + step S2103 may be implemented as a standalone embodiment, step S2102 + step S2103 + step S2104 may be implemented as a standalone embodiment, and step S2101 + step S2104 may be implemented as a standalone embodiment, but is not limited thereto.

[0243] In some embodiments, step S2101 may be executed in a different order or simultaneously with steps S2102 and S2103. For example, step S2101 may be executed before step S2102, or between step S2102 and step S2103, or between step S2103 and step S2104, or simultaneously with step S2102, or simultaneously with step S2103.

[0244] In some embodiments, steps S2102 to S2104 are optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0245] In some embodiments, the steps and their optional implementations in other embodiments described before or after this embodiment, as well as other related parts in the specification, can be referred to, and will not be repeated here.

[0246] Figure 2B is an interactive schematic diagram of a sensing method according to an embodiment of the present disclosure. As shown in Figure 2B, the embodiments of the present disclosure relate to a sensing method, which includes:

[0247] Step S2201: The sensing transmitter sends the first information.

[0248] In some embodiments, the sensing transmitter sends first information to the fusion center, but is not limited thereto; it may also send the first information to other entities. Optionally, the sensing transmitter may also send the first information to the sensing receiver, or may not send the first information to the sensing receiver. Optionally, the fusion center receives the first information.

[0249] In some embodiments, the first information is used to indicate the Doppler frequency component f corresponding to the channel link from the sensing transmitter to the sensing target. Tx .

[0250] In some embodiments, the name of the first information is not limited, and it may be, for example, "Doppler information", "Doppler component information", "Doppler frequency component information", "Doppler frequency information", etc.

[0251] In some embodiments, the first information indicates the Doppler frequency component f TxIt can indicate an absolute component, such as directly indicating f. Tx It can also indicate relative components, for example, f Tx Normalized to the maximum Doppler frequency shift f m The first information indicates f Tx ', f Tx '=f Tx / f m For example, when the sensor transmitter is stationary, f Tx '=f Tx / f m =cosα. By f Tx Normalized to the maximum Doppler frequency shift f m The first information indicates f Tx 'This can reduce the range of values ​​that need to be indicated, thus saving costs, f' Tx The value of ' is in the range of -1 to 1.

[0252] In some embodiments, the first information may indicate the Doppler frequency component f Tx The equivalent quantity. Optionally, the Doppler frequency component f Tx The equivalent quantity can be f Tx The corresponding velocity component, also known as the first velocity component. Due to the linear relationship between velocity and Doppler, f Tx The first velocity component differs from the first velocity component only by a constant coefficient (i.e., wavelength λ), and the first velocity component is f. Tx The product of the wavelength λ, therefore the Doppler frequency component f Tx It is equivalent to the first velocity component.

[0253] As mentioned earlier, the Doppler frequency component f Tx It contains the following two components:

[0254] (1) Sensing the Doppler frequency components caused by the transmitter's motion;

[0255] (2) Perceive the Doppler frequency components caused by the motion of the target.

[0256] Therefore, f Tx The corresponding first velocity component includes the following two components:

[0257] (1)f Tx The velocity component corresponding to part (1);

[0258] (2)f Tx The velocity component corresponding to part (2).

[0259] f TxThe velocity component corresponding to part (1) can be interpreted as the component (or projection) of the sensing transmitter's velocity in the direction from the sensing target to the sensing transmitter; f Tx The velocity component corresponding to part (2) can be interpreted as the component (or projection) of the motion velocity of the sensing target in the direction from the sensing target to the sensing transmitter.

[0260] If the transmitter is perceived to be stationary while the target is perceived to be moving, then f Tx The (1)th part is zero, f Tx It only contains the Doppler frequency component of part (2), and correspondingly, the first velocity component only contains f Tx The velocity component corresponding to part (2) is described as the component (or projection) of the relative motion velocity of the sensing target relative to the sensing transmitter (or the motion velocity of the sensing target) in the direction from the sensing target to the sensing transmitter.

[0261] If both the sensing transmitter and the sensing target are moving, then f Tx The Doppler frequency components include parts (1) and (2), and correspondingly, the first velocity component includes f Tx The velocity component corresponding to part (1) and f Tx The velocity component corresponding to part (2) is the first velocity component, which is described as the component (or projection) of the relative motion velocity of the sensing target relative to the sensing transmitter in the direction from the sensing target to the sensing transmitter.

[0262] That is, the first velocity component is the component (or projection) of the relative velocity of the sensing target with respect to the sensing transmitter in the direction from the sensing target to the sensing transmitter. Optionally, if the sensing transmitter is stationary, the relative velocity of the sensing target with respect to the sensing transmitter can be described as the velocity of the sensing target.

[0263] According to the above embodiments, in some embodiments, the first information includes at least one of the following:

[0264] Doppler frequency component f Tx ;

[0265] Doppler frequency component f Tx The value f after normalization to the maximum Doppler shift Tx ';

[0266] Doppler frequency component f Tx The corresponding first velocity component is the component of the relative motion velocity of the sensing target with respect to the sensing transmitter in the direction from the sensing target to the sensing transmitter.

[0267] Before sending the first message, the sensing transmitter needs to obtain the Doppler frequency component f.Tx Optionally, the Doppler frequency component f Tx This can be obtained through measurement by a sensing transmitter. For example, the sensing transmitter sends a sensing reference signal, then measures the echo of the sensing reference signal and estimates the Doppler frequency of the channel (the channel through which the sensing reference signal travels from transmission to reception), thereby determining the Doppler frequency component f based on the estimated Doppler frequency. Tx For example, when the sensor transmitter is stationary, the estimated Doppler frequency is 2f. Tx Thus, the Doppler frequency component f is obtained. Tx .

[0268] In some embodiments, the sensing transmitter transmits first information via at least one of the following:

[0269] S1 interface;

[0270] X2 interface;

[0271] Xn interface;

[0272] Uu interface;

[0273] PC5 interface;

[0274] DCI;

[0275] MAC CE signaling;

[0276] RRC signaling;

[0277] PUCCH;

[0278] PUSCH.

[0279] In some embodiments, the sensing transmitter sends first information to the fusion center via the S1 interface. Optionally, the fusion center receives the first information via the S1 interface.

[0280] In some embodiments, the sensing transmitter sends first information to the fusion center via the Uu interface. Optionally, the fusion center receives the first information via the Uu interface.

[0281] The process of sending the first information is explained below in conjunction with the following perception modes.

[0282] (1) Dual-site sensing of access network equipment

[0283] In centralized sensing, the sensing transmitter (access network equipment) sends the first information to the convergence center (such as LMF or SMF) through the S1 interface.

[0284] (2) Terminal dual-site sensing

[0285] In centralized sensing, the sensing transmitter (terminal) sends the first information to the fusion center (such as LMF or SMF) through the Uu interface.

[0286] (3) Access network equipment transmits and receives dual-site sensing

[0287] In centralized sensing, the sensing transmitter (access network equipment) sends the first information to the convergence center (such as LMF or SMF) through the S1 interface.

[0288] (4) Terminal transmits - access network equipment receives dual-site sensing

[0289] In centralized sensing, the sensing transmitter (terminal) sends the first information to the fusion center (such as LMF or SMF) through the Uu interface.

[0290] In the above embodiments, different implementations of sending the first information are provided.

[0291] Step S2202: The sensing transmitter sends the first sensing reference signal.

[0292] In some embodiments, the first sensing reference signal is used by the sensing receiver to determine (estimate) the Doppler frequency. The sensing transmitter sends a first sensing reference signal, and the sensing receiver receives the first sensing reference signal. The receiver measures the first sensing reference signal and estimates the Doppler frequency of the channel (the channel through which the first sensing reference signal travels from transmission to reception).

[0293] In some embodiments, the sensing transmitter may transmit a first sensing reference signal and a second sensing reference signal, wherein the second sensing reference signal is used by the sensing transmitter to estimate the Doppler frequency of the channel (the channel through which the second sensing reference signal travels from transmission to reception) and determine the Doppler frequency component f. Tx The first sensing reference signal is used by the sensing receiver to estimate the Doppler frequency of the channel (the channel through which the first sensing reference signal travels from transmission to reception). The order in which the sensing transmitter sends the first sensing reference signal and the second sensing reference signal is not restricted. For example, the sensing transmitter sends the second sensing reference signal, then measures the echo of the second sensing reference signal and performs Doppler frequency estimation. With the sensing transmitter stationary, the estimated Doppler frequency is 2f. Tx Thus, the Doppler frequency component f is obtained. Tx Before, after, or simultaneously with the transmission of the second sensing reference signal, the sensing transmitter transmits the first sensing reference signal, the sensing receiver receives the first sensing reference signal, measures the first sensing reference signal, and performs Doppler frequency estimation.

[0294] In some embodiments, the sensing transmitter does not notify the sensing receiver of the configuration of the second sensing reference signal. Optionally, the sensing transmitter notifies the sensing receiver of the configuration of the first sensing reference signal.

[0295] In some embodiments, the sequence of the first sensing reference signal and the sequence of the second sensing reference signal may be the same or different.

[0296] In some embodiments, the second sensing reference signal is the first sensing reference signal.

[0297] In some embodiments, the sensing transmitter transmits a first sensing reference signal, which is used both by the sensing transmitter to estimate the Doppler frequency of the channel and to determine the Doppler frequency component f. Tx It is also used by sensing receivers to estimate the Doppler frequency of the channel.

[0298] Step S2203: The sensing receiver measures the first sensing reference signal to determine the Doppler frequency.

[0299] Each sensing receiver measures the first sensing reference signal and performs Doppler frequency estimation to obtain the Doppler frequency. Taking the i-th sensing receiver as an example, as mentioned above, the Doppler frequency estimated by the i-th sensing receiver... It contains the superposition of multiple Doppler frequency components, such as

[0300] For example, referring to Figure 1C, Tx transmits a first sensing reference signal, and Rx1 measures the first sensing reference signal and estimates the Doppler frequency of the channel (the channel from Tx to Rx1). The estimated Doppler frequency is: Rx2 measures the first sensing reference signal and estimates the Doppler frequency of the channel (the channel from Tx to Rx2). The estimated Doppler frequency is: Rx3 measures the first sensing reference signal and estimates the Doppler frequency of the channel (the channel from Tx to Rx3). The estimated Doppler frequency is:

[0301] Step S2204: The sensing receiver sends the second information.

[0302] In some embodiments, each sensing receiver sends second information to the fusion center. The second information sent by each sensing receiver instructs it to determine (estimate) the Doppler frequency by measuring the first sensing reference signal. Taking the i-th sensing receiver as an example, the second information sent by the i-th sensing receiver instructs it to determine the estimated Doppler frequency. Optionally, the fusion center receives the second information transmitted by N sensing receivers respectively, thereby obtaining the Doppler frequency estimated by each sensing receiver.

[0303] In some embodiments, the name of the second information is not limited, and it may be, for example, "Doppler information" or "Doppler frequency information".

[0304] In some embodiments, each sensing receiver further transmits third information to the fusion center. The third information transmitted by each sensing receiver indicates the azimuth angle β of the sensing target relative to that sensing receiver. Referring to FIG1C, taking the i-th sensing receiver as an example, the i-th sensing receiver transmits third information to the fusion center, and the third information transmitted by the i-th sensing receiver indicates the azimuth angle β of the sensing target relative to that i-th sensing receiver. i For example, the third information transmitted by Rx1 is used to indicate β1; the third information transmitted by Rx2 is used to indicate β2; and the third information transmitted by Rx3 is used to indicate β3. Optionally, the fusion center receives the third information transmitted by N sensing receivers respectively, thereby obtaining the azimuth angle of the sensing target relative to each sensing receiver.

[0305] In some embodiments, the name of the third information is not limited, and it may be, for example, "azimuth information", "angle information", "azimuth information", etc.

[0306] Optionally, the third information may be included in the second information, or the third information may be a separate piece of information.

[0307] In some embodiments, the third information is the second information. Each sensing receiver sends the second information to the fusion center, which instructs the sensing receiver to determine (estimate) the Doppler frequency by measuring the first sensing reference signal. And the azimuth angle β of the target relative to the sensing receiver. i .

[0308] In some embodiments, each sensing receiver sends (reports) at least one of the following to the fusion center:

[0309] Doppler frequency measured by the sensing receiver

[0310] The azimuth angle β of the target relative to the sensing receiver i ;

[0311] The speed of the sensing receiver.

[0312] Alternatively, if the sensing receiver is stationary, it may not report its speed of motion.

[0313] Step S2205: The fusion center determines the motion speed of the sensed target based on the first information and the second information sent by each sense receiver.

[0314] Based on the first information transmitted by the sensing transmitter, the fusion center obtains the Doppler frequency component f of the channel link from the sensing transmitter to the sensing target. Tx And based on the second information sent by each sensing receiver, the estimated Doppler frequency of each sensing receiver is obtained. Therefore, the fusion center can be determined based on the Doppler frequency component f. Tx And the Doppler frequency estimated by each sensing receiver Centralized processing and calculation are performed to determine the speed of the perceived target.

[0315] Optionally, the fusion center obtains the azimuth angle β of the sensing target relative to each sensing receiver based on the third information transmitted by each sensing receiver. i Optionally, the fusion center is based on the Doppler frequency component f. Tx The Doppler frequency estimated by each sensing receiver And the azimuth angle β of the target relative to each sensing receiver i Determine the speed of the target being sensed.

[0316] In some embodiments, the fusion center receives at least one of the following from each sensing receiver (report):

[0317] Doppler frequency measured by the sensing receiver

[0318] The azimuth angle β of the target relative to the sensing receiver i ;

[0319] The speed of the sensing receiver.

[0320] As an example, the fusion center is based on the Doppler frequency component f Tx And the Doppler frequency estimated by each sensing receiver Determine the Doppler frequency components f corresponding to the channel links from the sensing target to each sensing receiver. i Based on the linear relationship between velocity and Doppler, for each sensing receiver, the fusion center determines the Doppler frequency component f corresponding to the channel link from the sensing target to the sensing receiver. i Determine f i The corresponding velocity component, also known as the second velocity component, is f. i The product of wavelength λ.

[0321] As mentioned earlier, the Doppler frequency component fi It contains the following two components:

[0322] (1) Sensing the Doppler frequency components caused by the motion of the target;

[0323] (2) Doppler frequency components caused by the motion of the sensing receiver.

[0324] Therefore, f i The corresponding second velocity component includes the following two parts:

[0325] (1)f i The velocity component corresponding to part (1);

[0326] (2)f i The velocity component corresponding to part (2).

[0327] f i The velocity component corresponding to part (1) can be interpreted as the component (or projection) of the motion velocity of the sensing target in the direction from the sensing target to the sensing receiver; f i The velocity component corresponding to part (2) can be interpreted as the component (or projection) of the motion velocity of the sensing receiver in the direction from the sensing target to the sensing receiver.

[0328] If the sensing receiver is stationary but the target is moving, then f i Part (2) is zero, f i The second velocity component contains only the Doppler frequency component of part (1), and correspondingly, it contains only f. i The velocity component corresponding to part (1) is the second velocity component, which is described as the component (or projection) of the relative motion velocity of the sensing target with respect to the sensing receiver (or the motion velocity of the sensing target) in the direction from the sensing target to the sensing receiver.

[0329] If both the sensing receiver and the sensing target are moving, then f i The second velocity component contains the Doppler frequency components of parts (1) and (2), and correspondingly, the second velocity component contains f. i The velocity component corresponding to part (1) and f i The velocity component corresponding to part (2) is described as the component (or projection) of the relative motion velocity of the sensing target with respect to the sensing receiver in the direction from the sensing target to the sensing receiver.

[0330] That is, the second velocity component is the component (or projection) of the relative velocity of the sensing target with respect to the sensing receiver in the direction from the sensing target to the sensing receiver. Optionally, if the sensing receiver is stationary, the relative velocity of the sensing target with respect to the sensing receiver can be described as the velocity of the sensing target.

[0331] For example, referring to FIG1C, the fusion center is based on the Doppler frequency component f Tx And the Doppler frequency f estimated by Rx1 Tx +f1 can determine the Doppler frequency component f1 corresponding to the channel link from the sensed target to Rx1. Based on the Doppler frequency component f1, the corresponding velocity component v can be determined. Rx1 velocity component v Rx1 The component of the relative motion velocity of the sensing target with respect to Rx1 in the direction from the sensing target to Rx1; the fusion center is based on the Doppler frequency component f Tx And the Doppler frequency f obtained by Rx2 estimation Tx +f2 allows us to determine the Doppler frequency component f2 corresponding to the channel link from the sensed target to Rx2. Based on the Doppler frequency component f2, we can determine the corresponding velocity component v. Rx2 velocity component v Rx2 The component of the relative motion velocity of the sensing target with respect to Rx2 in the direction from the sensing target to Rx2; the fusion center is based on the Doppler frequency component f Tx And the Doppler frequency f obtained by Rx3 estimation Tx +f3 allows us to determine the Doppler frequency component f3 corresponding to the channel link from the sensed target to Rx3. Based on the Doppler frequency component f3, we can determine the corresponding velocity component v. Rx3 velocity component v Rx3 The component of the relative motion velocity of the target with respect to Rx3 in the direction from the target to Rx3.

[0332] Thus, the fusion center can determine the second velocity component corresponding to each sensing receiver.

[0333] As an example, for each sensing receiver, the fusion center can separate f from the second velocity component corresponding to that sensing receiver. i The velocity component corresponding to part (1) is the component of the target's velocity in the direction from the target to the receiver. For example, the fusion center determines the target's velocity in the direction from the receiver based on the second velocity component corresponding to the receiver and the receiver's velocity. This step is omitted if the receiver is stationary.

[0334] Thus, the fusion center can determine the components of the motion velocity of the sensed target in the direction from the sensed target to each sensed receiver.

[0335] As an example, the fusion center can determine the velocity of the target based on the components of the target's velocity in the direction from the target to each sensor receiver, as well as the azimuth angle of the target relative to each sensor receiver.

[0336] In the above embodiments, by sending the first information from the sensing transmitter to the fusion center, the fusion center can obtain the Doppler frequency components of the channel link from the sensing transmitter to the sensing target, thereby enabling the fusion center to estimate the speed information of the sensing target.

[0337] The sensing method involved in the embodiments of this disclosure may include at least one of steps S2201 to S2205. For example, step S2201 may be implemented as a standalone embodiment, step S2202 + step S2203 may be implemented as a standalone embodiment, step S2202 + step S2203 + step S2204 may be implemented as a standalone embodiment, step S2205 may be implemented as a standalone embodiment, and step S2201 + step S2204 + step S2205 may be implemented as a standalone embodiment, but is not limited thereto.

[0338] In some embodiments, step S2201 may be executed in a different order or simultaneously with steps S2202, S2203, and S2204. For example, step S2201 may be executed before step S2202, or between step S2202 and step S2203, or between step S2203 and step S2204, or between step S2204 and step S2205, or simultaneously with step S2202, or simultaneously with step S2203, or simultaneously with step S2204.

[0339] In some embodiments, steps S2202 to S2205 are optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0340] In some embodiments, the steps and their optional implementations in other embodiments described before or after this embodiment, as well as other related parts in the specification, can be referred to, and will not be repeated here.

[0341] In some embodiments, the names of information, etc., are not limited to the names described in the embodiments. Terms such as "information", "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "domain", "field", "symbol", "symbol", "codebook", "codeword", "codepoint", "bit", "data", "program", and "chip" can be used interchangeably.

[0342] In some embodiments, the terms “downlink control information (DCI),” “downlink (DL) assignment,” “DL DCI,” “uplink (UL) grant,” and “UL DCI” can be used interchangeably.

[0343] In some embodiments, terms such as "physical uplink shared channel (PUSCH)" and "UL data" can be used interchangeably.

[0344] In some embodiments, the terms "reference signal (RS)," "pilot," and "pilot signal" can be used interchangeably.

[0345] In some embodiments, "acquire," "get," "obtain," "receive," "transmit," "bidirectional transmission," and "send and / or receive" can be used interchangeably and can be interpreted as receiving from other entities, acquiring from protocols, acquiring from higher layers, obtaining through self-processing, or autonomous implementation. Protocols include, for example, at least one of the 3GPP protocol, Wi-Fi protocol, and audio and / or video protocols.

[0346] In some embodiments, terms such as “send,” “transmit,” “report,” “distribute,” “transfer,” “bidirectional transmission,” “send and / or receive” can be used interchangeably.

[0347] In some embodiments, if an arrow in the interaction diagram representing the transmission of information, signaling, etc., from one subject to another passes through other subjects, it can be interpreted as the transmission from one subject to another via other subjects, or as the transmission from one subject to another without passing through other subjects. For example, in Figure 2B, the arrow indicating the transmission of first information by the sensing transmitter passes through the sensing receiver, which can be interpreted as the transmission from the sensing transmitter to the fusion center via the sensing receiver (or other subjects), or as the transmission from the sensing transmitter to the fusion center without passing through the sensing receiver (or other subjects).

[0348] Figure 3 is an interactive schematic diagram of a sensing method according to an embodiment of the present disclosure. As shown in Figure 3, the embodiments of the present disclosure relate to a sensing method, which includes:

[0349] Step S3101: The sensing transmitter sends the first information to the sensing function unit.

[0350] In some embodiments, the sensing function unit may be a sensing receiver or a fusion center.

[0351] For example, in distributed sensing, the sensing functional unit is a sensing receiver. In centralized sensing, the sensing functional unit is a fusion center. Optionally, the fusion center can be an LMF or SMF in the core network, but it is not limited to these; for example, the fusion center can also be a unit located in a terminal or access network device.

[0352] The optional implementation of step S3101 can be found in the optional implementation of step S2101 in Figure 2A, step S2201 in Figure 2B, and other related parts in the embodiments involved in Figures 2A and 2B, which will not be repeated here.

[0353] In some embodiments, the first information is used to indicate the Doppler frequency component f corresponding to the channel link from the sensing transmitter to the sensing target. Tx .

[0354] In some embodiments, the sensing function unit receives first information transmitted by the sensing transmitter. Based on the first information, the sensing function unit obtains the Doppler frequency component f corresponding to the channel link from the sensing transmitter to the sensing target. Tx .

[0355] In some embodiments, the sensing transmitter sends first information to the sensing receiver. Optionally, the sensing receiver receives the first information sent by the sensing transmitter.

[0356] In some embodiments, the sensing transmitter sends first information to the fusion center. Optionally, the fusion center receives the first information sent by the sensing transmitter.

[0357] In some embodiments, the first information may include at least one of the following:

[0358] Doppler frequency component f Tx ;

[0359] Doppler frequency component f Tx The value f after normalization to the maximum Doppler shift Tx ';

[0360] Doppler frequency component f Tx The corresponding first velocity component is the component of the relative motion velocity of the sensing target with respect to the sensing transmitter in the direction from the sensing target to the sensing transmitter.

[0361] In some embodiments, the sensing transmitter sends first information to the sensing functional unit via at least one of the following:

[0362] S1 interface;

[0363] X2 interface;

[0364] Xn interface;

[0365] Uu interface;

[0366] PC5 interface;

[0367] DCI;

[0368] MAC CE signaling;

[0369] RRC signaling;

[0370] PUCCH;

[0371] PUSCH.

[0372] Optionally, the sensing function unit receives the first information transmitted by the sensing transmitter through at least one of the above methods.

[0373] Depending on the optional implementation, the sensing transmitter sends the first information via the S1 interface. For example, in centralized sensing, under the dual-site sensing mode of the access network equipment or the transmit-receive dual-site sensing mode of the access network equipment, the sensing transmitter (access network equipment) can send the first information to the convergence center (such as LMF or SMF) via the S1 interface.

[0374] Depending on the optional implementation, the sensing transmitter transmits the first information via at least one of the X2 and Xn interfaces. For example, in distributed sensing, in the dual-site sensing mode of the access network equipment, the sensing transmitter (access network equipment A) can transmit the first information to the sensing receiver (access network equipment B) via at least one of the X2 and Xn interfaces.

[0375] Depending on the optional implementation, the sensing transmitter sends the first information via the Uu interface. For example, in centralized sensing, in terminal dual-site sensing mode or terminal transmit-access network equipment receive dual-site sensing mode, the sensing transmitter (terminal) can send the first information to the convergence center (e.g., LMF or SMF) via the Uu interface.

[0376] Depending on the implementation, the sensing transmitter sends the first information via the PC5 interface. For example, in distributed sensing, in a dual-site sensing mode, the sensing transmitter (terminal A) can send the first information to the sensing receiver (terminal B) via the PC5 interface.

[0377] Depending on the optional implementation, the sensing transmitter sends the first information via at least one of DCI, MAC CE signaling, and RRC signaling. For example, in distributed sensing, in the access network device transmit-terminal receive dual-site sensing mode, the sensing transmitter (access network device) can send the first information to the sensing receiver (terminal) via at least one of DCI, MAC CE signaling, and RRC signaling.

[0378] Depending on the optional implementation, the sensing transmitter sends the first information via at least one of PUCCH and PUSCH. For example, in distributed sensing, in a dual-site sensing mode where the terminal transmits and the access network device receives, the sensing transmitter (terminal) can send the first information to the sensing receiver (access network device) via at least one of PUCCH and PUSCH.

[0379] Before sending the first message, the sensing transmitter needs to determine the Doppler frequency component f. Tx Optionally, the above method further includes: transmitting a second sensing reference signal by a sensing transmitter; measuring the echo of the second sensing reference signal to determine the Doppler frequency component f. Tx The sensing transmitter determines the Doppler frequency component f. Tx For optional implementations, please refer to the optional implementations of step S2101 in Figure 2A and step S2201 in Figure 2B, as well as other related parts in the embodiments involved in Figures 2A and 2B, which will not be repeated here.

[0380] In some embodiments, the method further includes: a sensing transmitter transmitting a first sensing reference signal. The first sensing reference signal is used by a sensing receiver to determine (estimate) the Doppler frequency. Optional implementations of the sensing transmitter transmitting the first sensing reference signal can be found in the optional implementations of step S2102 in FIG2A and step S2202 in FIG2B, as well as other related parts in the embodiments involved in FIG2A and FIG2B, and will not be repeated here.

[0381] Optionally, the sensing receiver receives a first sensing reference signal and estimates the Doppler frequency by measuring the first sensing reference signal.

[0382] In the case of distributed sensing, the sensing functional unit is the sensing receiver. The sensing receiver obtains the Doppler frequency component f corresponding to the channel link from the sensing transmitter to the sensing target based on the first information sent by the sensing transmitter. Tx The sensing receiver uses the Doppler frequency component f Tx The second velocity component is determined by combining the estimated Doppler frequency with the target velocity. This second velocity component is the component (or projection) of the relative velocity of the target velocity relative to the receiver in the direction from the target to the receiver. Optional implementations of the receiver determining the second velocity component can be found in the optional implementations of steps S2103 to S2104 in Figure 2A, and other related parts in the embodiments shown in Figure 2A, which will not be repeated here.

[0383] In the case of centralized sensing, the sensing functional unit is the fusion center. The fusion center obtains the Doppler frequency component f corresponding to the channel link from the sensing transmitter to the sensing target based on the first information sent by the sensing transmitter. Tx Each sensing receiver sends a second piece of information to the fusion center. This second piece of information indicates the Doppler frequency estimated by that sensing receiver. The fusion center obtains the Doppler frequency estimated by each sensing receiver based on the second piece of information sent by each sensing receiver. The fusion center then uses the Doppler frequency component f... Tx The velocity of the sensed target is determined by the Doppler frequency estimated by each sense receiver. Optionally, each sense receiver also sends third information to the fusion center, which indicates the azimuth angle of the sensed target relative to that sense receiver. The fusion center obtains the azimuth angle of the sensed target relative to each sense receiver based on the third information sent by each sense receiver. The fusion center then determines the velocity of the sensed target based on the Doppler frequency component f. Tx The motion velocity of the sensing target is determined by using the Doppler frequency estimated by each sensing receiver and the azimuth angle of the sensing target relative to each sensing receiver. Optional implementations of the fusion center determining the motion velocity of the sensing target can be found in the optional implementations of steps S2203 to S2205 in Figure 2B, and other related parts in the embodiments involved in Figure 2B, which will not be repeated here.

[0384] In the above embodiments, by sending first information from the sensing transmitter to the sensing functional unit (such as a fusion center or a sensing receiver), the sensing functional unit can obtain the Doppler frequency components of the channel link from the sensing transmitter to the sensing target, thereby enabling the sensing functional unit to estimate the speed information of the sensing target.

[0385] Figure 4 is an interactive schematic diagram of a sensing method according to an embodiment of the present disclosure. As shown in Figure 4, the embodiments of the present disclosure relate to a Doppler indication method in sensing, the method including:

[0386] Step S4101: The sensing transmitter sends the first Doppler component information to the first sensing functional unit.

[0387] The first Doppler component information indicates the Doppler frequency component f corresponding to the channel link from the sensing transmitter to the sensing target. Tx .

[0388] Optionally, the first Doppler component information can be normalized to the maximum Doppler frequency shift f. m That is, f Tx '=f Tx / f m .

[0389] Optionally, the first Doppler component information can be obtained by measuring the sensing transmitter (e.g., transmitting a sensing reference signal and measuring the echo in monostation sensing mode). For example, it can be obtained by transmitting a second sensing reference signal and measuring the echo of the second sensing reference signal.

[0390] Regarding the first sensing functional unit, for distributed sensing, the first sensing functional unit is a sensing receiver; for centralized sensing, the first sensing functional unit is at least one of LMF, SMF, and fusion center.

[0391] (1) For gNB dual-station sensing (gNB A sends sensing reference signal, gNB B receives sensing reference signal), if it is centralized sensing, the sensing transmitter (gNB A) sends the first Doppler component information to the first sensing functional unit (such as LMF / SMF / fusion center, etc.) through the S1 interface; if it is distributed sensing, the sensing transmitter (gNB A) sends the first Doppler component information to the first sensing functional unit (gNB B) through the X2 interface and / or Xn interface.

[0392] (2) For dual-site sensing of UE (UE A sends sensing reference signal, UE B receives sensing reference signal), if it is centralized sensing, the sensing transmitter (UE A) will transparently transmit the first Doppler component information to the first sensing functional unit (such as LMF / SMF / fusion center, etc.) through the Uu interface; if it is distributed sensing, the sensing transmitter (UE A) will send the first Doppler component information to the first sensing functional unit (UE B) through the PC5 interface.

[0393] (3) For the dual-site sensing mode where the gNB sends sensing reference signals and the UE receives sensing reference signals, if it is centralized sensing, the sensing transmitter (gNB) sends the first Doppler component information to the first sensing functional unit (such as LMF / SMF / fusion center, etc.) through the S1 interface; if it is distributed sensing, the sensing transmitter (gNB) sends the first Doppler component information to the first sensing functional unit (UE) through at least one of DCI, MAC CE, and RRC signaling.

[0394] (4) For the dual-station sensing mode where the UE sends sensing reference signals and the gNB receives sensing reference signals, if it is centralized sensing, the sensing transmitter (UE) will transparently transmit the first Doppler component information to the first sensing functional unit (such as LMF / SMF / fusion center, etc.) through the Uu interface; if it is distributed sensing, the sensing transmitter (UE) will send the first Doppler component information to the first sensing functional unit (gNB) through PUCCH and / or PUSCH.

[0395] The Doppler indication method in sensing proposed in this embodiment enables sensing functional units such as sensing receivers or fusion centers to obtain the Doppler frequency components of the channel link from the sensing transmitter to the sensing target, thereby enabling the sensing functional units to estimate the Doppler frequency information and velocity information of the sensing target.

[0396] In some embodiments, the steps and their optional implementations in other embodiments described before or after this embodiment, as well as other related parts in the specification, can be referred to, and will not be repeated here.

[0397] This disclosure also proposes an apparatus (also referred to as a communication device, etc.) for implementing any of the above methods. For example, an apparatus is proposed that includes units or modules for implementing the steps performed by the terminal in any of the above methods. Furthermore, another apparatus is proposed that includes units or modules for implementing the steps performed by a network device (e.g., an access network device, a core network functional node, a core network device, etc.) in any of the above methods.

[0398] It should be understood that the division of units or modules in the above device is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units or modules in the device can be implemented by a processor calling software: for example, the device includes a processor connected to a memory containing instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of the units or modules in the above device. The processor can be, for example, a general-purpose processor, such as a Central Processing Unit (CPU) or a microprocessor, and the memory can be internal or external to the device. Alternatively, the units or modules in the device can be implemented in the form of hardware circuits. The functionality of some or all of the units or modules can be achieved through the design of these hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC). The functionality of some or all of the units or modules is achieved through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a programmable logic device (PLD). Taking a field-programmable gate array (FPGA) as an example, it can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files, thereby achieving the functionality of some or all of the units or modules. All units or modules of the above device can be implemented entirely through processor-called software, entirely through hardware circuits, or partially through processor-called software with the remaining parts implemented through hardware circuits.

[0399] In this embodiment, the processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a Central Processing Unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. The logical relationships of the aforementioned hardware circuits are fixed or reconfigurable. For example, the processor is a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units or modules. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a Neural Network Processing Unit (NPU), a Tensor Processing Unit (TPU), or a Deep Learning Processing Unit (DPU).

[0400] Figure 5A is a schematic diagram of the structure of a sensing transmitter according to an embodiment of this disclosure. The sensing transmitter 5100 is used to perform any of the above methods. In some embodiments, as shown in Figure 5A, the sensing transmitter 5100 may include at least one of a transceiver module 5101, a processing module 5102, etc. In some embodiments, the transceiver module is used to send first information to the sensing function unit, the first information being used to indicate the Doppler frequency component corresponding to the channel link from the sensing transmitter to the sensing target. Optionally, the transceiver module is used to perform at least one of the communication steps (e.g., steps S2101, S2102, S2201, S2202, S3101, but not limited thereto) performed by the sensing transmitter in any of the above methods, which will not be elaborated here. Optionally, the processing module is used to perform at least one of the other steps performed by the sensing transmitter in any of the above methods, which will not be elaborated here.

[0401] Figure 5B is a schematic diagram of the structure of the sensing function unit proposed in an embodiment of this disclosure. The sensing function unit 5200 is used to perform any of the above methods. In some embodiments, as shown in Figure 5B, the sensing function unit 5200 may include at least one of a transceiver module 5201, a processing module 5202, etc. In some embodiments, the transceiver module is used to receive first information transmitted by a sensing transmitter, the first information being used to indicate the Doppler frequency component corresponding to the channel link from the sensing transmitter to the sensing target. Optionally, the transceiver module is used to perform at least one of the communication steps such as transmission and / or reception performed by the sensing function unit (such as a sensing receiver or a fusion center) in any of the above methods, which will not be elaborated here. Optionally, the processing module is used to perform at least one of the other steps (e.g., steps S2103, S2104, and S2205, but not limited thereto) performed by the sensing function unit (such as a sensing receiver or a fusion center) in any of the above methods, which will not be elaborated here.

[0402] In some embodiments, the transceiver module may include a transmitting module and / or a receiving module, which may be separate or integrated. Optionally, the transceiver module may be interchangeable with a transceiver.

[0403] In some embodiments, the processing module may be a single module or may include multiple sub-modules. Optionally, the multiple sub-modules may each perform all or part of the steps required by the processing module.

[0404] In some embodiments, the processing module can be replaced by the processor, and the transceiver module can be replaced by the transceiver.

[0405] Figure 6A is a schematic diagram of the structure of the communication device 6100 proposed in an embodiment of this disclosure. The communication device 6100 can be a network device (e.g., access network device, core network device, etc.), a terminal (e.g., user equipment, etc.), a chip, chip system, or processor that supports the network device in implementing any of the above methods, or a chip, chip system, or processor that supports the terminal in implementing any of the above methods. The communication device 6100 can be used to implement the methods described in the above method embodiments; for details, please refer to the descriptions in the above method embodiments.

[0406] As shown in Figure 6A, the communication device 6100 is used to execute any of the above methods. In some embodiments, the communication device 6100 includes one or more processors 6101. The processor 6101 may be a general-purpose processor or a special-purpose processor, such as a baseband processor or a central processing unit. The baseband processor may be used to process communication protocols and communication data, and the central processing unit may be used to control communication devices (e.g., base stations, baseband chips, terminal devices, terminal device chips, DUs or CUs, etc.), execute programs, and process program data. Optionally, the communication device 6100 is used to execute any of the above methods. Optionally, one or more processors 6101 are used to invoke instructions to cause the communication device 6100 to execute any of the above methods.

[0407] In some embodiments, the communication device 6100 further includes one or more transceivers 6102. When the communication device 6100 includes one or more transceivers 6102, the transceiver 6102 performs at least one of the communication steps such as sending and / or receiving in the above method (e.g., steps S2101, S2102, S2201, S2202, S2204, S3101, S4101, but not limited thereto), and the processor 6101 performs at least one of other steps (e.g., steps S2103, S2104, S2203, S2205, but not limited thereto). In optional embodiments, the transceiver may include a receiver and / or a transmitter, which may be separate or integrated together. Optionally, terms such as transceiver, transceiver unit, transceiver, transceiver circuit, interface circuit, and interface can be used interchangeably; terms such as transmitter, transmitter unit, transmitter, and transmitter circuit can be used interchangeably; and terms such as receiver, receiver unit, receiver, and receiver circuit can be used interchangeably.

[0408] In some embodiments, the communication device 6100 further includes one or more memories 6103 for storing data and / or instructions. Optionally, one or more processors 6101 are used to invoke instructions stored in the memory 6103 to cause the communication device 6100 to perform any of the above methods. Optionally, all or part of the memory 6103 may also be located outside the communication device 6100. In an optional embodiment, the communication device 6100 may include one or more interface circuits 6104. Optionally, the interface circuit 6104 is connected to the memory 6103 and can be used to receive data and / or instructions from the memory 6103 or other devices, and can be used to send data and / or instructions to the memory 6103 or other devices. For example, the interface circuit 6104 can read data and / or instructions stored in the memory 6103 and send the data and / or instructions to the processor 6101.

[0409] The communication device 6100 described in the above embodiments may be a network device or a terminal, but the scope of the communication device 6100 described in this disclosure is not limited thereto, and the structure of the communication device 6100 may not be limited by FIG. 6A. The communication device may be a standalone device or a part of a larger device. For example, the communication device may be: (1) a standalone integrated circuit IC, or chip, or chip system or subsystem; (2) a collection of one or more ICs, optionally, the IC collection may also include storage components for storing data, programs and / or instructions; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, terminal device, smart terminal device, cellular phone, wireless device, handheld device, mobile unit, vehicle device, network device, cloud device, artificial intelligence device, etc.; (6) others, etc.

[0410] Figure 6B is a schematic diagram of the structure of chip 6200 according to an embodiment of this disclosure. For cases where the communication device 6100 can be a chip or a chip system, please refer to the schematic diagram of chip 6200 shown in Figure 6B, but it is not limited thereto.

[0411] Chip 6200 includes one or more processors 6201. Chip 6200 is used to perform any of the methods described above.

[0412] In some embodiments, chip 6200 further includes one or more interface circuits 6202. Optionally, terms such as interface circuit, interface, and transceiver pin can be used interchangeably. In some embodiments, chip 6200 further includes one or more memories 6203 for storing data and / or instructions. Optionally, all or part of the memories 6203 may be located outside of chip 6200. Optionally, interface circuit 6202 is connected to memory 6203, and interface circuit 6202 can be used to receive data and / or instructions from memory 6203 or other devices, and interface circuit 6202 can be used to send data and / or instructions to memory 6203 or other devices. For example, interface circuit 6202 can read data and / or instructions stored in memory 6203 and send the data and / or instructions to processor 6201.

[0413] In some embodiments, the interface circuit 6202 performs at least one of the communication steps such as sending and / or receiving in the above-described method (e.g., steps S2101, S2102, S2201, S2202, S2204, S3101, S4101, but not limited thereto). The interface circuit 6202 performing the communication steps such as sending and / or receiving in the above-described method refers, for example, to the interface circuit 6202 performing data and / or instruction interaction between the processor 6201, the chip 6200, the memory 6203, or the transceiver device. In some embodiments, the processor 6201 performs at least one of other steps (e.g., steps S2103, S2104, S2203, S2205, but not limited thereto).

[0414] The modules and / or devices described in the various embodiments, such as virtual devices, physical devices, and chips, can be combined or separated arbitrarily as needed. Optionally, some or all steps can also be performed collaboratively by multiple modules and / or devices, which is not limited here.

[0415] This disclosure also proposes a storage medium storing instructions that, when executed on a communication device, cause the communication device to perform any of the above methods. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer-readable storage medium, but not limited thereto; it may also be a storage medium readable by other devices. Optionally, the storage medium may be a non-transitory storage medium, but not limited thereto; it may also be a temporary storage medium.

[0416] This disclosure also proposes a program product, including a program and / or instructions, which, when executed by a communication device, cause the communication device to perform any of the above methods. Optionally, the program product is a computer program product. Optionally, the program product is stored on the storage medium.

[0417] This disclosure also proposes a computer program that, when run on a computer, causes the computer to perform any of the above methods.

Claims

1. A perception method, comprising: The method is performed by a sensing transmitter, and the method comprises: sending, to a sensing function unit, first information used for indicating a Doppler frequency component corresponding to a channel link of the sensing transmitter to a sensing target.

2. The method of claim 1, wherein, The first information is sent to the sensing function unit by at least one of the following: an S1 interface; an X2 interface; an Xn interface; a Uu interface; a PC5 interface; downlink control information (DCI); medium access control control element (MAC CE) signaling; radio resource control (RRC) signaling; a physical uplink control channel (PUCCH); a physical uplink shared channel (PUSCH).

3. The method according to claim 1 or 2, characterized in that, The first information comprises at least one of the following: the Doppler frequency component; a value of the Doppler frequency component normalized to a maximum Doppler shift; a first speed component corresponding to the Doppler frequency component, the first speed component being a component of a relative motion speed of the sensing target relative to the sensing transmitter in a direction from the sensing target to the sensing transmitter.

4. The method according to any one of claims 1 to 3, characterized in that, The sensing function unit is a fusion center; or The sensing function unit is a sensing receiver.

5. The method of claim 4, wherein, The fusion center is a location management function (LMF) or a sensing management function (SMF).

6. The method according to any one of claims 1-5, characterized in that, The method further comprises: sending a first sensing reference signal, the first sensing reference signal being used for a sensing receiver to determine a Doppler frequency.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: sending a second sensing reference signal; measuring an echo of the second sensing reference signal to determine the Doppler frequency component.

8. A perception method comprising: The method is performed by a sensing function unit, and the method comprises: receiving first information sent by a sensing transmitter, the first information being used for indicating a Doppler frequency component corresponding to a channel link of the sensing transmitter to a target.

9. The method of claim 8, wherein, The first information is received by the sensing function unit from the sensing transmitter by at least one of the following: an S1 interface; an X2 interface; anXn interface; a Uu interface; a PC5 interface; DCI; MAC CE signaling; RRC signaling; a PUCCH; a PUSCH.

10. The method according to claim 8 or 9, characterized in that, The first information comprises at least one of the following: the Doppler frequency component; a value normalized to a maximum Doppler shift; a first speed component corresponding to the Doppler frequency component.

11. The method according to any one of claims 8-10, characterized in that, The sensing function unit is a fusion center, and the method further comprises: receiving second information respectively sent by N sensing receivers, the second information sent by each sensing receiver being used for indicating a Doppler frequency determined by the sensing receiver by measuring a first sensing reference signal, N being a positive integer; determining a motion speed of the sensing target according to the first information and the Doppler frequency determined by each sensing receiver.

12. The method of claim 11, wherein, The method further comprises: receiving third information respectively sent by the N sensing receivers, the third information sent by each sensing receiver being used for indicating an azimuth angle of the sensing target relative to the sensing receiver. The determination of the motion speed of the sensing target according to the first information and the Doppler frequency determined by each of the sensing receivers comprises: According to the first information, the Doppler frequency determined by each sensing receiver, and the azimuth angle of the sensing target relative to each sensing receiver, a movement speed of the sensing target is determined.

13. The method according to claim 11 or 12, characterized in that, The fusion center is an LMF or an SMF.

14. The method of any one of claims 8-10, wherein, The sensing function unit is a sensing receiver, and the method further comprises: Measuring a first sensing reference signal to determine a Doppler frequency; According to the first information and the Doppler frequency, a second speed component is determined, which is a component of the relative movement speed of the sensing target relative to the sensing receiver in the direction from the sensing target to the sensing receiver.

15. A cognitive transmitter, characterized by Comprise: A transceiver module configured to send first information to a sensing function unit, the first information being used to indicate a Doppler frequency component corresponding to a channel link from the sensing transmitter to a sensing target.

16. A sensing function unit, characterized by, Comprise: A transceiver module configured to receive first information sent by a sensing transmitter, the first information being used to indicate a Doppler frequency component corresponding to a channel link from a sensing transmitter to a sensing target.

17. A communication device, characterized by The communication device is configured to perform the sensing method of any one of claims 1-7, 8-14.

18. A perception system, comprising: Comprise a sensing transmitter and a sensing function unit, wherein the sensing transmitter is configured to implement the sensing method of any one of claims 1-7, and the sensing function unit is configured to implement the sensing method of any one of claims 8-14.

19. A storage medium, the storage medium storing instructions, wherein, When the instructions run on the communication device, the communication device is caused to perform the sensing method of any one of claims 1-7, 8-14 20. A program product comprising at least one of a program, instructions, characterized in that The program, at least one of the instructions, is executed by the communication device to implement the steps of the method of any one of claims 1-7, 8-14.

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